CN117201228A

CN117201228A - Data recharging method and device, electronic equipment and storage medium

Info

Publication number: CN117201228A
Application number: CN202311285293.8A
Authority: CN
Inventors: 井晓瑞; 黄硕; 严咏麟; 高立; 王栋梁; 刘坤鹏
Original assignee: Faw Nanjing Technology Development Co ltd; FAW Group Corp
Current assignee: Faw Nanjing Technology Development Co ltd; FAW Group Corp
Priority date: 2023-10-07
Filing date: 2023-10-07
Publication date: 2023-12-08

Abstract

The application discloses a data recharging method, a data recharging device, electronic equipment and a storage medium. The method comprises the following steps: acquiring message data of the automatic driving domain controller; extracting a starting time stamp in the message data, and sending the starting time stamp to an automatic driving domain controller according to preset time so as to adjust the time of the automatic driving domain controller system to the starting time stamp of the message data, wherein the starting time stamp is the starting time for collecting the message data, and the preset time is a time earlier than the recharging starting time of the message data by a preset value; and recharging the message data to the autopilot domain controller when the time adjustment of the autopilot domain controller system is completed. According to the application, the time of the automatic driving domain controller system is modified to be consistent with the initial time stamp of the message data, and then the message data is recharged to the automatic driving domain controller, so that the problem of large data processing workload is solved, and the data recharging efficiency is improved.

Description

Data recharging method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of intelligent driving technologies, and in particular, to a data recharging method, device, electronic equipment, and storage medium.

Background

With the revolution of the automobile industry, automobiles are developing into the intelligent and electric directions, and automatic driving is becoming a branch of the intelligent and is receiving more and more attention from the automobile industry.

Before the vehicle is released, an automatic driving domain controller of the automobile is tested in a data recharging mode to ensure the safety and reliability of automatic driving. At present, the data recharging mode is as follows: the time stamp of each frame of recharging message is modified to be the same as the time of the automatic driving domain controller, and then data recharging is carried out, so that the accuracy of the data recharging is ensured; however, the mode of modifying the time stamp of the recharging message increases the workload of data processing, and the occupied algorithm is larger, thereby greatly reducing the efficiency of recharging data.

Disclosure of Invention

The application provides a data recharging method, a device, electronic equipment and a storage medium, which are used for solving the problem of large data processing workload and improving the recharging efficiency of data.

According to an aspect of the present application, there is provided a data recharging method, including:

acquiring message data of the automatic driving domain controller;

extracting a starting time stamp in the message data, and sending the starting time stamp to an automatic driving domain controller according to preset time so as to adjust the time of the automatic driving domain controller system to the starting time stamp of the message data, wherein the starting time stamp is the starting time for collecting the message data, and the preset time is a time earlier than the recharging starting time of the message data by a preset value;

and recharging the message data to the autopilot domain controller when the time adjustment of the autopilot domain controller system is completed.

According to another aspect of the present application, there is provided a data recharging apparatus, comprising:

the data acquisition module is used for acquiring message data of the automatic driving domain controller;

the time adjustment module is used for extracting a starting time stamp in the message data, sending the starting time stamp to an automatic driving domain controller according to preset time so as to adjust the time of the automatic driving domain controller system to the starting time stamp of the message data, wherein the starting time stamp is the starting time for collecting the message data, and the preset time is a preset value earlier than the recharging starting time of the message data;

and the recharging module is used for recharging the message data to the autopilot domain controller when the time adjustment of the autopilot domain controller system is completed.

According to another aspect of the present application, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the data recharging method according to any of the embodiments of the present application.

According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement a data recharging method according to any of the embodiments of the present application when executed.

According to the technical scheme, the message data of the automatic driving domain controller are acquired; extracting a starting time stamp in the message data, and sending the starting time stamp to an automatic driving domain controller according to preset time so as to adjust the time of the automatic driving domain controller system to the starting time stamp of the message data, wherein the starting time stamp is the starting time for collecting the message data, and the preset time is a time earlier than the recharging starting time of the message data by a preset value; and recharging the message data to the autopilot domain controller when the time adjustment of the autopilot domain controller system is completed. According to the application, the time of the automatic driving domain controller system is modified to be consistent with the initial time stamp of the message data, and then the message data is recharged to the automatic driving domain controller, so that the problem of large data processing workload is solved, and the data recharging efficiency is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a data recharging method provided according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a data recharging device according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device implementing a data recharging method according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the term "preset" and the like in the description of the present application and the claims and the above drawings are used for distinguishing similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a data recharging method according to an embodiment of the present application, where the method may be performed by a data recharging device, which may be implemented in hardware and/or software, and may be configured in an electronic device having the data recharging method, where the method is applicable to a case of recharging historical driving data into an autopilot controller. As shown in fig. 1, the method includes:

s110, acquiring message data of an automatic driving domain controller.

Specifically, before the vehicle is not released, the vehicle is continuously tested, so that running data of the vehicle test, such as data in running of an automatic driving controller, are collected, and in order to accurately detect the automatic driving domain controller, the running collected data are continuously recharged again, so that the stability and the accuracy of the system are ensured.

Optionally, after the message data of the autopilot domain controller is obtained, the message type may be determined according to the feature data of the message data, where the message type includes at least one of a CAN message, an ethernet message, and a visual image message, the message recharging mode is determined according to the message type and a preset association relationship, the preset association relationship is used to describe a one-to-one correspondence between the message type and the message recharging mode, and the message recharging mode is used to describe a recharging mode for the message data corresponding to the message type, so that the message data CAN be accurately recharged according to the message recharging mode in the following steps.

S120, extracting a starting time stamp in the message data, and sending the starting time stamp to the automatic driving domain controller according to preset time so as to adjust the time of the automatic driving domain controller system to the starting time stamp of the message data.

The starting time stamp is the starting time of collecting the message data, the preset time is the time earlier than the message data recharging starting time by a preset value, and the starting time stamp can be specifically set according to the actual condition of hardware. The preset time is set because the time of the message recharging is faster than the time of modifying the automatic driving domain controller system due to hardware delay, so the preset time is set, the time of the automatic driving domain controller system is modified in advance, and then the recharging of message data can be performed by the party when the modification is completed, so that the on-time synchronization of the time can be ensured.

In particular, in order to make the recharging data more accurate, so that the system time and the recharging time of the message data are required to be consistent, in order to reduce the amount of work, the time of the automatic driving domain controller system is selected to be modified, the time of the automatic driving domain controller system is only required to be adjusted to be the initial timestamp of the message data, the subsequent time is automatically adjusted, and each frame time of the message data is prevented from being adjusted, so that the time is wasted.

The specific process can be as follows: analyzing the message data to extract a starting time stamp in the message data; and sending the starting time stamp to a universal time precision time protocol message (General Precise Time Protocol, GPTP), and sending the universal time precision time protocol message carrying the starting time stamp to the automatic driving domain controller according to preset time so as to facilitate the subsequent recharging of message data while the system time is adjusted well and ensure the synchronization of time.

And S130, recharging the message data to the automatic driving domain controller when the time adjustment of the automatic driving domain controller system is completed.

Specifically, the time adjustment of the autopilot domain controller system is completed within a preset time, and the message data is recharged to the autopilot domain controller while the time adjustment is completed, and for different message types in the message data, different recharging modes are corresponding, and the recharging modes corresponding to at least three message types are described as follows:

first kind: the message type of the message data is CAN message, and recharging the message data to the automatic driving domain controller comprises the following steps: acquiring the identification information of a preset recharging CAN message, and recharging the message containing the identification information in the CAN message to an automatic driving domain controller. Because the CAN message has the message sent by the autopilot domain controller and the message received by the autopilot domain controller, only the message received by the autopilot domain controller needs to be recharged during recharging, so that identification information in the CAN message needs to be identified, and the received and sent messages are distinguished, so that the recharging of the message is accurately performed. The preset recharging CAN message refers to message information which is preset according to the identification information of the historically received message and needs recharging, and comparison of the identification information of the subsequent message data is facilitated.

Second kind: the message type is an Ethernet message, and recharging the message data to the automatic driving domain controller comprises the following steps: if the Ethernet message is an SOME/IP message, the recharging device sends a sending signal of the SOME/IP message to the autopilot domain controller, and after the autopilot domain controller returns a receiving signal, a communication channel between the recharging device and the autopilot domain controller is established, and then the SOME/IP message is recharged to the autopilot domain controller. The recharging equipment comprises recharging software and recharging hardware, the hardware is required to support a protocol stack of the someip message when the someip message is sent, for UDP messages, the hardware is required to support a general UDP message protocol, for the recharging of UDP messages, the address information of the autopilot domain controller and the port information of the autopilot domain controller can be set in the recharging equipment in advance, the autopilot domain controller can be found accurately during recharging conveniently, and then periodical recharging is carried out.

Third kind: the message type is a visual image message, and recharging the message data to the automatic driving domain controller comprises the following steps: and acquiring a preset frame rate of the recharging visual image message, shielding an image signal processor in the automatic driving domain controller, wherein the visual image message is YUV data, and recharging the visual image message to the automatic driving domain controller based on the preset frame rate. In the automobile industry, an image signal processor (image signal process, ISP) is arranged in a domain controller, and YUV data is processed without being processed by the image signal processor again, so that when the YUV data is recharged, a recharging channel is configured, the image signal processor is shielded, and finally, a visual image message is recharged to an automatic driving domain controller according to a preset frame rate. The YUV data is utilized to carry out data recharging, so that the time for recharging is also quickened, and the complex processing process of data in the prior recharging process by utilizing the Raw data is avoided.

Example two

Fig. 2 is a schematic structural diagram of a data recharging device according to an embodiment of the present application. As shown in fig. 2, the apparatus includes:

a data acquisition module 210, configured to acquire message data of the autopilot domain controller;

the time adjustment module 220 is configured to extract a start time stamp in the message data, send the start time stamp to an autopilot domain controller according to a preset time, so as to adjust the time of the autopilot domain controller system to the start time stamp of the message data, where the start time stamp is a start time of collecting the message data, and the preset time is a time earlier than a recharging start time of the message data by a preset value;

and a recharging module 230, configured to recharge the message data to the autopilot domain controller when the time adjustment of the autopilot domain controller system is completed.

Optionally, the time adjustment module is configured to:

analyzing the message data to extract the initial time stamp in the message data;

transmitting the initial timestamp to a universal time precision time protocol message;

and sending the universal time precision time protocol message carrying the starting time stamp to the automatic driving domain controller according to preset time.

Optionally, the device further includes a message recharging mode determining unit, specifically configured to:

determining the message type according to the characteristic data of the message data, wherein the message type at least comprises one of CAN message, ethernet message and visual image message;

and determining the message recharging mode according to the message type and a preset association relation, wherein the preset association relation is used for describing a one-to-one correspondence relation between the message type and the message recharging mode.

Optionally, the message type of the message data is a CAN message, and the recharging module includes a first recharging unit, specifically configured to:

acquiring identification information of a preset recharging CAN message;

recharging the message containing the identification information in the CAN message to the automatic driving domain controller.

Optionally, the message type is an ethernet message, and the recharging module includes a second recharging unit, specifically configured to:

if the Ethernet message is an SOME/IP message, transmitting a transmitting signal of the SOME/IP message to the autopilot domain controller;

and recharging the SOME/IP message to the autopilot domain controller when the autopilot domain controller returns a receiving signal.

Optionally, the message type is a visual image message, and the recharging module includes a third recharging unit, specifically configured to:

obtaining a preset frame rate of the visual image message, and shielding an image signal processor in the automatic driving domain controller, wherein the visual image message is YUV data;

and recharging the visual image message to the automatic driving domain controller based on the preset frame rate.

The data recharging device provided by the embodiment of the application can execute the data recharging method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.

Example III

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. 3 shows a schematic structural diagram of an electronic device that may be used to implement the data recharging method according to an embodiment of the present application. 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. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), 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 applications described and/or claimed herein.

As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the data recharging method.

In some embodiments, the data recharging method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the data recharging method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the data recharging method in any other suitable way (e.g., by means of firmware).

Various implementations of the systems and techniques described here above can 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), complex 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.

A computer program for carrying out methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program 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 the present application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage 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. Alternatively, the computer readable storage medium may be a machine readable signal medium. 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 an electronic device 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 a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. 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), blockchain networks, and the internet.

The computing system may include clients and servers. 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 can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

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 described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present application are achieved, and the present application is not limited herein.

The above embodiments do not limit the scope of the present application. 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 application should be included in the scope of the present application.

Claims

1. A method of data recharging, comprising:

acquiring message data of the automatic driving domain controller;

2. The method of claim 1, wherein extracting the start time stamp in the message data and sending the start time stamp to an autopilot domain controller according to a preset time, comprises:

3. The method of claim 1, wherein after obtaining the message data of the autopilot controller, the method further comprises:

4. A method according to claim 3, wherein the message type of the message data is CAN message, recharging the message data to the autopilot domain controller, comprising:

acquiring identification information of a preset recharging CAN message;

5. A method according to claim 3, wherein the message type is an ethernet message, recharging the message data to the autopilot domain controller, comprising:

6. A method according to claim 3, wherein the message type is a visual image message, recharging the message data to the autopilot domain controller, comprising:

7. A data recharging apparatus, comprising:

8. The apparatus of claim 7, wherein the time adjustment module is configured to:

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the data recharging method of any of claims 1-6.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the data recharging method of any of claims 1-6.