WO2021159359A1 - Procédé et dispositif de collecte de données pour système d'exploitation de véhicule sans pilote - Google Patents

Procédé et dispositif de collecte de données pour système d'exploitation de véhicule sans pilote Download PDF

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Publication number
WO2021159359A1
WO2021159359A1 PCT/CN2020/074975 CN2020074975W WO2021159359A1 WO 2021159359 A1 WO2021159359 A1 WO 2021159359A1 CN 2020074975 W CN2020074975 W CN 2020074975W WO 2021159359 A1 WO2021159359 A1 WO 2021159359A1
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Prior art keywords
data
computing node
unmanned vehicle
data collection
operating system
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PCT/CN2020/074975
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English (en)
Chinese (zh)
Inventor
刘列
刘轩
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深圳元戎启行科技有限公司
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Priority to PCT/CN2020/074975 priority Critical patent/WO2021159359A1/fr
Priority to CN202080003161.XA priority patent/CN113574502A/zh
Publication of WO2021159359A1 publication Critical patent/WO2021159359A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions

Definitions

  • This application relates to the field of computer technology, and in particular to a data collection method, device, computer equipment, and computer-readable storage medium for an operating system of an unmanned vehicle.
  • a data collection method, device, computer equipment, and computer-readable storage medium of an operating system of an unmanned vehicle are provided.
  • a data collection method for an unmanned vehicle operating system comprising:
  • a performance analysis application is run; the performance analysis application is installed in the operating system of the unmanned vehicle;
  • the data collection interface of each computing node is called through the performance analysis application program to collect data of each computing node.
  • the invoking the data collection interface of each computing node through the performance analysis application to collect data of each computing node includes:
  • the data of the computing node is collected.
  • the method further includes:
  • the method further includes:
  • the aggregated data is sent to the front end of the unmanned vehicle and displayed on the display screen of the unmanned vehicle.
  • the method further includes:
  • the aggregated data is sent to the target device and displayed on the display screen of the target device.
  • the method further includes:
  • the method further includes:
  • the method further includes:
  • the method further includes:
  • the data collection interface of each computing node is called through the performance analysis application program to collect data of each computing node.
  • the method further includes:
  • the data collection interface of each computing node is called through the performance analysis application program, and the data of each computing node is collected at the collection frequency.
  • the method further includes:
  • the acquisition frequency is kept unchanged.
  • a data collection device for an unmanned vehicle operating system comprising:
  • the performance analysis application running module is used to run the performance analysis application when the operating system of the unmanned vehicle is started; the performance analysis application is installed in the operating system of the unmanned vehicle;
  • a data collection interface opening module which is used to obtain the data collection interface of each computing node in the operating system of the unmanned vehicle, and open the data collection interface of each computing node;
  • the data collection module is used to call the data collection interface of each computing node through the performance analysis application program to collect data of each computing node.
  • the data collection module is further configured to call the data collection interface of each computing node through the performance analysis application to monitor each computing node; when the computing node generates data, collect The data of the computing node.
  • the device further includes a shutdown module, configured to shut down the data collection interface of the computing node that has ended its operation when the computing node ends its operation.
  • the device further includes a summary module for summarizing the data of each computing node; sending the summarized data to the front end of the unmanned vehicle, and displaying it on the unmanned vehicle. On the display of the driving vehicle.
  • the summary module is also used to obtain the target device associated with the unmanned vehicle; send the summarized data to the target device, and display it on the display screen of the target device .
  • the device further includes an early warning module for monitoring the data of each of the computing nodes; when the data of the computing nodes exceeds a preset range, an early warning signal is generated.
  • the device further includes a shutdown module for obtaining the proportion of each of the computing nodes occupying the operating system resources; and stopping the operation of computing nodes whose proportions of the operating system resources are greater than the ratio threshold .
  • the shutdown module is further configured to separately count the running time of each of the computing nodes; and stop running the computing nodes whose running time is greater than the duration threshold.
  • the data collection module is also used to obtain the target duration; at intervals of the target duration, the data collection interface of each computing node is called through the performance analysis application to collect the data of each computing node. data.
  • the data collection module is also used to obtain collection frequency; the data collection interface of each computing node is called through the performance analysis application to collect data of each computing node at the collection frequency .
  • the acquisition frequency adjustment module is used to detect the driving speed of the unmanned vehicle; when the driving speed is lower than a first speed threshold, the acquisition frequency is reduced; when the driving When the speed is higher than the second speed threshold, the acquisition frequency is increased; the first speed threshold is less than the second speed threshold; when the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed At the speed threshold, keep the acquisition frequency unchanged.
  • a computer device includes a memory and a processor, and the memory stores computer-readable instructions.
  • the processor executes the data of the unmanned vehicle operating system described above Collection method.
  • a computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, it realizes the data collection method of the unmanned vehicle operating system as described above.
  • Fig. 1 is a flowchart of a data collection method of an unmanned vehicle operating system in an embodiment
  • Figure 2 is a flow chart of generating an early warning signal in an embodiment
  • FIG. 3 is a flowchart of stopping operation of a computing node in an embodiment
  • FIG. 4 is a flowchart of stopping operation of a computing node in another embodiment
  • Fig. 5 is a flowchart of a data collection method of an unmanned vehicle operating system in another embodiment
  • Figure 6 is a flow chart of adjusting the acquisition frequency in an embodiment
  • Figure 7 is a structural block diagram of a data acquisition device of an unmanned vehicle operating system in an embodiment
  • Fig. 8 is an internal structure diagram of a computer device in an embodiment.
  • first, second, etc. used in this application can be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.
  • first speed threshold may be referred to as the second speed threshold
  • second speed threshold may be referred to as the first speed threshold. Both the first speed threshold and the second speed threshold are speed thresholds, but they are not the same speed threshold.
  • Fig. 1 is a flowchart of a data collection method of an unmanned vehicle operating system in an embodiment.
  • a data collection method for an unmanned vehicle operating system, applied to a computer device of an unmanned vehicle includes:
  • Step 102 When the operating system of the unmanned vehicle is started, the performance analysis application is run; the performance analysis application is installed in the operating system of the unmanned vehicle.
  • An unmanned vehicle is a type of smart car, also known as a wheeled mobile robot, which mainly relies on an operating system-based intelligent driver in the vehicle to achieve the purpose of unmanned driving.
  • the operating system of the unmanned vehicle is a computer operating system specially designed for the characteristics of the unmanned vehicle's computing nodes, such as complex structure, large calculation amount, occupation of software and hardware resources, and high consistency requirements.
  • the operating system is responsible for scheduling the operating cycle and sequence of each computing node, ensuring efficient communication of messages between each computing node, and making full use of different computing resources.
  • Performance analysis application refers to an application that performs performance analysis on various data of the operating system of an unmanned vehicle, including operations such as monitoring, collecting, sending, receiving, and analyzing data.
  • the performance analysis application is installed in the unmanned vehicle operating system, that is, the performance analysis application can be used as a sub-module of the content of the unmanned vehicle operating system.
  • the computer equipment runs a performance analysis application.
  • Step 104 Obtain the data collection interface of each computing node in the operating system of the unmanned vehicle, and turn on the data collection interface of each computing node.
  • a computing node is an algorithm module that performs computing tasks, such as a drive module that collects sensor data, a perception module that detects obstacles, a prediction module that analyzes the trajectory of surrounding objects, a positioning module that locates the location, a planning module that determines a driving route, and an output car Operation control signal control module, etc.
  • a drive module that collects sensor data
  • a perception module that detects obstacles
  • a prediction module that analyzes the trajectory of surrounding objects
  • a positioning module that locates the location
  • a planning module that determines a driving route
  • an output car Operation control signal control module etc.
  • the operating system of the unmanned vehicle provides the data collection interface and the interface identification of each data collection interface for each computing node in advance.
  • the interface identification can be unique, and the corresponding data collection interface can be uniquely found based on the interface identification.
  • the interface identifier can be the number, character string, the name of the computing node, etc., but is not limited to this.
  • the computer equipment obtains the interface identification of the data collection interface of each computing node in the operating system of the unmanned vehicle, finds the data acquisition interface of the corresponding computing node according to the interface identification, and opens the data acquisition interface to collect the data of the computing node .
  • Step 106 Call the data collection interface of each computing node through the performance analysis application to collect data of each computing node.
  • the performance analysis application program includes a performance collection function, through which the bottom function of the operating system of the unmanned vehicle can be called, and the data collection interface of each computing node can be called through the bottom function, and various calculations can be collected through the data collection interface The data of the node.
  • the external performance analysis tools will take up more system resources whether it is data collection, storage, or smooth operation.
  • the performance analysis application installed in the unmanned vehicle operating system collects data, and the data collection interface of each computing node is called through the underlying function, which can reduce the occupancy rate of the performance analysis application on the operating system resources. .
  • the computer device runs a performance analysis application; the performance analysis application is installed in the operating system of the unmanned vehicle; obtains various calculations in the operating system of the unmanned vehicle
  • the data collection interface of the node and the data collection interface of each computing node are opened; the data collection interface of each computing node can be called by the performance analysis application installed in the operating system of the unmanned vehicle to collect the data of each computing node more quickly , Reduce the delay when collecting data, make the collected data more timely, and improve the speed of data collection.
  • the computer equipment can collect more and more complete data, such as actual running time, data volume, stack status, etc. It can analyze the performance of the operating system of unmanned vehicles more accurately, and obtain more accurate and effective analysis results, which can assist the operating system of unmanned vehicles to discover and solve potential safety in time during operation. Problem, improve the safety and stability of the unmanned vehicle system.
  • calling the data collection interface of each computing node through the performance analysis application program to collect data of each computing node includes: calling the data collection interface of each computing node through the performance analysis application program to monitor each computing node; When the node generates data, the data of the computing node is collected.
  • the data collection interface of the computing node can monitor the computing node.
  • the computer device controls the data collection interface to collect the generated data.
  • the computer device controls the data collection interface to collect the data currently generated by the computing node.
  • the computer device controls the data collection interface to collect the data currently generated by the computing node.
  • the data currently generated by the computing node is the same as the last data collected, it means that the state of the node remains unchanged, and the currently generated data may not be collected, which saves the resources of the operating system of the unmanned vehicle.
  • the last data collected by the computing node is 100, and when the data currently generated by the computing node is 90, and the currently generated data is different from the last collected data, the computer device controls the data collection interface to collect the currently generated data 90 ;
  • the data currently generated by the computing node is 100, it means that the state of the computing node has not changed, and the currently generated data may not be collected, which saves the operating system resources of the unmanned vehicle.
  • the data collection interface of each computing node is called through the performance analysis application to monitor each computing node; when the computing node generates data, the data of the computing node can be collected in time to increase the speed of data collection.
  • the above method further includes: when the computing node ends its operation, closing the data collection interface of the computing node that has ended its operation.
  • the computer device closes the data collection interface of the computing node that has finished running, which can save the resources of the operating system of the unmanned vehicle.
  • the computer device allocates the computer resources of the closed data collection interface to the running computing node.
  • the data collection interface when the data collection interface is turned on, it consumes a lot of computer resources, such as CPU resources, GPU resources, memory resources, and so on.
  • the computer device closes the data collection interface, the computer resources originally occupied by the data collection interface can be saved.
  • the computer equipment allocates the saved computer resources to the running computing nodes, which can further improve the data collection speed of the running computing nodes.
  • the above method further includes: summarizing the data of each computing node; sending the summarized data to the front end of the unmanned vehicle, and displaying it on the display screen of the unmanned vehicle.
  • the computer equipment aggregates the data of each computing node, and sends the aggregated data to the front end of the unmanned vehicle, and displays it on the display screen of the unmanned vehicle, so that the user can observe the data of each computing node.
  • the computer device classifies the data of each computing node, and sends the classified data to the front end of the unmanned vehicle for display on the display screen of the unmanned vehicle.
  • the above method further includes: obtaining a target device associated with the unmanned vehicle; sending the aggregated data to the target device, and displaying it on the display screen of the target device.
  • the target device associated with the unmanned vehicle may be a target device connected to the same wireless network as the unmanned vehicle, or may be a target device bound to the unmanned vehicle, and is not limited to this.
  • the target device can be a mobile device such as a smart phone or a notebook computer, or a wearable device such as a smart bracelet, or one or more servers in a traffic system that monitors an unmanned vehicle, but is not limited to this.
  • the data of each computing node is classified, and the classified data is sent to the target device, and displayed on the display screen of the target device.
  • the above method further includes:
  • Step 202 Monitor the data of each computing node.
  • Step 204 When the data of a computing node exceeds a preset range, an early warning signal is generated.
  • the computer equipment monitors the data of each computing node, and generates an early warning signal when the data of one computing node in each computing node exceeds a preset range.
  • the early warning signal may be sound, vibration, text information, etc., and is not limited thereto.
  • the preset ranges corresponding to the data of different computing nodes may be the same or different, and are not limited to this.
  • the computer device presets the early warning signal corresponding to each computing node.
  • the computer device uses the computing node whose data exceeds the preset range as an early warning node, and generates an early warning signal corresponding to the early warning node.
  • the early warning signal corresponding to computing node A is early warning sound 1
  • the early warning signal corresponding to computing node B is early warning sound 2
  • the early warning signal corresponding to computing node C is vibration.
  • the data of computing node A exceeds the preset range, it will be generated Early warning sound 1; when the data of computing node B exceeds the corresponding preset range, the corresponding early warning signal is early warning sound 2; when the data of computing node C exceeds the corresponding preset range, the corresponding early warning signal is vibration.
  • the above method further includes:
  • Step 302 Obtain the proportion of operating system resources occupied by each computing node.
  • the resources of the operating system may include at least one of CPU, GPU, memory, network ports, and throughput speed.
  • Step 304 Stop running computing nodes that occupy an operating system resource ratio greater than the ratio threshold.
  • the computer equipment obtains the percentage of operating system resources occupied by each computing node. When the percentage of operating system resources occupied is greater than the percentage threshold, the computing node occupies more resources of the operating system of the unmanned vehicle, which may slow down the entire operating system. Operating speed.
  • the computer device stops running the computing node, which can increase the operating speed of the entire operating system.
  • the above method further includes:
  • Step 402 Count the running time of each computing node respectively.
  • the running duration refers to the duration of the computing node from the moment it starts running to the current moment.
  • a timer is also included, through which the running time of each computing node can be counted separately.
  • Step 404 Stop running computing nodes whose running duration is greater than the duration threshold.
  • a deadlock state refers to a blocking phenomenon caused by competition for resources or due to communication between two or more threads in the execution process. If there is no external force, they will not be able to advance.
  • the computer device stops running the computing node, which can avoid the deadlock state of the computing node.
  • the above method further includes: acquiring the target duration; and at intervals of the target duration, calling the data collection interface of each computing node through a performance analysis application to collect data of each computing node.
  • the target duration can be set according to user needs.
  • Interval target duration the data collection interface of each computing node is called through the performance analysis application to collect the data of each computing node, which can avoid real-time collection of data of each computing node and save the computer resources of the operating system of the unmanned vehicle.
  • the computer equipment obtains the driving speed of the unmanned vehicle; when the driving speed of the unmanned vehicle exceeds the preset speed threshold, the target duration is shortened; the target duration after the interval is shortened is called by the performance analysis application.
  • the data collection interface of the node collects the data of each computing node.
  • the computer equipment shortens the target duration, and the target duration after the shortened interval collects data from each computing node, which can collect more data from each computing node, thereby It can understand the data of unmanned vehicles in a more timely manner and improve the safety of unmanned vehicles.
  • the above method further includes:
  • Step 502 Obtain the collection frequency.
  • the acquisition frequency refers to the number of data acquisitions per unit time.
  • step 504 the data collection interface of each computing node is called through the performance analysis application program to collect data of each computing node at a collection frequency.
  • the collection frequency When the collection frequency is higher, the number of data collected per unit time is more, and the data of the unmanned vehicle can be obtained in a timely manner; when the collection frequency is lower, the computer resources of the operating system of the unmanned vehicle can be saved .
  • the above method further includes:
  • Step 602 Detect the driving speed of the unmanned vehicle.
  • a speed sensor In the computer equipment of the driverless vehicle, a speed sensor is installed.
  • the speed sensor can detect the driving speed of the unmanned vehicle.
  • gyroscopes In the computer equipment of unmanned vehicles, gyroscopes, accelerometers and other components are also installed.
  • the angular velocity of the unmanned vehicle can be obtained through the gyroscope.
  • the acceleration of the unmanned vehicle can be obtained through the accelerometer.
  • Step 604 When the driving speed is lower than the first speed threshold, the collection frequency is reduced.
  • the first speed threshold can be set according to user needs.
  • the computer equipment can reduce the acquisition frequency and save the operation of the unmanned vehicle The computer resources of the system.
  • Step 606 When the driving speed is higher than the second speed threshold, increase the collection frequency; the first speed threshold is less than the second speed threshold.
  • the driving speed is higher than the second speed threshold, it means that the driving speed of the unmanned vehicle is faster, and the safety requirement of the unmanned vehicle is relatively high. With more data, you can get the data of unmanned vehicles in a more timely manner.
  • Step 608 When the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, keep the acquisition frequency unchanged.
  • the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, it means that the driving speed of the unmanned vehicle is within a stable interval, and the computer device can keep the acquisition frequency unchanged.
  • steps in the flowchart of the embodiment of the present application are displayed in sequence according to the instructions of the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least part of the steps in the flowcharts of the embodiments of the present application may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the order of execution is also It is not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.
  • Fig. 7 is a structural block diagram of a data acquisition device of an unmanned vehicle operating system in an embodiment.
  • a data collection device 700 for an unmanned vehicle operating system includes:
  • the performance analysis application running module 702 is used to run the performance analysis application when the operating system of the unmanned vehicle is started; the performance analysis application is installed in the operating system of the unmanned vehicle.
  • the data collection interface opening module 704 is used to obtain the data collection interface of each computing node in the operating system of the unmanned vehicle, and open the data collection interface of each computing node.
  • the data collection module 706 is used to call the data collection interface of each computing node through a performance analysis application program to collect data of each computing node.
  • the computer device runs a performance analysis application; the performance analysis application is installed in the operating system of the unmanned vehicle; obtains various calculations in the operating system of the unmanned vehicle
  • the data collection interface of the node and the data collection interface of each computing node are opened; the data collection interface of each computing node can be called by the performance analysis application installed in the operating system of the unmanned vehicle to collect the data of each computing node more quickly , Reduce the delay when collecting data, make the collected data more timely, and improve the speed of data collection.
  • the above-mentioned data collection module is also used to call the data collection interface of each computing node through a performance analysis application to monitor each computing node; when the computing node generates data, collect data of the computing node.
  • the above-mentioned device further includes a shutdown module, which is used to shut down the data collection interface of the computing node that has ended its operation when the computing node ends its operation.
  • the above-mentioned device further includes a summary module for summarizing the data of each computing node; sending the summarized data to the front end of the unmanned vehicle, and displaying it on the display screen of the unmanned vehicle.
  • the above-mentioned summary module is also used to obtain the target device associated with the unmanned vehicle; send the summarized data to the target device, and display it on the display screen of the target device.
  • the above-mentioned device further includes an early warning module for monitoring the data of each computing node; when the data of the computing node exceeds a preset range, an early warning signal is generated.
  • the above-mentioned device further includes a shutdown module for obtaining the proportion of each computing node occupying operating system resources; and stopping the operation of computing nodes whose proportion of operating system resources are greater than the threshold.
  • the above-mentioned shutdown module is also used to separately count the running time of each computing node; stop computing nodes whose running time is greater than the duration threshold.
  • the above-mentioned data collection module is also used to obtain the target duration; the interval target duration is to call the data collection interface of each computing node through the performance analysis application program to collect the data of each computing node.
  • the above-mentioned data collection module is also used to obtain the collection frequency; the data collection interface of each computing node is called through the performance analysis application program to collect the data of each computing node at the collection frequency.
  • the above-mentioned acquisition frequency adjustment module is used to detect the driving speed of the unmanned vehicle; when the driving speed is lower than the first speed threshold, the acquisition frequency is reduced; when the driving speed is higher than the second speed threshold, Increase the acquisition frequency; the first speed threshold is less than the second speed threshold; when the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, keep the acquisition frequency unchanged.
  • the division of the various modules in the data collection device of the unmanned vehicle operating system is only for illustration. In other embodiments, the data collection device of the unmanned vehicle operating system can be divided into different modules as needed to complete All or part of the functions of the above-mentioned display screen detection device.
  • Each module in the data acquisition device of the above-mentioned unmanned vehicle operating system 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.
  • a computer device is provided.
  • the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 8.
  • the computer equipment includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus.
  • the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
  • the communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator's network, NFC (near field communication) or other technologies.
  • the computer program is executed by the processor to realize a data collection method of the unmanned vehicle operating system.
  • the display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, or it can be a button, a trackball or a touchpad set on the housing of the computer equipment , It can also be an external keyboard, touchpad, or mouse.
  • FIG. 8 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.
  • a computer device including a memory and a processor, and a computer program is stored in the memory, and the processor implements the above-mentioned data collection method of an operating system of an unmanned vehicle when the processor executes the computer program.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned data collection method of the unmanned vehicle operating system is realized.
  • Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical storage.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.

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Abstract

L'invention concerne un procédé de collecte de données pour un système d'exploitation d'un véhicule sans pilote, comprenant les étapes consistant à : lorsqu'un système d'exploitation d'un véhicule sans pilote est démarré, exécuter un programme d'application d'analyse de performance, le programme d'application d'analyse de performance étant installé dans le système d'exploitation du véhicule sans pilote ; obtenir une interface de collecte de données de chaque nœud de calcul du système d'exploitation du véhicule sans pilote, et démarrer l'interface de collecte de données de chaque nœud de calcul ; et appeler l'interface de collecte de données de chaque nœud de calcul au moyen du programme d'application d'analyse de performance pour collecter des données de chaque nœud de calcul.
PCT/CN2020/074975 2020-02-12 2020-02-12 Procédé et dispositif de collecte de données pour système d'exploitation de véhicule sans pilote WO2021159359A1 (fr)

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CN202080003161.XA CN113574502A (zh) 2020-02-12 2020-02-12 无人驾驶车辆操作系统的数据采集方法和装置

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN114339468A (zh) * 2021-12-22 2022-04-12 珠海格力电器股份有限公司 机组设备的数据发送方法、装置、计算机设备和存储介质
CN117874435A (zh) * 2024-03-11 2024-04-12 中国电子科技集团公司第十五研究所 分布式边缘数据采集方法、装置、电子设备及存储介质

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