CN116132212A

CN116132212A - Data processing method and device, electronic equipment and automatic driving vehicle

Info

Publication number: CN116132212A
Application number: CN202211630668.5A
Authority: CN
Inventors: 王杰; 陈红岩; 陈冰
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-12-19
Filing date: 2022-12-19
Publication date: 2023-05-16

Abstract

The disclosure provides a data processing method, a data processing device, electronic equipment and an automatic driving vehicle, relates to the technical field of vehicles, and particularly relates to the fields of intelligent transportation, automatic driving and vehicle data processing. The specific implementation scheme is as follows: acquiring control area network CANFD data having a flexible data rate; converting the CANFD data into ethernet data and transmitting the ethernet data to a target layer; converting the Ethernet data into the CANFD data by the target layer and transmitting the CANFD data to a radar driving layer.

Description

Data processing method and device, electronic equipment and automatic driving vehicle

Technical Field

The disclosure relates to the technical field of vehicles, in particular to the fields of intelligent transportation, automatic driving and vehicle data processing, and specifically relates to a data processing method, a data processing device, electronic equipment and an automatic driving vehicle.

Background

At present, control area network (Controller Area Network with Flexible Data rate, CANFD) radars with flexible data rates are introduced in autonomous vehicles, the transmission of CANFD radar data requires a specific hardware interface, a hardware platform is required to obtain the CANFD interface and design, the number of CANFD interfaces that can be designed in the chipset of the on-board terminal is limited, and the number of CANFD radars that can be installed on the vehicle is correspondingly limited.

Disclosure of Invention

The disclosure provides a data processing method, a data processing device, electronic equipment and an automatic driving vehicle.

According to a first aspect of the present disclosure, there is provided a data processing method comprising:

acquiring control area network CANFD data having a flexible data rate;

converting the CANFD data into ethernet data and transmitting the ethernet data to a target layer;

converting the Ethernet data into the CANFD data by the target layer and transmitting the CANFD data to a radar driving layer.

According to a second aspect of the present disclosure, there is provided a data processing apparatus comprising:

a first acquisition module for acquiring CANFD data;

the first processing module is used for converting the CANFD data into Ethernet data and sending the Ethernet data to a target layer;

and the second processing module is used for converting the Ethernet data into the CANFD data through the target layer and sending the CANFD data to a radar driving layer.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.

According to a sixth aspect of the present disclosure, there is provided an autonomous vehicle configured to perform the method of the first aspect.

According to the embodiment of the disclosure, the CANFD data can be transmitted to the target layer in the format of the Ethernet data, so that additional CANFD interfaces are not required to be arranged in the chip set corresponding to the target layer of the vehicle, the arrangement of the CANFD interfaces in the chip set is effectively saved, the transmission of the CANFD data is not limited by the number of the CANFD interfaces, the arrangement number of the CANFD radar is not limited, and the installation of more CANFD radars on the vehicle is realized.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a flow chart of a data processing method provided in accordance with an embodiment of the present disclosure;

FIG. 2 is a flow chart of a data processing method provided in accordance with another embodiment of the present disclosure;

FIG. 3 is a block diagram of a data processing apparatus provided in accordance with an embodiment of the present disclosure;

fig. 4 is a block diagram of an electronic device used to implement a data processing method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Referring to fig. 1, fig. 1 is a flowchart of a data processing method according to an embodiment of the disclosure, as shown in fig. 1, the method includes the following steps:

step S101, acquiring CANFD data.

It should be noted that the data processing method provided by the embodiments of the present disclosure may be applied to a vehicle, such as an autopilot vehicle. Specifically, the method may be an in-vehicle terminal applied to a vehicle. Optionally, the method may also be a hardware platform (hardware platform) applied in the vehicle terminal, the hardware platform being used to obtain CANFD data; alternatively, the method may also be applied to a CAN bus (CAN over Ethernet, cae) layer (or also called a cae module) covering the ethernet in the vehicle terminal, where the cae layer may be used to obtain CANFD data sent by the hardware platform.

In the embodiment of the disclosure, the CANFD data is CANFD radar data, that is, when the CANFD radar is installed in the vehicle, the vehicle-mounted terminal can acquire data generated by the CANFD radar, that is, CNAFD data in the embodiment of the disclosure.

Step S102, converting the CANFD data into Ethernet data and sending the Ethernet data to a target layer.

In an embodiment of the present disclosure, after acquiring CANFD data, the vehicle terminal may convert the CANFD data into ethernet data based on a preset conversion function. It should be noted that, in the process of converting CANFD data into ethernet data, only the conversion of the data format is performed, and the data content is not changed, that is, operations such as adding, reducing, deleting or modifying the data content are not performed, so as to ensure consistency of the converted ethernet data and CANFD data on the data content.

Further, the vehicle-mounted terminal sends the converted Ethernet data to a target layer. The target layer may be a data protocol layer for data transmission in the vehicle terminal, such as a socket remote copy flow (Socket Remote Copy Process, SRCP) layer (may also be referred to as an SRCP module). Optionally, the vehicle-mounted terminal may transmit the ethernet data obtained after conversion to the SRCP layer through the COE layer. It should be noted that the SRCP layer may include an ethernet interface, so as to implement receiving ethernet data.

It will be appreciated that for the transmission of CANFD data, implementation based on a particular CANFD interface is required; for ethernet data, transmission can be realized through a user datagram protocol (User Datagram Protocol, UDP), and the UDP is a connectionless transport layer protocol, and a specific interface is not required to be set, so that the method is a data transmission method with wider application range.

In the embodiment of the disclosure, after the vehicle-mounted terminal acquires the CANFD data, the CANFD data is converted into the ethernet data and the ethernet data is sent to the target layer, so that the CNAFD data can be transmitted to the target layer in the format of the ethernet data, and a CANFD interface or CANFD design is not required to be additionally set in the target layer, thereby effectively saving the design operation of the CNAFD interface in the vehicle-mounted terminal chipset.

Step S103, converting the Ethernet data into the CANFD data through the target layer, and sending the CANFD data to a radar driving layer.

It will be appreciated that after acquiring the ethernet data, the target layer may convert the ethernet data back into CANFD data based on a preset conversion function, and send the CANFD data to the radar driving layer. The CANFD data are data of a CANFD radar, the CANFD data are sent to the radar driving layer, so that the radar driving layer can acquire relevant information of the CANFD radar based on the CANFD data and analyze performance of the CANFD radar, and the vehicle-mounted terminal can better control the CANFD radar based on the radar driving layer.

Optionally, the radar driver layer, upon receiving the CANFD data, can further pass the CANFD data to an application layer.

The radar driving layer may be provided with a corresponding CANFD interface to implement reception of CANFD data.

In the embodiment of the disclosure, after the vehicle-mounted terminal acquires CANFD data, the CANFD data can be converted into ethernet data and transmitted to a target layer, the ethernet data is converted into CANFD data through the target layer, and the CANFD data is sent to a radar driving layer. Furthermore, the vehicle-mounted terminal can transmit the format of the CANFD data Ethernet data to the target layer, so that additional CANFD interfaces are not required to be arranged in a chipset corresponding to the target layer of the vehicle, the arrangement of the CANFD interfaces in the chipset is effectively saved, the transmission of the CANFD data is not limited by the number of the CANFD interfaces, the arrangement number of the CANFD radars is not limited, and the installation of more CANFD radars on the vehicle can be realized. In addition, the target layer can convert the Ethernet data into CANFD data and transmit the CANFD data to the radar driving layer, so that the radar driving layer can still receive the CANFD data through the CANFD interface, and the CANFD data in the vehicle can be smoothly transmitted to the radar driving layer.

Optionally, the target layer includes an SRCP local layer and an SRCP remote layer, and the converting the CANFD data into ethernet data and sending the ethernet data to the target layer includes:

calling a conversion function in the SRCP local layer, and converting the CANFD data into Ethernet data based on the conversion function;

and transmitting the Ethernet data to the SRCP far-end layer through the SRCP local layer in a mode of being based on a user datagram protocol UDP message.

In the embodiment of the disclosure, the CANFD data is acquired by the vehicle-mounted terminal, which may be acquired by the COE layer in the vehicle-mounted terminal from a hardware platform (hardware platform). Further, after acquiring the CANFD data, the COE layer may call a conversion function in the SRCP local layer to convert the CANFD data into ethernet data, send the ethernet data to the SRCP local layer, and send the ethernet data to the SRCP remote layer after the SRCP local layer receives the ethernet data.

Furthermore, the COE can send the UDP message of the CANFD data by converting the CANFD data into the ethernet data, so that no special CANFD interface is required to be additionally set in the chip set corresponding to the SRCP local layer and the SRCP far-end layer, and the CANFD data can be transmitted in a manner based on the UDP message, that is, the number of CANFD radars on the vehicle is not limited due to the limitation of the number of CANFD interfaces in the chip set corresponding to the relevant data layer.

It should be noted that, the SRCP local layer and the SRCP remote layer may belong to different subsystems, and data transmission needs to be implemented between different subsystems through corresponding interfaces. For example, in the data transmission layer of the vehicle-mounted terminal, the hardware platform, the COE layer and the SRCP local layer may belong to a first subsystem, the SRCP remote layer and the radar driving layer may belong to a second subsystem, and by converting CANFD data into ethernet data, a specific CANFD interface is not required to be set between the SRCP local layer belonging to the first subsystem and the SRCP remote layer belonging to the second subsystem, and transmission of CANFD data between the two subsystems can be realized based on a form of UDP message.

In addition, in the embodiment of the disclosure, the functions of data retransmission, data verification, handshake, timeout processing and the like can be realized between the SRCP local layer and the SRCP remote layer, besides the functions of data transmission and data reception can be realized.

Further, the converting, by the target layer, the ethernet data into the CANFD data includes:

and converting the Ethernet data into the CANFD data through the SRCP far-end layer.

In the disclosed embodiment, after CANFD data is converted into ethernet data and the ethernet data is sent to the SRCP far-end layer through the SRCP local layer in a UDP packet manner, the SRCP far-end layer converts the ethernet data into CANFD data and sends the CANFD data to the radar driving layer. Further, to ensure that the radar-driven layer is still able to receive CANFD data based on the CANFD interface, to ensure that CANFD data can be flexibly transmitted between different data layers in different forms.

Alternatively, the SRCP remote layer may call a preset conversion function to convert the ethernet data into CANFD data. The remote layer of SRCP and the local layer of SRCP may be a universal interface of an autopilot platform by encapsulating a conventional socket function call interface, so as to implement sending and receiving of UDP packets, that is, implement transmission of ethernet data.

It should be noted that, in the process of converting the ethernet data into the CANFD data, the far-end layer of SRCP only converts the data format, and does not change the data content, that is, the data content of the converted CANFD data is consistent with the data content of the ethernet data. Therefore, through the conversion of the two data formats, the CANFD data transmitted to the radar driving layer is consistent with the CANFD data acquired at the beginning, and the phenomena of data loss, increase and decrease or tampering and the like in the data conversion process are avoided, so that the consistency of the data content is effectively ensured.

Optionally, the sending the CANFD data to a radar driving layer includes:

the CANFD data is sent to the radar driving layer through an entertainment control area network (Entertainment Controller Area Network, ECAN) layer.

After the vehicle terminal converts the ethernet data into CANFD data through the target layer, for example, converts the ethernet data into CANFD data through the SRCP remote layer, the SRCP remote layer may send the CANFD data to the ECAN layer, and the ECAN layer sends the CANFD data to the radar driving layer. That is, the ECAN layer is located between the SRCP remote layer and the radar driving layer, and the transmission of CANFD data between the ECAN layer and the radar driving layer may be implemented through CANFD interface.

In the embodiment of the disclosure, through the setting of the ECAN layer, the ECAN layer realizes the interface with the radar driving layer, and the radar driving layer can start the ECAN interface to further obtain CANFD data, so that the vehicle-mounted terminal is more flexible in the transmission mode of CANFD data.

Optionally, the converting the CANFD data into ethernet data includes:

adding timestamp information to the CANFD data;

converting CANFD data added with the time stamp information into ethernet data;

wherein, in the case where the ethernet data is converted into CANFD data by the target layer, the converted CANFD data includes the time stamp information.

For example, after the CANFD data is obtained by the cog, time stamp information may be added to the CANFD data, and based on the time stamp information, the moment when the CANFD data is obtained by the cog can be determined. Further, the COE converts CANFD data added with the timestamp information into ethernet data, and the converted ethernet data also includes the timestamp information, because the data conversion only involves conversion of a data format, and the data content is not changed.

The COE sends the Ethernet data to a target layer, the Ethernet data is further converted into CANFD data through the target layer and sent to a radar driving layer, and the converted CANFD data still comprises the time stamp information, so that the radar driving layer can know the time of acquiring the CANFD data by the COE based on the time stamp information, and when a time-related problem is encountered, problem positioning and data tracing can be carried out based on the time stamp information, so that the processing of the CANFD data is better realized.

Further, the method further comprises:

acquiring original time information of the CANFD data;

and under the condition that the data delay occurs, comparing the original time information with the timestamp information through the radar driving layer so as to determine the occurrence position of the data delay.

It should be appreciated that the CANFD data is data related to a CANFD radar that generates raw time information for the CANFD data as it is generated to record the generation of CANFD data, as well as facilitate subsequent tracing of the CANFD data. That is, the CANFD data includes its original time information.

In the embodiment of the disclosure, when the CANFD data is acquired, the vehicle-mounted terminal may acquire original time information of the CANFD data by parsing the CNAFD data. After acquiring the CANFD data, the vehicle-mounted terminal can add timestamp information to the CANFD data, for example, can add timestamp information to the CANFD data through a die, convert the CANFD data added with the timestamp information into ethernet data and send the ethernet data to a target layer, convert the ethernet data back into CANFD data through the target layer and send the CANFD data to a radar driving layer, and further the CANFD data acquired by the radar driving layer also comprises the added timestamp information.

In the case of a data delay, for example, when the radar driving layer receives the CANFD data with a delay, the radar driving layer may acquire original time information included in the CANFD data and compare the time stamp information with the original time information of the CANFD data to determine a position where the data delay occurs, that is, whether the data delay occurs before or after adding the time stamp information.

In the embodiment of the disclosure, after the CANFD data is acquired, by adding the timestamp information to the CANFD data, the occurrence position of the data delay can be more rapidly positioned under the condition of occurrence of the data delay, so that corresponding solving measures are adopted for the data delay in time, and the processing efficiency of the CANFD data is improved.

Optionally, the comparing, by the radar driving layer, the original time information and the timestamp information to determine an occurrence position of the data delay includes at least one of:

determining that the data delay occurs after adding timestamp information to the CANFD data if the timestamp information matches the original time information;

in the event that the timestamp information does not match the original time information, determining that the data delay occurs before adding timestamp information to the CANFD data.

It will be appreciated that in the event of a data delay, the original time information of the CANFD data and the time stamp information are compared. Wherein the original time information may be time information for generating the CANFD data or carried in the CANFD data, i.e., prior to adding time stamp information to CANFD data; and the timestamp information is added after the CANFD data is acquired by the vehicle-mounted terminal (for example, the COE layer), for example, the timestamp information may be at the current time when the CANFD data is acquired.

After the radar driving layer acquires CANFD data sent by the COE layer through the target layer, the CANFD data comprises added time stamp information, and the CANFD data also comprises original time information. And comparing the original time information of the CANFD data with the time stamp information under the condition that the data delay occurs, and if the time stamp information is matched with the original time information, for example, if the difference value between the time stamp information and the original time information is in a preset time range, considering that the transmission of the CANFD data is accurate before adding the time stamp information, and then the data delay occurs after adding the time stamp information. If the time stamp information does not match the original time information, for example, the difference between the time stamp information and the original time information is outside a predetermined time range, the data delay may already occur before adding the time stamp information, i.e., it may be determined that the data delay occurs before adding the time stamp information to the CANFD data.

Furthermore, by adding the time stamp information to the CANFD data, the data delay can be compared with the original time information of the CANFD data through the time stamp information under the condition that the data delay occurs, so that whether the data delay occurs before or after the time stamp information is added can be rapidly positioned, the position where the data delay occurs can be rapidly found, and the resolution measures can be more timely and more pertinently taken for the data delay, thereby improving the processing efficiency of the CANFD data.

Referring to fig. 2, fig. 2 is a flowchart of another data processing method according to an embodiment of the disclosure, as shown in fig. 2, the method includes the following steps:

step 21, a hardware platform (HW platform) sends CANFD data to the COE;

step 22, the COE converts the CANFD data into ethernet data and sends the ethernet data to the SRCP local layer;

step 23, the local layer of SRCP sends the Ethernet data to the remote layer of SRCP in the form of UDP message;

step 24, the SRCP far-end layer converts the Ethernet data into CANFD data and sends the CANFD data to an ECAN layer;

step 25, the ECAN layer sends the CANFD data to the radar driving layer.

In the embodiment of the disclosure, the CANFD data is converted through different data layers, so that the CANFD data can be transmitted in the form of Ethernet data, and the flexibility of CANFD data transmission is effectively improved.

It should be noted that, the related concepts and specific implementation flows related to the embodiments of the present disclosure may be specifically described in the embodiment described in fig. 1, and are not repeated here for avoiding repetition.

Referring to fig. 3, fig. 3 is a block diagram of a data processing apparatus according to an embodiment of the disclosure, and as shown in fig. 3, the data processing apparatus 300 includes:

a first acquiring module 301, configured to acquire CANFD data;

a first processing module 302, configured to convert the CANFD data into ethernet data, and send the ethernet data to a target layer;

a second processing module 303, configured to convert the ethernet data into CANFD data by the target layer, and send the CANFD data to a radar driving layer.

Optionally, the target layer includes an SRCP local layer and an SRCP remote layer, and the first processing module 302 includes:

a conversion unit, configured to invoke a conversion function in the SRCP native layer, and convert the CANFD data into ethernet data based on the conversion function;

and the sending unit is used for sending the Ethernet data to the SRCP far-end layer through the SRCP local layer in a mode of being based on a user datagram protocol UDP message.

Optionally, the second processing module 303 is further configured to:

and sending the Canfd data to the radar driving layer through an ECAN layer.

Optionally, the first processing module 302 is further configured to:

adding timestamp information to the CANFD data;

converting CANFD data added with the time stamp information into ethernet data;

Optionally, the apparatus further comprises:

a second acquisition module for acquiring original time information of the CANFD data;

and the determining module is used for comparing the original time information with the time stamp information through the radar driving layer under the condition that the data delay occurs so as to determine the occurrence position of the data delay.

Optionally, the determining module is further configured to perform at least one of:

In the embodiment of the disclosure, the device can transmit the CANFD data to the target layer in the format of ethernet data, so that no additional CANFD interfaces are required to be arranged in a chipset corresponding to the target layer of the vehicle, the arrangement of the CANFD interfaces in the chipset is effectively saved, the transmission of CANFD data is not limited by the number of the CANFD interfaces, the arrangement number of CANFD radars is not limited, and the installation of more CANFD radars on the vehicle can be realized.

It should be noted that, the data processing apparatus 300 provided in the embodiments of the present disclosure can implement all the processes in the embodiments of the data processing method, and achieve the same technical effects, and for avoiding repetition, a detailed description is omitted herein.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

Fig. 4 illustrates a schematic block diagram of an example electronic device 400 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 4, the apparatus 400 includes a computing unit 401 that can perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In RAM 403, various programs and data required for the operation of device 400 may also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Various components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, etc.; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The computing unit 401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the respective methods and processes described above, such as a data processing method. For example, in some embodiments, the data processing method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 402 and/or the communication unit 409. When a computer program is loaded into RAM 403 and executed by computing unit 401, one or more steps of the data processing method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the above-described data processing method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A data processing method, comprising:

acquiring control area network CANFD data having a flexible data rate;

2. The method of claim 1, wherein the target layer comprises a socket remote copy flow SRCP local layer and an SRCP remote layer, the converting the CANFD data into ethernet data and sending the ethernet data to the target layer comprises:

3. The method of claim 2, wherein the converting the ethernet data to CANFD data by the target layer comprises:

4. The method of claim 1, wherein the sending the CANFD data to a radar driving layer comprises:

and sending the Canfd data to the radar driving layer through an entertainment control area network ECAN layer.

5. The method of claim 1, wherein the converting the CANFD data into ethernet data comprises:

adding timestamp information to the CANFD data;

converting CANFD data added with the time stamp information into ethernet data;

6. The method of claim 5, further comprising:

acquiring original time information of the CANFD data;

7. The method of claim 6, wherein the comparing, by the radar driving layer, the raw time information and the timestamp information to determine the location of occurrence of the data delay comprises at least one of:

8. A data processing apparatus comprising:

a first acquisition module for acquiring CANFD data;

9. The apparatus of claim 8, wherein the target layer comprises an SRCP native layer and an SRCP remote layer, the first processing means comprising:

10. The apparatus of claim 9, wherein the second processing module is further to:

11. The apparatus of claim 8, wherein the second processing module is further to:

and sending the Canfd data to the radar driving layer through an ECAN layer.

12. The apparatus of claim 8, wherein the first processing module is further to:

adding timestamp information to the CANFD data;

converting CANFD data added with the time stamp information into ethernet data;

13. The apparatus of claim 12, wherein the apparatus further comprises:

14. The apparatus of claim 13, wherein the means for determining is further configured to perform at least one of:

15. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.

18. An autonomous vehicle configured to perform the method of any of claims 1-7.