CN116301628A - Offline data cleaning method and system utilizing calculation force of vehicle - Google Patents
Offline data cleaning method and system utilizing calculation force of vehicle Download PDFInfo
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- 238000013500 data storage Methods 0.000 claims abstract description 14
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- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
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- G06F3/0646—Horizontal data movement in storage systems, i.e. moving data in between storage devices or systems
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- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
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Abstract
The invention provides an off-line data cleaning method and system by utilizing the calculation force of a vehicle, comprising the following steps: step S1: automatically collecting data during the running process of the vehicle; step S2: deleting data according to the vehicle data storage disk space; step S3: acquiring an instruction triggering the shutdown of the computing unit vehicle; step S4: and cleaning and exporting the data before the computing unit is shut down. The invention utilizes the calculation force of the self-contained calculation unit of the automatic driving vehicle, can reduce the expenditure of a purchasing data cleaning server, and realizes the high-efficiency utilization of the calculation force; according to the invention, data cleaning is performed in advance before data of the automatic driving vehicle are exported, invalid data are removed in advance, and the time cost and the storage cost of data export are greatly reduced; the invention realizes automation of data acquisition, cleaning and export processes, does not need manual duty, and reduces labor cost.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an offline data cleaning method and system utilizing calculation force of a vehicle.
Background
The automatic driving perception technology based on deep learning relies on data cleaning, labeling and training of a large amount of sensor data, wherein the original data collected by the sensor generally needs to be cleaned through the data, a large amount of useless data is filtered, and the labeling efficiency is improved.
Usually, the original data of the sensor is collected by an automatic driving vehicle or a special data collection vehicle, after the collection is finished, the collected original data is exported by a worker through a hard disk, and the data is cleaned, marked and trained after the collected original data is transferred to a server. The above method has the following disadvantages: a large amount of irrelevant data is mixed in the data migration process, so that the data migration consumes a large amount of time and wastes storage space; the data cleaning is processed by a special server, and extra calculation cost is required to be input; the data migration and cleaning process needs to be manually attended, and labor is consumed.
Patent document CN111258974a (application number: CN202010064537. X) discloses a vehicle offline scene data processing method and system, the method comprising: acquiring a data source standard format and an original log file of vehicle offline scene data; analyzing the original log file according to the data source standard format to obtain a log file to be processed; filtering the log file to be processed in at least one mode to obtain a target scene data log file; and extracting target scene data from the target scene data log file and storing the target scene data. However, the method does not carry out data cleaning in advance before data is exported, invalid data is eliminated in advance, and the time cost and the storage cost of data export are increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an offline data cleaning method and system by utilizing the calculation force of a vehicle.
The invention provides an offline data cleaning method utilizing the calculation force of a vehicle, which comprises the following steps:
step S1: automatically collecting data during the running process of the vehicle;
step S2: deleting data according to the vehicle data storage disk space;
step S3: acquiring an instruction triggering the shutdown of the computing unit vehicle;
step S4: and cleaning and exporting the data before the computing unit is shut down.
Preferably, in said step S1:
the automatic driving vehicle is started, the computing unit judges whether the vehicle is in a motion state, if the vehicle is not in motion, the system waits, and if the vehicle is in the motion state, sensor data are automatically acquired in the driving process.
Preferably, in said step S2:
the computing unit judges whether the residual space of the data storage disk is sufficient, if not, the data file with the earliest recording time is deleted;
presetting a threshold value of disk space occupation, and triggering a deleting operation when the disk occupation exceeds the threshold value; and scrolling the file with the earliest deleting time, and deleting the data with the smallest file name suffix.
Preferably, in said step S3:
the operator clicks the shutdown button to enter a data cleaning and exporting stage, the vehicle does not immediately turn off the power supply, the computing unit judges whether the residual electric quantity of the vehicle meets the preset standard, and if so, the step S4 is entered; if the preset standard is not met, the computing unit and the whole vehicle power supply are directly turned off.
Preferably, in said step S4:
step S4.1: the computing unit judges whether unwashed original data exist or not, and if so, the step S4.2 is entered; if not, the step S4.4 is carried out;
step S4.2: the calculation unit judges whether the vehicle is connected with the data export equipment or not, and if the vehicle is connected with the data export equipment, the calculation unit proceeds to step S4.3; if not, the step S4.4 is carried out;
step S4.3: the method comprises the steps that through calling a preset program in advance, a calculation unit calls a data cleaning model to clean original data, the original data is deleted after the cleaning is finished, the data after the cleaning is exported to a data exporting device, and step S4.4 is carried out after the exporting is finished; the whole process of the step S4.3 monitors the residual electric quantity of the vehicle at the same time, if the residual electric quantity of the vehicle is monitored to be lower than the preset standard, the step S4.3 is ended, and the step S4.4 is entered;
step S4.4: and closing the computing unit and the whole vehicle power supply.
According to the present invention, there is provided an offline data cleaning system using calculation of a vehicle itself, comprising:
module M1: automatically collecting data during the running process of the vehicle;
module M2: deleting data according to the vehicle data storage disk space;
module M3: acquiring an instruction triggering the shutdown of the computing unit vehicle;
module M4: and cleaning and exporting the data before the computing unit is shut down.
Preferably, in said module M1:
the automatic driving vehicle is started, the computing unit judges whether the vehicle is in a motion state, if the vehicle is not in motion, the system waits, and if the vehicle is in the motion state, sensor data are automatically acquired in the driving process.
Preferably, in said module M2:
the computing unit judges whether the residual space of the data storage disk is sufficient, if not, the data file with the earliest recording time is deleted;
presetting a threshold value of disk space occupation, and triggering a deleting operation when the disk occupation exceeds the threshold value; and scrolling the file with the earliest deleting time, and deleting the data with the smallest file name suffix.
Preferably, in said module M3:
the operator clicks a shutdown button to enter a data cleaning and exporting stage, the vehicle does not immediately turn off the power supply, the computing unit judges whether the residual electric quantity of the vehicle meets a preset standard, and if the residual electric quantity of the vehicle meets the preset standard, the module M4 is entered; if the preset standard is not met, the computing unit and the whole vehicle power supply are directly turned off.
Preferably, in said module M4:
module M4.1: the computing unit judges whether unwashed original data exist or not, and if so, the computing unit enters a module M4.2; if not, entering a module M4.4;
module M4.2: the calculation unit judges whether the vehicle is connected with data export equipment or not, and if the vehicle is connected with the data export equipment, the calculation unit enters a module M4.3; if not, entering a module M4.4;
module M4.3: the method comprises the steps that through calling a preset program in advance, a calculation unit calls a data cleaning model to clean original data, the original data is deleted after the cleaning is finished, the data after the cleaning is exported to data export equipment, and the data enters a module M4.4 after the exporting is finished; the whole process of the module M4.3 monitors the residual electric quantity of the vehicle at the same time, and if the residual electric quantity of the vehicle is monitored to be lower than a preset standard, the module M4.3 is ended and the module M4.4 is entered;
module M4.4: and closing the computing unit and the whole vehicle power supply.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention utilizes the calculation force of the self-contained calculation unit of the automatic driving vehicle, can reduce the expenditure of a purchasing data cleaning server, and realizes the high-efficiency utilization of the calculation force;
2. according to the invention, data cleaning is performed in advance before data of the automatic driving vehicle are exported, invalid data are removed in advance, and the time cost and the storage cost of data export are greatly reduced;
3. the invention realizes automation of data acquisition, cleaning and export processes, does not need manual duty, and reduces labor cost.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of an off-line data cleaning method utilizing the vehicle's own computing power;
FIG. 2 is a flow chart for cleaning and exporting data before shutdown of a computing unit;
fig. 3 is a flow chart of the technical scheme of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1:
the invention relates to the field of intelligent automobile test and evaluation, and provides a technical scheme for performing off-line data cleaning and automatic derivation on sensor data by using calculation force of an automatic driving vehicle calculation unit. The invention automatically cleans the acquired sensor original data offline, and automatically derives cleaned data in advance.
According to the invention, as shown in fig. 1, an offline data cleaning method using calculation force of a vehicle includes:
step S1: automatically collecting data during the running process of the vehicle;
specifically, in the step S1:
the automatic driving vehicle is started, the computing unit judges whether the vehicle is in a motion state, if the vehicle is not in motion, the system waits, and if the vehicle is in the motion state, sensor data are automatically acquired in the driving process.
Step S2: deleting data according to the vehicle data storage disk space;
specifically, in the step S2:
the computing unit judges whether the residual space of the data storage disk is sufficient, if not, the data file with the earliest recording time is deleted;
presetting a threshold value of disk space occupation, and triggering a deleting operation when the disk occupation exceeds the threshold value; and scrolling the file with the earliest deleting time, and deleting the data with the smallest file name suffix.
Step S3: acquiring an instruction triggering the shutdown of the computing unit vehicle;
specifically, in the step S3:
the operator clicks the shutdown button to enter a data cleaning and exporting stage, the vehicle does not immediately turn off the power supply, the computing unit judges whether the residual electric quantity of the vehicle meets the preset standard, and if so, the step S4 is entered; if the preset standard is not met, the computing unit and the whole vehicle power supply are directly turned off.
Step S4: and cleaning and exporting the data before the computing unit is shut down.
Specifically, in the step S4, as shown in fig. 2, it includes:
step S4.1: the computing unit judges whether unwashed original data exist or not, and if so, the step S4.2 is entered; if not, the step S4.4 is carried out;
step S4.2: the calculation unit judges whether the vehicle is connected with the data export equipment or not, and if the vehicle is connected with the data export equipment, the calculation unit proceeds to step S4.3; if not, the step S4.4 is carried out;
step S4.3: the method comprises the steps that through calling a preset program in advance, a calculation unit calls a data cleaning model to clean original data, the original data is deleted after the cleaning is finished, the data after the cleaning is exported to a data exporting device, and step S4.4 is carried out after the exporting is finished; the whole process of the step S4.3 monitors the residual electric quantity of the vehicle at the same time, if the residual electric quantity of the vehicle is monitored to be lower than the preset standard, the step S4.3 is ended, and the step S4.4 is entered;
step S4.4: and closing the computing unit and the whole vehicle power supply.
Example 2:
the invention also provides an off-line data cleaning system utilizing the self-calculation force of the vehicle, which can be realized by executing the flow steps of the off-line data cleaning method utilizing the self-calculation force of the vehicle, namely, the off-line data cleaning method utilizing the self-calculation force of the vehicle can be understood as a preferred implementation mode of the off-line data cleaning system utilizing the self-calculation force of the vehicle by a person skilled in the art.
According to the invention, an offline data cleaning system utilizing the calculation force of a vehicle is provided, as shown in fig. 1-3, and comprises:
module M1: automatically collecting data during the running process of the vehicle;
specifically, in the module M1:
the automatic driving vehicle is started, the computing unit judges whether the vehicle is in a motion state, if the vehicle is not in motion, the system waits, and if the vehicle is in the motion state, sensor data are automatically acquired in the driving process.
Module M2: deleting data according to the vehicle data storage disk space;
specifically, in the module M2:
the computing unit judges whether the residual space of the data storage disk is sufficient, if not, the data file with the earliest recording time is deleted;
presetting a threshold value of disk space occupation, and triggering a deleting operation when the disk occupation exceeds the threshold value; and scrolling the file with the earliest deleting time, and deleting the data with the smallest file name suffix.
Module M3: acquiring an instruction triggering the shutdown of the computing unit vehicle;
specifically, in the module M3:
the operator clicks a shutdown button to enter a data cleaning and exporting stage, the vehicle does not immediately turn off the power supply, the computing unit judges whether the residual electric quantity of the vehicle meets a preset standard, and if the residual electric quantity of the vehicle meets the preset standard, the module M4 is entered; if the preset standard is not met, the computing unit and the whole vehicle power supply are directly turned off.
Module M4: and cleaning and exporting the data before the computing unit is shut down.
Specifically, in the module M4:
module M4.1: the computing unit judges whether unwashed original data exist or not, and if so, the computing unit enters a module M4.2; if not, entering a module M4.4;
module M4.2: the calculation unit judges whether the vehicle is connected with data export equipment or not, and if the vehicle is connected with the data export equipment, the calculation unit enters a module M4.3; if not, entering a module M4.4;
module M4.3: the method comprises the steps that through calling a preset program in advance, a calculation unit calls a data cleaning model to clean original data, the original data is deleted after the cleaning is finished, the data after the cleaning is exported to data export equipment, and the data enters a module M4.4 after the exporting is finished; the whole process of the module M4.3 monitors the residual electric quantity of the vehicle at the same time, and if the residual electric quantity of the vehicle is monitored to be lower than a preset standard, the module M4.3 is ended and the module M4.4 is entered;
module M4.4: and closing the computing unit and the whole vehicle power supply.
Example 3:
the invention provides a method and a system for cleaning off-line data by utilizing the calculation force of a vehicle, wherein the working flow is mainly divided into two stages, as shown in figure 3, and comprises the following steps:
1. and a data acquisition stage: automatically acquiring sensor data during the running process of the automatic driving vehicle;
2. data cleaning and export stage: and after the automatic driving vehicle stops running, automatically cleaning and exporting the data before the computing unit is shut down.
The specific flow is as follows:
1. and a data acquisition stage:
step 1.1: starting the automatic driving vehicle, and entering step 1.2;
step 1.2: the calculation unit judges whether the vehicle is in a motion state, if not, the system waits, otherwise, the step 1.3 is carried out;
step 1.3: the computing unit judges whether the residual space of the data storage disk is sufficient, if not, the data file with the earliest recording time is deleted, and the step 1.4 is entered;
the method for judging sufficiency comprises the following steps: presetting a threshold value of disk space occupation, triggering a deleting operation when the disk occupation exceeds the threshold value, and presetting the threshold value to be 20% of the disk;
scrolling the file with the earliest deletion time: the data file is a single data packet, all data are recorded in the data packet with the same format, and the data packet generally meets one of two conditions (the size exceeds 2GB or the time exceeds 5 minutes) and then generates the next data packet. The file names of the data packets in the system are XXXX.record.00000, XXXX.record.00001, XXXX.record.00002 … … and the earliest data packet is deleted, namely the data packet with the minimum file name suffix is deleted.
Step 1.4: judging whether an operator clicks a shutdown button, if not, returning to the step 1.2; otherwise, entering a data cleaning and exporting stage;
2. data cleaning and export stage:
step 2.1: after the operator clicks the shutdown button, the automatic driving vehicle does not immediately turn off the power supply, and the step 2.2 is entered;
step 2.2: the calculation unit judges whether the residual electric quantity of the vehicle is sufficient (the electric quantity is generally considered to be sufficient when the residual electric quantity of the vehicle is more than 15% -30% according to different vehicle types), and if so, the step 2.3 is carried out; if insufficient, entering step 2.6;
step 2.3: the computing unit judges whether unwashed original data exist or not, and if so, the step 2.4 is entered; if not, the step 2.6 is carried out;
step 2.4: the calculation unit judges whether the vehicle is connected with the data export equipment or not, and if the vehicle is connected with the data export equipment, the calculation unit proceeds to step 2.5; if not, the step 2.6 is carried out;
step 2.5: the original data is cleaned by calling a preset program in advance, generally, a python program calculation unit calls a data cleaning model, the original data is deleted after the cleaning is finished, the data after the cleaning is exported to a data exporting device, and the step 2.6 is carried out after the exporting is finished; step 2.5, monitoring the residual electric quantity of the vehicle at the same time, and if the residual electric quantity of the vehicle is monitored to be lower, ending the step 2.5 at any time and entering the step 2.6;
the means and model of cleaning are different depending on the task goals. If we want to train the traffic light recognition model, the data cleaning program firstly discards the data irrelevant to the traffic light camera, then uses a pre-screening model trained by small data to extract the image area of suspected traffic lights from the traffic light camera data, and the extracted suspected traffic light intercepted image is the so-called cleaned data for data marking.
Step 2.6: and closing the computing unit and the whole vehicle power supply.
Those skilled in the art will appreciate that the systems, apparatus, and their respective modules provided herein may be implemented entirely by logic programming of method steps such that the systems, apparatus, and their respective modules are implemented as logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., in addition to the systems, apparatus, and their respective modules being implemented as pure computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. An off-line data cleaning method using calculation force of a vehicle itself, comprising:
step S1: automatically collecting data during the running process of the vehicle;
step S2: deleting data according to the vehicle data storage disk space;
step S3: acquiring an instruction triggering the shutdown of the computing unit vehicle;
step S4: and cleaning and exporting the data before the computing unit is shut down.
2. The off-line data cleansing method using the self-calculation of the vehicle according to claim 1, wherein in said step S1:
the automatic driving vehicle is started, the computing unit judges whether the vehicle is in a motion state, if the vehicle is not in motion, the system waits, and if the vehicle is in the motion state, sensor data are automatically acquired in the driving process.
3. The off-line data cleaning method using the vehicle own power as claimed in claim 1, wherein in said step S2:
the computing unit judges whether the residual space of the data storage disk is sufficient, if not, the data file with the earliest recording time is deleted;
presetting a threshold value of disk space occupation, and triggering a deleting operation when the disk occupation exceeds the threshold value; and scrolling the file with the earliest deleting time, and deleting the data with the smallest file name suffix.
4. The off-line data cleaning method using the vehicle own power as claimed in claim 1, wherein in the step S3:
the operator clicks the shutdown button to enter a data cleaning and exporting stage, the vehicle does not immediately turn off the power supply, the computing unit judges whether the residual electric quantity of the vehicle meets the preset standard, and if so, the step S4 is entered; if the preset standard is not met, the computing unit and the whole vehicle power supply are directly turned off.
5. The off-line data cleaning method using the vehicle own power as claimed in claim 1, wherein in said step S4:
step S4.1: the computing unit judges whether unwashed original data exist or not, and if so, the step S4.2 is entered; if not, the step S4.4 is carried out;
step S4.2: the calculation unit judges whether the vehicle is connected with the data export equipment or not, and if the vehicle is connected with the data export equipment, the calculation unit proceeds to step S4.3; if not, the step S4.4 is carried out;
step S4.3: the method comprises the steps that through calling a preset program in advance, a calculation unit calls a data cleaning model to clean original data, the original data is deleted after the cleaning is finished, the data after the cleaning is exported to a data exporting device, and step S4.4 is carried out after the exporting is finished; the whole process of the step S4.3 monitors the residual electric quantity of the vehicle at the same time, if the residual electric quantity of the vehicle is monitored to be lower than the preset standard, the step S4.3 is ended, and the step S4.4 is entered;
step S4.4: and closing the computing unit and the whole vehicle power supply.
6. An offline data cleansing system using the calculation of the vehicle itself, comprising:
module M1: automatically collecting data during the running process of the vehicle;
module M2: deleting data according to the vehicle data storage disk space;
module M3: acquiring an instruction triggering the shutdown of the computing unit vehicle;
module M4: and cleaning and exporting the data before the computing unit is shut down.
7. The offline data cleansing system using vehicle own power according to claim 6, characterized in that in said module M1:
the automatic driving vehicle is started, the computing unit judges whether the vehicle is in a motion state, if the vehicle is not in motion, the system waits, and if the vehicle is in the motion state, sensor data are automatically acquired in the driving process.
8. The offline data cleansing system using vehicle own power according to claim 6, characterized in that in said module M2:
the computing unit judges whether the residual space of the data storage disk is sufficient, if not, the data file with the earliest recording time is deleted;
presetting a threshold value of disk space occupation, and triggering a deleting operation when the disk occupation exceeds the threshold value; and scrolling the file with the earliest deleting time, and deleting the data with the smallest file name suffix.
9. The offline data cleansing system using vehicle own power according to claim 6, characterized in that in said module M3:
the operator clicks a shutdown button to enter a data cleaning and exporting stage, the vehicle does not immediately turn off the power supply, the computing unit judges whether the residual electric quantity of the vehicle meets a preset standard, and if the residual electric quantity of the vehicle meets the preset standard, the module M4 is entered; if the preset standard is not met, the computing unit and the whole vehicle power supply are directly turned off.
10. The offline data cleansing system using vehicle own power according to claim 6, characterized in that in said module M4:
module M4.1: the computing unit judges whether unwashed original data exist or not, and if so, the computing unit enters a module M4.2; if not, entering a module M4.4;
module M4.2: the calculation unit judges whether the vehicle is connected with data export equipment or not, and if the vehicle is connected with the data export equipment, the calculation unit enters a module M4.3; if not, entering a module M4.4;
module M4.3: the method comprises the steps that through calling a preset program in advance, a calculation unit calls a data cleaning model to clean original data, the original data is deleted after the cleaning is finished, the data after the cleaning is exported to data export equipment, and the data enters a module M4.4 after the exporting is finished; the whole process of the module M4.3 monitors the residual electric quantity of the vehicle at the same time, and if the residual electric quantity of the vehicle is monitored to be lower than a preset standard, the module M4.3 is ended and the module M4.4 is entered;
module M4.4: and closing the computing unit and the whole vehicle power supply.
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| CN202310274640.0A CN116301628A (en) | 2023-03-16 | 2023-03-16 | Offline data cleaning method and system utilizing calculation force of vehicle |
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| CN202310274640.0A CN116301628A (en) | 2023-03-16 | 2023-03-16 | Offline data cleaning method and system utilizing calculation force of vehicle |
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