CN116827938B - Data recharging method, system and storage medium - Google Patents
Data recharging method, system and storage medium Download PDFInfo
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- H—ELECTRICITY
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Abstract
The application relates to the field of automatic driving, and discloses a data recharging method, a system and a storage medium, wherein the method comprises the following steps: the method comprises the steps that a server workstation sends a data calling instruction to a target database, acquires data to be recharged corresponding to the data calling instruction from the target database, and sends the data to be recharged and controller parameters of a controller to be recharged to a target lower computer; the target lower computer is an industrial standard lower computer based on a peripheral device interconnection bus; the target lower computer generates protocol recharging data according to the controller parameters, the initial function program and the data to be recharged, and sends the protocol recharging data to a controller to be recharged; and the to-be-recharged controller performs sensing processing according to the protocol recharging data to obtain a sensing result. The application can realize the effects of adjusting the data to be recharged without changing hardware and improving the iteration and verification speed of the controller.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a data recharging method, a data recharging system and a storage medium.
Background
In recent years, the test requirements for the automatic driving function of intelligent automobiles are gradually increasing. The visual perception data of the high-level automatic driving function is derived from a camera, the improvement of the automatic driving algorithm function in the controller depends on the high-definition camera, the high-definition pixel resolution image is required to be injected into the controller in the laboratory algorithm testing stage, and meanwhile, the injection of multiple paths of video data is required to be met. Radar is generally transmitted through a CAN bus or an Ethernet mode, and the protocol is mature. The recharging of video, CAN bus, ethernet or on-board ethernet data is collectively referred to as data recharging.
At present, the hardware of the existing video recharging system is highly customized, interface definition and performance index of each family cannot conform to the unified international standard to develop, adapt and ensure the performance, and the video recharging system does not have the characteristics of modularization and convenient multiplexing. Therefore, there are problems of high price and poor flexibility.
In view of this, the present application has been made.
Disclosure of Invention
In order to solve the technical problems, the application provides a data recharging method, a system and a storage medium, which realize the effects of adjusting data to be recharged without changing hardware and improving the iteration and verification speed of a controller.
The embodiment of the application provides a data recharging method, which comprises the following steps:
the method comprises the steps that a server workstation sends a data calling instruction to a target database, acquires data to be recharged corresponding to the data calling instruction from the target database, and sends the data to be recharged and controller parameters of a controller to be recharged to a target lower computer; the target lower computer is an industrial standard lower computer based on a peripheral device interconnection bus;
the target lower computer generates protocol recharging data according to the controller parameters, the initial function program and the data to be recharged, and sends the protocol recharging data to a controller to be recharged;
and the to-be-recharged controller performs sensing processing according to the protocol recharging data to obtain a sensing result.
The embodiment of the application provides a data recharging system, which comprises: the system comprises a target database, a server workstation, a target lower computer and a controller to be recharged, wherein the target database is connected with the server workstation through an Ethernet, the server workstation is connected with the target lower computer through the Ethernet, and the target lower computer is connected with the controller to be recharged through each interface card; wherein,
the server workstation is used for sending a data calling instruction to a target database, acquiring data to be recharged corresponding to the data calling instruction from the target database, and sending the data to be recharged and controller parameters of a controller to be recharged to a target lower computer;
the target database is used for retrieving data to be recharged corresponding to the data retrieval instruction according to the data retrieval instruction and sending the data to be recharged to the server workstation;
the target lower computer is used for generating protocol recharging data according to the controller parameters, the initial function program and the data to be recharged, and sending the protocol recharging data to the controller to be recharged;
and the to-be-recharged controller is used for performing sensing processing according to the protocol recharging data to obtain a sensing result.
An embodiment of the present application provides a computer-readable storage medium storing a program or instructions that cause a computer to perform the steps of the data recharging method of any of the embodiments.
The embodiment of the application has the following technical effects: the method comprises the steps that a data calling instruction is sent to a target database through a server workstation, data to be recharged corresponding to the data calling instruction is obtained from the target database, the data to be recharged and controller parameters of a controller to be recharged are sent to a target lower computer so that the data to be recharged can be processed through the target lower computer, further, the target lower computer generates protocol recharging data according to the controller parameters, an initial function program and the data to be recharged, the protocol recharging data is sent to the controller to be recharged, the controller to be recharged carries out sensing processing according to the protocol recharging data, a sensing result is obtained, and the effects that the data to be recharged can be adjusted without changing hardware and the iteration and verification speed of the controller are improved are achieved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a data recharging method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a server workstation according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a target lower computer according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a data recharging system according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the application, are within the scope of the application.
The data recharging method provided by the embodiment of the application is mainly suitable for recharging the sensing data to each controller so that the controllers can perform sensing processing. The data recharging method provided by the embodiment of the application can be integrated in a data recharging system.
Fig. 1 is a flowchart of a data recharging method according to an embodiment of the present application. Referring to fig. 1, the data recharging method specifically includes:
s110, the server workstation sends a data calling instruction to the target database, acquires data to be recharged corresponding to the data calling instruction from the target database, and sends the data to be recharged and the controller parameters of the controller to be recharged to the target lower computer.
The server workstation is a high-performance computer, and is provided with a high-performance display card, a video acquisition card, a direct memory reading card and the like besides basic main board, CPU, memory and hard disk configuration. The server workstation is used for issuing various instructions and comprehensively managing the flow of the data recharging method. The target database is used for storing real road acquisition data acquired in advance, and CAN comprise video files acquired by a camera, CAN data files acquired by millimeter wave radar and Ethernet data files acquired by laser radar, and the data files are used for recharging to a controller to be recharged. The call instruction is an instruction for calling the data to be refilled from the target database. The data to be recharged is stored in the target database and is used for processing and recharging the data to be recharged to the controller to be recharged for analog perception. The controller to be recharged is a controller to be tested for the functions and performances of the high-level automatic driving controller, and data recharge is required to be received in the test stage. The target lower computer is an industry standard lower computer based on a peripheral device interconnection bus. Peripheral device interconnect (Peripheral Component Interconnect Express), a serial communication system standard. Thus, the target lower computer is a PXI (PCI Extensions For Instrumentation, an industry standard based on PCI bus) lower computer. The PXI lower computer comprises a PXI case, a real-time of a Linux RT OS, a CAN interface card, an Ethernet interface card, a video interface card, a direct memory reading card, a clock synchronization card and the like, and the boards are connected with the PXI case through the PXI interface.
Specifically, when the data recharging is required to be performed to the controller to be recharged, the server workstation firstly calls the data to be recharged from the target database, so that a data calling instruction is sent to the target database, and the target database calls the data corresponding to the data calling instruction to serve as the data to be recharged according to the data calling instruction and feeds the data to the server workstation. And the server workstation sends the received data to be recharged to the target lower computer so as to enable the target lower computer to process the data to be recharged.
Based on the above example, the server workstation may obtain the data to be recharged corresponding to the data retrieval instruction from the target database by:
the target database retrieves the video data to be recharged, the CAN bus data to be recharged and the Ethernet data to be recharged, which have time synchronism and correspond to the data retrieval instruction, according to the data retrieval instruction, and sends the video data to be recharged, the CAN bus data to be recharged and the Ethernet data to be recharged to the server workstation as the data to be recharged;
and the server workstation receives the data to be recharged.
The to-be-recharged video data is a part corresponding to the data calling instruction in the video data file stored in the target database, the to-be-recharged CAN bus data is a part corresponding to the data calling instruction in the CAN data file stored in the target database, and the to-be-recharged Ethernet data is a part corresponding to the data calling instruction in the Ethernet data file stored in the target database. The video data to be recharged, the CAN bus data to be recharged and the Ethernet data to be recharged have time synchronism, namely the data with time correlation in the same time period.
Specifically, after receiving the data call instruction, the target database may perform screening according to the data call instruction, for example: and (3) calling out the video data to be recharged, CAN bus data to be recharged and Ethernet data to be recharged, namely the data to be recharged, which meet the time synchronism of the data calling instruction. And then, the data to be recharged is sent to the server workstation, so that the server workstation receives the data to be recharged meeting the data calling instruction and carries out subsequent processing.
Therefore, the current scene CAN be reproduced to the to-be-recharged controller through the to-be-recharged video data, the to-be-recharged CAN bus data and the to-be-recharged Ethernet data with time synchronism, and repeated tests are completed.
On the basis of the above example, before the to-be-recharged data and the controller parameters of the to-be-recharged controller are sent to the target lower computer, the to-be-recharged video data, the to-be-recharged CAN bus data and the to-be-recharged ethernet data may be processed, so that the to-be-recharged video data, the to-be-recharged CAN bus data and the to-be-recharged ethernet data better meet the requirements of collecting recharging:
if the data to be recharged is the video data to be recharged, video preprocessing is carried out on the video data to be recharged according to a display card in a server workstation, and the data to be recharged is updated based on the video data to be recharged after the video preprocessing;
if the data to be recharged is CAN bus data to be recharged and/or Ethernet data to be recharged, carrying out data preprocessing on the data to be recharged according to the data type of the data to be recharged, and updating the data to be recharged based on the CAN bus data to be recharged and/or the Ethernet data to be recharged after the data preprocessing.
The data type is the type of video to be recharged, such as CAN bus type and Ethernet type.
Specifically, if the data to be recharged is the video data to be recharged, video preprocessing, such as decompression decoding processing, is performed on the video data to be recharged through a display card built in the server workstation, and the video data to be recharged after video preprocessing is used for replacing the original received video data to be recharged. If the data to be recharged is CAN bus data to be recharged and/or Ethernet data to be recharged, determining whether the data type of the data to be recharged is the CAN bus type or the Ethernet type, determining a processing method for preprocessing the data to be recharged according to the data type, and preprocessing the data to be recharged according to the determined processing method. And finally, replacing the original received CAN bus data to be recharged and/or Ethernet data to be recharged by using the CAN bus data to be recharged and/or the Ethernet data to be recharged after the data preprocessing.
On the basis of the above example, since the video data to be recharged may be actually acquired or may be obtained by analog simulation, the video preprocessing of the video data to be recharged according to the display card in the server workstation may be performed in the following manner:
if the data source of the video data to be recharged is real acquisition, decompressing and decoding the video data to be recharged based on the display card;
if the data source of the video data to be recharged is analog simulation, decompressing and decoding the video data to be recharged based on a display card, and capturing each frame of video frame in the video data to be recharged after decompressing and decoding based on a video acquisition card in a server workstation.
The data source is used for describing the acquisition mode of the video data to be recharged, and can comprise real acquisition and analog simulation. The real acquisition is achieved through shooting by a camera, and the simulation is achieved through scene simulation to simulate video data in a scene.
Specifically, if the data source of the video data to be recharged is real acquisition, the acquisition mode of the video data to be recharged is consistent with that of recharging to the controller to be recharged, so that decompression decoding processing is needed for the video data to be recharged based on a display card. If the data source of the video data to be recharged is analog simulation, the current video data to be recharged is not matched with the video data to be recharged, which relates to video data with wider range and denser frame number, so that decompression decoding processing is carried out on the video data to be recharged based on a display card, and each frame of video frame in the video data to be recharged after the decompression decoding processing is grabbed based on a video acquisition card in a server workstation, and the video data to be recharged after the video preprocessing better meets the data requirement of the video data to be recharged.
On the basis of the above example, the data to be recharged and the controller parameters of the controller to be recharged can be sent to the target lower computer in the following manner:
if the data to be recharged is the video data to be recharged, transmitting the video data to be recharged to a direct memory reading card of a target lower computer through an Ethernet cable by the direct memory reading card of the server workstation through a video data interface;
if the data to be recharged is the CAN bus data to be recharged, transmitting the CAN bus data to be recharged to a direct memory reading card of a target lower computer through an Ethernet cable by a direct memory reading card of a server workstation through a CAN data program interface;
if the data to be recharged is the Ethernet data to be recharged, transmitting the Ethernet data to be recharged to a direct memory reading card of a target lower computer through an Ethernet cable by the direct memory reading card of the server workstation through an Ethernet data interface;
and transmitting the controller parameters to a target lower computer through an Ethernet cable.
The video data interface is an interface for transmitting video data, the CAN data program interface is an interface for transmitting CAN bus data, and the Ethernet data interface is an interface for transmitting Ethernet data. The direct memory access card is a remote direct memory access card, i.e., a card that uses direct memory access.
Specifically, whether the data to be recharged is video data to be recharged, CAN bus data to be recharged or Ethernet data to be recharged, the corresponding data to be recharged is transmitted to a direct memory reading card of the target lower computer through an Ethernet cable by an interface card corresponding to the data type, namely a video data interface, a CAN data program interface or an Ethernet data interface. Therefore, the data to be recharged of different data types can be sent to the target lower computer. And the controller parameters are transmitted to the target lower computer through an Ethernet cable.
It CAN be understood that the direct memory reading mode avoids the delay caused by the processing of data by the central processing unit, and the control instruction on the server workstation is used for sending the video data to be recharged, the CAN bus data to be recharged, the Ethernet data to be recharged and the like from the direct memory reading card at the server workstation end to the direct memory reading card of the target lower computer, so that the data bandwidth is as high as 25-100Gb/s, and meanwhile, the delay of copying files between caches is reduced.
An exemplary structure diagram of the server workstation is shown in fig. 2, and mainly includes a main board, a CPU connected to the main board, a memory hard disk, a high-performance video card and a video acquisition card for processing video data to be recharged, and a direct memory reading card for fast data transmission.
And S120, the target lower computer generates protocol recharging data according to the controller parameters, the initial function program and the data to be recharged, and sends the protocol recharging data to the controller to be recharged.
Wherein the initial function program comprises each function subprogram. The initial function program is a program file previously edited and including function subroutines for realizing various functions, and is a configuration class file, not an execution class file, because the contents of the program file are not called and the order of calling is not called. The protocol recharging data is data which can be transmitted with the controller to be recharged after protocol processing.
Specifically, the target lower computer configures and processes the initial function program according to the controller parameters, so that the processed program can process the data to be recharged, and data which can be received by the controller to be recharged through a related protocol, namely protocol recharging data, is obtained. Furthermore, the protocol recharging data can be directly transmitted to the controller to be recharged according to the relevant protocol.
Based on the above example, the target lower computer may generate the protocol recharging data according to the controller parameters, the initial function program and the data to be recharged, and send the protocol recharging data to the controller to be recharged in the following manner:
the target lower computer determines parameters to be configured corresponding to the controller to be recharged according to the controller parameters, and processes the initial function program according to the parameters to be configured to obtain a target program file corresponding to each interface card;
and for each interface card, determining the interface data to be recharged corresponding to the interface card from the data to be recharged, processing the interface data to be recharged based on the target program file corresponding to the interface card to obtain protocol recharging data, deploying the interface card based on the target program file, and sending the protocol recharging data to the controller to be recharged.
The parameters to be configured correspond to the controller parameters and are used for configuring the initial function program for the parameters used subsequently. The target program file is a program file configured by using parameters to be configured and is used for carrying out configuration processing on each interface card. The interface data to be recharged is the data corresponding to the interface card and output from the interface card.
Specifically, the target lower computer determines parameters to be configured corresponding to the controller parameters according to the controller parameters. The corresponding relation between the controller parameters and the parameters to be configured can be preconfigured or added according to the requirements. Furthermore, the target lower computer can process the initial function program according to the parameters to be configured, and configure and process the program files for calling each interface card, namely the target program files corresponding to each interface card. Before the corresponding protocol recharging data are transmitted by using each interface card, the interface data to be recharged corresponding to the interface card can be determined from the data to be recharged according to the type of the interface card, and then the interface data to be recharged are processed according to the target program file corresponding to the interface card, namely, the protocol is encoded according to a specified mode, so that the protocol recharging data which can be output from the interface card are obtained, and the interface card can be deployed according to the target program file, so that the interface card can call and transmit the protocol recharging data to the controller to be recharged.
The configuration parameters of various interface cards are written into JSON/CPP files (initial function programs) on a server workstation, the files are deployed under a specified path, the video cards, CAN and Ethernet running programs (target program files) are deployed to a target lower computer through LabVIEW software according to the parameters to be configured, the configuration parameters of the running programs are read from the JSON/CPP files in the target lower computer, and the running states of the interface cards CAN be transmitted to the server workstation through an Ethernet cable of a target protocol for real-time monitoring and displaying.
And S130, the to-be-recharged controller performs sensing processing according to the protocol recharging data to obtain a sensing result.
The sensing result is obtained after the to-be-recharged controller senses, identifies, makes a decision and the like on the protocol recharging data.
Specifically, the to-be-recharged controller receives the protocol recharging data through each interface, and can perform sensing processing on the protocol recharging data through a built-in sensing algorithm and the like to obtain a sensing result, namely a testing result.
On the basis of the above example, in order to improve the test effect of the to-be-refilled controller, before the protocol recharging data is sent to the to-be-refilled controller, time synchronization may be further performed on each protocol data, which may specifically be:
the target lower computer performs clock synchronization processing on protocol recharging data at each interface in the target lower computer based on a trigger bus, a clock synchronization card and a star trigger line in the target lower computer.
The trigger bus, the clock synchronization card and the star trigger line are devices for time synchronization, which are configured in the target lower computer.
Specifically, as shown in fig. 3, a structural schematic diagram of the target lower computer is shown, a PXI trigger bus is disposed in a PXI chassis, and an RT (real time) machine, a clock synchronization card, a direct memory reading card, a video interface card, a CAN interface card and an ethernet interface card are disposed in the PXI chassis, where the clock synchronization card is respectively connected with the video interface card, the CAN interface card and the ethernet interface card, and is used for clock synchronization processing. The system reference clock function of PXI trigger bus, star trigger line and RT machine realizes advanced multi-device synchronization. The method can ensure the time delay equal to the time delay of the hardware route from the clock board card to each interface card and the signal synchronization, can greatly improve the measurement precision, realize the advanced triggering scheme, or synchronize a plurality of devices as a whole to run, and is suitable for the application requiring the number of multiple channels. After the PXI backboard clock of 100MHz is synchronously sent to the star trigger line, the backboard cards of other CAN, ethernet, video and the like in the PXI chassis are ensured to have clock synchronization precision of 10ns level.
On the basis of the above example, in order to obtain the test result of the to-be-refilled controller in real time, so as to facilitate analysis and improvement, after the to-be-refilled controller performs sensing processing according to the protocol recharging data to obtain the sensing result, the sensing result may be fed back, which may specifically be:
and the to-be-recharged controller feeds back the sensing result to the server workstation through the target lower computer.
Specifically, after the sensing processing, the to-be-recharged controller sends the sensing result to the target lower computer through the interface card, and the target lower computer sends the received sensing result to the server workstation so as to check the sensing result from the server workstation, thereby facilitating analysis, improving the sensing algorithm in the to-be-recharged controller, and the like.
The embodiment has the following technical effects: the method comprises the steps that a data calling instruction is sent to a target database through a server workstation, data to be recharged corresponding to the data calling instruction is obtained from the target database, the data to be recharged and controller parameters of a controller to be recharged are sent to a target lower computer so that the data to be recharged can be processed through the target lower computer, further, the target lower computer generates protocol recharging data according to the controller parameters, an initial function program and the data to be recharged, the protocol recharging data is sent to the controller to be recharged, the controller to be recharged carries out sensing processing according to the protocol recharging data, a sensing result is obtained, and the effects that the data to be recharged can be adjusted without changing hardware and the iteration and verification speed of the controller are improved are achieved.
Fig. 4 is a schematic structural diagram of a data recharging system according to an embodiment of the present application. Referring to fig. 4, the data recharging system includes: the system comprises a target database, a server workstation, a target lower computer and a controller to be recharged, wherein the target database is connected with the server workstation through Ethernet, the server workstation is connected with the target lower computer through Ethernet, and the target lower computer is connected with the controller to be recharged through each interface card.
The server workstation is used for sending a data calling instruction to a target database, acquiring data to be recharged corresponding to the data calling instruction from the target database, and sending the data to be recharged and controller parameters of a controller to be recharged to a target lower computer; the target database is used for retrieving data to be recharged corresponding to the data retrieval instruction according to the data retrieval instruction and sending the data to be recharged to the server workstation; the target lower computer is used for generating protocol recharging data according to the to-be-recharged controller, the initial function program and the to-be-recharged data, and sending the protocol recharging data to the to-be-recharged controller; and the to-be-recharged controller is used for performing sensing processing according to the protocol recharging data to obtain a sensing result.
The data recharging system supports recharging of two video modes, and for video files, after decompression and decoding are carried out in a display card of a server workstation, video is sent to a direct memory reading card of the server workstation frame by frame and is sent to a direct memory reading card of a target lower computer. For real-time video streaming data, a video source may be connected to a video capture card of a server workstation via HDMI or DP cable. The image rendering work can also be carried out through a GPU on the server workstation, and the wiring mode is changed into that a video output port of the GPU is connected with an input port of the video acquisition card. The configuration of the display card and the video acquisition card in the data recharging system supports decoding the compressed video file, taking frames from the general video file, rendering the real-time video stream and capturing pixels with specific sizes.
The method has the advantages that the attributes such as the resolution, the data rate, the register configuration, the serializer configuration and the like of the camera are written into a JSON/CPP file (initial function program) to serve as configuration parameters of the FPGA, and the configuration parameters are decoupled from hardware firmware, so that the limitation that the traditional recharging system can only simulate one camera is changed. The customized parameters are read by an operation program in a configuration file mode, and the attribute information of the sensor is decoupled from the simulation function, so that the adaptation flexibility of the data recharging system to different sensors can be improved. In a server workstation, parameter information such as simulated camera resolution, data transmission rate and the like is generated into a JSON/CPP file and deployed on a target lower computer. And the video board card in the target lower computer reads the configuration parameters in the JSON/CPP file, and carries out protocol coding on the data according to a specified mode and sends out the data.
The combination of the bus form of the PXI standard in the target lower computer and the star trigger bus ensures the high-precision time synchronization among multiple channels. And the direct memory reading mode sends the data from the server workstation to the target lower computer, so that the delay of copying the file between caches is reduced.
The embodiment has the following technical effects: the method comprises the steps that a data calling instruction is sent to a target database through a server workstation, data to be recharged corresponding to the data calling instruction is obtained from the target database, the data to be recharged and controller parameters of a controller to be recharged are sent to a target lower computer so that the data to be recharged can be processed through the target lower computer, further, the target lower computer generates protocol recharging data according to the controller parameters, an initial function program and the data to be recharged, the protocol recharging data is sent to the controller to be recharged, the controller to be recharged carries out sensing processing according to the protocol recharging data, a sensing result is obtained, and the effects that the data to be recharged can be adjusted without changing hardware and the iteration and verification speed of the controller are improved are achieved.
In addition to the methods and apparatus described above, embodiments of the application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the data recharging method provided by any of the embodiments of the application.
The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps of the data recharging method provided by any of the embodiments of the present application.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in this specification, the terms "a," "an," "the," and/or "the" are not intended to be limiting, but rather are to be construed as covering the singular and the plural, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements.
It should also be noted that the positional or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present application.
Claims (7)
1. A method of data recharging, comprising:
a server workstation sends a data calling instruction to a target database, acquires data to be recharged corresponding to the data calling instruction from the target database, performs video preprocessing on the data to be recharged according to a display card in the server workstation if the data to be recharged is the video data to be recharged, updates the data to be recharged based on the video data to be recharged after video preprocessing, performs data preprocessing on the data to be recharged according to the data type of the data to be recharged if the data to be recharged is CAN bus data and/or Ethernet data to be recharged, updates the data to be recharged based on the CAN bus data and/or Ethernet data to be recharged after data preprocessing, and sends the data to be recharged and controller parameters of a controller to be recharged to a target lower computer; the target lower computer is an industrial standard lower computer based on a peripheral device interconnection bus;
the target lower computer determines parameters to be configured corresponding to the controller to be recharged according to the controller parameters, and processes an initial function program according to the parameters to be configured to obtain a target program file corresponding to each interface card; determining to-be-recharged interface data corresponding to the interface card from the to-be-recharged data aiming at each interface card, processing the to-be-recharged interface data based on a target program file corresponding to the interface card to obtain protocol recharging data, deploying the interface card based on the target program file, and sending the protocol recharging data to a to-be-recharged controller; wherein, the initial function program comprises each function subprogram; the parameters to be configured comprise resolution ratio, data rate, register configuration and serializer configuration of the camera;
the to-be-recharged controller performs sensing processing according to the protocol recharging data to obtain a sensing result;
the video preprocessing of the video data to be recharged according to the display card in the server workstation comprises the following steps:
if the data source of the video data to be recharged is real acquisition, decompressing and decoding the video data to be recharged based on the display card;
if the data source of the video data to be recharged is analog simulation, decompressing and decoding the video data to be recharged based on the display card, and capturing each frame of video frame in the video data to be recharged after decompressing and decoding based on a video acquisition card in the server workstation;
the real acquisition is a mode of shooting video data through a camera, and the simulation is a mode of simulating video data in a scene through scene simulation.
2. The method of claim 1, wherein the obtaining data to be recharged corresponding to the data retrieval instruction from the target database comprises:
the target database invokes the video data to be recharged, the CAN bus data to be recharged and the Ethernet data to be recharged, which have time synchronism and correspond to the data invoking instruction, according to the data invoking instruction, and sends the video data to be recharged, the CAN bus data to be recharged and the Ethernet data to be recharged to the server workstation as the data to be recharged;
and the server workstation receives the data to be recharged.
3. The method of claim 1, wherein the sending the data to be recharged and the controller parameters of the controller to be recharged to the target lower computer comprises:
if the data to be recharged is the video data to be recharged, transmitting the video data to be recharged to a direct memory reading card of the target lower computer through an Ethernet cable by using a direct memory reading card of the server workstation through a video data interface;
if the data to be recharged is CAN bus data to be recharged, transmitting the CAN bus data to be recharged to a direct memory reading card of the target lower computer through an Ethernet cable by a direct memory reading card of the server workstation through a CAN data program interface;
if the data to be recharged is the Ethernet data to be recharged, transmitting the Ethernet data to be recharged to a direct memory reading card of the target lower computer through an Ethernet cable by using a direct memory reading card of the server workstation through an Ethernet data interface;
and transmitting the controller parameters to the target lower computer through an Ethernet cable.
4. The method of claim 1, further comprising, prior to said sending the protocol recharge data to a to-be-recharged controller:
and the target lower computer performs clock synchronization processing on protocol recharging data at each interface in the target lower computer based on a trigger bus, a clock synchronization card and a star trigger line in the target lower computer.
5. The method according to any one of claims 1 to 4, wherein after the to-be-refilled controller performs a sensing process according to the protocol recharging data to obtain a sensing result, the method further comprises:
and the to-be-recharged controller feeds the sensing result back to the server workstation through the target lower computer.
6. A data recharging system, comprising: the system comprises a target database, a server workstation, a target lower computer and a controller to be recharged, wherein the target database is connected with the server workstation through an Ethernet, the server workstation is connected with the target lower computer through the Ethernet, and the target lower computer is connected with the controller to be recharged through each interface card; wherein,
the server workstation is used for sending a data calling instruction to a target database, acquiring data to be recharged corresponding to the data calling instruction from the target database, carrying out video preprocessing on the data to be recharged according to a display card in the server workstation if the data to be recharged is the video data to be recharged, updating the data to be recharged based on the video data to be recharged after video preprocessing, carrying out data preprocessing on the data to be recharged according to the data type of the data to be recharged if the data to be recharged is the CAN bus data to be recharged and/or the Ethernet data to be recharged, updating the data to be recharged based on the CAN bus data to be recharged and/or the Ethernet data to be recharged after data preprocessing, and sending the data to be recharged and the controller parameters of a controller to be recharged to a target lower computer;
the video preprocessing of the video data to be recharged according to the display card in the server workstation comprises the following steps:
if the data source of the video data to be recharged is real acquisition, decompressing and decoding the video data to be recharged based on the display card; if the data source of the video data to be recharged is analog simulation, decompressing and decoding the video data to be recharged based on the display card, and capturing each frame of video frame in the video data to be recharged after decompressing and decoding based on a video acquisition card in the server workstation; the real acquisition is a mode of shooting by a camera to obtain video data, and the simulation is a mode of simulating the video data in a scene by scene simulation;
the target database is used for retrieving data to be recharged corresponding to the data retrieval instruction according to the data retrieval instruction and sending the data to be recharged to the server workstation;
the target lower computer is used for determining parameters to be configured corresponding to the controller to be recharged according to the controller parameters, and processing an initial function program according to the parameters to be configured to obtain a target program file corresponding to each interface card; determining to-be-recharged interface data corresponding to the interface card from the to-be-recharged data aiming at each interface card, processing the to-be-recharged interface data based on a target program file corresponding to the interface card to obtain protocol recharging data, deploying the interface card based on the target program file, and sending the protocol recharging data to a to-be-recharged controller; wherein, the initial function program comprises each function subprogram; the parameters to be configured comprise resolution ratio, data rate, register configuration and serializer configuration of the camera;
and the to-be-recharged controller is used for performing sensing processing according to the protocol recharging data to obtain a sensing result.
7. A computer-readable storage medium storing a program or instructions that cause a computer to perform the steps of the data recharging method according to any of claims 1 to 5.
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