WO2021146899A1 - 数据存储方法和装置、计算机设备、计算机可读存储介质 - Google Patents

数据存储方法和装置、计算机设备、计算机可读存储介质 Download PDF

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WO2021146899A1
WO2021146899A1 PCT/CN2020/073453 CN2020073453W WO2021146899A1 WO 2021146899 A1 WO2021146899 A1 WO 2021146899A1 CN 2020073453 W CN2020073453 W CN 2020073453W WO 2021146899 A1 WO2021146899 A1 WO 2021146899A1
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data
abnormal
message
business
service
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PCT/CN2020/073453
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English (en)
French (fr)
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朱军
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深圳元戎启行科技有限公司
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Priority to PCT/CN2020/073453 priority Critical patent/WO2021146899A1/zh
Priority to CN202080003135.7A priority patent/CN113544649A/zh
Publication of WO2021146899A1 publication Critical patent/WO2021146899A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance

Definitions

  • This application relates to the field of computer technology, in particular to an unmanned vehicle data storage method and device, computer equipment, and computer-readable storage medium.
  • An unmanned car is an intelligent car that realizes unmanned driving through a computer system.
  • unmanned vehicles In the process of road test or demonstration operation of unmanned vehicles, unmanned vehicles often have abnormal conditions. Under abnormal conditions, manual control of driving is required. Therefore, it is necessary to collect the data of unmanned vehicles in the process of driving. Later, these data are used to restore the scene to analyze the reasons for the abnormal situation of the driverless car.
  • the traditional way is to collect the data of the driverless car in the whole process.
  • the traditional method needs to record and store a large amount of data, which will take up a lot of system resources and burden the driverless car system.
  • a data storage method and device for an unmanned vehicle, a computer device, and a non-volatile computer-readable storage medium are provided.
  • An unmanned vehicle data storage method including: obtaining abnormal attribute messages issued by each unit in an unmanned vehicle system; generating subscription information according to the abnormal attribute message; obtaining services published by each unit according to the subscription information Attribute message; sending the service data corresponding to the service attribute message to the data storage server.
  • An unmanned vehicle data storage device comprising: an acquisition module for acquiring abnormal attribute messages issued by each unit in an unmanned vehicle system; a determining module for generating subscription information according to the abnormal attribute messages; The acquiring module is further configured to acquire the business attribute messages published by the respective units according to the subscription information; the sending module is configured to send the business data corresponding to the business attribute messages to the data storage server.
  • a computer device including a memory and a processor, and a computer program is stored in the memory.
  • the processor executes the driverless driving described in each embodiment of the present application. The steps of the car data storage method.
  • a computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the steps of the driverless car data storage method described in each embodiment of the present application are realized.
  • the data storage method and device, computer equipment, and computer-readable storage medium of an unmanned vehicle in the embodiments of the application are used to obtain abnormal attribute messages issued by each unit in the unmanned vehicle system; generate subscription information according to the abnormal attribute message; obtain according to the subscription information Business attribute messages issued by each unit; the business data corresponding to the business attribute messages are sent to the data storage server.
  • Fig. 1 is an application environment diagram of an unmanned car data storage method in an embodiment.
  • Fig. 2 is a flowchart of a method for storing data of an unmanned car in an embodiment.
  • Fig. 3 is a structural block diagram of an exception handling unit in an embodiment.
  • Fig. 4 is a schematic diagram of the function of the message middleware in an embodiment.
  • Fig. 5 is a flowchart of a method for storing data of an unmanned car in another embodiment.
  • Fig. 6 is a structural block diagram of an unmanned vehicle data storage device in an embodiment.
  • Fig. 7 is a structural block diagram of an unmanned car data storage device in another embodiment.
  • Fig. 8 is a structural block diagram of an unmanned car data storage device in another embodiment.
  • Fig. 9 is a schematic diagram of the internal structure of a computer device in an embodiment.
  • Fig. 1 is an application environment diagram of an unmanned car data storage method in an embodiment.
  • the driverless car data storage system includes a terminal 110 and a storage server 120.
  • the terminal 110 may specifically be an unmanned car.
  • the terminal 110 and the storage server 120 are connected through a network, and the network may be a mobile network or a wireless network.
  • the server 120 may be implemented as an independent server or a server cluster composed of multiple servers.
  • the terminal 110 obtains the abnormal attribute message issued by each unit in the driverless car system; then, the terminal 110 generates subscription information according to the abnormal attribute message; then, the terminal 110 obtains the abnormal attribute message issued by each unit according to the subscription information. Service attribute message; then, the terminal 110 sends the service data corresponding to the service attribute message to the data storage server 120.
  • a method for storing data of an unmanned car is provided.
  • the method is applied to the terminal 110 shown in FIG. 1 as an example for description.
  • the method includes:
  • Step 202 Obtain abnormal attribute messages issued by each unit in the driverless car system.
  • the driverless car system is composed of multiple units, the unit may be a functional unit, and each unit is used to implement a function of the driverless car.
  • the function corresponding to the unit may belong to a perception function, a planning function, or a motion control function.
  • the perception function is responsible for providing a real-world model, and can be further subdivided into the road environment perception function, the vehicle motion sensing function, and the information fusion function.
  • the planning function is based on artificial intelligence theory to complete the planning, reasoning, and decision-making of vehicle behavior and movement. It can be further subdivided into high-level behavior planning functions and low-level motion planning functions.
  • the motion control function compares the actual motion pose of the vehicle with the expected motion pose in real time, and uses intelligent control algorithms to control the steering wheel, accelerator, brake and other actuators of the car.
  • Each unit in the driverless car system can be divided according to actual applications. For example, the driverless car system can be divided into dozens of units, or the driverless car system can be divided into hundreds or thousands of units.
  • the abnormal attribute message is used to prompt an abnormality in a unit.
  • the format of the abnormal attribute message may be a message format or an event format.
  • Each unit in the driverless car system monitors its own business data. Once an abnormal situation is found, the unit issues an abnormal attribute message so that the terminal can start collecting related business data according to the abnormal attribute message.
  • Business data can include system data and non-system data.
  • System data can be central processing unit, memory, hard disk, network statistics, etc.
  • Non-system data can be data collected by sensors, which can be real-time data or historical data. Specifically, each unit monitors its own business data in real time or regularly.
  • an exception handling unit can be established in the driverless car system.
  • the exception handling unit is used to collect relevant business data when an abnormal situation occurs in each unit in the driverless car system, and send the collected business data To the data storage server for storage.
  • the exception handling unit may include: a message subscription sub-unit, a data collection sub-unit, a data processing sub-unit, and a data transmission sub-unit.
  • the message subscription subunit is used to subscribe to and receive abnormal attribute messages
  • the data collection subunit is used to collect business data associated with the abnormal attribute messages
  • the data processing subunit is used to process the business data collected by the data collection subunit
  • data transmission The subunit is used to send the service data processed by the data processing subunit to the storage server.
  • the message subscribing sub-unit in the exception processing unit obtains the abnormal attribute messages issued by each unit in the driverless car system.
  • the abnormality processing unit monitors each unit in the driverless car system, so as to obtain the abnormal attribute message issued by each unit.
  • the exception handling unit communicates with each unit in the driverless car system based on a publisher-subscriber model (Pub/Sub model).
  • the publisher-subscriber model defines a one-to-many relationship. Multiple subscribers monitor a certain publisher at the same time. When the state of the publisher changes, all subscribers will be notified. Among them, the publisher publishes messages or events and subscribes. The publisher subscribes to these messages or events to observe the state of the publisher, and the publisher and subscribers are completely decoupled.
  • each unit in the driverless car system publishes at least one topic, and the type of the topic may include an abnormal attribute type and a business attribute type, and each type of topic may include multiple topics.
  • the exception handling unit subscribes to the topic of the exception attribute type of each unit to receive the exception attribute message published by each unit, and the exception handling unit subscribes to the topic of the business attribute type of each unit to receive the business attribute message published by each unit.
  • the exception handling unit subscribes to the topic of the abnormal attribute type, and when receiving the abnormal attribute message published by the unit, it opens the subscription to the topic of the related business attribute type until the collection of the business data associated with the abnormal attribute message is completed. After that, the subscription to the topic of the related business attribute type is closed. In this way, the collection of business data is dynamically customized through events or messages, and the collection of business data is dynamically turned on or off, saving system resources.
  • Step 204 Generate subscription information according to the abnormal attribute message.
  • the subscription information is used to subscribe to the business data associated with the abnormal attribute message
  • the business data associated with the abnormal attribute message refers to the business data related to the abnormal information corresponding to the abnormal attribute message.
  • the association relationship can be preset, and the abnormal attribute message corresponds to The abnormal information is used to characterize the specific abnormal content corresponding to the abnormal attribute message.
  • the abnormal attribute message may include: the unit to which the abnormal attribute message belongs, the generation time of the abnormal attribute message, the abnormal level of the abnormal information corresponding to the abnormal attribute message, the service data identifier associated with the abnormal attribute message, The collection period of the business data associated with the abnormal attribute message, and so on.
  • the unit to which the abnormal attribute message belongs refers to the unit that publishes the abnormal attribute message; the generation time of the abnormal attribute message refers to the time when the unit detects the abnormal condition.
  • the abnormal attribute message is generated;
  • the abnormal information is For abnormal business data, when each unit detects that a business data is not within the data range corresponding to the business data, it is determined that the business data is abnormal, and the abnormality level of the abnormal information corresponding to the abnormal attribute message is used to characterize the protection of the abnormal information Level; the business data identifier is used to characterize the identity information of the business data.
  • the business data identifier can be the name of the business data.
  • the business data identifier associated with the abnormal attribute message refers to the business data identifier related to the abnormal information corresponding to the abnormal attribute message ,
  • the association relationship can be preset; the collection period of the business data associated with the abnormal attribute message is used to characterize the collection start point and collection end point of the business data, such as collecting business data in the past two minutes at the current moment, and collecting the business data at the current moment in the future Two minutes of business data.
  • the subscription information may include: a topic of a business attribute type used to collect business data associated with the abnormal attribute message.
  • the message subscription sub-unit in the exception processing unit obtains the abnormal attribute messages published by each unit in the driverless car system, and generates subscription information according to the abnormal attribute messages.
  • Step 206 Obtain the service attribute messages published by the respective units according to the subscription information.
  • the subscription information may include the subject of the business attribute type used to collect the business data associated with the abnormal attribute message, and obtain the business attribute message through the subscription information (the business attribute message corresponds to the business data associated with the abnormal attribute message), and then Obtain the business data associated with the abnormal attribute message.
  • the subscription information may be generated according to the service data identifier associated with the abnormal attribute message.
  • the collection duration of the business data associated with the abnormal attribute message can be set, and when the set collection duration is reached, the subscription to the topic of the business attribute type is closed.
  • the collection time can be 100 seconds.
  • the subscription information may be generated according to the service data identifier associated with the abnormal attribute message and the collection period of the service data associated with the abnormal attribute message.
  • the subscription to the topic of the business attribute type is closed.
  • the message subscription subunit in the exception processing unit obtains the business attribute messages published by each unit according to the subscription information, and sends the business attribute messages to the data collection subunit in the exception processing unit.
  • Step 208 Send the service data corresponding to the service attribute message to the data storage server.
  • the storage server is used to store business data, which can be used to analyze the abnormal information of the driverless car system.
  • the business attribute message can be processed, and the processed business data can be packaged and sent to the storage server.
  • the processing method may be encryption.
  • the data processing subunit in the exception processing unit processes the business data corresponding to the business attribute message, and sends the processed business data to the data transmission subunit in the exception processing unit, and the data transmission subunit will
  • the business data and the abnormal attribute message are packaged and sent to the data storage server.
  • the abnormal attribute message is sent by the message subscription sub-unit to the data processing sub-unit, and then the data processing sub-unit is sent to the data transmission sub-unit.
  • the aforementioned driverless car data storage method obtains the abnormal attribute messages published by each unit in the driverless car system, generates subscription information according to the abnormal attribute messages, obtains the business attribute messages published by each unit according to the subscription information, and corresponds the business attribute messages
  • the business data is sent to the data storage server. In this way, the collection of business data is dynamically customized through events or messages, and the collection of business data is dynamically turned on or off, saving system resources and improving the performance of unmanned vehicles.
  • each unit in the driverless car system publishes at least one topic, the type of the topic may include an abnormal attribute type, and the type of topic may include multiple topics.
  • the exception handling unit subscribes to the topic of the exception attribute type of each unit, and then can receive the exception attribute message published by each unit.
  • each unit in the driverless car system monitors its own business data, and once an abnormality is found, the unit issues an abnormal attribute message, so that the terminal starts collecting related business data according to the abnormal attribute message.
  • the data range is used to characterize the business data The safety range.
  • the generating subscription information according to the abnormal attribute message includes: obtaining the service data identifier associated with the abnormal attribute message and the collection period of the service data associated with the abnormal attribute message; The data identification and the collection period generate the subscription information.
  • the business data identifier is used to characterize the identity information of the business data
  • the business data identifier may be the name of the business data
  • the business data identifier associated with the abnormal attribute message refers to the business data identifier related to the abnormal information corresponding to the abnormal attribute message
  • the association relationship can be set in advance; the collection period of the business data associated with the abnormal attribute message is used to characterize the collection start point and the collection end point of the associated business data, such as collecting the business data in the past two minutes at the current moment, and collecting the current Business data for the next two minutes at any time.
  • the subscription information may be generated according to the service data identifier associated with the abnormal attribute message and the collection period of the service data associated with the abnormal attribute message.
  • the subscription information is used to characterize the business data that needs to be collected, the collection start point and the collection end point of the service data.
  • the business data that needs to be collected is the data detected by the radar sensor.
  • the collection period is two minutes in the future from the current period.
  • the radar sensor detects the data in the next two minutes from the current period, close the service attribute type.
  • Subject subscription for example, the business data that needs to be collected is the data detected by the radar sensor, and the collection period is two minutes past the current period. When the data detected by the radar sensor in the past two minutes in the current period is obtained, close the service attribute type Subject subscription.
  • the message subscription sub-unit in the abnormality processing unit obtains the service data identifier associated with the abnormal attribute message and the collection period of the service data associated with the abnormal attribute message, and generates subscription information according to the service data identifier and the collection period.
  • the aforementioned driverless car data storage method acquires the business data identifier associated with the abnormal attribute message and the collection period of the business data associated with the abnormal attribute message, and generates subscription information according to the service data identifier and the collection period, so that the terminal can accurately collect the abnormal attributes The business data associated with the message.
  • the obtaining the service attribute messages published by each unit according to the subscription information includes: subscribing to the service published by each unit in the driverless car system in a message middleware according to the subscription information Attribute message; receiving subscribed service attribute messages issued by each unit in the driverless car system, wherein each unit in the driverless car system detects service data, and generates the service attribute message according to the service data, And upload the business attribute message to the message middleware.
  • each unit in the driverless car system publishes at least one topic, and the type of the topic may include an abnormal attribute type and a business attribute type, and each type of topic may include multiple topics.
  • the exception handling unit subscribes to the topic of the exception attribute type of each unit to receive the exception attribute message published by each unit, and the exception handling unit subscribes to the topic of the business attribute type of each unit to receive the business attribute message published by each unit.
  • the exception handling unit subscribes to the topic of the abnormal attribute type, and when receiving the abnormal attribute message published by the unit, it opens the subscription to the topic of the related business attribute type until the collection of the business data associated with the abnormal attribute message is completed. After that, the subscription to the topic of the related business attribute type is closed. In this way, the collection of business data is dynamically customized through events or messages, and the collection of business data is dynamically turned on or off, saving system resources.
  • the message subscription sub-unit in the exception handling unit subscribes to the business attribute messages published by each unit in the driverless car system in the message middleware according to the subscription information; receives the business attributes published by each unit in the subscribed driverless car system Messages, where each unit in the driverless car system detects business data, generates business attribute messages based on the business data, and uploads the business attribute messages to the message middleware.
  • the message middleware subscribes to the business attribute messages issued by each unit in the unmanned car system, and receives the business attribute messages issued by each unit in the subscribed unmanned car system, Among them, each unit in the driverless car system detects business data, generates business attribute messages based on the business data, and uploads the business attribute messages to the message middleware, so that the terminal can obtain the business attribute messages issued by each unit in a targeted manner. Obtain the business data of each unit.
  • the method before sending the service data corresponding to the service attribute message to the data storage server, the method further includes: classifying the service data corresponding to the service attribute message to obtain the first service data and the second service Data; the sending the service data corresponding to the service attribute message to a data storage server includes: sending the first service data and the second service data to the data storage server.
  • the first business data and the second business data are used as a result of classifying the business data. It can be understood that business data can be divided into multiple categories, not limited to two categories.
  • the business data can be classified according to the unit to which the business attribute message belongs, the generation time of the abnormal attribute message, the abnormality level of the abnormal information corresponding to the abnormal attribute message, and the like.
  • classify business data according to the unit to which the business attribute message belongs For example, classify business data according to the unit to which the business attribute message belongs. Classify all the units in the autonomous vehicle system in advance to obtain the first unit range and the second unit range (understandably, the units of the autonomous vehicle system can be divided into multiple categories, not limited to two categories, here is just for For example), if the unit to which the business attribute message belongs is in the range of the first unit, use the business data corresponding to the business attribute message as the first business data; if the unit to which the business attribute message belongs is in the second unit range, set the business corresponding to the business attribute message The data is used as the second business data.
  • the service data corresponding to the abnormal attribute message generated in the first time period is used as the first service data
  • the service data corresponding to the abnormal attribute message generated in the second time period is used as the second service data. It can be understood that it can be divided into multiple time periods and is not limited to two time periods, and this is only an example.
  • the business data is classified according to the abnormal level of the abnormal information corresponding to the abnormal attribute message.
  • the level of each abnormal information is preset, such as level one, level two, etc., and the level is used to characterize the degree of danger of the abnormal information. If the abnormality level corresponding to the abnormal attribute message is level one, the business data corresponding to the abnormal attribute message is regarded as the first business data; if the abnormality level corresponding to the abnormal attribute message is level two, the business data corresponding to the abnormal attribute message is regarded as the second business data. It can be understood that the abnormality level can be divided into multiple levels and is not limited to two levels, and this is only an example.
  • different physical storage paths can be set for the first business data and the second business data to characterize the classification results; in another embodiment, different classifications can be set for the first business data and the second business data Labels are used to characterize the classification results, for example, different names are set for the first service data and the second service data.
  • the data processing subunit in the exception processing unit classifies the business data corresponding to the business attribute message to obtain the first business data and the second business data; the data transmission subunit in the exception processing unit combines the first business data and the second business data 2.
  • the service data is sent to the data storage server.
  • the above-mentioned method for storing driverless car data classifies the business data corresponding to the business attribute message to obtain the first business data and the second business data, and sends the first business data and the second business data to the data storage server to realize the matching Orderly processing and orderly sending of business data.
  • the classifying the business data corresponding to the business attribute message to obtain the first business data and the second business data includes: according to whether the business data corresponding to the business attribute message is classified The business data is classified, and the secret-related business data is regarded as the first business data, and the secret-related business data is regarded as the second business data.
  • the business data is classified according to whether the business data corresponding to the business attribute message is secret-related, the secret-related business data is regarded as the first business data, and the secret-related business data is regarded as the first business data.
  • Business data In this way, confidential business data can be processed to ensure the security of data transmission.
  • the data processing sub-unit in the exception handling unit classifies the business data according to whether the business data corresponding to the business attribute message is classified, and treats the classified service data as the first service data, and the non-secret related service data as the The second business data.
  • the business data is classified according to whether the business data corresponding to the business attribute message is confidential, and the confidential business data is regarded as the first business data, and the non-secret business data is regarded as the second business data.
  • Business data to realize the security of business data transmission.
  • the method before sending the first service data and the second service data to the data storage server, the method further includes: encrypting the first service data; Sending a service data and the second service data to the data storage server includes: packaging and sending the encrypted first service data and the second service data to the data storage server.
  • the secret-related first business data is encrypted to ensure the security of data transmission.
  • the encryption method may be: digital signature encryption, symmetric encryption, asymmetric encryption, and so on.
  • the data processing subunit in the exception processing unit encrypts the first service data
  • the data transmission subunit in the exception processing unit packs and sends the encrypted first service data and second service data to the data storage server.
  • the first service data is encrypted, and the encrypted first service data and the second service data are packaged and sent to the data storage server to realize the security of service data transmission.
  • another method for storing data of an unmanned car includes:
  • Step 502 Receive an abnormal attribute message subscribed to by each unit in the driverless car system through the message middleware, where each unit in the driverless car system detects abnormal information, and generates the abnormal information according to the abnormal information. And upload the abnormal attribute message to the message middleware.
  • the abnormal attribute message includes the service data identifier associated with the abnormal attribute message and the collection time length of the service data associated with the abnormal attribute message.
  • the message subscribing subunit in the exception handling unit receives the abnormal attribute messages issued by each unit in the subscribed driverless car system through the message middleware, so as to realize the effective monitoring of the abnormal attribute messages issued by each unit by the terminal.
  • Step 504 Obtain the service data identifier associated with the abnormal attribute message and the collection duration of the service data associated with the abnormal attribute message, and generate the subscription information according to the service data identifier and the collection duration.
  • the message subscription subunit in the exception processing unit obtains the service data identifier associated with the abnormal attribute message and the collection period of the service data associated with the abnormal attribute message, and generates subscription information according to the service data identifier and the collection period, so that the terminal can accurately collect The business data associated with the exception attribute message.
  • Step 506 According to the subscription information, subscribe in the message middleware the service attribute messages published by each unit in the driverless car system, and receive the subscribed service attribute messages published by each unit in the driverless car system, where Each unit in the driverless car system detects business data, generates the business attribute message according to the business data, and uploads the business attribute message to the message middleware.
  • the message subscription sub-unit in the exception handling unit subscribes to the business attribute messages published by each unit in the driverless car system in the message middleware according to the subscription information; receives the business attributes published by each unit in the subscribed driverless car system Messages, where each unit in the driverless car system detects business data, generates business attribute messages based on the business data, and uploads the business attribute messages to the message middleware, so that the terminal can obtain the business attribute messages issued by each unit in a targeted manner, thereby Obtain the business data of each unit in a targeted manner.
  • Step 508 Classify the business data according to whether the business data corresponding to the business attribute message is secret-related, use the secret-related business data as the first business data, and use the secret-related business data as the first business data.
  • the second service data the first service data is encrypted, and the encrypted first service data and the second service data are packaged and sent to the data storage server.
  • the data processing sub-unit in the exception handling unit classifies the business data according to whether the business data corresponding to the business attribute message is classified, and treats the classified service data as the first service data, and the non-secret related service data as the For the second business data, the data processing sub-unit in the exception processing unit encrypts the first business data, and the data transmission sub-unit in the exception processing unit packs and sends the encrypted first business data and second business data to the data storage
  • the server realizes the security of business data transmission.
  • the exception handling unit dynamically customizes the collection of business data through events or messages, and dynamically turns on or off the collection of business data, making the collection of business data more predictable and real-time; at the same time, it reduces the collected business data. Save system resources; Real-time transmission of encrypted business data to the storage server ensures data security.
  • the aforementioned driverless car data storage method obtains the abnormal attribute messages published by each unit in the driverless car system, generates subscription information according to the abnormal attribute messages, obtains the business attribute messages published by each unit according to the subscription information, and corresponds the business attribute messages
  • the business data is sent to the data storage server. In this way, the collection of business data is dynamically customized through events or messages, and the collection of business data is dynamically turned on or off, saving system resources and improving the performance of unmanned vehicles.
  • an unmanned vehicle data storage device includes: an acquisition module 602, a determination module 604, and a sending module 606.
  • the obtaining module 602 is used to obtain abnormal attribute messages issued by each unit in the driverless car system;
  • the determining module 604 is used to generate subscription information according to the abnormal attribute messages;
  • the obtaining module 602 is also used to obtain The subscription information obtains the service attribute messages published by the respective units;
  • the sending module 606 is configured to send the service data corresponding to the service attribute messages to the data storage server.
  • the above-mentioned driverless car data storage device obtains the abnormal attribute messages published by each unit in the driverless car system, generates subscription information according to the abnormal attribute messages, obtains the business attribute messages published by each unit according to the subscription information, and corresponds the business attribute messages
  • the business data is sent to the data storage server. In this way, the collection of business data is dynamically customized through events or messages, and the collection of business data is dynamically turned on or off, saving system resources and improving the performance of unmanned vehicles.
  • the acquiring module 602 includes a receiving sub-module, and the receiving sub-module is configured to receive, through a message middleware, the abnormal attribute message issued by each unit in the unmanned car system subscribed to, wherein Each unit in the driverless car system detects abnormal information, generates the abnormal attribute message according to the abnormal information, and uploads the abnormal attribute message to the message middleware, and the abnormal information is abnormal
  • the abnormal attribute message includes: the unit to which the abnormal attribute message belongs, and The generation time of the abnormal attribute message, the abnormal level of the abnormal information corresponding to the abnormal attribute message, the service data identifier associated with the abnormal attribute message, and the collection period of the service data associated with the abnormal attribute message; wherein, the abnormality The collection period of the service data associated with the attribute message is used to determine the collection start point and the collection end point of the associated service data.
  • the above-mentioned driverless car data storage device receives the abnormal attribute messages issued by each unit in the subscribed driverless car system through the message middleware, wherein each unit in the driverless car system detects abnormal information and generates abnormal attributes based on the abnormal information And upload the abnormal attribute message to the message middleware to realize the effective monitoring of the abnormal attribute message issued by each unit by the terminal.
  • the determining module 604 includes an acquiring sub-module and a generating sub-module.
  • the acquiring sub-module is configured to: acquire the service data identifier associated with the abnormal attribute message, and the information associated with the abnormal attribute message.
  • the collection period of service data; the generating sub-module is used to generate the subscription information according to the service data identifier and the collection period.
  • the above-mentioned driverless car data storage device acquires the business data identifier associated with the abnormal attribute message and the collection period of the business data associated with the abnormal attribute message, and generates subscription information according to the service data identifier and the collection period, so that the terminal can accurately collect the abnormal attribute message Associated business data.
  • the acquisition module 602 further includes a subscription sub-module, the subscription sub-module is used to: according to the subscription information, in the message middleware to subscribe to the unmanned car system issued by each unit Business attribute message; the receiving sub-module is also used to: receive the subscribed business attribute message issued by each unit in the driverless car system, wherein each unit in the driverless car system detects the business data according to The service data generates the service attribute message, and uploads the service attribute message to the message middleware.
  • the subscription sub-module is used to: according to the subscription information, in the message middleware to subscribe to the unmanned car system issued by each unit Business attribute message
  • the receiving sub-module is also used to: receive the subscribed business attribute message issued by each unit in the driverless car system, wherein each unit in the driverless car system detects the business data according to The service data generates the service attribute message, and uploads the service attribute message to the message middleware.
  • the above-mentioned driverless car data storage device subscribes to the business attribute messages issued by each unit in the driverless car system in the message middleware according to the subscription information, and receives the business attribute messages issued by each unit in the subscribed driverless car system, where , Each unit in the driverless car system detects business data, generates business attribute messages based on the business data, and uploads the business attribute messages to the message middleware, so that the terminal can obtain the business attribute messages released by each unit in a targeted manner. Obtain the business data of each unit.
  • the device further includes a classification module 608.
  • the classification module 608 is configured to classify the service data corresponding to the service attribute message to obtain the first service data and the first service data.
  • Service data the sending module 606 includes a sending sub-module, and the sending sub-module is used to send the first service data and the second service data to the data storage server.
  • the above-mentioned driverless car data storage device classifies the business data corresponding to the business attribute message to obtain the first business data and the second business data, and sends the first business data and the second business data to the data storage server to realize the business operation Orderly processing and sending of data.
  • the classification module 608 includes a classification sub-module, and the classification sub-module is configured to classify the business data according to whether the business data corresponding to the business attribute message is confidential or not, and classify the business data.
  • the confidential service data is used as the first service data
  • the confidential service data is used as the second service data.
  • the above-mentioned driverless car data storage device and the above-mentioned driverless car data storage method classify the business data according to whether the business data corresponding to the business attribute message is confidential, and use the confidential business data as the first business data.
  • Non-secret business data is used as the second business data to realize the security of business data transmission.
  • the device further includes an encryption module 610, the encryption module 610 is configured to: encrypt the first service data; the sending submodule is specifically configured to: The encrypted first service data and the second service data are packaged and sent to the data storage server.
  • the above-mentioned driverless car data storage device encrypts the first service data, packs the encrypted first service data and the second service data, and sends the encrypted first service data and the second service data to the data storage server to realize the security of service data transmission.
  • each module in the driverless car data storage device described above is only for illustration. In other embodiments, the driverless car data storage device can be divided into different modules as needed to complete the driverless car data. All or part of the functions of the storage device.
  • Each module in the above-mentioned driverless car data storage device can be implemented in whole or in part by software, hardware and a combination thereof.
  • the above-mentioned modules may be embedded in the form of hardware or independent of the processor in the computer equipment, or may be stored in the memory of the computer equipment in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.
  • each module in the driverless car data storage device may be in the form of a computer program.
  • the computer program can be run on a computer device such as a terminal or a server.
  • the program module constituted by the computer program can be stored in the memory of the computer device.
  • the computer program is executed by the processor, it realizes the steps of the driverless car data storage method described in the embodiments of the present application.
  • a schematic diagram of the internal structure of a computer device is provided.
  • This includes the processor, memory and display screen connected via the system bus.
  • the processor is used to provide calculation and control capabilities to support the operation of the entire computer equipment.
  • the memory is used to store data, programs, and/or instruction codes, etc., and at least one computer program is stored on the memory, and the computer program can be executed by the processor to realize the driverless car suitable for electronic equipment provided in the embodiments of the present application Data storage method.
  • the memory may include non-volatile storage media such as magnetic disks, optical disks, read-only memory (Read-Only Memory, ROM), or random-access-memory (Random-Access-Memory, RAM).
  • the memory includes a non-volatile storage medium and internal memory.
  • the non-volatile storage medium stores an operating system, a database, and a computer program.
  • the database stores data related to the method for storing data of an unmanned car provided by the above embodiments.
  • the computer program can be executed by the processor to implement the method for storing data of an unmanned car provided by each embodiment of the present application.
  • the internal memory provides a cached operating environment for the operating system, database and computer program in the non-volatile storage medium.
  • the display screen can be a touch screen, such as a capacitive screen or an electronic screen, used to display the interface display information of the foreground application, and can also be used to detect touch operations on the display screen and generate corresponding instructions, such as performing front and back applications Switching instructions, etc.
  • the structure shown in FIG. 9 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.
  • the computer device also includes a network interface connected through a system bus.
  • the network interface may be an Ethernet card or a wireless network card, etc., for communicating with external computer equipment, for example, for communicating with a server.
  • a computer device including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor executes the computer program, the unmanned computer provided by the foregoing embodiments is implemented.
  • the steps of the driving car data storage method In one embodiment, a computer-readable storage medium is also provided.
  • the computer-readable storage medium stores a computer program. When the computer program is executed on the processor, it realizes the unmanned operation described in each embodiment of the present application. The steps of the driving car data storage method.
  • a computer program product containing instructions which when run on a computer, causes the computer to execute the method for storing data of an unmanned car described in each embodiment of the present application.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM), which acts as external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous Link (Synchlink) DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

Abstract

一种无人驾驶汽车数据存储方法和装置、计算机设备、计算机可读存储介质，包括：获取无人驾驶汽车系统中各个单元发布的异常属性消息；根据异常属性消息生成订阅信息；按照订阅信息获取各个单元发布的业务属性消息；将业务属性消息对应的业务数据发送至数据存储服务器。

Description

数据存储方法和装置、计算机设备、计算机可读存储介质 技术领域
本申请涉及计算机技术领域，特别是涉及一种无人驾驶汽车数据存储方法和装置、计算机设备、计算机可读存储介质。
背景技术
无人驾驶汽车，是一种通过计算机系统实现无人驾驶的智能汽车。在对无人驾驶汽车进行路测或者示范运营的过程中，无人驾驶汽车常常出现异常情况，在异常情况下需要人工控制驾驶，因此需要收集无人驾驶汽车在行驶过程中的数据，以在后期通过这些数据还原现场，来对无人驾驶汽车出现异常情况的原因进行分析。
传统的方式为：全程收集无人驾驶汽车在行驶过程中的数据。但是，传统的方式需要记录、存储大量的数据，这会占用大量的系统资源，给无人驾驶汽车系统带来负担。
发明内容
根据本申请的各种实施例提供一种无人驾驶汽车数据存储方法和装置、计算机设备、非易失性计算机可读存储介质。
一种无人驾驶汽车数据存储方法，包括：获取无人驾驶汽车系统中各个单元发布的异常属性消息；根据所述异常属性消息生成订阅信息；按照所述订阅信息获取所述各个单元发布的业务属性消息；将所述业务属性消息对应的业务数据发送至数据存储服务器。
一种无人驾驶汽车数据存储装置，所述装置包括：获取模块，用于获取无人驾驶汽车系统中各个单元发布的异常属性消息；确定模块，用于根据所述异常属性消息生成订阅信息；所述获取模块，还用于按照所述订阅信息获取所述各个单元发布的业务属性消息；发送模块，用于将所述业务属性消息对应的业务数据发送至数据存储服务器。
一种计算机设备，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行本申请各实施例中所述的无人驾驶汽车数据存储方法的步骤。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现本申请各实施例中所述的无人驾驶汽车数据存储方法的步骤。
本申请实施例无人驾驶汽车数据存储方法和装置、计算机设备、计算机可读存储介质，获取无人驾驶汽车系统中各个单元发布的异常属性消息；根据异常属性消息生成订阅信息；按照订阅信息获取各个单元发布的业务属性消息；将业务属性消息对应的业务数据发送至数据存储服务器。本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为一个实施例中无人驾驶汽车数据存储方法的应用环境图。
图2为一个实施例中无人驾驶汽车数据存储方法的流程图。
图3为一个实施例中异常处理单元的结构框图。
图4为一个实施例中消息中间件的作用示意图。
图5为另一个实施例中无人驾驶汽车数据存储方法的流程图。
图6为一个实施例中无人驾驶汽车数据存储装置的结构框图。
图7为另一个实施例中无人驾驶汽车数据存储装置的结构框图。
图8为又一个实施例中无人驾驶汽车数据存储装置的结构框图。
图9为一个实施例中计算机设备的内部结构示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
图1为一个实施例中无人驾驶汽车数据存储方法的应用环境图。参照图1，该无人驾驶汽车数据存储方法应用于无人驾驶汽车数据存储系统，该无人驾驶汽车数据存储系统包括终端110和存储服务器120。终端110具体可以是无人驾驶汽车。终端110和存储服务器120通过网络连接，该网络可以是移动网络或者无线网络。服务器120可以用独立的服务器或者是多个服务器组成的服务器集群来实现。具体地，终端110获取无人驾驶汽车系统中各个单元发布的异常属性消息；接着，终端110根据所述异常属性消息生成订阅信息；接着，终端110按照所述订阅信息获取所述各个单元发布的业务属性消息；接着，终端110将所述业务属性消息对应的业务数据发送至数据存储服务器120。
在一个实施例中，如图2所示，提供了一种无人驾驶汽车数据存储方法，本实施例以该方法应用于如图1所示的终端110为例进行说明。该方法包括：
步骤202，获取无人驾驶汽车系统中各个单元发布的异常属性消息。
其中，无人驾驶汽车系统由多个单元构成，该单元可为功能单元，每个单元用于实现无人驾驶汽车的一个功能。比如，该单元对应的功能可以属于感知功能、规划功能或者运动控制功能等。感知功能负责提供真实世界的模型，进一步地，可细分为道路环境感知功能、车辆运动传感功能、信息融合功能等。规划功能以人工智能理论为基础，完成车辆行为及运动的规划、推理、决策等，进一步地，可细分为高层行为规划功能、低层运动规划功能等。运动控制功能对车辆的实际运动位姿与期望运动位姿进行实时比较，采用智能控制算法实现对汽车方向盘、油门、刹车等执行机构的控制。无人驾驶汽车系统中各个单元可根据实际的应用进行划分，比如可将无人驾驶汽车系统划分为几十个单元，也可将无人驾驶汽车系统划分为几百个、几千个单元。
其中，异常属性消息用于提示一单元出现异常。该异常属性消息的格式可为消息格式或者事件格式。无人驾驶汽车系统中各个单元对自身的业务数据进行监控，一旦发现异常情况，该单元发布异常属性消息，以使得终端根据该异常属性消息开启对相关业务数据的收集。业务数据可包括系统数据以及非系统数据，系统数据可以是中央处理器、内存、硬盘、网络统计的数据等，非系统数据可以是传感器采集的数据，该数据可为实时数据或者历史数据。具体地，各个单元实时或者定时对自身的业务数据进行监控。
在一个实施例中，可在无人驾驶汽车系统中建立异常处理单元，该异常处理单元用于对无人驾驶汽车系统中各个单元发生异常情况时采集相关业务数据，并将采集的业务数据发送至数据存储服务器进行存储。可选地，如图3所示，该异常处理单元可包括：消息订阅子单元、数据收集子单元、数据处理子单元、数据传输子单元。其中，消息订阅子单元用于订阅、接收异常属性消息，数据收集子单元用于收集该异常属性消息关联的业务数据，数据处理子单元用于处理该数据收集子单元收集的业务数据，数据传输子单元用于将数据处理子单元处理后的业务数据发送给存储服务器。
具体地，异常处理单元中的消息订阅子单元获取无人驾驶汽车系统中各个单元发布的异常属性消息。
在一个实施例中，该异常处理单元对无人驾驶汽车系统中各个单元进行监控，从而获取各个单元发布的异常属性消息。可选地，该异常处理单元与无人驾驶汽车系统中各个单元基于发布者订阅者模型(Pub/Sub模型)进行通信。发布者订阅者模型定义了一种一对多的关系，多个订阅者同时监听某一个发布者，这个发布者的状态发生改变时会通知所有订阅者，其中，发布者发布消息或者事件，订阅者订阅这些消息或者事件来观察发布者的状态，发布者与订阅者是完全解耦的。
具体地，无人驾驶汽车系统中各个单元发布至少一个主题，该主题的类型可包括异常属性类型和业务属性类型，每类主题下可包括多个主题。该异常处理单元订阅各个单元的异常属性类型的主题，即可接收各个单元发布的异常属性消息，该异常处理单元订阅各个单元的业务属性类型的主题，即可接收各个单元发布的业务属性消息。在一个实施例中，该异常处理单元订阅异常属性类型的主题，当接收到单元发布的异常属性消息时，开启对相关业务属性类型的主题的订阅，直至对异常属性消息关联的业务数据收集完成后，关闭对相关业务属性类型的主题的订阅。这样，通过事件或者消息动态定制对业务数据的收集，动态开启或者关闭对业务数据的收集，节省系统资源。
步骤204，根据所述异常属性消息生成订阅信息。
其中，订阅信息用于订阅异常属性消息关联的业务数据，异常属性消息关联的业务数据是指：与异常属性消息对应的异常信息相关的业务数据，该关联关系可预先设定，异常属性消息对应的异常信息用于表征该异常属性消息对应的具体的异常内容。
在一个实施例中，异常属性消息可包括：该异常属性消息所属的单元、该异常属性消息的生成时间、该异常属性消息对应的异常信息的异常等级、该异常属性消息关联的业务数据标识、该异常属性消息关联的业务数据的采集时段，等等。异常属性消息所属的单元是指发布该异常属性消息的单元；该异常属性消息的生成时间是指单元检测到异常情况的时间，当单元检测到异常情况，进而生成该异常属性消息；异常信息为出现异常的业务数据，当各个单元检测到一业务数据不在业务数据对应的数据范围内时，判定该业务数据出现异常，该异常属性消息对应的异常信息的异常等级用于表征该异常信息的防护等级；业务数据标识用于表征业务数据的身份信息，该业务数据标识可为业务数据的名称，该异常属性消息关联的业务数据标识是指：与异常属性消息对应的异常信息相关的业务数据标识，该关联关系可预先设定；该异常属性消息关联的业务数据的采集时段用于表征对业务数据的采集起始点以及采集结束点，比如采集当前时刻过去两分钟的业务数据、采集当前时刻未来两分钟的业务数据。
在一个实施例中，该订阅信息可包括：用于采集该异常属性消息关联的业务数据的业务属性类型的主题。
具体地，异常处理单元中的消息订阅子单元获取无人驾驶汽车系统中各个单元发布的异常属性消息，根据异常属性消息生成订阅信息。
步骤206，按照所述订阅信息获取所述各个单元发布的业务属性消息。
具体地，订阅信息可包括用于采集该异常属性消息关联的业务数据的业务属性类型的主题，通过订阅信息获取业务属性消息(该业务属性消息与异常属性消息关联的业务数据相对应)，进而得到异常属性消息关联的业务数据。
在一个实施例中，可根据异常属性消息关联的业务数据标识生成订阅信息。可对异常属性消息关联的业务数据的采集时长进行设定，当到达设定的采集时长后，关闭对该业务属性类型的主题的订阅。采集时长可为100秒。
在一个实施例中，可根据异常属性消息关联的业务数据标识以及异常属性消息关联的业务数据的采集时段生成订阅信息。当对该订阅信息对应的业务数据采集完成后，关闭对该业务属性类型的主题的订阅。具体地，异常处理单元中的消息订阅子单元按照订阅信息获取各个单元发布的业务属性消息，并将该业务属性消息发送至异常处理单元中的数据收 集子单元。
步骤208，将所述业务属性消息对应的业务数据发送至数据存储服务器。
其中，存储服务器用于存储业务数据，该业务数据可用于对无人驾驶汽车系统的异常信息进行分析。
在一个实施例中，当获取到各个单元发布的业务属性消息后，可对该业务属性消息进行处理，将处理后的业务数据打包发送至存储服务器。可选地，将处理后的业务数据以及异常属性消息打包发送至存储服务器。可选地，该处理方式可为加密。
具体地，异常处理单元中的数据处理子单元对业务属性消息对应的业务数据进行处理，并将处理后的业务数据发送至异常处理单元中的数据传输子单元，数据传输子单元将处理后的业务数据以及异常属性消息打包发送至数据存储服务器，该异常属性消息为消息订阅子单元发送给数据处理子单元，数据处理子单元继而发送给数据传输子单元的。
上述的无人驾驶汽车数据存储方法，获取无人驾驶汽车系统中各个单元发布的异常属性消息，根据异常属性消息生成订阅信息，按照订阅信息获取各个单元发布的业务属性消息，将业务属性消息对应的业务数据发送至数据存储服务器，这样，通过事件或者消息动态定制对业务数据的收集，动态开启或者关闭对业务数据的收集，节省系统资源，从而提升无人驾驶汽车的性能。
在一个实施例中，所述获取无人驾驶汽车系统中各个单元发布的异常属性消息，包括：通过消息中间件接收订阅的所述无人驾驶汽车系统中各个单元发布的异常属性消息，其中，所述无人驾驶汽车系统中各个单元检测异常信息，根据所述异常信息生成所述异常属性消息，并将所述异常属性消息上传至所述消息中间件，所述异常信息为出现异常的业务数据，当所述各个单元检测到一业务数据不在所述业务数据对应的数据范围内时，判定所述业务数据出现异常。其中，消息中间件利用高效可靠的消息传递机制进行平台无关的数据交流，并基于数据通信来进行分布式系统的集成。通过提供消息传递和消息排队模型，它可以在分布式环境下扩展进程间的通信。具体地，如图4所示，无人驾驶汽车系统中各个单元通过消息中间件发布消息或者订阅主题，异常处理单元通过订阅主题，接收无人驾驶汽车系统中各个单元发布的消息。
在一个实施例中，无人驾驶汽车系统中各个单元发布至少一个主题，该主题的类型可包括异常属性类型，该类主题下可包括多个主题。该异常处理单元订阅各个单元的异常属性类型的主题，即可接收各个单元发布的异常属性消息。
在一个实施例中，无人驾驶汽车系统中各个单元对自身的业务数据进行监控，一旦发现异常，该单元发布异常属性消息，以使得终端根据该异常属性消息开启对相关业务数据的收集。预先对各个业务数据预先设置数据范围，当检测到一业务数据不在其对应的数据范围内时，判定该业务数据出现异常，将出现异常的业务数据作为异常信息，该数据范围用于表征业务数据的安全范围。
具体地，异常处理单元中的消息订阅子单元通过消息中间件接收订阅的无人驾驶汽车系统中各个单元发布的异常属性消息。上述的无人驾驶汽车数据存储方法，通过消息中间件接收订阅的无人驾驶汽车系统中各个单元发布的异常属性消息，其中，无人驾驶汽车系统中各个单元检测异常信息，根据异常信息生成异常属性消息，并将异常属性消息上传至消息中间件，实现终端对各个单元发布的异常属性消息的有效监控。
在一个实施例中，所述根据所述异常属性消息生成订阅信息，包括：获取所述异常属性消息关联的业务数据标识，以及所述异常属性消息关联的业务数据的采集时段；根据所述业务数据标识以及所述采集时段生成所述订阅信息。
其中，业务数据标识用于表征业务数据的身份信息，该业务数据标识可为业务数据的名称，该异常属性消息关联的业务数据标识是指：与异常属性消息对应的异常信息相关的业务数据标识，该关联关系可预先设定；该异常属性消息关联的业务数据的采集时段用于 表征对关联的业务数据的采集起始点以及采集结束点，比如采集当前时刻过去两分钟的业务数据、采集当前时刻未来两分钟的业务数据。
具体地，可根据异常属性消息关联的业务数据标识以及异常属性消息关联的业务数据的采集时段生成订阅信息。该订阅信息用于表征需要采集的业务数据、该业务数据的采集起始点以及采集结束点。比如，需要采集的业务数据为雷达传感器检测的数据，采集时段为从当前时段开始未来两分钟，当获取到该雷达传感器从当前时段开始未来两分钟检测的数据后，关闭对该业务属性类型的主题的订阅；比如，需要采集的业务数据为雷达传感器检测的数据，采集时段为当前时段过去两分钟，当获取到该雷达传感器当前时段过去两分钟检测的数据后，关闭对该业务属性类型的主题的订阅。
具体地，异常处理单元中的消息订阅子单元获取异常属性消息关联的业务数据标识，以及异常属性消息关联的业务数据的采集时段，根据业务数据标识以及采集时段生成订阅信息。
上述的无人驾驶汽车数据存储方法，获取异常属性消息关联的业务数据标识，以及异常属性消息关联的业务数据的采集时段，根据业务数据标识以及采集时段生成订阅信息，使得终端准确地采集异常属性消息关联的业务数据。
在一个实施例中，所述按照所述订阅信息获取所述各个单元发布的业务属性消息，包括：按照所述订阅信息，在消息中间件订阅所述无人驾驶汽车系统中各个单元发布的业务属性消息；接收订阅的所述无人驾驶汽车系统中各个单元发布的业务属性消息，其中，所述无人驾驶汽车系统中各个单元检测业务数据，根据所述业务数据生成所述业务属性消息，并将所述业务属性消息上传至所述消息中间件。
在一个实施例中，无人驾驶汽车系统中各个单元发布至少一个主题，该主题的类型可包括异常属性类型和业务属性类型，每类主题下可包括多个主题。该异常处理单元订阅各个单元的异常属性类型的主题，即可接收各个单元发布的异常属性消息，该异常处理单元订阅各个单元的业务属性类型的主题，即可接收各个单元发布的业务属性消息。在一个实施例中，该异常处理单元订阅异常属性类型的主题，当接收到单元发布的异常属性消息时，开启对相关业务属性类型的主题的订阅，直至对异常属性消息关联的业务数据收集完成后，关闭对相关业务属性类型的主题的订阅。这样，通过事件或者消息动态定制对业务数据的收集，动态开启或者关闭对业务数据的收集，节省系统资源。
具体地，异常处理单元中的消息订阅子单元按照订阅信息，在消息中间件订阅无人驾驶汽车系统中各个单元发布的业务属性消息；接收订阅的无人驾驶汽车系统中各个单元发布的业务属性消息，其中，无人驾驶汽车系统中各个单元检测业务数据，根据业务数据生成业务属性消息，并将业务属性消息上传至消息中间件。
上述的无人驾驶汽车数据存储方法，按照订阅信息，在消息中间件订阅无人驾驶汽车系统中各个单元发布的业务属性消息，接收订阅的无人驾驶汽车系统中各个单元发布的业务属性消息，其中，无人驾驶汽车系统中各个单元检测业务数据，根据业务数据生成业务属性消息，并将业务属性消息上传至消息中间件，实现终端针对性地获取各个单元发布的业务属性消息，从而针对性地获取各个单元的业务数据。
在一个实施例中，所述将所述业务属性消息对应的业务数据发送至数据存储服务器之前，还包括：对所述业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据；所述将所述业务属性消息对应的业务数据发送至数据存储服务器，包括：将所述第一业务数据以及所述第二业务数据发送至所述数据存储服务器。
其中，第一业务数据以及第二业务数据作为对业务数据进行分类得到的结果。可以理解，可将业务数据分为多个类别，不限于两个类别。
具体地，可根据业务属性消息所属的单元、该异常属性消息的生成时间、该异常属性消息对应的异常信息的异常等级等，对业务数据进行分类。
比如，根据业务属性消息所属的单元，对业务数据进行分类。预先将自动驾驶汽车系统中所有单元进行分类，得到第一单元范围、第二单元范围(可以理解，可将自动驾驶汽车系统的单元分为多个类别，不限于两个类别，此处仅为了举例)，若业务属性消息所属的单元为第一单元范围，将业务属性消息对应的业务数据作为第一业务数据；若业务属性消息所属的单元为第二单元范围，将业务属性消息对应的业务数据作为第二业务数据。
比如，根据异常属性消息的生成时间，对业务数据进行分类。将在第一时间段生成的异常属性消息对应的业务数据作为第一业务数据，将在第二时间段生成的异常属性消息对应的业务数据作为第二业务数据。可以理解，可分为多个时间段，不限于两个时间段，此处仅为了举例。
比如，根据异常属性消息对应的异常信息的异常等级，对业务数据进行分类。预先设置各个异常信息的等级，比如一级、二级等，该等级用于表征异常信息的危险程度。若异常属性消息对应的异常等级为一级，将异常属性消息对应的业务数据作为第一业务数据，若异常属性消息对应的异常等级为二级，将异常属性消息对应的业务数据作为第二业务数据。可以理解，可将异常等级分为多个级别，不限于两个级别，此处仅为了举例。
在一个实施例中，可对第一业务数据和第二业务数据设置不同的物理存储路径来表征分类结果；在另一个实施例中，可对第一业务数据和第二业务数据设置不同的分类标签来表征分类结果，比如，对第一业务数据和第二业务数据设置不同的名称。
具体地，异常处理单元中的数据处理子单元对业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据；异常处理单元中的数据传输子单元将第一业务数据以及第二业务数据发送至数据存储服务器。
上述的无人驾驶汽车数据存储方法，对业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据，将第一业务数据以及第二业务数据发送至数据存储服务器，实现对业务数据的有序处理、有序发送。
在一个实施例中，所述对所述业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据，包括：根据所述业务属性消息对应的业务数据是否涉密，对所述业务数据进行分类，将涉密的所述业务数据作为所述第一业务数据，将不涉密的所述业务数据作为所述第二业务数据。
具体地，根据业务属性消息对应的业务数据是否涉密，对业务数据进行分类，将涉密的所述业务数据作为所述第一业务数据，将不涉密的所述业务数据作为所述第二业务数据，这样，可对涉密的业务数据进行处理，保证数据传输的安全性。
具体地，异常处理单元中的数据处理子单元根据业务属性消息对应的业务数据是否涉密，对业务数据进行分类，将涉密的业务数据作为第一业务数据，将不涉密的业务数据作为第二业务数据。
上述的无人驾驶汽车数据存储方法，根据业务属性消息对应的业务数据是否涉密，对业务数据进行分类，将涉密的业务数据作为第一业务数据，将不涉密的业务数据作为第二业务数据，实现业务数据传输的安全性。
在一个实施例中，所述将所述第一业务数据以及所述第二业务数据发送至所述数据存储服务器之前，还包括：对所述第一业务数据进行加密；所述将所述第一业务数据以及所述第二业务数据发送至所述数据存储服务器，包括：将加密后的所述第一业务数据以及所述第二业务数据，打包发送至所述数据存储服务器。
具体地，对涉密的第一业务数据进行加密，以保证数据传输的安全性。在一个实施例中，该加密方式可为：数字签名加密、对称加密、非对称加密等。
具体地，异常处理单元中的数据处理子单元对第一业务数据进行加密，异常处理单元中的数据传输子单元将加密后的第一业务数据以及第二业务数据，打包发送至数据存储服务器。
上述的无人驾驶汽车数据存储方法，对第一业务数据进行加密，将加密后的第一业务数据以及第二业务数据，打包发送至数据存储服务器，实现业务数据传输的安全性。
在一个实施例中，如图5所示，提供了另一种无人驾驶汽车数据存储方法，该方法包括：
步骤502，通过消息中间件接收订阅的所述无人驾驶汽车系统中各个单元发布的异常属性消息，其中，所述无人驾驶汽车系统中各个单元检测异常信息，根据所述异常信息生成所述异常属性消息，并将所述异常属性消息上传至所述消息中间件，所述异常属性消息包括所述异常属性消息关联的业务数据标识、所述异常属性消息关联的业务数据的采集时长。
具体地，异常处理单元中的消息订阅子单元通过消息中间件接收订阅的无人驾驶汽车系统中各个单元发布的异常属性消息，实现终端对各个单元发布的异常属性消息的有效监控。
步骤504，获取所述异常属性消息关联的业务数据标识，以及所述异常属性消息关联的业务数据的采集时长，根据所述业务数据标识以及所述采集时长生成所述订阅信息。
具体地，异常处理单元中的消息订阅子单元获取异常属性消息关联的业务数据标识，以及异常属性消息关联的业务数据的采集时段，根据业务数据标识以及采集时段生成订阅信息，使得终端准确地采集异常属性消息关联的业务数据。
步骤506，按照所述订阅信息，在消息中间件订阅所述无人驾驶汽车系统中各个单元发布的业务属性消息，接收订阅的所述无人驾驶汽车系统中各个单元发布的业务属性消息，其中，所述无人驾驶汽车系统中各个单元检测业务数据，根据所述业务数据生成所述业务属性消息，并将所述业务属性消息上传至所述消息中间件。
具体地，异常处理单元中的消息订阅子单元按照订阅信息，在消息中间件订阅无人驾驶汽车系统中各个单元发布的业务属性消息；接收订阅的无人驾驶汽车系统中各个单元发布的业务属性消息，其中，无人驾驶汽车系统中各个单元检测业务数据，根据业务数据生成业务属性消息，并将业务属性消息上传至消息中间件，实现终端针对性地获取各个单元发布的业务属性消息，从而针对性地获取各个单元的业务数据。
步骤508，根据所述业务属性消息对应的业务数据是否涉密，对所述业务数据进行分类，将涉密的所述业务数据作为所述第一业务数据，将不涉密的所述业务数据作为所述第二业务数据，对所述第一业务数据进行加密，将加密后的所述第一业务数据以及所述第二业务数据，打包发送至所述数据存储服务器。
具体地，异常处理单元中的数据处理子单元根据业务属性消息对应的业务数据是否涉密，对业务数据进行分类，将涉密的业务数据作为第一业务数据，将不涉密的业务数据作为第二业务数据，异常处理单元中的数据处理子单元对第一业务数据进行加密，异常处理单元中的数据传输子单元将加密后的第一业务数据以及第二业务数据，打包发送至数据存储服务器，实现业务数据传输的安全性。
综上，异常处理单元通过事件或者消息动态定制对业务数据的收集，动态开启或者关闭对业务数据的收集，使得业务数据的收集更有预见性、更加实时；同时，减少了收集的业务数据，节省系统资源；通过实时传输加密过的业务数据到存储服务器上，保证了数据安全性。
上述的无人驾驶汽车数据存储方法，获取无人驾驶汽车系统中各个单元发布的异常属性消息，根据异常属性消息生成订阅信息，按照订阅信息获取各个单元发布的业务属性消息，将业务属性消息对应的业务数据发送至数据存储服务器，这样，通过事件或者消息动态定制对业务数据的收集，动态开启或者关闭对业务数据的收集，节省系统资源，从而提升无人驾驶汽车的性能。
应该理解的是，虽然图2、图5的流程图中的各个步骤按照箭头的指示依次显示，但 是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2、图5中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图6所示，提供了一种无人驾驶汽车数据存储装置，该装置包括：获取模块602、确定模块604和发送模块606。其中，获取模块602，用于获取无人驾驶汽车系统中各个单元发布的异常属性消息；确定模块604，用于根据所述异常属性消息生成订阅信息；所述获取模块602，还用于按照所述订阅信息获取所述各个单元发布的业务属性消息；发送模块606，用于将所述业务属性消息对应的业务数据发送至数据存储服务器。
上述的无人驾驶汽车数据存储装置，获取无人驾驶汽车系统中各个单元发布的异常属性消息，根据异常属性消息生成订阅信息，按照订阅信息获取各个单元发布的业务属性消息，将业务属性消息对应的业务数据发送至数据存储服务器，这样，通过事件或者消息动态定制对业务数据的收集，动态开启或者关闭对业务数据的收集，节省系统资源，从而提升无人驾驶汽车的性能。
在一个实施例中，所述获取模块602，包括接收子模块，所述接收子模块，用于：通过消息中间件接收订阅的所述无人驾驶汽车系统中各个单元发布的异常属性消息，其中，所述无人驾驶汽车系统中各个单元检测异常信息，根据所述异常信息生成所述异常属性消息，并将所述异常属性消息上传至所述消息中间件，所述异常信息为出现异常的业务数据，当所述各个单元检测到一业务数据不在所述业务数据对应的数据范围内时，判定所述业务数据出现异常；所述异常属性消息包括：所述异常属性消息所属的单元、所述异常属性消息的生成时间、所述异常属性消息对应的异常信息的异常等级、所述异常属性消息关联的业务数据标识、所述异常属性消息关联的业务数据的采集时段；其中，所述异常属性消息关联的业务数据的采集时段用于确定所述关联的业务数据的采集起始点以及采集结束点。
上述无人驾驶汽车数据存储装置，通过消息中间件接收订阅的无人驾驶汽车系统中各个单元发布的异常属性消息，其中，无人驾驶汽车系统中各个单元检测异常信息，根据异常信息生成异常属性消息，并将异常属性消息上传至消息中间件，实现终端对各个单元发布的异常属性消息的有效监控。
在一个实施例中，所述确定模块604，包括获取子模块以及生成子模块，所述获取子模块，用于：获取所述异常属性消息关联的业务数据标识，以及所述异常属性消息关联的业务数据的采集时段；所述生成子模块，用于：根据所述业务数据标识以及所述采集时段生成所述订阅信息。
上述无人驾驶汽车数据存储装置，获取异常属性消息关联的业务数据标识，以及异常属性消息关联的业务数据的采集时段，根据业务数据标识以及采集时段生成订阅信息，使得终端准确地采集异常属性消息关联的业务数据。
在一个实施例中，所述获取模块602，还包括订阅子模块，所述订阅子模块，用于：按照所述订阅信息，在消息中间件订阅所述无人驾驶汽车系统中各个单元发布的业务属性消息；所述接收子模块，还用于：接收订阅的所述无人驾驶汽车系统中各个单元发布的业务属性消息，其中，所述无人驾驶汽车系统中各个单元检测业务数据，根据所述业务数据生成所述业务属性消息，并将所述业务属性消息上传至所述消息中间件。
上述无人驾驶汽车数据存储装置，按照订阅信息，在消息中间件订阅无人驾驶汽车系统中各个单元发布的业务属性消息，接收订阅的无人驾驶汽车系统中各个单元发布的业务属性消息，其中，无人驾驶汽车系统中各个单元检测业务数据，根据业务数据生成业务属 性消息，并将业务属性消息上传至消息中间件，实现终端针对性地获取各个单元发布的业务属性消息，从而针对性地获取各个单元的业务数据。
在一个实施例中，如图7所示，所述装置还包括分类模块608，所述分类模块608，用于：对所述业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据；所述发送模块606，包括发送子模块，所述发送子模块，用于：将所述第一业务数据以及所述第二业务数据发送至所述数据存储服务器。
上述无人驾驶汽车数据存储装置，对业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据，将第一业务数据以及第二业务数据发送至数据存储服务器，实现对业务数据的有序处理、有序发送。
在一个实施例中，所述分类模块608，包括分类子模块，所述分类子模块，用于：根据所述业务属性消息对应的业务数据是否涉密，对所述业务数据进行分类，将涉密的所述业务数据作为所述第一业务数据，将不涉密的所述业务数据作为所述第二业务数据。
上述无人驾驶汽车数据存储装置，上述的无人驾驶汽车数据存储方法，根据业务属性消息对应的业务数据是否涉密，对业务数据进行分类，将涉密的业务数据作为第一业务数据，将不涉密的业务数据作为第二业务数据，实现业务数据传输的安全性。
在一个实施例中，如图8所示，所述装置还包括加密模块610，所述加密模块610，用于：对所述第一业务数据进行加密；所述发送子模块，具体用于：将加密后的所述第一业务数据以及所述第二业务数据，打包发送至所述数据存储服务器。
上述无人驾驶汽车数据存储装置，对第一业务数据进行加密，将加密后的第一业务数据以及第二业务数据，打包发送至数据存储服务器，实现业务数据传输的安全性。
上述无人驾驶汽车数据存储装置中各个模块的划分仅用于举例说明，在其他实施例中，可将无人驾驶汽车数据存储装置按照需要划分为不同的模块，以完成上述无人驾驶汽车数据存储装置的全部或部分功能。
关于无人驾驶汽车数据存储装置的具体限定可以参见上文中对于无人驾驶汽车数据存储方法的限定，在此不再赘述。上述无人驾驶汽车数据存储装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
本申请实施例中提供的无人驾驶汽车数据存储装置中的各个模块的实现可为计算机程序的形式。该计算机程序可在终端或服务器等计算机设备上运行。该计算机程序构成的程序模块可存储在计算机设备的存储器上。该计算机程序被处理器执行时，实现本申请实施例中所描述的无人驾驶汽车数据存储方法的步骤。
在一个实施例中，如图9所示，提供了一种计算机设备的内部结构示意图。该包括通过系统总线连接的处理器、存储器和显示屏。其中，该处理器用于提供计算和控制能力，支撑整个计算机设备的运行。存储器用于存储数据、程序、和/或指令代码等，存储器上存储至少一个计算机程序，该计算机程序可被处理器执行，以实现本申请实施例中提供的适用于电子设备的无人驾驶汽车数据存储方法。存储器可包括磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)等非易失性存储介质，或随机存储记忆体(Random-Access-Memory，RAM)等。例如，在一个实施例中，存储器包括非易失性存储介质及内存储器。非易失性存储介质存储有操作系统、数据库和计算机程序。该数据库中存储有用于实现以上各个实施例所提供的一种无人驾驶汽车数据存储方法相关的数据。该计算机程序可被处理器所执行，以用于实现本申请各个实施例所提供的一种无人驾驶汽车数据存储方法。内存储器为非易失性存储介质中的操作系统、数据库和计算机程序提供高速缓存的运行环境。显示屏可以是触摸屏，比如为电容屏或电子屏，用于显示前台应用的界面展示信息，还可以被用于检测作用于该显示屏的触摸操作，生成相应的指令，比如 进行前后台应用的切换指令等。
本领域技术人员可以理解，图9中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。如该计算机设备还包括通过系统总线连接的网络接口，网络接口可以是以太网卡或无线网卡等，用于与外部的计算机设备进行通信，比如可用于同服务器进行通信。再比如该计算机设备上并不存在通过系统总线连接的显示器，或者可连接外部显示设备。
在一个实施例中，提供了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，处理器执行计算机程序时实现上述各实施例所提供的无人驾驶汽车数据存储方法的步骤。在一个实施例中，还提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序对处理器执行时，实现本申请各实施例中所描述的无人驾驶汽车数据存储方法的步骤。
在一个实施例中，提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行本申请各实施例中所描述的无人驾驶汽车数据存储方法。
本申请所使用的对存储器、存储、数据库或其它介质的任何引用可包括非易失性和/或易失性存储器。合适的非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)，它用作外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDR SDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)。
以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (17)

  1. 一种无人驾驶汽车数据存储方法，所述方法包括：
    获取无人驾驶汽车系统中各个单元发布的异常属性消息；
    根据所述异常属性消息生成订阅信息；
    按照所述订阅信息获取所述各个单元发布的业务属性消息；
    将所述业务属性消息对应的业务数据发送至数据存储服务器。
  2. 根据权利要求1所述的方法，其特征在于，所述获取无人驾驶汽车系统中各个单元发布的异常属性消息，包括：
    通过消息中间件接收订阅的所述无人驾驶汽车系统中各个单元发布的异常属性消息，其中，所述无人驾驶汽车系统中各个单元检测异常信息，根据所述异常信息生成所述异常属性消息，并将所述异常属性消息上传至所述消息中间件，所述异常信息为出现异常的业务数据，当所述各个单元检测到一业务数据不在所述业务数据对应的数据范围内时，判定所述业务数据出现异常。
  3. 根据权利要求1所述的方法，其特征在于，所述异常属性消息包括：
    所述异常属性消息所属的单元、所述异常属性消息的生成时间、所述异常属性消息对应的异常信息的异常等级、所述异常属性消息关联的业务数据标识、所述异常属性消息关联的业务数据的采集时段；其中，所述异常属性消息关联的业务数据的采集时段用于确定所述关联的业务数据的采集起始点以及采集结束点。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述异常属性消息生成订阅信息，包括：
    获取所述异常属性消息关联的业务数据标识，以及所述异常属性消息关联的业务数据的采集时段；
    根据所述业务数据标识以及所述采集时段生成所述订阅信息。
  5. 根据权利要求1所述的方法，其特征在于，所述按照所述订阅信息获取所述各个单元发布的业务属性消息，包括：
    按照所述订阅信息，在消息中间件订阅所述无人驾驶汽车系统中各个单元发布的业务属性消息；
    接收订阅的所述无人驾驶汽车系统中各个单元发布的业务属性消息，其中，所述无人驾驶汽车系统中各个单元检测业务数据，根据所述业务数据生成所述业务属性消息，并将所述业务属性消息上传至所述消息中间件。
  6. 根据权利要求1所述的方法，其特征在于，所述将所述业务属性消息对应的业务数据发送至数据存储服务器之前，还包括：
    对所述业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据；
    所述将所述业务属性消息对应的业务数据发送至数据存储服务器，包括：
    将所述第一业务数据以及所述第二业务数据发送至所述数据存储服务器。
  7. 根据权利要求6所述的方法，其特征在于，所述对所述业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据，包括：
    根据所述业务属性消息对应的业务数据是否涉密，对所述业务数据进行分类，将涉密的所述业务数据作为所述第一业务数据，将不涉密的所述业务数据作为所述第二业务数据。
  8. 根据权利要求7所述的方法，其特征在于，所述将所述第一业务数据以及所述第二业务数据发送至所述数据存储服务器之前，还包括：
    对所述第一业务数据进行加密；
    所述将所述第一业务数据以及所述第二业务数据发送至所述数据存储服务器，包括：
    将加密后的所述第一业务数据以及所述第二业务数据，打包发送至所述数据存储服务器。
  9. 一种无人驾驶汽车数据存储装置，所述装置包括：
    获取模块，用于获取无人驾驶汽车系统中各个单元发布的异常属性消息；
    确定模块，用于根据所述异常属性消息生成订阅信息；
    所述获取模块，还用于按照所述订阅信息获取所述各个单元发布的业务属性消息；
    发送模块，用于将所述业务属性消息对应的业务数据发送至数据存储服务器。
  10. 根据权利要求9所述的装置，其特征在于，所述获取模块，包括接收子模块，所述接收子模块，用于：通过消息中间件接收订阅的所述无人驾驶汽车系统中各个单元发布的异常属性消息，其中，所述无人驾驶汽车系统中各个单元检测异常信息，根据所述异常信息生成所述异常属性消息，并将所述异常属性消息上传至所述消息中间件，所述异常信息为出现异常的业务数据，当所述各个单元检测到一业务数据不在所述业务数据对应的数据范围内时，判定所述业务数据出现异常；所述异常属性消息包括：所述异常属性消息所属的单元、所述异常属性消息的生成时间、所述异常属性消息对应的异常信息的异常等级、所述异常属性消息关联的业务数据标识、所述异常属性消息关联的业务数据的采集时段；其中，所述异常属性消息关联的业务数据的采集时段用于确定所述业务数据的采集起始点以及采集结束点。
  11. 根据权利要求10所述的装置，其特征在于，所述确定模块，包括获取子模块以及生成子模块，所述获取子模块，用于：获取所述异常属性消息关联的业务数据标识，以及所述异常属性消息关联的业务数据的采集时段；所述生成子模块，用于：根据所述业务数据标识以及所述采集时段生成所述订阅信息。
  12. 根据权利要求10所述的装置，其特征在于，所述获取模块，还包括订阅子模块，所述订阅子模块，用于：按照所述订阅信息，在消息中间件订阅所述无人驾驶汽车系统中各个单元发布的业务属性消息；所述接收子模块，还用于：接收订阅的所述无人驾驶汽车系统中各个单元发布的业务属性消息，其中，所述无人驾驶汽车系统中各个单元检测业务数据，根据所述业务数据生成所述业务属性消息，并将所述业务属性消息上传至所述消息中间件。
  13. 根据权利要求10所述的装置，其特征在于，所述装置还包括分类模块，所述分类模块，用于：对所述业务属性消息对应的业务数据进行分类，得到第一业务数据以及第二业务数据；所述发送模块，包括发送子模块，所述发送子模块，用于：将所述第一业务数据以及所述第二业务数据发送至所述数据存储服务器。
  14. 根据权利要求13所述的装置，其特征在于，所述分类模块，包括分类子模块，所述分类子模块，用于：根据所述业务属性消息对应的业务数据是否涉密，对所述业务数据进行分类，将涉密的所述业务数据作为所述第一业务数据，将不涉密的所述业务数据作为所述第二业务数据。
  15. 根据权利要求13所述的装置，其特征在于，所述装置还包括加密模块，所述加密模块，用于：对所述第一业务数据进行加密；所述发送子模块，具体用于：将加密后的所述第一业务数据以及所述第二业务数据，打包发送至所述数据存储服务器。
  16. 一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现权利要求1至8中任一项所述方法的步骤。
  17. 一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现权利要求1至8中任一项所述方法的步骤。
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