CN112433859A - Data processing method and device, electronic equipment and computer storage medium - Google Patents
Data processing method and device, electronic equipment and computer storage medium Download PDFInfo
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- CN112433859A CN112433859A CN202110100329.5A CN202110100329A CN112433859A CN 112433859 A CN112433859 A CN 112433859A CN 202110100329 A CN202110100329 A CN 202110100329A CN 112433859 A CN112433859 A CN 112433859A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
Abstract
The application provides a data processing method, a data processing device, electronic equipment and a computer storage medium. The data processing method is applied to a vehicle-mounted computing platform and comprises the following steps: receiving sensor raw data sent by a vehicle-mounted sensor; and performing cooperative processing on the original data of the sensor by utilizing at least two processing systems in the vehicle-mounted computing platform. According to the embodiment of the application, the calculation power of the system can be improved in the data processing process.
Description
Technical Field
The present application belongs to the field of data processing technologies, and in particular, to a data processing method and apparatus, an electronic device, and a computer storage medium.
Background
Generally, in order to achieve safety and reliability, a dual-computer redundancy architecture is mostly used for data processing in parallel, and some systems perform dual-computer parallel processing and then compare. For the double-machine or multi-machine redundancy system applied to automatic driving, the system is characterized in that the common double-machine or multi-machine redundancy system is the same in software and hardware, the same in processed data and the same in expected result; the function allocation of the dual-computer is fixed, i.e. the dual-computer will not process cooperatively.
Although the scheme improves the safety and the reliability, the cost is high, half of resources are wasted in a normal working mode, the complexity of the system is improved, the energy consumption is improved while the cost is improved, the carbon emission is increased, and the system is insufficient in calculation.
Therefore, how to improve the system computation power in the data processing process is a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The embodiment of the application provides a data processing method and device, electronic equipment and a computer storage medium, which can improve the system computing power in the data processing process.
In a first aspect, an embodiment of the present application provides a data processing method applied to a vehicle-mounted computing platform, including:
receiving sensor raw data sent by a vehicle-mounted sensor;
and performing cooperative processing on the original data of the sensor by utilizing at least two processing systems in the vehicle-mounted computing platform.
Optionally, the vehicle-mounted sensor includes at least one of a camera, a millimeter wave radar, an ultrasonic radar, a laser radar, a satellite positioning sensor, and an inertial navigation sensor.
Optionally, before receiving the raw sensor data sent by the vehicle-mounted sensor, the method further includes:
and sending clock synchronization information to the vehicle-mounted sensor based on a clock synchronization system in the vehicle-mounted computing platform, so that the vehicle-mounted sensor marks a timestamp on the original data of the sensor according to the clock synchronization information.
Optionally, the performing, by using at least two processing systems in the vehicle-mounted computing platform, cooperative processing on the raw data of the sensor includes:
and respectively carrying out cooperative processing on the sensor raw data with different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
Optionally, the performing, by using at least two processing systems in the vehicle-mounted computing platform, cooperative processing on the sensor raw data with different timestamps respectively includes:
and respectively carrying out cooperative processing on different frame image data corresponding to different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
Optionally, the performing, by using at least two processing systems in the vehicle-mounted computing platform, cooperative processing on the raw data of the sensor includes:
and performing cooperative processing on the sensor raw data sent by different vehicle-mounted sensors by using at least two processing systems in the vehicle-mounted computing platform.
Optionally, before the cooperative processing is performed on the raw sensor data by using at least two processing systems in the vehicle-mounted computing platform, the method further includes:
acquiring system resource consumption information, automatic driving scene information and working state information of each processing system in real time;
and dynamically allocating the sensor processing node resources according to the system resource consumption information, the automatic driving scene information and the working state information.
In a second aspect, an embodiment of the present application provides a data processing apparatus, which is applied to an in-vehicle computing platform, and includes:
the receiving module is used for receiving the sensor raw data sent by the vehicle-mounted sensor;
and the cooperative processing module is used for performing cooperative processing on the original data of the sensor by utilizing at least two processing systems in the vehicle-mounted computing platform.
Optionally, the vehicle-mounted sensor includes at least one of a camera, a millimeter wave radar, an ultrasonic radar, a laser radar, a satellite positioning sensor, and an inertial navigation sensor.
Optionally, the apparatus further comprises:
and the sending module is used for sending clock synchronization information to the vehicle-mounted sensor based on a clock synchronization system in the vehicle-mounted computing platform so that the vehicle-mounted sensor marks a timestamp on the original data of the sensor according to the clock synchronization information.
Optionally, the cooperative processing module includes:
and the first cooperative processing unit is used for respectively performing cooperative processing on the sensor raw data with different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
Optionally, the first co-processing unit includes:
and the cooperative processing subunit is used for performing cooperative processing on different frame image data corresponding to different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
Optionally, the cooperative processing module includes:
and the second cooperative processing unit is used for respectively performing cooperative processing on the sensor raw data sent by different vehicle-mounted sensors by utilizing at least two processing systems in the vehicle-mounted computing platform.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring system resource consumption information, automatic driving scene information and working state information of each processing system in real time;
and the dynamic allocation module is used for dynamically allocating the sensor processing node resources according to the system resource consumption information, the automatic driving scene information and the working state information.
In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements a data processing method as shown in the first aspect.
In a fourth aspect, the present application provides a computer storage medium, on which computer program instructions are stored, and when executed by a processor, the computer program instructions implement the data processing method shown in the first aspect.
The data processing method, the data processing device, the electronic equipment and the computer storage medium can improve the system computing power in the data processing process. The data processing method is applied to a vehicle-mounted computing platform and comprises the following steps: receiving sensor raw data sent by a vehicle-mounted sensor; and performing cooperative processing on the original data of the sensor by utilizing at least two processing systems in the vehicle-mounted computing platform. Therefore, the method utilizes at least two processing systems in the vehicle-mounted computing platform to carry out cooperative processing on the original data of the sensor, so that the system calculation capacity can be improved compared with the prior art in the data processing process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a data processing method according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of an in-vehicle computing platform provided by an embodiment of the present application;
FIG. 3 is a diagram illustrating an embodiment of a processing system A, B for processing the same frame of image data at the same time;
FIG. 4 is a schematic diagram of a processing system A, B for cooperatively processing two different frames of image data before and after processing according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an A, B series processing system for processing image data of different cameras according to an embodiment of the present application;
FIG. 6 is a schematic flow chart diagram of a data processing method according to another embodiment of the present application;
FIG. 7 is a block diagram of a data processing apparatus according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In order to solve the prior art problems, embodiments of the present application provide a data processing method and apparatus, an electronic device, and a computer storage medium. First, a data processing method provided in an embodiment of the present application is described below.
Fig. 1 shows a schematic flow chart of a data processing method according to an embodiment of the present application. As shown in fig. 1, the data processing method applied to an in-vehicle computing platform includes:
s101, receiving sensor raw data sent by the vehicle-mounted sensor.
In one embodiment, the onboard sensors include at least one of a camera, a millimeter wave radar, an ultrasonic radar, a laser radar, a satellite positioning sensor, and an inertial navigation sensor.
In one embodiment, before receiving the sensor raw data sent by the vehicle-mounted sensor, the method further comprises:
and sending clock synchronization information to the vehicle-mounted sensor based on a clock synchronization system in the vehicle-mounted computing platform, so that the vehicle-mounted sensor marks a timestamp on the original data of the sensor according to the clock synchronization information.
Illustratively, the in-vehicle computing platform includes a plurality of systems of processing systems and a clock synchronization system, and as shown in fig. 2, the in-vehicle computing platform includes a system of processing systems, and a clock synchronization system.
The in-vehicle computing platform includes multiple trains of processing systems and a clock synchronization system. The processing system of each system consists of 1 or more processor units, and completes the automatic driving related calculation and processing work of the vehicle-mounted computing platform, including but not limited to perception, fusion, decision, planning, control and other calculation processes.
The clock synchronization system comprises a local clock source and a communication network. And the clock synchronization system sends the information of the local clock source to each system processing system and the vehicle-mounted sensor of the computing platform in real time in a broadcast mode through a communication network. And the vehicle-mounted sensor stamps the time stamp on the original data of the sensor according to the clock synchronization information and then sends the original data to the vehicle-mounted computing platform.
In one embodiment, the onboard sensors include cameras, millimeter wave radar, ultrasonic radar, laser radar, satellite positioning sensors, inertial navigation sensors, etc., each of which may be equipped in multiple numbers in the system. The data of the vehicle-mounted sensor is sent to each system processing system of the vehicle-mounted computing platform in a broadcasting mode.
And S102, performing cooperative processing on the original data of the sensor by using at least two processing systems in the vehicle-mounted computing platform.
In one embodiment, the cooperative processing of the sensor raw data by at least two processing systems in the vehicle-mounted computing platform comprises:
and respectively carrying out cooperative processing on the sensor raw data with different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
In one embodiment, the at least two processing systems in the vehicle-mounted computing platform are utilized to respectively perform cooperative processing on the sensor raw data with different timestamps, and the cooperative processing comprises the following steps:
and respectively carrying out cooperative processing on different frame image data corresponding to different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
In one embodiment, the cooperative processing of the sensor raw data by at least two processing systems in the vehicle-mounted computing platform comprises:
and performing cooperative processing on the sensor raw data sent by different vehicle-mounted sensors by using at least two processing systems in the vehicle-mounted computing platform.
For example, in the present system, sensor data may be distributed to the a-system processing system and the B-system processing system simultaneously. Because the raw data of the sensor received by the A, B series processing system is consistent, the used resources of the two series can be flexibly and dynamically adjusted.
Specifically, the processing system A, B may cooperate to select the raw sensor data to be processed. For example, the processing system A, B can process the same frame of image data simultaneously, can process two different frames of image data before and after the same frame of image data, and can process the image data of different cameras, respectively, see fig. 3, 4, and 5. FIG. 3 is a diagram illustrating an embodiment of a processing system A, B for processing the same frame of image data at the same time; FIG. 4 is a schematic diagram of a processing system A, B for cooperatively processing two different frames of image data before and after processing according to an embodiment of the present application; fig. 5 is a schematic diagram illustrating an A, B series processing system for processing image data of different cameras respectively according to an embodiment of the present application.
Likewise, the process may be dynamically configured for other types of sensor data. Because the sensor is in the state of synchronous receiving and synchronous processing, the switching of different processing modes of the original data can be completed in one sensor data processing period, and the dynamic processing of the sensor data is realized.
On the premise of ensuring safety and reliability, the dynamic resource allocation can meet the requirements of an automatic driving system on dynamic adjustment of computing resources in different environments and working states, the flexibility and the effective utilization rate of resources are improved, and the energy consumption is reduced. For example, the vehicle can concentrate the computational power on the data processing of the front sensors during the advancing process and concentrate the computational power on the data processing of the four sensors during the parking process; under the condition of insufficient single system computing power, the dual system cooperative computing can be performed, the performance is improved, and under the condition of sufficient single system computing power, the dual system redundant computing can be performed, so that the reliability is further improved.
In one embodiment, prior to co-processing the sensor raw data with at least two processing systems in the in-vehicle computing platform, the method further comprises:
acquiring system resource consumption information, automatic driving scene information and working state information of each processing system in real time;
and dynamically allocating the sensor processing node resources according to the system resource consumption information, the automatic driving scene information and the working state information.
As shown in fig. 6, in one embodiment, the data processing method further includes: receiving sensor raw data sent by a vehicle-mounted sensor; performing cooperative processing on the original data of the sensor by using at least two processing systems in the vehicle-mounted computing platform; acquiring system resource consumption information, automatic driving scene information and working state information of each processing system; and dynamically adjusting the cooperative processing mode of each processing to the original data of the sensor according to the system resource consumption information, the automatic driving scene information and the working state information of each processing system.
Exemplarily, the processing system of the A, B system dynamically adjusts resource allocation according to an automatic driving scene and a working state by calculating the resource consumption condition of the system in real time, realizes dynamic allocation of sensor processing node resources, and further realizes that the resource load tends to a balanced state by calculating and controlling real-time load information, thereby effectively utilizing energy and controlling the heating of a chip. In most typical automatic driving scenarios, as shown in fig. 4, in the working state, A, B, the maximum balance between the two resources is realized mainly by means of cooperative processing of the same group of sensor data, and in this state, the resources occupied by A, B and the processing functions are basically the same.
In order to improve the safety and reliability of the computing platform, a A, B-series resource dynamic allocation mode is adopted in the designed scheme, and when a sensor processing node of one series fails, the resource can still be allocated to another series of nodes to maintain the functional integrity at a safe vehicle speed. In a typical scenario, A, B works mainly by means of cooperative processing of the data of the same group of sensors, as shown in the working mode shown in fig. 4, in the case of a fault of one system, the other system can continuously maintain the working mode unchanged, the computing node is changed from the polling processing of A, B coefficient data to the single system processing, the function of the automatic driving system is maintained unchanged, and the vehicle speed is reduced to the safe vehicle speed.
The method provided by the embodiment improves the resource utilization rate of the system on the premise of ensuring the safety. In addition, the embodiment also solves the problem of data receiving redundancy sharing commonly existing in the current computing platform camera, saves the link of receiving and sharing a single sensor node, also reduces the problem of complete data loss of the camera caused by single node failure, and improves the real-time performance and reliability of the data.
Based on the scheme and the method, the overall computing power of the computing platform can be improved, and the problems of insufficient computing power and overhigh cost of redundant architecture of the computing platform under the same architecture are solved.
The computing platform computing power is mainly used in sensor perception processing, namely computing power of sensor processing nodes. The general scheme adopts A, B series of same algorithms to process the same data at the same time, or different algorithms to process the same data at the same time, so as to realize redundancy safety.
Based on the A, B coefficient data synchronization in the scheme, A, B can perform data processing cooperatively. Similarly, similar methods are adopted for processing data of a laser radar, a millimeter wave radar, a Global Navigation Satellite System (GNSS) and an Inertial Measurement Unit (IMU), so that the computational power is effectively improved under the same architecture.
The system scheme improves the utilization rate of system resources under the condition of ensuring the function safety, so the same calculation force can save the direct cost overhead of a part of redundant resources, simplify the design cost of the system and indirectly improve the reliability of the system.
Fig. 7 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present application, and as shown in fig. 7, the data processing apparatus is applied to an in-vehicle computing platform, and includes:
the receiving module 701 is used for receiving sensor raw data sent by a vehicle-mounted sensor;
and the cooperative processing module 702 is configured to perform cooperative processing on the raw data of the sensor by using at least two processing systems in the vehicle-mounted computing platform.
In one embodiment, the onboard sensors include at least one of a camera, a millimeter wave radar, an ultrasonic radar, a laser radar, a satellite positioning sensor, and an inertial navigation sensor.
In one embodiment, the apparatus further comprises:
and the sending module is used for sending clock synchronization information to the vehicle-mounted sensor based on a clock synchronization system in the vehicle-mounted computing platform so that the vehicle-mounted sensor marks a timestamp on the original data of the sensor according to the clock synchronization information.
In one embodiment, the co-processing module 702 includes:
and the first cooperative processing unit is used for respectively performing cooperative processing on the sensor raw data with different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
In one embodiment, a first co-processing unit, comprises:
and the cooperative processing subunit is used for performing cooperative processing on different frame image data corresponding to different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
In one embodiment, the co-processing module 702 includes:
and the second cooperative processing unit is used for respectively performing cooperative processing on the sensor raw data sent by different vehicle-mounted sensors by utilizing at least two processing systems in the vehicle-mounted computing platform.
In one embodiment, the apparatus further comprises:
the acquisition module is used for acquiring system resource consumption information, automatic driving scene information and working state information of each processing system in real time;
and the dynamic allocation module is used for dynamically allocating the sensor processing node resources according to the system resource consumption information, the automatic driving scene information and the working state information.
Each module/unit in the apparatus shown in fig. 7 has a function of implementing each step in fig. 1, and can achieve the corresponding technical effect, and for brevity, the description is not repeated here.
Fig. 8 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
The electronic device may include a processor 801 and a memory 802 that stores computer program instructions.
Specifically, the processor 801 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.
In one example, the Memory 802 may be a Read Only Memory (ROM). In one example, the ROM may be mask programmed ROM, programmable ROM (prom), erasable prom (eprom), electrically erasable prom (eeprom), electrically rewritable ROM (earom), or flash memory, or a combination of two or more of these.
The processor 801 reads and executes computer program instructions stored in the memory 802 to implement any of the data processing methods in the above-described embodiments.
In one example, the electronic device can also include a communication interface 803 and a bus 810. As shown in fig. 8, the processor 801, the memory 802, and the communication interface 803 are connected via a bus 810 to complete communication therebetween.
The communication interface 803 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present application.
In addition, the embodiment of the application can be realized by providing a computer storage medium. The computer storage medium having computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement any of the data processing methods in the above embodiments.
It is to be understood that the present application is not limited to the particular arrangements and instrumentality described above and shown in the attached drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.
Claims (9)
1. A data processing method is applied to a vehicle-mounted computing platform and comprises the following steps:
receiving sensor raw data sent by a vehicle-mounted sensor;
performing cooperative processing on the sensor raw data by utilizing at least two processing systems in the vehicle-mounted computing platform;
before the receiving of the sensor raw data sent by the vehicle-mounted sensor, the method further comprises:
and sending clock synchronization information to the vehicle-mounted sensor based on a clock synchronization system in the vehicle-mounted computing platform, so that the vehicle-mounted sensor marks a timestamp on the original data of the sensor according to the clock synchronization information.
2. The data processing method of claim 1, wherein the vehicle-mounted sensor comprises at least one of a camera, a millimeter wave radar, an ultrasonic radar, a laser radar, a satellite positioning sensor, and an inertial navigation sensor.
3. The data processing method of claim 1, wherein the co-processing the sensor raw data with at least two processing systems in the in-vehicle computing platform comprises:
and performing cooperative processing on the sensor raw data with different timestamps by utilizing at least two processing systems in the vehicle-mounted computing platform.
4. The data processing method according to claim 3, wherein the cooperative processing of the sensor raw data with different time stamps by at least two processing systems in the vehicle-mounted computing platform respectively comprises:
and performing cooperative processing on different frame image data corresponding to different timestamps respectively by using at least two processing systems in the vehicle-mounted computing platform.
5. The data processing method of claim 1, wherein the co-processing the sensor raw data with at least two processing systems in the in-vehicle computing platform comprises:
and utilizing at least two processing systems in the vehicle-mounted computing platform to respectively carry out cooperative processing on the sensor raw data sent by different vehicle-mounted sensors.
6. The data processing method of claim 1, wherein prior to the co-processing the sensor raw data with at least two processing systems in the in-vehicle computing platform, the method further comprises:
acquiring system resource consumption information, automatic driving scene information and working state information of each processing system in real time;
and dynamically allocating sensor processing node resources according to the system resource consumption information, the automatic driving scene information and the working state information.
7. A data processing device, which is applied to a vehicle-mounted computing platform, comprises:
the receiving module is used for receiving the sensor raw data sent by the vehicle-mounted sensor;
the cooperative processing module is used for performing cooperative processing on the sensor raw data by utilizing at least two processing systems in the vehicle-mounted computing platform;
the device further comprises: and the sending module is used for sending clock synchronization information to the vehicle-mounted sensor based on a clock synchronization system in the vehicle-mounted computing platform so that the vehicle-mounted sensor marks a timestamp on the original data of the sensor according to the clock synchronization information.
8. An electronic device, characterized in that the electronic device comprises: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements a data processing method as claimed in any one of claims 1-6.
9. A computer storage medium having computer program instructions stored thereon which, when executed by a processor, implement a data processing method according to any one of claims 1 to 6.
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| WO2023083271A1 (en) * | 2021-11-15 | 2023-05-19 | 虹软科技股份有限公司 | Data synchronization device and method, and computer readable storage medium |
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| CN113630217A (en) * | 2021-09-10 | 2021-11-09 | 北京智思迪科技有限公司 | Data transmission method and device |
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