CN111301433A - Management system, method and device for computing nodes of automatic driving vehicle - Google Patents

Management system, method and device for computing nodes of automatic driving vehicle Download PDF

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CN111301433A
CN111301433A CN201811516418.2A CN201811516418A CN111301433A CN 111301433 A CN111301433 A CN 111301433A CN 201811516418 A CN201811516418 A CN 201811516418A CN 111301433 A CN111301433 A CN 111301433A
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container
node
identifier
instruction
computing
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CN111301433B (en
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刘攀
龚轶凡
苏磊
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Beijing Tusimple Technology Co Ltd
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Beijing Tusimple Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces

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Abstract

The invention discloses a management system, a method and a device of a computing node of an automatic driving vehicle, which aim to solve the problems of poor flexibility and low efficiency of the computing node management work in the automatic driving vehicle in the prior art. The system includes a master node of a container cluster and a container cluster branch located in a computing system of at least one autonomous vehicle; a computing system for an autonomous vehicle includes a container cluster branch, one container cluster branch including a plurality of container instances and a slave node of the container cluster, one container instance including a compute node configured in a container to compute specified data; and the master node receives a container management instruction from the control terminal, correspondingly sends the management instruction to the determined slave node, and the slave node executes an operation corresponding to the container management instruction on the corresponding computing node.

Description

Management system, method and device for computing nodes of automatic driving vehicle
Technical Field
The present invention relates to autonomous vehicles, and more particularly, to a system, method, and apparatus for managing a computing node of an autonomous vehicle, and a storage medium.
Background
The automatic driving vehicle can be used for navigating and controlling the running of the vehicle by sensing environmental information and combining the decision and control functions of automatic driving. Autonomous vehicles implement a variety of autonomous necessary functions through a computing system. A computing system for an autonomous vehicle includes a plurality of computing nodes (nodes), one of which includes programs for performing one of the tasks of autonomous driving, such as sensor processing, sensing, planning, and control.
When operating a computing system in an autonomous vehicle, the computing nodes need to be managed. It is common to configure the required computing nodes for each autonomous vehicle, and the required computing resources and environments for each computing node, by way of human management. And manually controls operations such as the start and the shut-down of the computing nodes in the autonomous vehicle. In a scene of testing an automatic driving vehicle or an operation scene of a fleet of automatic driving vehicles, a computing node in the vehicle is frequently managed, so that a large amount of manual work is brought, and the problems of poor flexibility and low efficiency of the management work of the computing node in the automatic driving vehicle are caused.
Disclosure of Invention
In view of this, the present application provides a system, a method, and an apparatus for managing a computing node of an autonomous vehicle, and a storage medium, so as to solve the problems of poor flexibility and low efficiency in the computing node management work in the autonomous vehicle in the prior art.
According to one aspect of the present application, there is provided a management system of a computing node of an autonomous vehicle, comprising: a master node of a container cluster and a container cluster branch located in a computing system of at least one autonomous vehicle; a computing system of an autonomous vehicle includes a container cluster branch, one container cluster branch including a plurality of container instances and a slave node of the container cluster, one container instance including a container and a computing node configured in the container to compute specified data;
the method comprises the steps that a main node receives a container management instruction and a management file from a control terminal, wherein the management file comprises at least one vehicle identifier and at least one container instance identifier corresponding to each vehicle identifier; analyzing the management file, and determining slave nodes corresponding to at least one vehicle identifier in the management file; correspondingly sending the management instruction and the identifier of at least one container instance corresponding to at least one vehicle identifier in the management file to the determined slave node;
receiving, by the slave node, a container management instruction from the master node, an identification of at least one container instance; and executing the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
According to one aspect of the present application, there is provided a method of managing computing nodes of an autonomous vehicle, comprising in a container cluster a master node and container cluster branches located in a computing system of at least one autonomous vehicle; a computing system of an autonomous vehicle includes a container cluster branch, one container cluster branch including a plurality of container instances and a slave node of the container cluster, one container instance including a container and a computing node configured in the container to compute specified data; the management operations of the computing nodes of the autonomous vehicle performed by the master node include:
the method comprises the steps that a main node receives a container management instruction and a management file from a control terminal, wherein the management file comprises at least one vehicle identifier and at least one container instance identifier corresponding to each vehicle identifier;
analyzing the management file, and determining slave nodes corresponding to at least one vehicle identifier in the management file;
and correspondingly sending the identifier of the at least one container instance respectively corresponding to the management instruction and the at least one vehicle identifier in the management file to the determined slave node, so that the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
According to one aspect of the present application, there is provided a method of managing computing nodes of an autonomous vehicle, comprising in a container cluster a master node and container cluster branches located in a computing system of at least one autonomous vehicle; a computing system of an autonomous vehicle includes a container cluster branch, one container cluster branch including a plurality of container instances and a slave node of the container cluster, one container instance including a container and a computing node configured in the container to compute specified data; the management operations of the computing nodes of the autonomous vehicle performed from the nodes include:
receiving, from a slave node, a container management instruction and an identification of at least one container instance from a master node;
and executing the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
According to an aspect of the present application, there is provided a management apparatus of a computing node of an autonomous vehicle, including: a processor and at least one memory, the at least one memory including at least one machine executable instruction, the processor executing the at least one machine executable instruction to perform the management operations of the computing node of the autonomous vehicle performed by the master node.
According to an aspect of the present application, there is provided a management apparatus of a computing node of an autonomous vehicle, including: a processor and at least one memory including at least one machine executable instruction, the processor executing the at least one machine executable instruction to perform the slave node performed management operations of the computing node of the autonomous vehicle.
According to one aspect of the present application, a non-transitory machine-readable storage medium having at least one machine-executable instruction stored therein is provided, the machine executable at least one machine-executable instruction to perform a management operation of a computing node of an autonomous vehicle performed by a master node as described above.
According to one aspect of the present application, there is provided a non-transitory machine-readable storage medium having stored therein at least one machine-executable instruction, the machine executing the at least one machine-executable instruction to perform a management operation of a computing node of an autonomous vehicle performed by the slave node as described above.
According to the technical scheme, required computing nodes in the automatic driving vehicle are configured in the container, the container and the computing nodes form container examples when the container and the computing nodes in the container run designated data, a plurality of container examples included in at least one automatic driving vehicle form a container cluster, a slave node of the container cluster is configured in one automatic driving vehicle, and a master node is configured for the whole container cluster; the method comprises the steps that a main node receives a container management instruction from a control terminal, determines an automatic driving vehicle to be operated, and forwards the management instruction to a slave node in the automatic driving vehicle to be operated, the slave node correspondingly operates a computing node in a container example in the automatic driving vehicle, and the computing node in the automatic driving vehicle can be flexibly and efficiently managed, so that the problems of poor flexibility and low efficiency of computing node management work in the automatic driving vehicle in the prior art can be solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a block diagram of a management system for a computing node of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a process flow diagram of a method for managing computing nodes of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 3 is another process flow diagram of a method for managing computing nodes of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 4 is another process flow diagram of a method for managing computing nodes of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 5 is another process flow diagram of a method for managing computing nodes of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 6 is another process flow diagram of a method for managing computing nodes of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 7 is another process flow diagram of a method for managing computing nodes of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 8 is another process flow diagram of a method for managing computing nodes of an autonomous vehicle according to an embodiment of the present disclosure;
fig. 9 is a block diagram illustrating a configuration of a management apparatus for a computing node of an autonomous vehicle according to an embodiment of the present application;
fig. 10 is another block diagram of a configuration of a management apparatus for a computing node of an autonomous vehicle according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, the computing nodes in each autonomous vehicle are generally managed by means of manual management, such as operations of manually configuring the required computing nodes, manually starting or manually shutting down the computing nodes, and the like. Managing the compute nodes in multiple autonomous vehicles in this manner may make it difficult to macroscopically monitor and manage the state of the compute nodes on each vehicle.
In a scene of testing an automatic driving vehicle or in an operation scene of a fleet of automatic driving vehicles, a computing node in the vehicle is frequently managed, so that a large amount of manual work is brought, and the problems of poor flexibility and low efficiency of the management work of the computing node in the automatic driving vehicle are caused.
In the technical scheme of the application, one computing node of the automatic driving vehicle is arranged in one container, one container and the computing node in the container form one container example when running specified data, and the automatic driving vehicle comprises a plurality of container examples. All container instances included in the plurality of autonomous vehicles form a container cluster. A slave node of a container cluster is provided in a computing system of an autonomous vehicle. And one master node is set for the entire container cluster. The master node receives a container management instruction and a management file from the control terminal, the management file comprises an identifier of a vehicle to be managed and an identifier of a container instance on the vehicle, the master node sends the management instruction to a corresponding slave node, and the slave node performs corresponding operation on a computing node in the corresponding container instance in the computing system.
According to the technical scheme, the computing nodes of the automatic driving vehicle are configured in the container, and the computing nodes and required resources can be isolated and packaged, so that the computing environment supported by each computing node does not conflict with the computing environments of other computing nodes, and the computing nodes in the automatic driving vehicle can be flexibly and effectively configured. In a container cluster formed by containers in at least one automatic driving vehicle, a main node and at least one slave node of the container cluster are arranged, the main node identifies, distributes and dispatches a container management command from a control terminal, and the slave node performs corresponding management operation on the containers and the computing nodes in the containers according to the container management command from the main node, so that the computing nodes in the automatic driving vehicle can be flexibly and efficiently managed.
The foregoing is the core idea of the present application, and in order to make the technical solutions in the embodiments of the present application better understood and make the above objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are further described in detail below with reference to the accompanying drawings.
In the present application, the term "vehicle" is to be interpreted broadly in the present application to include any moving object, including for example aircraft, boats, spacecraft, automobiles, trucks, vans, semi-trailers, motorcycles, golf carts, off-road vehicles, warehouse transport vehicles or agricultural vehicles, and vehicles traveling on rails, such as trams or trains, and other rail vehicles. The "vehicle" in the present application may generally include: power systems, sensor systems, control systems, peripheral devices, and computer systems. In other embodiments, the vehicle may include more, fewer, or different systems.
Wherein, the driving system is the system for providing power motion for the vehicle, includes: engine/motor, transmission and wheels/tires, power unit.
The control system may comprise a combination of devices controlling the vehicle and its components, such as a steering unit, a throttle, a brake unit.
The peripheral devices may be devices that allow the vehicle to interact with external sensors, other vehicles, external computing devices, and/or users, such as wireless communication systems, touch screens, microphones, and/or speakers.
Based on the vehicle described above, the sensor system and the automatic driving control device are also provided in the automatic driving vehicle.
The sensor system may include a plurality of sensors for sensing information about the environment in which the vehicle is located, and one or more actuators for changing the position and/or orientation of the sensors. The sensor system may include any combination of sensors such as global positioning system sensors, inertial measurement units, radio detection and ranging (RADAR) units, cameras, laser rangefinders, light detection and ranging (LIDAR) units, and/or acoustic sensors; the sensor system may also include sensors that monitor the vehicle's internal systems (e.g., O2 monitors, fuel gauges, engine thermometers, etc.).
The autopilot control apparatus may include a processor and a memory, the memory having stored therein at least one machine-executable instruction, the processor executing the at least one machine-executable instruction to perform functions including a map engine, a positioning module, a perception module, a navigation or routing module, and an autopilot control module. The map engine and the positioning module are used for providing map information and positioning information. The sensing module is used for sensing things in the environment where the vehicle is located according to the information acquired by the sensor system and the map information provided by the map engine. And the navigation or path module is used for planning a driving path for the vehicle according to the processing results of the map engine, the positioning module and the sensing module. The automatic control module inputs and analyzes decision information of modules such as a navigation module or a path module and the like and converts the decision information into a control command output to a vehicle control system, and sends the control command to a corresponding component in the vehicle control system through a vehicle-mounted network (for example, an electronic network system in the vehicle, which is realized by CAN (controller area network) bus, local area internet, multimedia directional system transmission and the like), so as to realize automatic control of the vehicle; the automatic control module can also acquire information of each component in the vehicle through a vehicle-mounted network.
Fig. 1 illustrates a structure of a management system of a computing node of an autonomous vehicle according to an embodiment of the present application, where the system 1 includes a master node 11 of a container cluster and a container cluster branch located in a computing system of at least one autonomous vehicle; a computing system for an autonomous vehicle includes a container cluster branch including a plurality of container instances 12 and a slave node 13 of the container cluster, and a container instance 12 including a container and a computing node 14 configured in the container to compute specified data.
In this application, a compute node is configured in a container. A computing node is used to implement one or more functions of an autonomous vehicle. These functions include, but are not limited to, sensor functions, sensing functions, planning functions, and control functions. A container is a sandboxed operating environment in which a set of processing resources, such as processors, memory, storage, bandwidth, and corresponding software resources, are configured for the operation of the compute nodes. Alternatively, the container may also be implemented as a virtual machine. By configuring the computing nodes of the autonomous vehicle in the container, the computing nodes and required resources can be isolated and encapsulated, so that the computing environment supported by each computing node does not conflict with the computing environments of other computing nodes, and the computing nodes in the autonomous vehicle can be flexibly and effectively configured.
In the embodiment of the application, one computing node is configured in one container, and computing nodes in a plurality of same containers can compute different specified data. For example, a computing node a is configured in the container a, and a computing node B is configured in the container B; in an autonomous vehicle, the running container and the computing nodes therein may be referred to as container instance 1 when computing the specified data x with computing node a in container a, container instance 2 when computing the specified data y with computing node B in container B, container instance 3 when computing the specified data x with computing node B in container B, and container instance 4 when computing the specified data y with computing node B in container B. That is, when the computing nodes in different containers perform computation or the computing nodes in the same container perform computation on different data, different container instances are formed.
In the present application, the master node 11 may be located in a separate computing device or in any of the at least one autonomous vehicle. For example, in a more closed or fixed implementation scenario, the master node 11 may be located in a separate computing device, which may be a control terminal, and the control terminal may further include other service control applications. For example, in an implementation scenario with high mobility or high openness, the master node 11 may be located in a computing device of any one of the at least one autonomous vehicle, and the computing device of the vehicle may be configured with sufficient computing resources.
A slave node 13 is located in the computing system of an autonomous vehicle, and the slave node 13 operates the container on the autonomous vehicle and the computing nodes in the container based on communication with the master node 11.
The working principle of the system shown in fig. 1 comprises:
the main node 11 receives a container management instruction and a management file from the control terminal, wherein the management file comprises at least one vehicle identifier and identifiers of at least one container instance corresponding to each vehicle identifier; analyzing the management file, and determining slave nodes 13 corresponding to at least one vehicle identifier in the management file; correspondingly sending the management instruction and the identifier of at least one container instance corresponding to at least one vehicle identifier in the management file to the determined slave node 13;
receiving from the node 13 container management instructions and an identification of at least one container instance from the master node 11; and executing the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
The working principle of the master node and the slave node will be described below.
Fig. 2 shows a processing flow of the method for managing a computing node of an autonomous vehicle according to the embodiment of the present application, that is, a processing flow of a master node managing a computing node of an autonomous vehicle, where the processing flow includes:
step 201, a main node receives a container management instruction and a management file from a control terminal, wherein the management file comprises at least one vehicle identifier and identifiers of at least one container instance corresponding to each vehicle identifier;
as described above, when the master node is located on a separate computing device, the computing device may be an independent control terminal in some implementation scenarios, that is, the master node may be located on a control terminal. In this case, in some embodiments, the host node receives the container management instruction and the management file from the control terminal, where the container management instruction and the management file may be input by an operator on the control terminal, or the management file may be sent by the control terminal from a remote device, or the management file may be downloaded by the control terminal from a cloud address when the control terminal accesses the cloud address.
Where the master node is located in an autonomous vehicle, in some embodiments the control terminal may be a remote control terminal. The container management instruction and the management file can be input by an operator on the control terminal, can also be sent by the control terminal from a remote device after being received by the control terminal, and can also be downloaded by the control terminal from a preset cloud address when the control terminal accesses the preset cloud address. And the control terminal sends the container management instruction and the management file to the main node.
The container management command may include a start command, a stop command, or a control command for the container. In a specific implementation environment, the container management instruction may further include other instructions, which are not described and defined herein.
Step 202, the master node analyzes the management file and determines slave nodes corresponding to at least one vehicle identifier in the management file;
in some embodiments, the master node may determine, according to a correspondence relationship between pre-stored vehicle identifiers and slave nodes, slave nodes to which at least one vehicle identifier in the management file respectively corresponds. That is, in the process of configuring the container cluster, a correspondence between the vehicle identification of the autonomous vehicle and the slave node on the autonomous vehicle is established, and the established correspondence is stored in the master node.
Step 203, the master node correspondingly sends the management instruction and the identifier of the at least one container instance corresponding to the at least one vehicle identifier in the management file to the determined slave node, so that the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
Further, as shown in fig. 3, after the slave node performs the corresponding operation, the slave node also returns an operation result to the master node, and on the basis of fig. 2, after step 203, the processing of the master node further includes:
and step 204, the master node acquires the operation result returned by the slave node and returns the operation result to the control terminal.
Through the processing of the master node, the container management instruction from the control terminal can be transmitted to the corresponding slave node, so that the slave node performs corresponding container management operation on the corresponding container instance and the computing node therein, and the scheduling and distribution of the management operation on the computing node in the automatic driving vehicle are realized. Moreover, the control terminal sends the container management command and the management file to the main node, so that the remote management of the computing node in the automatic driving vehicle can be realized.
Fig. 4 shows a processing flow of a method for managing a computing node of an autonomous vehicle according to an embodiment of the present application, that is, a processing flow of managing a computing node of an autonomous vehicle from a node, where the processing flow includes:
step 401, receiving a management instruction from a master node and an identification of at least one container instance from a slave node;
in some embodiments, the container management instructions include start instructions, stop instructions, or control instructions for the container;
step 402, according to the received identifier of the at least one container instance, executing an operation corresponding to the management instruction on the corresponding computing node.
The following distribution describes the process of processing the start command, the stop command and the control command by the slave node.
In some embodiments, the container management instruction received from the node is a start instruction, the management file further includes an identifier of a container corresponding to each container instance identifier, an identifier of a computing node in the container, and an operation parameter of the computing node, and the management file further may further include a resource mount directory parameter and/or a container instance operation mode parameter.
In the management file, as described above, when computing nodes in the same container perform computation according to different specified data, different container instances are formed, and the container instances are used for identifying a scenario in which the computing nodes perform computation on the specified data, so that identifiers of containers corresponding to different container instance identifiers and identifiers of computing nodes therein may be the same, and the same container identifier and the identifiers of the computing nodes therein are distinguished as different container instances by different computing node operating parameters. Further, when the computing resources and environments required by a complete computing node are not configured in the container image, the computing resources and environments required by the computing node may be provided via a resource mount directory parameter, which may indicate the computing resources and environments in the computing system of the autonomous vehicle, or may indicate the computing resources and environments acquired via the network. The container instance run mode parameter may specify whether the container instance is in debug mode or formal run mode. In a specific implementation scenario, the management file may further include other parameters, which are not specifically limited herein.
Accordingly, the flow of the slave node performing the corresponding processing according to the start instruction in step 402 includes the flow shown in fig. 5, including:
step 4021a, the slave node judges whether any one of the received identifiers of the at least one container instance is stored in the computing system where the slave node is located according to the received identifier of the at least one container instance, if the judgment is negative, the processing proceeds to step 4022a, otherwise, the processing proceeds to step 4025 a;
step 4022a, under the condition that any one of at least one container instance identifier is not stored in a computing system where the slave node is located, accessing a pre-stored cloud address, and downloading a corresponding container mirror image (image) from the cloud address according to the identifier of a container corresponding to the container instance identifier in a management file and the identifier of a computing node in the container, wherein the container mirror image comprises the pre-configured computing node;
step 4023a, starting a downloaded container mirror image and a computing node in the container mirror image according to a management file to obtain an operating container instance;
starting the container and the computing nodes in the container according to the identifier of the container corresponding to the container instance identifier in the management file, the identifier of the computing nodes in the container and the operating parameters of the computing nodes; as shown above, by assigning different compute node operational parameters to the same container and the same compute node, the same container and compute node may be identified as different container instances;
further, on the basis of the parameters included in the management file, the container and the computing node can be started according to the resource mounting directory parameters and/or the container instance operation mode parameters included in the management file;
step 4024a, storing the identifier of the container instance; the process proceeds to step 4026 a;
step 4025a, in case that any one of at least one container instance identifier is determined to be stored in the computing system where the slave node is located, starting the container corresponding to the container instance identifier and the computing node in the container according to the management file, and the process proceeds to step 4026 a;
the start-up operation may refer to the description in step 4023a above;
step 4026a, judging whether the received identifier of at least one container instance is processed, if so, processing goes to step 4027a, otherwise, processing returns to step 4021 a;
step 4027a, if the starting is successful, the slave node generates a processing result of successful processing, otherwise, a processing result of processing identification is generated.
Through the processing shown in fig. 5, when the identifier of the container instance is not saved in the computing system where the slave node is located, the slave node accesses the pre-stored cloud address and downloads the container mirror image corresponding to the container instance that is not saved, so that the computing node required in the autonomous vehicle can be automatically configured and deployed. That is, in the present application, the automatic configuration of the computing node in the autonomous vehicle and the start of the computing node can be realized by the container start instruction. Compared with the prior art that the computing nodes in the automatic driving vehicle are configured and started in a complex manual management mode, the configuration and the starting of the computing nodes in the automatic driving vehicle can be flexibly and efficiently realized, the configuration and the starting time of the computing nodes is greatly saved, and the configuration and the starting efficiency are improved.
Further, under the condition that the management file received by the master node includes the identification of at least one automatic driving vehicle, the master node correspondingly sends the identification of the container corresponding to each automatic driving vehicle and the identification of the computing node in the container to each slave node, each slave node downloads and configures the container mirror image and starts the container mirror image and the computing node in the container mirror image, batch computing node configuration and starting of a plurality of automatic driving vehicles can be achieved, and tedious manual operation is not needed to achieve computing node configuration and starting.
In some specific implementation scenarios, no computing node is configured in the plurality of autonomous vehicles. An operator sends a container starting instruction and a configuration file (namely a management file) to the master node through the control terminal, wherein the configuration file comprises the identifications of a plurality of automatic driving vehicles and the identifications of a plurality of container instances corresponding to the identifications of each automatic driving vehicle. The master node analyzes the configuration file, determines slave nodes corresponding to the identifiers of the automatic driving vehicles in the configuration file respectively, and sends the container starting instruction and the identifiers of the multiple container instances corresponding to the identifier of each automatic driving vehicle in the configuration file to the corresponding slave nodes. After receiving the information from the master node, the slave node judges whether the computing system of the automatic driving vehicle in which the slave node is located includes the container instance indicated by the received container instance identifier, and accesses the pre-stored cloud address and downloads the required or lacked container mirror image from the cloud under the condition of judging that the container instance is not included or lacked. After the container mirror image indicated in the configuration file is downloaded, the corresponding container mirror image and the computing node therein are started according to the configuration file, and the running container instance is obtained.
In some specific implementation scenarios, multiple autonomous vehicles have been configured with multiple computing nodes, but at least one autonomous vehicle needs to be configured with a new computing node. An operator sends a container starting instruction and a configuration file (namely a management file) to the main node through the control terminal, wherein the configuration file comprises at least one identifier of the automatic driving vehicle and identifiers of a plurality of container instances corresponding to the identifier of each automatic driving vehicle. The master node analyzes the configuration file, determines slave nodes corresponding to the identifiers of the automatic driving vehicles in the configuration file respectively, and sends the container starting instruction and the identifiers of the multiple container instances corresponding to the identifier of each automatic driving vehicle in the configuration file to the corresponding slave nodes. After receiving the information from the master node, the slave node judges whether the computing system of the autonomous vehicle in which the slave node is located includes the container instance indicated by the received container instance identifier, and if the container instance is judged to be absent or not, the slave node accesses a pre-stored cloud address, downloads the required or absent container mirror image from the cloud, and starts the downloaded container mirror image and the computing node therein.
Thus, by the method shown in fig. 5, the required computing nodes can be automatically deployed to the autonomous vehicle and the corresponding computing nodes can be started.
In some embodiments, the container management instruction received from the node is a stop instruction, and the management file further includes log output parameters including an output mode parameter and/or an output address parameter. When the stopping of the container instance is selected, the logs of the computing nodes in the storage container are usually selected, and the logs of the computing nodes can be reliably and effectively stored through a log output mode or address parameters. In a specific application scenario, the management file may further include other parameters, which are not specifically limited herein.
Accordingly, the flow of the slave node performing the corresponding processing according to the stop instruction in step 402 includes the flow shown in fig. 6, including:
step 4021b, the slave node determines whether any one of the received at least one container instance identifiers is stored in the computing system where the slave node is located, if so, the processing proceeds to step 4022b, and if not, the processing proceeds to step 4024 b;
step 4022b, stopping the operation of the container indicated by the received container identifier from the node;
step 4023b, judging whether the received at least one container instance identifier is processed, if so, processing goes to step 4024b, otherwise, processing returns to step 4021 b;
step 4024b, if the stop operation is successful, generating a processing result of successful processing from the node, otherwise, generating a processing result of failed processing.
Through the processing shown in fig. 6, the slave node can stop the operation of the corresponding container according to the stop instruction from the master node, thereby stopping the operation of the computing node in the container.
In some embodiments, the container management command received from the node is a control command, and the control parameter is correspondingly included in the management file. The control instructions may include log instructions, modification instructions, pause instructions, or restart instructions. Correspondingly, when the control instruction is a log instruction, the control parameters comprise log level parameters and/or log output parameters; when the control instruction is a modification instruction, the control parameters comprise modification parameters; when the control instruction is a pause instruction, the control parameters comprise the identification of the computing node; and when the control instruction is a restart instruction, the control parameters comprise the operation parameters of the computing nodes. In a specific application scenario, the control instruction may further include other instructions, and accordingly, the control parameter may also include other parameters, which is not specifically limited herein.
Accordingly, the flow of the slave node performing the corresponding processing according to the control instruction in step 402 includes the flow as shown in fig. 7, including:
step 4021c, the slave node judges whether any one of the received at least one container instance identifiers is stored in the computing system where the slave node is located, if so, the processing proceeds to step 4022c, and if not, the processing proceeds to step 4024 c;
step 4022c, entering the container instance corresponding to the container instance identifier from the node, and performing corresponding control on the container according to the control parameters in the management file;
when the container management instruction is a log instruction, the slave node enters the container instance, and obtains the log information of the computing node according to the log level parameter included in the control parameter and/or obtains the output log information according to the log output parameter included in the control parameter;
when the container management instruction is a modification instruction, entering the container instance from the node, and modifying the container or the computing node according to the modification parameter;
when the container management instruction is a pause instruction, pausing the computing node according to the identifier of the computing node included in the control parameter;
when the container management instruction is a restarting instruction, the slave node restarts the computing node in the container according to the computing node operation parameters included in the control parameters;
step 4023c, judging whether the received at least one container instance identifier is processed, if so, processing goes to step 4024c, otherwise, processing returns to step 4021 c;
step 4024c, the slave node generates a corresponding processing result according to the control processing result, otherwise, generates a processing result of processing failure.
Through the processing shown in fig. 7, the slave node can perform corresponding control on the container instance or the computing node therein according to the control instruction.
On the basis of the processing shown in fig. 4 to 7, after step 402, as shown in fig. 8, step 403 may be further included, which specifically includes:
in step 403, the slave node returns the result of executing the operation corresponding to the management instruction to the master node.
Through the system shown in fig. 1, the computing nodes in the autonomous vehicles are configured in the containers, a plurality of containers in the autonomous vehicles are configured into the container cluster, the slave nodes of the container cluster are arranged in each autonomous vehicle, one master node is arranged for the whole container cluster, container management instructions from the control terminal are received, distributed and dispatched through the master nodes, and the slave nodes perform corresponding operations on the containers in the autonomous vehicles and/or the computing nodes in the containers, so that the computing nodes in the autonomous vehicles can be managed flexibly and efficiently, remote management can be realized, and the problems of poor flexibility and low efficiency of management work of the computing nodes in the autonomous vehicles in the prior art can be solved.
Based on the same inventive concept, the embodiment of the application also provides a management device of the computing node of the automatic driving vehicle. As shown in fig. 9, the apparatus includes a processor 1001 and at least one memory 1002, the at least one memory 1002 including at least one machine executable instruction, the processor 1001 executing the at least one machine executable instruction to perform a process for managing a computing node of an autonomous vehicle, the process comprising:
receiving a container management instruction and a management file from a control terminal, wherein the management file comprises at least one vehicle identifier and identifiers of at least one container instance corresponding to each vehicle identifier;
analyzing the management file, and determining slave nodes corresponding to at least one vehicle identifier in the management file;
and correspondingly sending the management instruction and the identifier of the at least one container instance corresponding to the at least one vehicle identifier in the management file to the determined slave node, so that the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
In some embodiments, the container management instructions include start instructions, stop instructions, or control instructions for the container.
In some embodiments, the processor 1001 executes at least one machine executable instruction to perform determining a slave node to which at least one vehicle identifier in the management file corresponds respectively, including: and determining the slave nodes corresponding to at least one vehicle identifier in the management file respectively according to the corresponding relation between the pre-stored vehicle identifiers and the slave nodes.
In some embodiments, the execution of the at least one machine executable instruction by the processor 1001 also performs the obtaining of the operation result returned from the node and the returning of the operation result to the control terminal.
Based on the same inventive concept, the embodiment of the application also provides a management device of the computing node of the automatic driving vehicle. As shown in fig. 10, the apparatus includes a processor 1101 and at least one memory 1102, the at least one memory 1102 including at least one machine executable instruction, the processor 1101 executing the at least one machine executable instruction to perform a process for managing computing nodes of an autonomous vehicle, the process comprising:
receiving a container management instruction from a master node and an identification of at least one container instance;
and executing the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
In some embodiments, the container management instructions include start instructions, stop instructions, or control instructions for the container.
In some embodiments, the container management instruction is a start instruction, and the management file further includes an identifier of a container corresponding to each container instance identifier, an identifier of a compute node in the container, and an operating parameter of the compute node; then, the processor 1101 executes at least one machine executable instruction to perform operations corresponding to the container management instructions for the respective compute node based on the received identification of the at least one container instance, including: judging whether the received identifier of the at least one container instance is stored in a computing system where the device is located according to the received identifier of the at least one container instance; under the condition that any one of at least one container instance identifier is not stored in a computing system where the device is located, accessing a pre-stored cloud address, and downloading a corresponding container mirror image from the cloud address according to the identifier of a container corresponding to the container instance identifier in a management file and the identifier of a computing node in the container, wherein the container mirror image comprises the pre-configured computing node; starting a downloaded container mirror image and a computing node in the container mirror image according to the management file to obtain an operating container instance; and storing the identifier of the container instance; and under the condition that any one of at least one container instance identifier is stored in the computing system of the judging device, starting a container corresponding to the container instance identifier and a computing node in the container according to the management file.
Furthermore, the management file also comprises a resource mounting directory parameter and/or a container instance operation mode parameter.
In some embodiments, the container management instruction is a stop instruction; then, the processor 1101 executes at least one machine executable instruction to perform operations corresponding to the container management instructions for the respective compute node based on the received identification of the at least one container instance, including: judging whether the received identifier of at least one container instance is stored in a computing system where the device is located; and stopping the running of the container instance pointed by the container instance identifier under the condition that any one of the at least one container instance identifier is stored in the computing system of the judging device.
Further, the management file also includes log output parameters, including an output mode parameter and/or an output address parameter.
In some embodiments, the container management instruction is a control instruction, and the management file further includes a control parameter; then, the processor 1101 executes at least one machine executable instruction to perform operations corresponding to the container management instructions for the respective compute node based on the received identification of the at least one container instance, including: judging whether the received identifier of at least one container instance is stored in a computing system where the device is located; and under the condition that any one of at least one container instance identifier is stored in the computing system of the judging device, entering the container instance corresponding to the container instance identifier, and correspondingly controlling the container instance according to the control parameters in the management file.
Further, when the control instruction comprises a log instruction, the control parameter comprises a log level parameter and/or a log output parameter;
when the control instruction comprises a modification instruction, the control parameter comprises a modification parameter;
when the control instruction comprises a pause instruction, the control parameter comprises an identification of the computing node;
when the control instruction comprises a restart instruction, the control parameter comprises a computing node operation parameter.
In some embodiments, execution of the at least one machine-executable instruction by processor 1101 also performs returning a result of performing an operation corresponding to the management instruction to the master node.
Based on the same inventive concept, embodiments of the present application also provide a non-transitory storage medium having at least one machine executable instruction stored therein, the machine executing the at least one machine executable instruction to perform a management process for a computing node of an autonomous vehicle, comprising:
receiving a container management instruction and a management file from a control terminal, wherein the management file comprises at least one vehicle identifier and identifiers of at least one container instance corresponding to each vehicle identifier;
analyzing the management file, and determining slave nodes corresponding to at least one vehicle identifier in the management file;
and correspondingly sending the management instruction and the identifier of the at least one container instance corresponding to the at least one vehicle identifier in the management file to the determined slave node, so that the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
In some embodiments, the container management instructions include start instructions, stop instructions, or control instructions for the container.
In some embodiments, the machine executes at least one machine executable instruction to perform determining a respective corresponding slave node for at least one vehicle identification in the management file, comprising: and determining the slave nodes corresponding to at least one vehicle identifier in the management file respectively according to the corresponding relation between the pre-stored vehicle identifiers and the slave nodes.
In some embodiments, the machine executing the at least one machine-executable instruction further performs obtaining an operation result returned from the node and returning the operation result to the control terminal.
Based on the same inventive concept, embodiments of the present application also provide a non-transitory storage medium having at least one machine executable instruction stored therein, the machine executing the at least one machine executable instruction to perform a management process for a computing node of an autonomous vehicle, comprising:
receiving a container management instruction from a master node and an identification of at least one container instance;
and executing the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
In some embodiments, the container management instructions include start instructions, stop instructions, or control instructions for the container.
In some embodiments, the container management instruction is a start instruction, and the management file further includes an identifier of a container corresponding to each container instance identifier, an identifier of a compute node in the container, and an operating parameter of the compute node; then, the machine executes at least one machine executable instruction to perform operations corresponding to the container management instructions for the corresponding compute node based on the received identification of the at least one container instance, including: judging whether the received identifier of at least one container instance is stored; under the condition that any one of at least one container instance identifier is not stored, accessing a pre-stored cloud address, and downloading a corresponding container mirror image from the cloud address according to the identifier of the container corresponding to the container instance identifier in the management file and the identifier of the computing node in the container, wherein the container mirror image comprises the pre-configured computing node; starting a downloaded container mirror image and a computing node in the container mirror image according to the management file to obtain an operating container instance; and storing the identifier of the container instance; and under the condition that any one of the at least one container instance identifier is judged to be stored, starting a container corresponding to the container instance identifier and a computing node in the container according to the management file.
Furthermore, the management file also comprises a resource mounting directory parameter and/or a container instance operation mode parameter.
In some embodiments, the container management instruction is a stop instruction; then, the machine executes at least one machine executable instruction to perform operations corresponding to the container management instructions for the corresponding compute node based on the received identification of the at least one container instance, including: judging whether the received identifier of at least one container instance is stored; and stopping the operation of the container instance pointed by the container instance identification under the condition that any one of the at least one container instance identification is judged to be saved.
Further, the management file also includes log output parameters, including an output mode parameter and/or an output address parameter.
In some embodiments, the container management instruction is a control instruction, and the management file further includes a control parameter; then, the machine executes at least one machine executable instruction to perform operations corresponding to the container management instructions for the corresponding compute node based on the received identification of the at least one container instance, including: judging whether the received identifier of at least one container instance is stored; and under the condition that any one of the at least one container instance identifier is stored in the judgment, entering the container instance corresponding to the container instance identifier, and correspondingly controlling the container instance according to the control parameters in the management file.
Further, when the control instruction comprises a log instruction, the control parameter comprises a log level and/or a log output parameter;
when the control instruction comprises a modification instruction, the control parameter comprises a modification parameter;
when the control instruction comprises a pause instruction, the control parameter comprises an identification of the computing node;
when the control instruction comprises a restart instruction, the control parameter comprises a computing node operation parameter.
In some embodiments, the machine executing the at least one machine-executable instruction further performs returning a result of performing an operation corresponding to the management instruction to the master node.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (27)

1. A system for managing computing nodes of an autonomous vehicle, comprising: a master node of a container cluster and a container cluster branch located in a computing system of at least one autonomous vehicle; a computing system of an autonomous vehicle includes a container cluster branch, one container cluster branch including a plurality of container instances and a slave node of the container cluster, one container instance including a container and a computing node configured in the container to compute specified data;
the method comprises the steps that a main node receives a container management instruction and a management file from a control terminal, wherein the management file comprises at least one vehicle identifier and at least one container instance identifier corresponding to each vehicle identifier; analyzing the management file, and determining slave nodes corresponding to at least one vehicle identifier in the management file; correspondingly sending the management instruction and the identifier of at least one container instance corresponding to at least one vehicle identifier in the management file to the determined slave node;
receiving, from a slave node, a container management instruction and an identification of at least one container instance from a master node; and executing the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
2. The system of claim 1, wherein the container management instructions comprise start instructions, stop instructions, or control instructions for the container.
3. The system according to claim 2, wherein the container management instruction received by the master node is a start instruction, and the management file further includes an identifier of a container corresponding to each container instance identifier, identifiers of computing nodes in the container, and operating parameters of the computing nodes; then the process of the first step is carried out,
the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance, and the operation comprises the following steps:
the slave node judges whether the received identifier of at least one container instance is stored or not;
under the condition that any one of at least one container instance identifier is not stored in a computing system where the slave node is located, accessing a pre-stored cloud address, and downloading a corresponding container mirror image from the cloud address according to the identifier of a container corresponding to the container instance identifier in the management file and the identifier of the computing node in the container, wherein the container mirror image comprises the pre-configured computing node; starting a downloaded container mirror image and a computing node in the container mirror image according to the management file to obtain an operating container instance; and storing the identifier of the container instance;
and under the condition that any one of at least one container instance identifier is judged to be stored in the computing system where the slave node is located, starting a container corresponding to the container instance identifier and the computing node in the container according to the management file.
4. The system according to claim 3, wherein the master node, upon receiving the start instruction, further comprises a resource mount directory parameter and/or a container instance operation mode parameter in the management file.
5. The system of claim 2, wherein the container management command received by the master node is a stop command; then the process of the first step is carried out,
the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance, and the operation comprises the following steps:
the slave node judges whether the received identifier of at least one container instance is stored or not;
and under the condition that the slave node judges that any one of the at least one container instance identifier is stored in the computing system where the slave node is positioned, stopping the operation of the container instance pointed by the container instance identifier.
6. The system of claim 5, wherein when the master node receives the stop command, the management file further includes log output parameters, including an output mode parameter and/or an output address parameter.
7. The system of claim 2, wherein the container management command received by the master node is a control command, and the management file further includes control parameters; then the process of the first step is carried out,
the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance, and the operation comprises the following steps:
the slave node judges whether the received identifier of at least one container instance is stored or not;
and under the condition that the slave node judges that any one of at least one container instance identifier is stored in the computing system where the slave node is located, the slave node enters the container instance corresponding to the container instance identifier, and performs corresponding control on the container instance and/or the computing node in the container instance according to the control parameters in the management file.
8. The system of claim 7, wherein when the control instruction comprises a log instruction, the control parameter comprises a log level parameter and/or a log output parameter;
when the control instruction comprises a modification instruction, the control parameter comprises a modification parameter;
when the control instruction comprises a pause instruction, the control parameter comprises an identification of the computing node;
when the control instruction comprises a restart instruction, the control parameter comprises a computing node operation parameter.
9. The system of claim 1, wherein the master node determines the slave nodes corresponding to at least one vehicle identifier in the management file, respectively, and comprises:
and the master node determines slave nodes corresponding to at least one vehicle identifier in the management file respectively according to the corresponding relation between the pre-stored vehicle identifiers and the slave nodes.
10. The system of claim 1, wherein the slave node is further configured to return a result of performing an operation corresponding to the management instruction to the master node;
the master node is also used for obtaining the operation result returned by the slave node and returning the operation result to the control terminal.
11. A method of managing computing nodes of an autonomous vehicle, comprising the steps of including in a container cluster a master node and container cluster branches located in at least one computing system of the autonomous vehicle; a computing system of an autonomous vehicle includes a container cluster branch, one container cluster branch including a plurality of container instances and a slave node of the container cluster, one container instance including a container and a computing node configured in the container to compute specified data; the management operations of the computing nodes of the autonomous vehicle performed by the master node include:
the method comprises the steps that a main node receives a container management instruction and a management file from a control terminal, wherein the management file comprises at least one vehicle identifier and at least one container instance identifier corresponding to each vehicle identifier;
analyzing the management file, and determining slave nodes corresponding to at least one vehicle identifier in the management file;
and correspondingly sending the identifier of the at least one container instance respectively corresponding to the management instruction and the at least one vehicle identifier in the management file to the determined slave node, so that the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
12. The method of claim 11, wherein the container management instructions comprise start instructions, stop instructions, or control instructions for the container.
13. The method of claim 11, wherein the master node determines the slave nodes corresponding to the at least one vehicle identifier in the management file, respectively, and comprises:
and the master node determines slave nodes corresponding to at least one vehicle identifier in the management file respectively according to the corresponding relation between the pre-stored vehicle identifiers and the slave nodes.
14. The method of claim 11, wherein the master node is further configured to obtain the operation result returned from the slave node and return the operation result to the control terminal.
15. A method of managing computing nodes of an autonomous vehicle, comprising the steps of including in a container cluster a master node and container cluster branches located in at least one computing system of the autonomous vehicle; a computing system of an autonomous vehicle includes a container cluster branch, one container cluster branch including a plurality of container instances and a slave node of the container cluster, one container instance including a container and a computing node configured in the container to compute specified data; the management operations of the computing nodes of the autonomous vehicle performed from the nodes include:
receiving, from a slave node, a container management instruction and an identification of at least one container instance from a master node;
and executing the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance.
16. The method of claim 15, wherein the container management instructions comprise start instructions, stop instructions, or control instructions for the container.
17. The method according to claim 16, wherein the container management instruction is a start instruction, the management file further includes identifiers of containers corresponding to each container instance identifier, identifiers of compute nodes in the containers, and operation parameters of the compute nodes; then the process of the first step is carried out,
the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance, and the operation comprises the following steps:
the slave node judges whether the received identifier of at least one container instance is stored or not;
under the condition that any one of at least one container instance identifier is not stored in a computing system where the slave node is located, accessing a pre-stored cloud address, and downloading a corresponding container mirror image from the cloud address according to the identifier of a container corresponding to the container instance identifier in the management file and the identifier of the computing node in the container, wherein the container mirror image comprises the pre-configured computing node; starting a downloaded container mirror image and a computing node in the container mirror image according to the management file to obtain an operating container instance; and storing the identifier of the container instance;
and under the condition that any one of at least one container instance identifier is judged to be stored in the computing system where the slave node is located, starting a container corresponding to the container instance identifier and the computing node in the container according to the management file.
18. The method according to claim 17, wherein the management file further comprises a resource mount directory parameter and/or a container instance operation mode parameter.
19. The method of claim 16, wherein the container management instruction is a stop instruction; then the process of the first step is carried out,
the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance, and the operation comprises the following steps:
the slave node judges whether the received identifier of at least one container instance is stored or not;
and under the condition that the slave node judges that any one of the at least one container instance identifier is stored in the computing system where the slave node is positioned, stopping the operation of the container instance pointed by the container instance identifier.
20. The method according to claim 19, wherein the management file further comprises log output parameters, including an output mode parameter and/or an output address parameter.
21. The method according to claim 16, wherein the container management command is a control command, and the management file further includes control parameters; then the process of the first step is carried out,
the slave node executes the operation corresponding to the container management instruction on the corresponding computing node according to the received identifier of the at least one container instance, and the operation comprises the following steps:
the slave node judges whether the received identifier of at least one container instance is stored or not;
and under the condition that the slave node judges that any one of at least one container instance identifier is stored in the computing system where the slave node is located, the slave node enters the container instance corresponding to the container instance identifier, and performs corresponding control on the container instance and/or the computing node in the container instance according to the control parameters in the management file.
22. The method according to claim 21, wherein when the control instruction comprises a log instruction, the control parameter comprises a log level parameter and/or a log output parameter;
when the control instruction comprises a modification instruction, the control parameter comprises a modification parameter;
when the control instruction comprises a pause instruction, the control parameter comprises an identification of the computing node;
when the control instruction comprises a restart instruction, the control parameter comprises a computing node operation parameter.
23. The method of claim 15, wherein the slave node further returns a result of performing an operation corresponding to the management instruction to the master node.
24. An arrangement for managing computing nodes of an autonomous vehicle, the arrangement comprising a processor and at least one memory, the at least one memory including at least one machine executable instruction, the processor executing the at least one machine executable instruction to perform the method of any one of claims 11 to 14.
25. An arrangement for managing computing nodes of an autonomous vehicle, the arrangement being located in an autonomous vehicle and comprising a processor and at least one memory, the at least one memory including at least one machine executable instruction, the processor executing the at least one machine executable instruction to perform the method of any one of claims 15 to 23.
26. A non-transitory machine-readable storage medium having stored therein at least one machine-executable instruction, the machine executable at least one machine executable instruction to perform the method of any one of claims 11-14.
27. A non-transitory machine-readable storage medium having stored therein at least one machine-executable instruction, the machine executable at least one machine executable instruction to perform the method of any one of claims 15-23.
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