CN112581651A - Data recording method for vehicle, computer readable storage medium and vehicle - Google Patents
Data recording method for vehicle, computer readable storage medium and vehicle Download PDFInfo
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Abstract
The invention discloses a data recording method of a vehicle, a computer readable storage medium and a vehicle, wherein the data recording method comprises the following steps: performing cyclic covering caching on output data of a sensor in the automatic emergency braking system of the vehicle by using a cyclic buffer area; acquiring the working state of an automatic emergency braking system of the vehicle; if the working state is the early warning state or the braking state, initializing the storage number operand to obtain a first starting storage time stamp; when the working state is changed from the early warning state or the braking state to the standby state, updating the storage number operand to obtain a first stop storage time stamp; and recording data from the cached data according to the first starting storage time stamp and the first stopping storage time stamp. Therefore, the data recording method of the vehicle can save data storage space, simultaneously records effective data meeting the development and test analysis function requirements, and provides an optimization direction for the automatic emergency braking system.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a data recording method for a vehicle, a computer-readable storage medium, and a vehicle.
Background
AEB (automatic Emergency Braking system) is a very important advanced driving assistance system in a vehicle, and as the automatic driving technology is mature, more and more vehicles have an automatic driving function, and automatic Emergency Braking also becomes a wide range of configurations of vehicles. In order to balance the cost and the safety performance of the vehicle, the problems of missing report and failure scenes of the automatic emergency braking system and the optimization problem of the automatic emergency braking system need to be solved urgently. In the related art, sensing data of vehicle sensors and a function control logic state of an automatic emergency braking system are generally collected, and the reasonability of information processing of the automatic emergency braking system is verified. However, in the related art, the test of the related data in the automatic emergency braking system needs to use a road acquisition device, such as an inertial navigation device, a video acquisition device, etc., and the recorded data mostly adopts a real-time acquisition and recording manner, which causes the problems of high investment cost and high requirement on the capacity of a memory.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a data recording method for a vehicle, which can save the data storage space, and simultaneously record effective data meeting the requirements of development and test analysis functions, thereby providing an optimized direction for an automatic emergency braking system.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the invention is to propose a vehicle.
To achieve the above object, a first embodiment of the present invention provides a data recording method for a vehicle, including: performing cyclic covering caching on output data of a sensor in the automatic emergency braking system of the vehicle by using a cyclic buffer area; acquiring the working state of an automatic emergency braking system of the vehicle; if the working state is an early warning state or a braking state, initializing a storage operand to obtain a first starting storage timestamp; when the working state is changed from the early warning state or the braking state to a standby state, updating the storage operand to obtain a first stop storage timestamp; and recording data from the cached data according to the first starting storage time stamp and the first stopping storage time stamp.
According to the data recording method, firstly, a circular buffer area is utilized to perform circular covering caching on output data of a sensor in an automatic emergency braking system of a vehicle, then the working state of the automatic emergency braking system of the vehicle is obtained, if the obtained working state is an early warning state or a braking state, initialization processing is performed on a storage operand, a first starting storage timestamp is obtained, then when the working state is changed from the early warning state or the braking state to a standby state, the storage operand is updated, a first stopping storage timestamp is obtained, and then data recording is performed on the cached data according to the first starting storage timestamp and the first stopping storage timestamp; if the working state is not the early warning state and the braking state and the vehicle is not collided, returning to the step of acquiring the working state of the automatic emergency braking system of the vehicle; and before initializing the register operand, judging whether the vehicle is in a data recording stage at present, and returning to the step of acquiring the working state of the automatic emergency braking system of the vehicle when the vehicle is in the data recording stage at present. Therefore, the data recording method of the vehicle can save data storage space, simultaneously records effective data meeting the development and test analysis function requirements, and provides an optimization direction for the automatic emergency braking system.
In some examples of the invention, the method further comprises: judging whether the vehicle is collided or not; if the working state is not the early warning state and the braking state and the vehicle collides, updating the storage operation number to obtain a second starting storage time stamp and a second stopping storage time stamp; and recording data from the cached data according to the second number-starting time stamp and the second number-stopping time stamp.
In some examples of the invention, the recording data from the buffered data according to the first start deposit time stamp and the first stop deposit time stamp includes: updating the storage state in the storage operand into the storage; copying the cached data between the first starting storage time stamp and the first stopping storage time stamp in the cached data to a memory of an electronic control unit corresponding to the automatic emergency braking system; and updating the storage state in the storage operand to be storage completion.
In some examples of the present invention, the recording data from the buffered data according to the second start deposit time stamp and the second stop deposit time stamp includes: updating the storage state in the storage operand to be a starting storage; copying the cached data between the second starting storage time stamp and the second stopping storage time stamp in the cached data to a memory of an electronic control unit corresponding to the automatic emergency braking system; and updating the storage state in the storage operand to be storage completion.
In some examples of the present invention, the memory of the electronic control unit includes a first area block provided with an index table and a second area block used for data storage, wherein the index table includes at least one of a block base address, a write offset address, a block size, a block used size, a data type, a recorded number, and an actual storage area.
In some examples of the invention, the number of times of storage further comprises at least one of a number of times of storage, a system time stamp when the start number of storage is triggered, a system time stamp when the end number of storage is triggered, a number reservation margin, a start index marker, an end index marker.
In some examples of the invention, the circular buffer includes an entry management block including at least one of an entry base address, a number of entries, an entry length, an entry read index, an entry write index.
In some examples of the invention, the sensor comprises a millimeter wave radar and a camera, and the data recorded from the buffered data comprises: at least one of an alert flag, echo strength/confidence, obstacle proximity flag, obstacle ID, obstacle azimuth, obstacle relative distance, obstacle relative radial velocity, obstacle relative radial acceleration, obstacle motion state, obstacle length, obstacle width, and obstacle height.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the data recording method of the vehicle according to the above embodiment.
According to the computer-readable storage medium of the embodiment of the present invention, when the processor executes the computer program stored on the storage medium corresponding to the data recording method of the vehicle in the above-described embodiment, it is possible to save the data storage space, and at the same time, to record the effective data that meets the requirements of the development and test analysis functions, thereby providing an optimized direction for the automatic emergency braking system.
To achieve the above object, a third aspect of the present invention provides a vehicle including a memory, a processor, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the data recording method of the vehicle according to the above embodiment.
According to the vehicle provided by the embodiment of the invention, when the processor executes the computer program which is stored on the memory and corresponds to the data recording method of the vehicle in the embodiment, the data storage space can be saved, meanwhile, effective data meeting the requirements of development and test analysis functions are recorded, and an optimization direction is provided for the automatic emergency braking system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a data recording method of a vehicle according to a first embodiment of the present invention;
FIG. 2 is a block diagram of the automatic emergency braking system of the embodiment of the present invention;
FIG. 3 is a schematic diagram of a radar and camera table entry management block of an embodiment of the present invention;
FIG. 4 is a diagram illustrating data recorded in data buffered in a circular buffer according to an embodiment of the present invention;
fig. 5 is a flowchart of a data recording method of a vehicle according to a second embodiment of the present invention;
fig. 6 is a flowchart of a data recording method of a vehicle according to a third embodiment of the invention;
fig. 7 is a flowchart of a data recording method of a vehicle according to a fourth embodiment of the invention;
FIG. 8 is a diagram illustrating normal trigger type data logging in accordance with an embodiment of the present invention;
FIG. 9 is a diagram illustrating an embodiment of an abort type data record.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A data recording method of a vehicle, a computer-readable storage medium, and a vehicle of an embodiment of the invention are described below with reference to the drawings.
Fig. 1 is a flowchart of a data recording method of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, the data recording method of a vehicle includes the steps of:
and S10, performing cyclic coverage buffering on output data of the sensor in the automatic emergency braking system of the vehicle by using the cyclic buffer area.
It should be noted that, as shown in fig. 2, the automatic emergency braking system in the present invention includes three parts, namely, a sensing layer, a decision layer and an execution layer, specifically, the sensing layer may include a sensor, the decision layer may include an internal ECU (Electronic Control Unit) or an independent external ECU, and the execution layer may include an ESP (Electronic Stability Program) or an iBooster.
In some examples of the invention, the sensor may include a millimeter wave radar and a camera, wherein the target type is identified by the camera; and then the distance is sensed by utilizing the better angular resolution of the millimeter wave radar, and the information of the distance from the obstacle is judged. After the millimeter wave radar and the camera collect corresponding data, mutual confirmation is carried out, so that misjudgment can be greatly reduced.
In some examples of the invention, the circular buffer includes an entry management block including at least one of an entry base address, a number of entries, an entry length, an entry read index, and an entry write index.
Specifically, a radar table entry management block and a camera table entry management block may be created in the circular buffer, as shown in fig. 3, where the table entry management block includes a table entry base address, a table entry number, a table entry length, a table entry read index, and a table entry write index, where the table entry base address indicates a memory that is opened up for the real-time recording of the sensor in the memory; the table entry length represents the size of one table entry of the stored data, one table entry stores one frame of data, the length can be defined according to the type of the sensor, and meanwhile, some process information such as a time stamp, state information, control information and the like can be added; the number of the table entries represents the number of the table entries contained in the opened memory; the table entry read index represents an index value for taking sensor data from a table entry; the entry write index represents an index value to write sensor data from the entry.
It should be noted that the circular buffer can improve the space utilization, and optionally, the circular buffer can reasonably set the length according to the application scenario. For example, the data output frequency of the radar is generally 20Hz, the camera is generally 30Hz, the AEB trigger process is about 3 seconds, and in order to consider some process data before and after the trigger state and some scenes of fast trigger, and simultaneously ensure that the integrity of the AEB trigger data is not covered, the length of the circular buffer area may be designed to store 1min of data. If the data that needs to be recorded by the radar is 60 bytes and the data that needs to be recorded by the camera is 60 bytes, the length of the data that needs to be recorded by the radar is 60 × 20 bytes to 1200 bytes, the length of the data that needs to be recorded by the camera is 60 × 30 bytes to 1800 bytes, for convenience of coding design, the byte length can be set to 2048, 4096, and the like, and the total size of the circular buffer area is 2048 × 64 to 128 k. It is understood that the size of the circular buffer may also be adjusted according to the hardware resource situation.
In the embodiment, after the sensor outputs the data, the data output by the sensor in the automatic emergency braking system of the vehicle is circularly covered and buffered by using a circular buffer zone. In some examples of the invention, the data recorded in the data buffered by the circular buffer comprises: at least one of an alert flag, echo strength/confidence, obstacle proximity flag, obstacle ID, obstacle azimuth, obstacle relative distance, obstacle relative radial velocity, obstacle relative radial acceleration, obstacle motion state, obstacle length, obstacle width, and obstacle height.
Specifically, the sensor can buffer the detected data in a circular buffer area in a circular covering mode, and various data of the current environment of the vehicle can be acquired through data content collected by the sensor. It is understood that the automatic emergency braking system may acquire only key data among various data acquired by the sensor, for example, as shown in fig. 4, obstacle type information, obstacle azimuth information, etc. may be acquired.
And S20, acquiring the working state of the automatic emergency braking system of the vehicle.
Specifically, the operating state of the automatic emergency braking system may include AEB function off, AEB function standby, AEB front collision warning, AEB pre-braking, AEB auxiliary braking, and AEB strong braking. After the AEB function is turned on, an initialization process may be performed, and the AEB is in a standby state after the initialization process is completed. Since the current state information of the vehicle may affect the operating state of the AEB, further determination of the operating state of the AEB is needed.
And S30, if the working state is the early warning state or the braking state, initializing the storage operand to obtain a first starting storage time stamp.
Specifically, after the working state of the automatic emergency braking system of the vehicle is acquired, the working state may be determined, and if the working state is the early warning state or the braking state, the number storage operand is initialized, and the first starting time stamp for number storage is obtained.
It should be noted that, in this embodiment, when the automatic emergency braking system is in the early warning state, it mainly reminds the driver to take over the vehicle that a collision is about to occur in an acoustic (such as sending out a prompt voice) and optical (such as turning on a corresponding warning light) manner, and reduces the pressure of the automatic emergency braking system in advance, and at the same time, it also adjusts some functions, such as a variable suspension, according to the actual configuration of the vehicle.
The braking state of the automatic emergency braking system may include a pre-braking phase, a partial braking phase, and a full braking phase. In particular, when the automatic emergency braking system is in the pre-braking phase, the braking system will first try to wake up the driver by a short brake, since during driving the driver is able to feel if a short brake is applied (i.e. to change the running acceleration of the vehicle) and at the same time the vehicle will pretension the safety belt. At this point the automatic emergency braking system will start to apply a braking force to the brake disc, but this braking force is typically only 30% of the total braking force, it being noted that this phase can still be completely collision-free by driver intervention. When the automatic emergency braking system is in a partial braking stage, the braking system starts to use 50% of the total braking force to decelerate the vehicle, and meanwhile, the vehicle equipped with the automatic window and the skylight starts to be actively closed, so that the situation that a driver is thrown out of the window in the next possible collision is avoided, and when the automatic emergency braking system enters partial braking, the braking system also can turn on the double-flash warning lamp to remind the driver of the rear vehicle. At this point it is still possible to avoid a collision if the driver intervenes. When the automatic emergency braking system is in a full-force braking stage, the braking system will give up relying on the braking action of a driver and brake with 100% braking force through an actuator. At the same time, the vehicle is also signaled to begin preparing for the next possible risk of collision, such as tightening a seat belt or the like.
It will be appreciated that even if the automatic emergency braking system were to go through all three braking phases as described above, the duration of the entire actuation process would typically be only two or three seconds.
If the AEB state is an AEB front collision early warning or an AEB pre-braking or an AEB auxiliary braking or an AEB forced braking and the AEB outputs an early warning or braking signal, the AEB is indicated to be involved in braking control of the vehicle, and the storage operand is initialized to obtain a first starting storage time stamp.
Specifically, after it is determined that the AEB has intervened in the braking control of the vehicle, it may be further determined whether the count has been currently stored or has been already stored, and if so, it returns to step S20; if not, the number of stores operand is initialized again, more specifically, the number of stores state is updated, and the number of stores is started to obtain the first starting number of stores timestamp. Note that, the first start storage time stamp is the capture AEB time stamp-the initialization storage margin (1 second of data may be recorded as the case may be), that is, the first start storage time stamp may be equal to the capture AEB time stamp minus the storage margin corresponding to 1 second. The storage margin may be obtained by dividing the multi-recording time by the clock beat, for example, if the clock beat of the system is 10 milliseconds when the first starting storage timestamp is analyzed in this embodiment, the storage margin may be 100 since 1 second of data is recorded more.
And S40, when the standby state is changed from the early warning state or the braking state to the standby state, updating the storage operand to obtain a first stop storage time stamp.
After the first starting storage time stamp is acquired, the working state of an automatic emergency braking system of the vehicle can be acquired in a circulating mode, and when the working state of the system is acquired to be changed from the early warning state or the braking state to the standby state, the storage operation number is updated to obtain a first stopping storage time stamp. Note that, the first stop count timestamp may be equal to the capture AEB timestamp plus the storage margin corresponding to 1 second (1 second of data may be recorded in more cases). And the storage operand is updated, so that invalid data can be prevented from being recorded.
S50, recording data from the buffered data according to the first start time stamp and the first stop time stamp.
Specifically, after the first start-to-store time stamp and the first stop-to-store time stamp are acquired, data recording may be performed from the data buffered in the circular buffer according to the two time stamps. It is understood that, in the first starting-deposit time stamp, the recording of the data in the data buffer of the radar and the camera is started, and then, in the first stopping-deposit time stamp, the recording of the data in the data buffer of the radar and the camera is stopped, and the data recorded in the middle is the data recorded from the buffered data according to the first starting-deposit time stamp and the first stopping-deposit time stamp. Therefore, only the data between the first starting data storage time stamp and the first stopping data storage time stamp can be recorded, all data do not need to be recorded in real time, the storage space of the data is greatly reduced, and the data storage speed is improved.
In some examples of the present invention, step S50, recording data from the buffered data according to the first start-deposit time stamp and the first stop-deposit time stamp, as shown in fig. 7, further includes:
s51, updating the storage state in the storage operand to be in the storage.
And S52, copying the cached data between the first starting storage time stamp and the first stopping storage time stamp in the cached data to a memory of the electronic control unit corresponding to the automatic emergency braking system.
S53, updating the status of the storage in the storage operand is storage complete.
After the first starting storage time stamp and the first stopping storage time stamp are obtained, the cache data of the two time stamps are stored, and after the storage is finished, the table entry corresponding to the cache data can be copied to the memory of the electronic control unit corresponding to the automatic emergency braking system, so that the storage state is updated.
In some embodiments of the present invention, as shown in fig. 1 and 5, the data recording method of a vehicle further includes:
and S301, judging whether the vehicle collides.
It should be noted that, if the AEB state is not AEB front collision warning or AEB pre-braking or AEB auxiliary braking or AEB forcible braking and the AEB does not output a warning signal or a braking signal, it indicates that the AEB is not involved in braking control of the vehicle, and it may be determined whether the vehicle has collided. The early warning signal can be a signal which can give a collision warning effect to a driver through a light signal or a sound signal and the like, and other configurations of the vehicle are not adjusted; the braking signal may then be a signal from the AEB that the vehicle is about to be braked.
S401, if the working state is not the early warning state and the braking state and the vehicle is collided, updating the storage operation number to obtain a second starting storage time stamp and a second stopping storage time stamp.
Specifically, after the operating state of the AEB is determined not to be the early warning state and the braking state, and the vehicle has collided, the storage number operand may be further updated. More specifically, the front collision condition of the vehicle can be sensed from an airbag front collision sensor of the vehicle, if the vehicle collides, the sensed data of the current radar and camera and the AEB control protector are possible to have an abnormality, and then an abnormal storage service program is entered.
And S501, recording data from the cached data according to the second starting storage time stamp and the second stopping storage time stamp.
Specifically, in the abnormal count storage service program, the abnormal count storage state is first updated, and then the count storage is started. More specifically, in this embodiment, the second start-deposit timestamp is-1 second of the AEB current timestamp, and the second stop-deposit timestamp is +1 second of the AEB current timestamp, and after the second start-deposit timestamp and the second stop-deposit timestamp are obtained, data recording is performed from the cached data.
And S601, if the working state is not the early warning state and the braking state and the vehicle does not collide, returning to the step S20.
Specifically, in this embodiment, if the operating state of the automatic emergency braking system is not the warning state and the braking state, and the vehicle is not in a collision, the process returns to step S20 to re-acquire the operating state of the automatic emergency braking system of the vehicle, and when the operating state of the automatic emergency braking system is acquired as the warning state or the braking state, the process proceeds to step S30; or it is acquired that the vehicle has collided, step S401 is performed.
S701, before initializing the number of registers, further determining whether the current state is a data recording stage, and returning to step S20 when the current state is the data recording stage.
Specifically, before initializing the number of stored data operands, whether the number of stored data is currently in a data recording stage is further judged, if the number of stored data is currently in the data recording stage, the step returns to step S20, the working state of the automatic emergency system of the vehicle is obtained again, and when the working state of the automatic emergency braking system is obtained as an early warning state or a braking state, the step S30 is performed; or it is acquired that the vehicle has collided, step S401 is performed.
It should be noted that, in steps S20, S30, and S401 involved in steps S601 and 701, reference may be made to the above description of the steps, and details are not repeated here.
In this embodiment, according to the second count-up starting time stamp and the second count-down stopping time stamp, data recording is performed from the cached data, as shown in fig. 6, specifically including:
s5011, updating the status of the number in the number operand to the starting number.
Specifically, since the number of the vehicle collides, the number of the vehicle is stored in the number of the vehicle, and the number of the vehicle is stored in the number of the vehicle.
S5012, copying the buffered data between the second start time stamp and the second stop time stamp in the buffered data to the memory of the electronic control unit corresponding to the automatic emergency braking system.
S5013, updating the status of the number in the number operand is number complete.
Specifically, after the second start-deposit time stamp and the second stop-deposit time stamp are obtained, the cached data between the two time stamps can be stored, and after the data storage is completed, the cached data is copied to the storage of the electronic control unit corresponding to the automatic emergency braking system, so as to complete the update of the deposit state.
In some examples of the present invention, the memory of the electronic control unit includes a first area block provided with an index table and a second area block for data storage, wherein the index table includes at least one of a block base address, a write offset address, a block size, a block used size, a data type, a recorded number, and an actual storage area. The storage operand also comprises at least one of a storage number, a system time stamp when the storage number is triggered to start, a system time stamp when the storage number is triggered to end, a storage number reservation margin, a start index mark and an end index mark.
Specifically, as shown in fig. 8 and 9, the data types may be divided into a normal trigger type and an abnormal trigger type, and the data storage manners of the normal trigger type and the abnormal trigger type are the same. Describing by taking a normal trigger type as an example, firstly setting a start index mark equal to a write index of a recording buffer area, wherein the start index mark and an end index mark both traverse the data buffer areas of the radar and the camera, after determining a first start-to-store time stamp and a first stop-to-store time stamp, starting to store data from the first start-to-store time stamp, wherein a storage address of the data is a write address, stopping storing the data at the first stop-to-store time stamp, and adding 1 to the write address. The first starting storage time stamp is smaller than the system time stamp when the starting storage is triggered, and the first stopping storage time stamp is larger than the system time stamp when the ending storage is triggered. It is understood that the data type of the exception trigger type has a memory operation similar to that of the normal trigger type, and is not described herein again.
In this embodiment, the block base address points to the real storage area; the write address is equal to the block base address plus the write offset address, and the write address is used for updating the write data in real time each time; the block size is the size of the storage area allocated for storing the actual sensor data; the block used size refers to the size of the storage area into which data has been written; the data type is the type triggered by the storage number operation and is a normal triggering type or an abnormal triggering type; the recorded number refers to the number of times of data copying is triggered; the real storage area refers to a storage area for storing sensor data written from the memory circular buffer to the memory.
It should be noted that, as can be seen from fig. 8 or fig. 9, in the process of storing the number, the memory first determines whether the memory is capable of writing all the current data, if not, directly exits, otherwise, continues to store; the current storage quantity calculation mode is as follows: traversing from the initial index mark to the front until the time stamp in the sensor circular buffer zone is less than the first or second initial storage time stamp, updating the initial index mark, if the storage reservation allowance is not 0, the updated initial index mark is equal to the initial index mark minus the storage reservation allowance, and if the storage reservation allowance is zero, the initial index mark does not need to be corrected; traversing backwards from the ending index mark until the timestamp in the sensor circular buffer is greater than the first or second stop storage timestamp, updating the ending index mark, if the storage reservation margin is not 0, the updated ending index mark is equal to the ending index mark plus the storage reservation margin, and if the storage reservation margin is zero, the ending index mark does not need to be corrected; and the amount of current memory is equal to the data size between the updated end index marker minus the updated start index marker. And finally, determining the actual address written into the memory according to the block base address and the write offset address, writing data into the memory, updating the used size of the block, updating the number of records, and updating the write offset address.
In addition, the storage space of the embodiment of the invention is further calculated, and particularly, the length design of the buffer area needs to consider the type of the sensor and the data output frequency, so that the real-time recording is ensured and the data is not lost. For example, the data output frequency of radar is generally 20Hz, the camera is generally 30Hz, the AEB trigger process is about 3s, in order to consider some process data before and after the trigger state and some scenes of fast triggering, the length of the buffer area designed by us may be 1min of data, the length of the buffer area is 60 × 20 — 1200, 60 × 30 — 1800, for convenience of coding design, the length of the buffer area is set to 2048, the total size of the buffer area is 2048 × 64 — 128k, and the radar and the camera occupy 256k of the memory. And when the buffer area records data, a timestamp is stamped on each frame of data reported by the sensor, and the AEB state and the output information are associated.
AEB memory storage design can refer to fig. 8 and 9, and it is assumed that we record data of AEB process 3s, then the space required by radar is 3 × 20 × 64 — 3840 bytes, the space required by camera is 3 × 30 × 64 — 5760 bytes, the memory is generally 512 bytes one page, then radar needs 8 pages, the camera needs 12 pages and 20 pages in total, if we test 8 hours a day, AEB is triggered at 1min interval, then 8 × 60 — 480 times in total, and the space required in total is 480 × 20 pages — 9600 pages 4800K, the index table has 4 bytes per member and 24 bytes exclusive one page in total, and the look-up table has 8 bytes 480 × 3840 bytes, which occupies 8 pages. The required space calculated by the whole method is 9609 pages and less than 0.5M, the 1M storage space is met by normal triggering and abnormal function recording, the hardware requirement on the ECU is low, and the method has practical significance.
In conclusion, the data recording method for the vehicle in the embodiment can save the data storage space, simultaneously record the effective data meeting the requirements of development and test analysis functions, and provide an optimized direction for the automatic emergency braking system.
Further, the present invention proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the data recording method of the vehicle as in the above-described embodiments.
According to the computer-readable storage medium of the embodiment of the present invention, when the processor executes the computer program stored on the storage medium corresponding to the data recording method of the vehicle in the above-described embodiment, it is possible to save the data storage space, and at the same time, to record the effective data that meets the requirements of the development and test analysis functions, thereby providing an optimized direction for the automatic emergency braking system.
Further, the present invention proposes a vehicle comprising a memory, a processor and a computer program stored on the memory, which when executed by the processor, implements the data recording method of the vehicle as in the above embodiment.
According to the vehicle provided by the embodiment of the invention, when the processor executes the computer program which is stored on the memory and corresponds to the data recording method of the vehicle in the embodiment, the data storage space can be saved, meanwhile, effective data meeting the requirements of development and test analysis functions are recorded, and an optimization direction is provided for the automatic emergency braking system.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A data recording method for a vehicle, characterized by comprising the steps of:
performing cyclic covering caching on output data of a sensor in the automatic emergency braking system of the vehicle by using a cyclic buffer area;
acquiring the working state of an automatic emergency braking system of the vehicle;
if the working state is an early warning state or a braking state, initializing a storage operand to obtain a first starting storage timestamp;
when the working state is changed from the early warning state or the braking state to a standby state, updating the storage operand to obtain a first stop storage timestamp;
and recording data from the cached data according to the first starting storage time stamp and the first stopping storage time stamp.
2. The data recording method of a vehicle according to claim 1, characterized in that the method further comprises:
judging whether the vehicle is collided or not;
if the working state is not the early warning state and the braking state and the vehicle collides, updating the storage operation number to obtain a second starting storage time stamp and a second stopping storage time stamp;
according to the second number-starting time stamp and the second number-stopping time stamp, data recording is carried out from the cached data;
if the working state is not the early warning state and the braking state and the vehicle is not collided, returning to the step of acquiring the working state of the automatic emergency braking system of the vehicle; and
before initializing the register operand, judging whether the vehicle is in a data recording stage at present, and returning to the step of acquiring the working state of the automatic emergency braking system of the vehicle when the vehicle is in the data recording stage at present.
3. The data recording method of a vehicle according to claim 1, wherein the recording of data from the buffered data based on the first start time stamp for deposit and the first stop time stamp for deposit comprises:
updating the storage state in the storage operand into the storage;
copying the cached data between the first starting storage time stamp and the first stopping storage time stamp in the cached data to a memory of an electronic control unit corresponding to the automatic emergency braking system;
and updating the storage state in the storage operand to be storage completion.
4. The data recording method of a vehicle according to claim 2, wherein the recording of data from the buffered data based on the second start time stamp for deposit and the second stop time stamp for deposit comprises:
updating the storage state in the storage operand to be a starting storage;
copying the cached data between the second starting storage time stamp and the second stopping storage time stamp in the cached data to a memory of an electronic control unit corresponding to the automatic emergency braking system;
and updating the storage state in the storage operand to be storage completion.
5. The data recording method of the vehicle according to claim 3 or 4, wherein the memory of the electronic control unit includes a first area block provided with an index table and a second area block for data storage, wherein the index table includes at least one of a block base address, a write offset address, a block size, a block used size, a data type, a recorded number, and an actual storage area.
6. The data recording method of a vehicle according to claim 3 or 4, wherein the number of deposits further includes at least one of a number of deposits, a system time stamp when the start of the deposit is triggered, a system time stamp when the end of the deposit is triggered, a reserve margin of the deposit, a start index marker, an end index marker.
7. The data recording method of a vehicle according to claim 1, wherein the circular buffer includes an entry management block including at least one of an entry base address, an entry number, an entry length, an entry read index, an entry write index.
8. The data recording method of a vehicle according to claim 1, wherein the sensor includes a millimeter wave radar and a camera, and the data recorded from the buffered data includes: at least one of an alert flag, echo strength/confidence, obstacle proximity flag, obstacle ID, obstacle azimuth, obstacle relative distance, obstacle relative radial velocity, obstacle relative radial acceleration, obstacle motion state, obstacle length, obstacle width, and obstacle height.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a data recording method of a vehicle according to any one of claims 1 to 8.
10. A vehicle comprising a memory, a processor and a computer program stored on the memory, characterized in that the computer program, when executed by the processor, implements a data recording method of a vehicle according to any one of claims 1-8.
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