CN111340976A - Method and device for debugging vehicle module, electronic equipment and computer-readable storage medium - Google Patents
Method and device for debugging vehicle module, electronic equipment and computer-readable storage medium Download PDFInfo
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Abstract
The application discloses a method and a device for debugging a vehicle module, electronic equipment and a computer readable storage medium, relates to the technical field of vehicle testing, and can be used for automatic driving. The implementation scheme adopted when debugging the vehicle module is as follows: recording external input data and internal state data corresponding to each operation cycle of a module to be debugged; determining a to-be-reproduced period of a module to be debugged, and acquiring external input data and internal state data corresponding to the to-be-reproduced period; and inputting the acquired external input data and the acquired internal state data into the module to be debugged, and acquiring an output result of the module to be debugged as a debugging result. The method and the device can improve flexibility and accuracy of module debugging.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for debugging a vehicle module, an electronic device, and a computer-readable storage medium in the field of vehicle testing technologies.
Background
When a module in an autonomous vehicle is running a scene, either actual or simulated, the output or effect of the module may be unexpected. For the above situations, the module needs to be debugged after scene reproduction. In the prior art, a method of searching logs or designing a general scene is generally adopted for scene reproduction. However, data recorded by the existing log is incomplete, and the designed general scene cannot be matched with various real scenes, so that the reproduction accuracy of the prior art is low, and the module debugging accuracy is influenced.
Disclosure of Invention
The technical scheme adopted by the application for solving the technical problem is to provide a method for debugging a vehicle module, which comprises the following steps: recording external input data and internal state data corresponding to each operation cycle of a module to be debugged; determining a to-be-reproduced period of a module to be debugged, and acquiring external input data and internal state data corresponding to the to-be-reproduced period; and inputting the acquired external input data and the acquired internal state data into the module to be debugged, and acquiring an output result of the module to be debugged as a debugging result. The method and the device can improve flexibility and accuracy of module debugging.
According to a preferred embodiment of the present application, the external input data includes data received by the module to be debugged from other modules; the internal state data comprises state change data of an internal algorithm of the module to be debugged and result data obtained by calculating the module to be debugged according to external input data. This step can promote the integrity of the recorded data.
According to a preferred embodiment of the present application, when recording external input data corresponding to each operation cycle of a module to be debugged, the method includes: determining the data type to be recorded by the module to be debugged; and recording the external input data corresponding to the data type. The method can improve the accuracy of data recording and avoid storage resource waste caused by recording unnecessary data.
According to a preferred embodiment of the present application, the determining a to-be-reproduced period of a module to be debugged includes: determining the operation period with operation fault according to the internal state data; and taking the determined operation period as the period to be reproduced. The operation cycle with problems can be quickly positioned in the step, so that the problem repairing speed of the module to be debugged is improved.
According to a preferred embodiment of the present application, the inputting the acquired external input data and the internal state data into the module to be debugged, and acquiring an output result of the module to be debugged as a debugging result includes: adjusting an internal algorithm of the module to be debugged, and replacing the original algorithm by using the adjusted algorithm; inputting external input data corresponding to the cycle to be reproduced into the module to be debugged, and comparing the output result of the module to be debugged with internal state data corresponding to the cycle to be reproduced; and acquiring the debugging result of the module to be debugged according to the comparison result.
According to a preferred embodiment of the present application, the inputting the acquired external input data and the internal state data into the module to be debugged, and acquiring an output result of the module to be debugged as a debugging result includes: inputting the external input data and the internal state data into the module to be debugged, and acquiring an output result of the module to be debugged; and inputting the output result into a downstream module of the module to be debugged, and acquiring a debugging result according to the output result of the downstream module. This step can promote the flexibility of module debugging.
The technical scheme that this application adopted for solving technical problem includes for providing a device of debugging vehicle module: the recording unit is used for recording external input data and internal state data corresponding to each operating cycle of the module to be debugged; the debugging device comprises a processing unit, a debugging unit and a debugging unit, wherein the processing unit is used for determining a to-be-reproduced period of a module to be debugged and acquiring external input data and internal state data corresponding to the to-be-reproduced period; and the debugging unit is used for inputting the acquired external input data and the acquired internal state data into the module to be debugged and acquiring an output result of the module to be debugged as a debugging result.
According to a preferred embodiment of the present application, the external input data includes data received by the module to be debugged from other modules; the internal state data comprises state change data of an internal algorithm of the module to be debugged and result data obtained by calculating the module to be debugged according to external input data.
According to a preferred embodiment of the present application, when recording external input data corresponding to each operation cycle of a module to be debugged, the recording unit specifically executes: determining the data type to be recorded by the module to be debugged; and recording the external input data corresponding to the data type.
According to a preferred embodiment of the present application, when determining a cycle to be reproduced of a module to be debugged, the processing unit specifically executes: determining the operation period with operation fault according to the internal state data; and taking the determined operation period as the period to be reproduced.
According to a preferred embodiment of the present application, when the debugging unit inputs the acquired external input data and internal state data into the module to be debugged and acquires an output result of the module to be debugged as a debugging result, the debugging unit specifically executes: adjusting an internal algorithm of the module to be debugged, and replacing the original algorithm by using the adjusted algorithm; inputting external input data corresponding to the cycle to be reproduced into the module to be debugged, and comparing the output result of the module to be debugged with internal state data corresponding to the cycle to be reproduced; and acquiring the debugging result of the module to be debugged according to the comparison result.
According to a preferred embodiment of the present application, when the debugging unit inputs the acquired external input data and internal state data into the module to be debugged and acquires an output result of the module to be debugged as a debugging result, the debugging unit specifically executes: inputting the external input data and the internal state data into the module to be debugged, and acquiring an output result of the module to be debugged; and inputting the output result into a downstream module of the module to be debugged, and acquiring a debugging result according to the output result of the downstream module. The present application is capable.
One embodiment in the above application has the following advantages or benefits: the method and the device can improve flexibility and accuracy of module debugging. Because the technical means of taking the operation cycle of the module to be debugged as a unit to completely record the internal and external data related to each operation cycle is adopted, the technical problem of incomplete data caused by only recording external input data or partial internal state data in the prior art is solved, and the method has the advantages that: the method and the device can improve the flexibility of module debugging and the technical effect of accuracy.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
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The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a flow chart of a method of commissioning a vehicle module according to a first embodiment of the present application;
FIG. 2 is a block diagram of an apparatus for commissioning vehicle modules according to a second embodiment of the present application;
fig. 3 is a block diagram of an electronic device for implementing a method of commissioning a vehicle module according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a flowchart of a method for commissioning a vehicle module according to a first embodiment of the present application, as shown in fig. 1, the method includes:
in S101, external input data and internal state data corresponding to each operation cycle of the module to be debugged are recorded.
In this step, the external input data and the internal state data corresponding to each operating cycle of the module to be debugged are recorded. The operation cycle in this step is a process of calculating and outputting according to external input data triggered by the module to be debugged after receiving the specific information.
That is to say, in the application, each calculation process of the module to be debugged in the vehicle running process is taken as an operation cycle, the operation process of the module is divided into the operation cycles, and the operation cycles are taken as units to respectively record external input data and internal state data of different operation cycles, so that the integrity of data recording is improved, and the flexibility of module debugging is further enhanced.
It can be understood that the module to be debugged in the present application is at least one of a sensing module, a prediction module, a planning module and a control module in an autonomous vehicle, and the number of the module to be debugged is not limited in the present application.
For example, if the module to be debugged is a control module, which is used to control the vehicle to travel according to the planned travel path, and if the control module receives the instruction of lane change and overtaking, the control module will involve multiple calculations of control commands in the process of controlling the vehicle to perform lane change and overtaking, such as controlling the vehicle to change lane, controlling the vehicle to accelerate, and so on, and take the calculation of each control command as an operation cycle.
Specifically, the external input data recorded in this step is data input from the outside to the inside of the module to be debugged, including data received by the module to be debugged from other modules, or environmental data around the running vehicle; the internal state data recorded in this step is data generated inside the module to be debugged, including state change data of an internal algorithm of the module to be debugged, and result data calculated by the module to be debugged according to external input data, such as a lateral error value, a lateral error change rate, a longitudinal error value, a longitudinal error change rate, and the like output by the control module.
When the external input data of the module to be debugged is recorded, the following mode can be adopted: determining the data type to be recorded by a module to be debugged; and recording the external input data corresponding to the determined data type. That is to say, in this step, different external input data can be recorded for different modules to be debugged, thereby avoiding the waste of storage resources caused by recording irrelevant data.
For example, if the module to be debugged is a control module, the recorded external input data may include a planned track, positioning data, chassis data, and the like; if the module to be debugged is a planning module, the recorded data may include positioning data, chassis data, perception data, prediction data, and the like.
In order to avoid that the recorded internal state data is too large and the storage resources are wasted, the following method can be adopted when the internal state data of the module to be debugged is recorded in the step: determining whether the internal state data is result data obtained by calculation according to external input data, and if not, recording; if yes, determining whether the size of the internal state data exceeds a preset threshold value, and if not, recording; if so, recording the external input data of which the internal state data is obtained by calculation, for example, recording an index number of the external input data, so that the internal state data can be obtained by recalculating according to the corresponding external input data during reproduction.
In addition, the data corresponding to the modules to be debugged can be respectively recorded by the modules to be debugged; the data of each module to be debugged can be recorded in a unified way through a preset data recording module. Therefore, in order to distinguish different recording contents corresponding to each module, when the external input data and the internal state data of the module to be debugged are recorded, the identification information corresponding to the module to be debugged is also recorded, for example, the name of the module to be debugged is recorded.
Since the module to be debugged receives external input data from other modules, in order to improve the accuracy of data recording, the step records the external input data in an index manner, for example, using "key: each external input data is recorded in the form of a value ", where key represents identification information of the external input data, and value represents a value of the external input data.
Therefore, all data related to each operation cycle of the module to be debugged are recorded in the step, the problem that data records are incomplete due to the fact that only external input data or partial internal state data are recorded in the prior art is solved, each operation cycle of the module to be debugged is reproduced more completely, and the debugging accuracy of the module to be debugged is improved.
In S102, a to-be-reproduced period of the to-be-debugged module is determined, and external input data and internal state data corresponding to the to-be-reproduced period are acquired.
In this step, after the step S101 records the internal and external data of the module to be debugged according to the operation cycle, the operation cycle in which the module to be debugged is to be reproduced is first determined, and then the external input data and the internal state data corresponding to the determined cycle to be reproduced are acquired. The recorded internal and external data cover all processes of input, calculation and output of the module to be debugged in each operation cycle, so the step can completely reproduce the operation cycle of the module to be debugged according to the recorded data.
The method comprises the steps of recording internal and external data of a module to be debugged by taking an operating cycle as a unit, wherein the internal and external data of the module to be debugged are recorded by taking the operating cycle as a unit, so that the number of the cycles to be reproduced determined in the step can be one or more, and the specific number is determined by the actual requirement of a user, so that different operating cycles of the module to be debugged can be debugged more flexibly.
In addition, when determining the period to be reproduced of the module to be debugged, the following method can be adopted: determining the operation period with operation fault according to the internal state data; and taking the determined running period as a period to be reproduced. That is to say, the operation cycle of the operation fault of the module to be debugged can be accurately positioned in the step, so that the operation cycle of the operation fault of the module to be debugged is debugged only, and the speed of repairing the module problem is improved.
In S103, the acquired external input data and internal state data are input to the module to be debugged, and an output result of the module to be debugged is acquired as a debugging result.
In this step, after the external input data and the internal state data acquired in step S102 are input to the module to be debugged, the output result of the module to be debugged is acquired as a debugging result. In the step S101, the operation data of the module to be debugged is completely recorded, so that each operation cycle of the module to be debugged can be completely reproduced by using the recorded internal and external data, and the debugging accuracy is improved.
If the to-be-reproduced period determined in step S102 is a complete operation period, all calculation processes of the to-be-debugged module during the vehicle running process can be reproduced in this step, so as to obtain the debugging result.
If the to-be-reproduced period determined in step S102 is a period of an operation failure, the following contents may be included when the acquired external input data and internal state data are input into the to-be-debugged module and the output result of the to-be-debugged module is acquired as a debugging result in this step: adjusting an internal algorithm of a module to be debugged, and replacing an original algorithm by using the adjusted algorithm; inputting external input data corresponding to the cycle to be reproduced into the module to be debugged, and comparing the output result of the module to be debugged with the internal state data of the cycle to be reproduced; and obtaining the debugging result of the module to be debugged according to the comparison result. That is, the step can modify the internal algorithm of the module to be debugged, and quickly repair the occurred operation fault, so as to use the result of whether the fault is solved as the debugging result.
In addition, if the to-be-reproduced cycle determined in step S102 is a specific operating cycle, the step may further include the following steps when the obtained external input data and the obtained internal state data are input into the to-be-debugged module, and the output result of the to-be-debugged module is obtained as a debugging result: inputting the acquired external input data and the internal state data into a module to be debugged, and acquiring an output result of the module to be debugged; and inputting the acquired output result into a downstream module of the module to be debugged, and acquiring a debugging result according to the output result of the downstream module. That is to say, this step can simulate the running process of the vehicle after these running periods according to the specific running period, thereby improving the richness of the debugging result.
Therefore, the data recording is carried out by taking the running period of the module to be debugged as a unit, the flexibility of module debugging is improved, all the internal and external data related to each running period are recorded, the data incompleteness caused by only recording external input data or partial internal state data is avoided, and the accuracy of module debugging is improved.
Fig. 2 is a structural diagram of an apparatus for commissioning a vehicle module according to a second embodiment of the present application, as shown in fig. 2, the apparatus includes: a recording unit 201, a processing unit 202, and a debugging unit 203.
The recording unit 201 is configured to record external input data and internal state data corresponding to each operation cycle of the module to be debugged.
The recording unit 201 records external input data and internal state data corresponding to each operating cycle of the module to be debugged. The running period in the recording unit 201 is a process of calculating and outputting according to external input data, which is triggered after the module to be debugged receives the specific information.
That is to say, the recording unit 201 takes each calculation process of the module to be debugged in the vehicle driving process as an operation cycle, the operation process of the module is divided into operation cycles, and the operation cycles are taken as units to respectively record external input data and internal state data of different operation cycles, so that the integrity of data recording is improved, and the flexibility of module debugging is further enhanced.
It can be understood that the module to be debugged in the present application is at least one of a sensing module, a prediction module, a planning module and a control module in an autonomous vehicle, and the number of the module to be debugged is not limited in the present application.
Specifically, the external input data recorded by the recording unit 201 is data input from the outside to the inside of the module to be debugged, and includes data received by the module to be debugged from other modules, or environmental data of the driving periphery of the vehicle; the internal state data recorded in this step is data generated inside the module to be debugged, including state change data of an internal algorithm of the module to be debugged, and result data calculated by the module to be debugged according to external input data, such as a lateral error value, a lateral error change rate, a longitudinal error value, a longitudinal error change rate, and the like output by the control module.
When the recording unit 201 records external input data of the module to be debugged, the following method may be adopted: determining the data type to be recorded by a module to be debugged; and recording the external input data corresponding to the determined data type. That is, the recording unit 201 can record different external input data for different modules to be debugged, thereby avoiding the waste of storage resources caused by recording irrelevant data.
In order to avoid that the recorded internal state data is too large and wastes storage resources, when the recording unit 201 records the internal state data of the module to be debugged, the following method may be adopted: determining whether the internal state data is result data obtained by calculation according to external input data, and if not, recording; if yes, determining whether the size of the internal state data exceeds a preset threshold value, and if not, recording; if so, recording the external input data of which the internal state data is obtained by calculation, for example, recording an index number of the external input data, so that the internal state data can be obtained by recalculating according to the corresponding external input data during reproduction.
In addition, the data corresponding to the modules to be debugged can be respectively recorded by the modules to be debugged; the data of each module to be debugged can be recorded in a unified way through a preset data recording module. Therefore, in order to distinguish different recording contents corresponding to each module, when recording external input data and internal state data of the module to be debugged, the recording unit 201 also records identification information corresponding to the module to be debugged, for example, records a name of the module to be debugged.
Since the module to be debugged receives external input data from other modules, in order to improve the accuracy of data recording, the recording unit 201 records the external input data in an index manner, for example, using "key: each external input data is recorded in the form of a value ", where key represents identification information of the external input data, and value represents a value of the external input data.
Therefore, the recording unit 201 records all data involved in each operation cycle of the module to be debugged, so that the problem of incomplete data recording caused by only recording external input data or partial internal state data in the prior art is avoided, each operation cycle of the module to be debugged is more completely reproduced, and the debugging accuracy of the module to be debugged is improved.
The processing unit 202 is configured to determine a to-be-reproduced period of the to-be-debugged module, and acquire external input data and internal state data corresponding to the to-be-reproduced period.
After the recording unit 201 records the internal and external data of the module to be debugged according to the operation cycle, the processing unit 202 first determines the operation cycle in which the module to be debugged is to be reproduced, and then acquires the external input data and the internal state data corresponding to the determined cycle to be reproduced. Since the recorded internal and external data covers all processes of input, calculation and output of the module to be debugged in each operation cycle, the processing unit 202 can completely reproduce the operation cycle of the module to be debugged according to the recorded data.
Since the internal and external data of the module to be debugged are recorded by using the operation cycle as a unit, the number of the cycles to be reproduced determined by the processing unit 202 may be one or multiple, and the specific number is determined by the actual requirement of the user, so that different operation cycles of the module to be debugged can be debugged more flexibly.
In addition, when determining the to-be-reproduced period of the module to be debugged, the processing unit 202 may adopt the following manner: determining the operation period with operation fault according to the internal state data; and taking the determined running period as a period to be reproduced. That is to say, the operation cycle of the operation fault of the module to be debugged can be accurately positioned in the step, so that the operation cycle of the operation fault of the module to be debugged is debugged only, and the speed of repairing the module problem is improved.
The debugging unit 203 is configured to input the acquired external input data and internal state data into the module to be debugged, and acquire an output result of the module to be debugged as a debugging result.
After the external input data and the internal state data acquired by the processing unit 202 are input to the module to be debugged by the debugging unit 203, an output result of the module to be debugged is acquired as a debugging result. Because the recording unit 201 records the running data of the module to be debugged completely, the debugging unit 203 can reproduce each running cycle of the module to be debugged completely by using the recorded internal and external data, and the debugging accuracy is improved.
If the to-be-reproduced period determined by the processing unit 202 is a complete operation period, the debugging unit 203 may reproduce a complete calculation process of the to-be-debugged module in the vehicle driving process, thereby obtaining a debugging result.
If the cycle to be reproduced determined in the processing unit 202 is a cycle of operation failure, the debugging unit 203 may include the following contents when inputting the acquired external input data and internal state data into the module to be debugged and acquiring an output result of the module to be debugged as a debugging result: adjusting an internal algorithm of a module to be debugged, and replacing an original algorithm by using the adjusted algorithm; inputting external input data corresponding to the cycle to be reproduced into the module to be debugged, and comparing the output result of the module to be debugged with the internal state data of the cycle to be reproduced; and obtaining the debugging result of the module to be debugged according to the comparison result. That is, the debugging unit 203 can modify the internal algorithm of the module to be debugged, and quickly repair the occurred operation fault, thereby taking the result of whether the fault is resolved as the debugging result.
In addition, if the to-be-reproduced cycle determined by the processing unit 202 is a specific operating cycle, the debugging unit 203 may further input the acquired external input data and internal state data into the to-be-debugged module, and when the output result of the to-be-debugged module is acquired as the debugging result, the following contents may be included: inputting the acquired external input data and the internal state data into a module to be debugged, and acquiring an output result of the module to be debugged; and inputting the acquired output result into a downstream module of the module to be debugged, and acquiring a debugging result according to the output result of the downstream module. That is, the debugging unit 203 can simulate the running process of the vehicle after the running periods according to the specific running periods, thereby improving the richness of the debugging result.
According to an embodiment of the present application, an electronic device and a computer-readable storage medium are also provided.
As shown in fig. 3, is a block diagram of an electronic device of a method of commissioning a vehicle module according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 3, the electronic apparatus includes: one or more processors 301, memory 302, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 3, one processor 301 is taken as an example.
The memory 302, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method of debugging a vehicle module in the embodiment of the present application (for example, the recording unit 201, the processing unit 202, and the debugging unit 203 shown in fig. 2). The processor 301 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 302, that is, implements the method of debugging the vehicle module in the above-described method embodiment.
The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electronic device, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 302 optionally includes memory located remotely from the processor 301, and these remote memories may be connected over a network to the electronics of the method of commissioning the vehicle module. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the method of commissioning a vehicle module may further comprise: an input device 303 and an output device 304. The processor 301, the memory 302, the input device 303 and the output device 304 may be connected by a bus or other means, and fig. 3 illustrates the connection by a bus as an example.
The input device 303 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device of the method of commissioning the vehicle module, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or like input device. The output devices 304 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the data recording is carried out by taking the operation cycle of the module to be debugged as a unit, the flexibility of module debugging is improved, all the internal and external data related to each operation cycle are recorded, the data incompleteness caused by recording only external input data or partial internal state data is avoided, and the accuracy of module debugging is improved.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (14)
1. A method of commissioning a vehicle module, comprising:
recording external input data and internal state data corresponding to each operation cycle of a module to be debugged;
determining a to-be-reproduced period of a module to be debugged, and acquiring external input data and internal state data corresponding to the to-be-reproduced period;
and inputting the acquired external input data and the acquired internal state data into the module to be debugged, and acquiring an output result of the module to be debugged as a debugging result.
2. The method of claim 1, wherein the external input data comprises data received by the module to be debugged from other modules;
the internal state data comprises state change data of an internal algorithm of the module to be debugged and result data obtained by calculating the module to be debugged according to external input data.
3. The method according to claim 1, wherein when recording external input data corresponding to each operating cycle of the module to be debugged, the method comprises:
determining the data type to be recorded by the module to be debugged;
and recording the external input data corresponding to the data type.
4. The method of claim 1, wherein determining a period to be reproduced of a module to be debugged comprises:
determining the operation period with operation fault according to the internal state data;
and taking the determined operation period as the period to be reproduced.
5. The method according to claim 4, wherein the inputting the acquired external input data and internal state data into the module to be debugged, and the acquiring the output result of the module to be debugged as the debugging result comprises:
adjusting an internal algorithm of the module to be debugged, and replacing the original algorithm by using the adjusted algorithm;
inputting external input data corresponding to the cycle to be reproduced into the module to be debugged, and comparing the output result of the module to be debugged with internal state data corresponding to the cycle to be reproduced;
and acquiring the debugging result of the module to be debugged according to the comparison result.
6. The method according to claim 1, wherein the inputting the acquired external input data and internal state data into the module to be debugged, and the acquiring an output result of the module to be debugged as a debugging result comprises:
inputting the external input data and the internal state data into the module to be debugged, and acquiring an output result of the module to be debugged;
and inputting the output result into a downstream module of the module to be debugged, and acquiring a debugging result according to the output result of the downstream module.
7. An apparatus for commissioning a vehicle module, comprising:
the recording unit is used for recording external input data and internal state data corresponding to each operating cycle of the module to be debugged;
the debugging device comprises a processing unit, a debugging unit and a debugging unit, wherein the processing unit is used for determining a to-be-reproduced period of a module to be debugged and acquiring external input data and internal state data corresponding to the to-be-reproduced period;
and the debugging unit is used for inputting the acquired external input data and the acquired internal state data into the module to be debugged and acquiring an output result of the module to be debugged as a debugging result.
8. The apparatus of claim 7, wherein the external input data comprises data received by the module to be debugged from other modules;
the internal state data comprises state change data of an internal algorithm of the module to be debugged and result data obtained by calculating the module to be debugged according to external input data.
9. The apparatus according to claim 7, wherein the recording unit, when recording external input data corresponding to each operation cycle of the module to be debugged, specifically performs:
determining the data type to be recorded by the module to be debugged;
and recording the external input data corresponding to the data type.
10. The apparatus according to claim 7, wherein the processing unit, when determining a cycle to be reproduced of the module to be debugged, specifically performs:
determining the operation period with operation fault according to the internal state data;
and taking the determined operation period as the period to be reproduced.
11. The apparatus according to claim 10, wherein the debugging unit, when inputting the acquired external input data and internal state data into the module to be debugged and acquiring an output result of the module to be debugged as a debugging result, specifically performs:
adjusting an internal algorithm of the module to be debugged, and replacing the original algorithm by using the adjusted algorithm;
inputting external input data corresponding to the cycle to be reproduced into the module to be debugged, and comparing the output result of the module to be debugged with internal state data corresponding to the cycle to be reproduced;
and acquiring the debugging result of the module to be debugged according to the comparison result.
12. The apparatus according to claim 7, wherein the debugging unit, when inputting the acquired external input data and internal state data into the module to be debugged and acquiring an output result of the module to be debugged as a debugging result, specifically performs:
inputting the external input data and the internal state data into the module to be debugged, and acquiring an output result of the module to be debugged;
and inputting the output result into a downstream module of the module to be debugged, and acquiring a debugging result according to the output result of the downstream module.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.
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