CN113574502A - Data acquisition method and device for unmanned vehicle operating system - Google Patents
Data acquisition method and device for unmanned vehicle operating system Download PDFInfo
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Abstract
A method of data acquisition for an unmanned vehicle operating system, comprising: when an operating system of the unmanned vehicle is started, running a performance analysis application; the performance analysis application is installed in an operating system of the unmanned vehicle; acquiring a data acquisition interface of each computing node in an operating system of the unmanned vehicle, and starting the data acquisition interface of each computing node; and calling a data acquisition interface of each computing node through the performance analysis application program to acquire data of each computing node.
Description
The present application relates to the field of computer technologies, and in particular, to a data acquisition method and apparatus for an operating system of an unmanned vehicle, a computer device, and a computer-readable storage medium.
With the development of vehicle technology, unmanned technology has emerged. And the unmanned vehicle technology has higher requirements on the safety of the automobile. In a conventional data collection method for the operation system of the unmanned vehicle, each data in the operation system of the unmanned vehicle is collected through an external data collection tool. However, the conventional data acquisition method of the unmanned vehicle operation system has the problem of slow data acquisition speed.
Disclosure of Invention
According to various embodiments of the present application, a data collection method, an apparatus, a computer device, and a computer-readable storage medium for an unmanned vehicle operating system are provided.
A method of data collection for an unmanned vehicle operating system, the method comprising:
when an operating system of the unmanned vehicle is started, running a performance analysis application; the performance analysis application is installed within an operating system of the unmanned vehicle;
acquiring a data acquisition interface of each computing node in an operating system of the unmanned vehicle, and starting the data acquisition interface of each computing node; and
and calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node.
In one embodiment, the invoking, by the performance analysis application, a data collection interface of each of the computing nodes to collect data of each of the computing nodes includes:
calling a data acquisition interface of each computing node through the performance analysis application program to monitor each computing node; and
and when the computing node generates data, collecting the data of the computing node.
In one embodiment, the method further comprises:
and when the operation of the computing node is finished, closing the data acquisition interface of the operating finished computing node.
In one embodiment, the method further comprises:
summarizing the data of each computing node; and
and sending the summarized data to the front end of the unmanned vehicle, and displaying the data on a display screen of the unmanned vehicle.
In one embodiment, the method further comprises:
obtaining a target device associated with the unmanned vehicle; and
and sending the summarized data to the target equipment and displaying the summarized data on a display screen of the target equipment.
In one embodiment, the method further comprises:
monitoring data of each computing node; and
and when the data of the computing nodes exceed a preset range, generating an early warning signal.
In one embodiment, the method further comprises:
acquiring the proportion of each computing node occupying the operating system resource; and
and stopping running the computing nodes occupying the operating system resources with the proportion larger than the proportion threshold value.
In one embodiment, the method further comprises:
respectively counting the running time of each computing node; and
and stopping running the computing nodes with the running time length larger than the time length threshold value.
In one embodiment, the method further comprises:
acquiring a target duration; and
and calling a data acquisition interface of each computing node through the performance analysis application program at intervals of the target duration to acquire data of each computing node.
In one embodiment, the method further comprises:
acquiring acquisition frequency; and
and calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node at the acquisition frequency.
In one embodiment, the method further comprises:
detecting a travel speed of the unmanned vehicle;
when the travel speed is lower than a first speed threshold, reducing the acquisition frequency;
when the running speed is higher than a second speed threshold value, increasing the acquisition frequency; the first speed threshold is less than the second speed threshold; and
when the running speed is lower than or equal to a second speed threshold value and higher than or equal to a first speed threshold value, keeping the acquisition frequency unchanged.
A data collection device for an operating system of an unmanned vehicle, the device comprising:
the performance analysis application program running module is used for running the performance analysis application program when an operating system of the unmanned vehicle is started; the performance analysis application is installed within an operating system of the unmanned vehicle;
the data acquisition interface starting module is used for acquiring data acquisition interfaces of all computing nodes in an operating system of the unmanned vehicle and starting the data acquisition interfaces of all the computing nodes;
and the data acquisition module is used for calling a data acquisition interface of each computing node through the performance analysis application program and acquiring data of each computing node.
In one embodiment, the data collection module is further configured to call a data collection interface of each computing node through the performance analysis application program, and monitor each computing node; and when the computing node generates data, collecting the data of the computing node.
In one embodiment, the apparatus further includes a shutdown module configured to, when the computing node finishes running, shutdown a data collection interface of the computing node that finishes running.
In one embodiment, the apparatus further includes a summarization module configured to summarize data of each of the compute nodes; and sending the summarized data to the front end of the unmanned vehicle, and displaying the data on a display screen of the unmanned vehicle.
In one embodiment, the aggregation module is further configured to obtain a target device associated with the unmanned vehicle; and sending the summarized data to the target equipment and displaying the summarized data on a display screen of the target equipment.
In one embodiment, the apparatus further comprises an early warning module for monitoring data of each of the computing nodes; and when the data of the computing nodes exceed a preset range, generating an early warning signal.
In one embodiment, the apparatus further includes a stop module, configured to obtain a ratio that each of the computing nodes occupies the operating system resource; and stopping running the computing nodes occupying the operating system resources with the proportion larger than the proportion threshold value.
In one embodiment, the operation stopping module is further configured to count operation durations of the computing nodes respectively; and stopping running the computing nodes with the running time length larger than the time length threshold value.
In one embodiment, the data acquisition module is further configured to obtain a target duration; and calling a data acquisition interface of each computing node through the performance analysis application program at intervals of the target duration to acquire data of each computing node.
In one embodiment, the data acquisition module is further configured to obtain an acquisition frequency; and calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node at the acquisition frequency.
In one embodiment, the acquisition frequency adjustment module is used for detecting the running speed of the unmanned vehicle; when the travel speed is lower than a first speed threshold, reducing the acquisition frequency; when the running speed is higher than a second speed threshold value, increasing the acquisition frequency; the first speed threshold is less than the second speed threshold; when the running speed is lower than or equal to a second speed threshold value and higher than or equal to a first speed threshold value, keeping the acquisition frequency unchanged.
A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions that, when executed by the processor, cause the processor to perform the method of data acquisition of an unmanned vehicle operating system as described above.
A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements a data acquisition method of an unmanned vehicle operating system as described above.
For a better understanding of the description and/or illustration of embodiments and/or examples of those inventions disclosed herein, reference may be made to one or more of the drawings. The additional details or examples used to describe the figures should not be considered as limiting the scope of any of the disclosed inventions, the presently described embodiments and/or examples, and the presently understood best modes of these inventions.
FIG. 1 is a flow diagram of a data collection method for an operating system of an unmanned vehicle, according to one embodiment;
FIG. 2 is a flow diagram of generating an early warning signal in one embodiment;
FIG. 3 is a flow diagram of a shut down of a compute node in one embodiment;
FIG. 4 is a flow diagram of a stop running compute node in another embodiment;
FIG. 5 is a flow chart of a method for data collection by an operating system of an unmanned vehicle in accordance with another embodiment;
FIG. 6 is a flow chart of adjusting acquisition frequency in one embodiment;
FIG. 7 is a block diagram of a data acquisition device of an operating system of an unmanned vehicle in accordance with an embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, the first speed threshold may be referred to as a second speed threshold, and similarly, the second speed threshold may be referred to as a first speed threshold, without departing from the scope of the present application. The first speed threshold and the second speed threshold are both speed thresholds, but they are not the same speed threshold.
FIG. 1 is a flow diagram of a data collection method for an unmanned vehicle operating system, under an embodiment. As shown in fig. 1, a data collection method for an operation system of an unmanned vehicle, applied to a computer device of the unmanned vehicle, includes:
The unmanned vehicle is one of intelligent automobiles, is also called a wheeled mobile robot, and mainly achieves the purpose of unmanned driving by means of an intelligent driver which is mainly an operating system in the vehicle. The operating system of the unmanned vehicle is a computer operating system specially designed aiming at the characteristics of complex structure, large calculation amount, large occupied software and hardware resources, high consistency requirement and the like of a calculation node of the unmanned vehicle. The operation system is responsible for scheduling the operation cycle and sequence of each computing node, ensuring the efficient communication of messages among the computing nodes and fully utilizing different computing resources.
The performance analysis application program refers to an application program for performing performance analysis on various data of an operating system of the unmanned vehicle, and comprises operations of monitoring, collecting, sending, receiving, analyzing and the like on the data.
The performance analysis application is installed within the unmanned vehicle operating system, i.e., the performance analysis application may be a sub-module of the content of the unmanned vehicle operating system. When the unmanned vehicle operating system is started, the computer device runs the performance analysis application.
And 104, acquiring a data acquisition interface of each computing node in an operating system of the unmanned vehicle, and starting the data acquisition interface of each computing node.
The calculation nodes are algorithm modules for executing calculation tasks, such as a driving module for collecting sensor data, a sensing module for detecting obstacles, a prediction module for analyzing the running track of peripheral objects, a positioning module for positioning the positions, a planning module for determining running routes, a control module for outputting automobile running control signals and the like. Mutual dependency exists among all computing nodes in an operating system of the unmanned vehicle, and the computing nodes need to be scheduled and executed according to a certain time interval or a logic sequence, so that all information is guaranteed to be utilized by efficient and reasonable computing resources, and the unmanned vehicle can safely run.
The operating system of the unmanned vehicle provides data acquisition interfaces and interface identifiers of the data acquisition interfaces for the computing nodes in advance. The interface identification can have uniqueness, and the corresponding data acquisition interface can be uniquely found according to the interface identification. Wherein the interface identifier may be the number, character string, name of the computing node, etc., without limitation.
The computer equipment obtains the interface identification of the data acquisition interface of each computing node in the operating system of the unmanned vehicle, finds the data acquisition interface of the corresponding computing node according to the interface identification, and opens the data acquisition interface for acquiring the data of the computing node.
And 106, calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node.
The performance analysis application program comprises a performance acquisition function, a bottom function of an operation system of the unmanned vehicle can be called through the performance acquisition function, a data acquisition interface of each computing node can be called through the bottom function, and data of each computing node is acquired through the data acquisition interface.
In the conventional technology, an external performance analysis tool is generally adopted to collect and analyze data of a vehicle, and the external performance analysis tool occupies more system resources whether the data is collected, stored or smoothly operated. In the application, the data are collected by the performance analysis application program installed in the unmanned vehicle operating system, and the data collection interface of each computing node is called by the bottom function, so that the occupancy rate of the performance analysis application program on the operating system resource can be reduced.
In the embodiment of the application, when the operating system of the unmanned vehicle is started, the computer equipment runs the performance analysis application program; the performance analysis application is installed in an operating system of the unmanned vehicle; acquiring a data acquisition interface of each computing node in an unmanned vehicle operating system, and starting the data acquisition interface of each computing node; the performance analysis application program installed in the unmanned vehicle operating system calls the data acquisition interfaces of the computing nodes, so that the data of the computing nodes can be acquired more quickly, the delay in data acquisition is reduced, the acquired data is more timely, and the data acquisition speed is improved.
In addition, the performance analysis application program installed in the unmanned vehicle operating system calls the data acquisition interfaces of the computing nodes, and the computer equipment can acquire more and more complete data, such as actual operation time, data volume, stacking conditions and the like, so that the performance of the operating system of the unmanned vehicle can be more accurately analyzed, analysis results with higher accuracy and higher effectiveness can be obtained, potential safety problems can be timely found and solved in the operation process of the operating system of the unmanned vehicle, and the safety and the stability of the unmanned vehicle system are improved.
In one embodiment, the acquiring data of each computing node by calling a data acquisition interface of each computing node by the performance analysis application comprises: calling a data acquisition interface of each computing node through a performance analysis application program, and monitoring each computing node; when the computing node generates data, the data of the computing node is collected.
The data acquisition interface of the computing node can monitor the computing node, and when the computing node generates data, the computer equipment controls the data acquisition interface to acquire the generated data.
Further, for each computing node, when the data currently generated by the computing node is different from the last data collected, the computer device controls the data collection interface to collect the data currently generated by the computing node.
It will be appreciated that when the data currently generated by a computing node is different from the last data collected, indicating that the state of the node may change, the computer device controls the data collection interface to collect the data currently generated by the computing node. When the data generated by the calculation node is the same as the last acquired data, the state of the node is unchanged, the data generated at present can not be acquired, and the resources of an operating system of the unmanned vehicle are saved.
For example, the last data collected by the computing node is 100, and when the currently generated data of the computing node is 90, the currently generated data is different from the last data collected, the computer device controls the data collection interface to collect the currently generated data 90; when the data currently generated by the computing node is 100, the state of the computing node is not changed, the currently generated data can not be collected, and resources of an operating system of the unmanned vehicle are saved.
In this embodiment, a performance analysis application program calls a data acquisition interface of each computing node to monitor each computing node; when the computing node generates data, the data of the computing node can be collected in time, and the data collection speed is improved.
In one embodiment, the method further comprises: and when the operation of the computing node is finished, closing the data acquisition interface of the operating-finished computing node.
When the operation of the computing node is finished, the computer equipment closes the data acquisition interface of the computing node which finishes the operation, so that the resources of an operating system of the unmanned vehicle can be saved.
Further, when the data collection interface of the computing node that ended the running is closed, the computer device allocates the computer resources of the closed data collection interface to the running computing node.
It can be understood that when the data acquisition interface is in the on state, many computer resources, such as CPU resources, GPU resources, and memory resources, need to be consumed. After the data acquisition interface is closed by the computer equipment, the computer resources originally occupied by the data acquisition interface can be saved. The computer device allocates the saved computer resources to the running computing nodes, and the data acquisition speed of the running computing nodes can be further improved.
In one embodiment, the method further comprises: summarizing data of each computing node; and sending the summarized data to the front end of the unmanned vehicle, and displaying the data on a display screen of the unmanned vehicle.
The computer equipment collects the data of each computing node, sends the collected data to the front end of the unmanned vehicle, and displays the data on a display screen of the unmanned vehicle, so that a user can observe the data of each computing node.
In another embodiment, the computer device classifies the data of each computing node, and sends the classified data to the front end of the unmanned vehicle for display on the display screen of the unmanned vehicle.
In one embodiment, the method further comprises: obtaining a target device associated with an unmanned vehicle; and sending the summarized data to the target equipment and displaying the summarized data on a display screen of the target equipment.
The target device associated with the unmanned vehicle may be a target device that accesses the same wireless network as the unmanned vehicle, or may be a target device that is bound to the unmanned vehicle, but is not limited thereto. The target device may be a mobile device such as a smart phone or a notebook computer, a wearable device such as a smart band, or one or more servers in a traffic system for monitoring the unmanned vehicle, but is not limited thereto.
In another embodiment, the data of each computing node is classified, and the classified data is sent to the target device and displayed on a display screen of the target device.
In one embodiment, as shown in fig. 2, the method further comprises:
And 204, generating an early warning signal when the data of the computing node exceeds a preset range.
The computer equipment monitors data of each computing node, and generates an early warning signal when the data of one computing node in each computing node exceeds a preset range. The warning signal may be, but is not limited to, sound, vibration, text information, and the like. It should be noted that the preset ranges corresponding to the data of different computing nodes may be the same or different, and are not limited thereto.
Further, the computer device presets early warning signals corresponding to the computing nodes. And the computer equipment takes the calculation node with the data exceeding the preset range as an early warning node and generates an early warning signal corresponding to the early warning node.
For example, if the early warning signal corresponding to the computing node a is early warning sound 1, the early warning signal corresponding to the computing node B is early warning sound 2, and the early warning signal corresponding to the computing node C is vibration, the early warning sound 1 is generated when the data of the computing node a exceeds a preset range; when the data of the calculation node B exceeds the corresponding preset range, the corresponding early warning signal is early warning sound 2; and when the data of the computing node C exceeds the corresponding preset range, the corresponding early warning signal is vibration.
In one embodiment, as shown in fig. 3, the method further comprises:
The resources of the operating system may include at least one of a CPU, GPU, memory, network ports, throughput speed, and the like.
And step 304, stopping running the computing nodes occupying the operating system resources with the proportion larger than the proportion threshold value.
The computer equipment obtains the proportion of each computing node respectively occupying the operating system resources, and when the proportion of each computing node occupying the operating system resources is larger than a proportion threshold value, the computing node occupies more resources of the operating system of the unmanned vehicle, and the running speed of the whole operating system may be slowed down.
Therefore, when a computing node occupying the proportion of the operating system resources larger than the proportion threshold exists, the computer equipment stops running the computing node, and the running speed of the whole operating system can be increased.
In one embodiment, as shown in fig. 4, the method further includes:
The operation time duration refers to the time duration from the time when the computing node starts to operate to the current time.
In the performance analysis application program, a timer is further included, and the running time of each computing node can be counted through the timer.
And step 404, stopping running the computing nodes with the running time length longer than the time length threshold value.
When the running time length is greater than the time length threshold value, the computing node runs for a long time, and a deadlock state of the computing node may occur. Deadlock refers to a phenomenon in which two or more threads are blocked by competing resources or by communicating with each other during execution, and cannot advance without external force.
Therefore, when a computing node with the running time length larger than the time length threshold exists, the computer equipment stops running the computing node, and the computing node can be prevented from being in a deadlock state.
In one embodiment, the method further comprises: acquiring a target duration; and (4) the target time interval is long, a data acquisition interface of each computing node is called through a performance analysis application program, and data of each computing node is acquired.
The target duration can be set according to the needs of the user. The target duration is spaced, the data acquisition interface of each computing node is called through the performance analysis application program, the data of each computing node is acquired, the data of each computing node can be prevented from being acquired in real time, and computer resources of an operating system of the unmanned vehicle are saved.
Further, the computer device obtains a driving speed of the unmanned vehicle; when the running speed of the unmanned vehicle exceeds a preset speed threshold value, shortening the target duration; and calling a data acquisition interface of each computing node through a performance analysis application program to acquire data of each computing node after the interval is shortened.
When the running speed of the unmanned vehicle exceeds a preset speed threshold value, the speed of the unmanned vehicle is indicated to be high. When the unmanned vehicle is fast, the requirement on safety is higher, therefore, the target time length is shortened by the computer equipment, the data of each computing node is collected at the target time length after the interval is shortened, more data of each computing node can be collected, the data of the unmanned vehicle can be known more timely, and the safety of the unmanned vehicle is improved.
In one embodiment, as shown in fig. 5, the method further includes:
The acquisition frequency refers to the number of times data is acquired per unit time.
When the acquisition frequency is higher, the times of acquiring data in unit time are more, and the data of the unmanned vehicle can be acquired more timely; and when the acquisition frequency is lower, the computer resources of the operating system of the unmanned vehicle can be saved.
In one embodiment, as shown in fig. 6, the method further includes:
In the computer device of the unmanned vehicle, a speed sensor is installed. The speed sensor can detect the running speed of the unmanned vehicle.
In the computer device of the unmanned vehicle, a gyroscope, an accelerometer, and the like are also mounted. The angular velocity of the unmanned vehicle can be acquired by the gyroscope. The acceleration of the unmanned vehicle can be obtained through the accelerometer.
And step 604, when the running speed is lower than the first speed threshold value, reducing the acquisition frequency.
The first speed threshold may be set according to the user's needs.
When the running speed is lower than the first speed threshold value, the running speed of the unmanned vehicle is low, the requirement of the unmanned vehicle on safety is relatively low, the acquisition frequency can be reduced by the computer equipment, and computer resources of an operating system of the unmanned vehicle are saved.
When the running speed is higher than the second speed threshold value, the running speed of the unmanned vehicle is high, the requirement of the unmanned vehicle on safety is relatively high, and the computer equipment can improve the acquisition frequency, namely, more data are acquired in unit time, and the data of the unmanned vehicle can be acquired more timely.
And step 608, when the running speed is lower than or equal to the second speed threshold value and higher than or equal to the first speed threshold value, keeping the acquisition frequency unchanged.
When the travel speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, it indicates that the travel speed of the unmanned vehicle is within a stable interval, and the computer device may keep the acquisition frequency unchanged.
The steps in the flowcharts of the embodiments of the present application are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a part of the steps in the flowcharts of the embodiments of the present application may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order is not necessarily sequential, but may be performed by turns or alternations with other steps or at least a part of the sub-steps or stages of other steps.
FIG. 7 is a block diagram of a data collection device of an operating system of an unmanned vehicle in one embodiment. As shown in fig. 7, a data acquisition apparatus 700 of an unmanned vehicle operation system includes:
a performance analysis application running module 702 for running a performance analysis application when the operating system of the unmanned vehicle is started; the performance analysis application is installed within an operating system of the unmanned vehicle.
And the data acquisition interface starting module 704 is used for acquiring the data acquisition interface of each computing node in the operating system of the unmanned vehicle and starting the data acquisition interface of each computing node.
And the data acquisition module 706 is configured to invoke a data acquisition interface of each computing node through the performance analysis application program, and acquire data of each computing node.
In the embodiment of the application, when the operating system of the unmanned vehicle is started, the computer equipment runs the performance analysis application program; the performance analysis application is installed in an operating system of the unmanned vehicle; acquiring a data acquisition interface of each computing node in an unmanned vehicle operating system, and starting the data acquisition interface of each computing node; the performance analysis application program installed in the unmanned vehicle operating system calls the data acquisition interfaces of the computing nodes, so that the data of the computing nodes can be acquired more quickly, the delay in data acquisition is reduced, the acquired data is more timely, and the data acquisition speed is improved.
In addition, the performance analysis application program installed in the unmanned vehicle operating system calls the data acquisition interfaces of the computing nodes, and more complete data can be acquired, such as actual operation time, data volume, stacking conditions and the like, so that the performance of the operating system of the unmanned vehicle can be analyzed more accurately, analysis results with higher accuracy and higher effectiveness can be acquired, potential safety problems can be timely found and solved in the operation process of the operating system of the unmanned vehicle, and the safety and the stability of the unmanned vehicle system are improved.
In one embodiment, the data acquisition module is further configured to call a data acquisition interface of each computing node through a performance analysis application program, and monitor each computing node; when the computing node generates data, the data of the computing node is collected.
In one embodiment, the apparatus further includes a shutdown module, configured to shutdown the data collection interface of the computing node that finishes running when the computing node finishes running.
In one embodiment, the apparatus further includes a summarization module configured to summarize data of each of the compute nodes; and sending the summarized data to the front end of the unmanned vehicle, and displaying the data on a display screen of the unmanned vehicle.
In one embodiment, the aggregation module is further configured to obtain a target device associated with the unmanned vehicle; and sending the summarized data to the target equipment and displaying the summarized data on a display screen of the target equipment.
In one embodiment, the device further comprises an early warning module, configured to monitor data of each computing node; and when the data of the computing nodes exceed the preset range, generating an early warning signal.
In one embodiment, the apparatus further includes a stop module, configured to obtain a ratio that each computing node occupies an operating system resource; and stopping running the computing nodes of which the proportion of occupied operating system resources is greater than the proportion threshold value.
In one embodiment, the operation stopping module is further configured to count operation durations of the computing nodes respectively; and stopping running the computing nodes with the running time length longer than the time length threshold value.
In one embodiment, the data acquisition module is further configured to obtain a target duration; and (4) the target time interval is long, a data acquisition interface of each computing node is called through a performance analysis application program, and data of each computing node is acquired.
In one embodiment, the data acquisition module is further configured to acquire an acquisition frequency; and calling a data acquisition interface of each computing node through the performance analysis application program to acquire data of each computing node at an acquisition frequency.
In one embodiment, the acquisition frequency adjustment module is configured to detect a driving speed of the unmanned vehicle; when the running speed is lower than a first speed threshold value, reducing the acquisition frequency; when the running speed is higher than a second speed threshold value, improving the acquisition frequency; the first speed threshold is less than the second speed threshold; when the running speed is lower than or equal to the second speed threshold value and higher than or equal to the first speed threshold value, the acquisition frequency is kept unchanged.
The division of each module in the data acquisition device of the unmanned vehicle operating system is only used for illustration, and in other embodiments, the data acquisition device of the unmanned vehicle operating system may be divided into different modules as needed to complete all or part of the functions of the display screen detection device.
For specific limitations of the data acquisition device of the operation system of the unmanned vehicle, reference may be made to the above limitations of the data acquisition method of the operation system of the unmanned vehicle, and details thereof are not repeated here. The modules in the data acquisition device of the unmanned vehicle operating system can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a data acquisition method for an unmanned vehicle operating system. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the above-described data acquisition method for an operating system of an unmanned vehicle when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the above-mentioned data acquisition method of an unmanned vehicle operating system.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (24)
- A method of data acquisition for an operating system of an unmanned vehicle, the method comprising:when an operating system of the unmanned vehicle is started, running a performance analysis application; the performance analysis application is installed within an operating system of the unmanned vehicle;acquiring a data acquisition interface of each computing node in an operating system of the unmanned vehicle, and starting the data acquisition interface of each computing node; andand calling a data acquisition interface of each computing node through the performance analysis application program to acquire data of each computing node.
- The method of claim 1, wherein said invoking, by the performance analysis application, a data collection interface of each of the computing nodes to collect data of each of the computing nodes comprises:calling a data acquisition interface of each computing node through the performance analysis application program to monitor each computing node; andand when the computing node generates data, collecting the data of the computing node.
- The method of claim 1, further comprising:and when the operation of the computing node is finished, closing the data acquisition interface of the operating finished computing node.
- The method of claim 1, further comprising:summarizing the data of each computing node; andand sending the summarized data to the front end of the unmanned vehicle, and displaying the data on a display screen of the unmanned vehicle.
- The method of claim 4, further comprising:obtaining a target device associated with the unmanned vehicle; andand sending the summarized data to the target equipment and displaying the summarized data on a display screen of the target equipment.
- The method of claim 1, further comprising:monitoring data of each computing node; andand when the data of the computing nodes exceed a preset range, generating an early warning signal.
- The method of claim 1, further comprising:acquiring the proportion of each computing node occupying the operating system resource; andand stopping running the computing nodes occupying the operating system resources with the proportion larger than the proportion threshold value.
- The method of claim 1, further comprising:respectively counting the running time of each computing node; andand stopping running the computing nodes with the running time length larger than the time length threshold value.
- The method of claim 1, further comprising:acquiring a target duration; andand calling a data acquisition interface of each computing node through the performance analysis application program at intervals of the target duration to acquire data of each computing node.
- The method of claim 1, further comprising:acquiring acquisition frequency; andand calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node at the acquisition frequency.
- The method of claim 10, further comprising:detecting a travel speed of the unmanned vehicle;when the travel speed is lower than a first speed threshold, reducing the acquisition frequency;when the running speed is higher than a second speed threshold value, increasing the acquisition frequency; the first speed threshold is less than the second speed threshold; andwhen the running speed is lower than or equal to a second speed threshold value and higher than or equal to a first speed threshold value, keeping the acquisition frequency unchanged.
- A data acquisition device for an operating system of an unmanned vehicle, the device comprising:the performance analysis application program running module is used for running the performance analysis application program when an operating system of the unmanned vehicle is started; the performance analysis application is installed within an operating system of the unmanned vehicle;the data acquisition interface starting module is used for acquiring data acquisition interfaces of all computing nodes in an operating system of the unmanned vehicle and starting the data acquisition interfaces of all the computing nodes;and the data acquisition module is used for calling a data acquisition interface of each computing node through the performance analysis application program and acquiring data of each computing node.
- The apparatus of claim 12, wherein the data collection module is further configured to monitor each of the computing nodes by the performance analysis application calling a data collection interface of each of the computing nodes; and when the computing node generates data, collecting the data of the computing node.
- The apparatus of claim 12, further comprising a shutdown module configured to shutdown a data collection interface of the computing node that finishes running when the computing node finishes running.
- The apparatus of claim 12, further comprising a summarization module configured to summarize data for each of the compute nodes; and sending the summarized data to the front end of the unmanned vehicle, and displaying the data on a display screen of the unmanned vehicle.
- The apparatus of claim 15, wherein the aggregation module is further configured to obtain a target device associated with the unmanned vehicle; and sending the summarized data to the target equipment and displaying the summarized data on a display screen of the target equipment.
- The apparatus of claim 12, further comprising an early warning module for monitoring data of each of the compute nodes; and when the data of the computing nodes exceed a preset range, generating an early warning signal.
- The apparatus of claim 12, further comprising a stop module, configured to obtain a ratio of the operating system resources occupied by each of the computing nodes; and stopping running the computing nodes occupying the operating system resources with the proportion larger than the proportion threshold value.
- The apparatus according to claim 12, wherein the shutdown module is further configured to count the operation duration of each computing node; and stopping running the computing nodes with the running time length larger than the time length threshold value.
- The apparatus of claim 12, wherein the data acquisition module is further configured to obtain a target duration; and calling a data acquisition interface of each computing node through the performance analysis application program at intervals of the target duration to acquire data of each computing node.
- The apparatus of claim 12, wherein the data acquisition module is further configured to obtain an acquisition frequency; and calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node at the acquisition frequency.
- The apparatus of claim 21, wherein the acquisition frequency adjustment module is configured to detect a travel speed of the unmanned vehicle; when the travel speed is lower than a first speed threshold, reducing the acquisition frequency; when the running speed is higher than a second speed threshold value, increasing the acquisition frequency; the first speed threshold is less than the second speed threshold; when the running speed is lower than or equal to a second speed threshold value and higher than or equal to a first speed threshold value, keeping the acquisition frequency unchanged.
- A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions that, when executed by the processor, cause the processor to perform the method of data collection for an unmanned vehicle operating system according to any of claims 1-11.
- A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a data acquisition method of an unmanned vehicle operating system according to any one of claims 1-11.
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| CN117874435A (en) * | 2024-03-11 | 2024-04-12 | 中国电子科技集团公司第十五研究所 | Distributed edge data acquisition method and device, electronic equipment and storage medium |
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