CN114328352B - Data processing method, device, system and storage medium - Google Patents
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Abstract
The application discloses a data processing method, a device, a system and a storage medium, wherein the method comprises the following steps: receiving multi-frame to-be-processed data sent by a sending end; each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information; based on a distribution instruction, sending the multi-frame data to be processed to a plurality of external data processing devices; acquiring at least one execution instruction fed back by the plurality of external data processing devices; each execution instruction in the at least one execution instruction is obtained by corresponding external data processing equipment based on the received data to be processed; each execution instruction carries time stamp information included in corresponding data to be processed; and determining a target execution instruction sent to a receiving end from the at least one execution instruction based on the timestamp information carried by each execution instruction. Thus, the application enhances the data processing capability of the autopilot, thereby meeting the calculation power requirement of the autopilot at a higher level.
Description
Technical Field
The present application relates to the field of computer processing technologies, and in particular, to a data processing method, apparatus, system, and storage medium.
Background
In recent years, the autopilot industry has been actively developed, and in order to distinguish and define autopilot technologies more conveniently, the Society of Automated Engineers (SAE) classifies the autopilot technologies from L0 to L5, wherein the L4 level and the L5 level can be used for all driving operations without intervention of a driver, therefore, in an autopilot control system based on the L4 level and the L5 level, a large amount of data processing is involved, and the calculation power of a processor is greatly required in a plurality of links of data sensing, fusion, decision making and control.
However, the computing power of the computing chip in the automatic driving industry cannot meet the higher-level computing power requirement at present.
Disclosure of Invention
The embodiment of the application provides a data processing method, a device, a system and a storage medium, which are used for enhancing the data processing capacity of automatic driving so as to meet the calculation power requirement of higher-level automatic driving.
In one aspect, an embodiment of the present application provides a data processing method, where the method includes:
Receiving multi-frame to-be-processed data sent by a sending end; each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information;
based on the distribution instruction, sending the multi-frame data to be processed to a plurality of external data processing devices;
acquiring at least one execution instruction fed back by a plurality of external data processing devices; each execution instruction in the at least one execution instruction is obtained by corresponding external data processing equipment based on the received data to be processed; each execution instruction carries time stamp information included in corresponding data to be processed;
And determining a target execution instruction sent to the receiving end from at least one execution instruction based on the timestamp information carried by each execution instruction.
Further, the plurality of external data processing devices include a first data processing device and a second data processing device;
the obtaining at least one execution instruction fed back by the plurality of external data processing devices comprises the following steps:
receiving an interrupt instruction sent by first data processing equipment; the interrupt instruction is used for indicating to mask the interrupt instruction sent by the second data processing equipment;
receiving an execution instruction sent by first data processing equipment;
and if the data transmission interface corresponding to the second data processing equipment contains the execution instruction corresponding to the second data processing equipment, acquiring the execution instruction corresponding to the second data processing equipment from the data transmission interface.
Further, the receiving the multi-frame to-be-processed data sent by the sending end includes:
Receiving multi-frame to-be-processed data sent by a sending end;
and setting time stamp information for each frame of the to-be-processed data based on the receiving time point of each frame of the to-be-processed data in the multi-frame to-be-processed data.
Further, when the number of the transmitting ends is plural, based on the distribution instruction, transmitting the multi-frame data to be processed to the plurality of external data processing devices includes:
Based on the distribution instruction corresponding to each sending end in the plurality of sending ends, multi-frame to-be-processed data corresponding to each sending end are sent to the processing unit corresponding to each sending end in the plurality of external data processing equipment.
Further, the sending the multi-frame to-be-processed data corresponding to each sending end to the processing unit corresponding to each sending end in the plurality of external data processing devices includes:
And sequentially transmitting each frame of to-be-processed data in the multi-frame to-be-processed data to a data processing unit corresponding to each transmitting end in the plurality of external data processing devices according to the sequence of the time stamp information.
Further, the method further comprises:
Sending a heartbeat message to each external data processing device in the plurality of external data processing devices;
If the heartbeat message feedback returned by the first external data processing equipment is not received within the first preset time length, determining that the first external data processing equipment is abnormal; the plurality of external data processing devices includes a first external data processing device.
Further, the method further comprises:
Determining a second external data processing device which is not abnormal from a plurality of external data processing devices based on the first external data processing device;
And sequentially transmitting each frame of to-be-processed data in the multi-frame to-be-processed data to a data processing unit corresponding to each transmitting end in the second external data processing equipment according to the sequence of the time stamp information.
Further, the method further comprises:
when abnormal processing operation is detected, sending a heartbeat message to first external data processing equipment;
If the heartbeat message feedback returned by the first external data processing equipment is received, and the duration time of the heartbeat message feedback returned by the first external data processing equipment is longer than or equal to the second preset duration time, determining that the first external data processing equipment is a non-abnormal external data processing equipment;
And sequentially transmitting each frame of to-be-processed data in the multi-frame to-be-processed data to a data processing unit corresponding to each transmitting end in the first external data processing equipment and the second external data processing equipment according to the sequence of the time stamp information.
Further, the method further comprises:
and acquiring a distribution instruction corresponding to the transmitting end generated by the control unit.
Another aspect provides a data processing apparatus, the apparatus comprising:
The first receiving module is used for receiving multi-frame to-be-processed data sent by the sending end; each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information;
the distribution module is used for sending the multi-frame data to be processed to a plurality of external data processing devices based on the distribution instruction;
The first acquisition module is used for acquiring at least one execution instruction fed back by the plurality of external data processing equipment; each execution instruction in the at least one execution instruction is obtained by corresponding external data processing equipment based on the received data to be processed; each execution instruction carries time stamp information included in corresponding data to be processed;
The first sending module is used for determining a target execution instruction sent to the receiving end from at least one execution instruction based on the time stamp information carried by each execution instruction.
Another aspect provides a data processing system, the system comprising: the system comprises a server end, a transmitting end, a receiving end and a plurality of external data processing devices;
the server end is connected with the transmitting end and is used for receiving multi-frame to-be-processed data transmitted by the transmitting end; each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information;
The server end is connected with the plurality of external data processing devices and is used for sending the multi-frame data to be processed to the plurality of external data processing devices based on the distribution instruction;
The server side is connected with the receiving end and is used for acquiring at least one execution instruction fed back by the plurality of external data processing devices; each execution instruction in the at least one execution instruction is obtained by corresponding external data processing equipment based on the received data to be processed; each execution instruction carries time stamp information included in corresponding data to be processed; and determining a target execution instruction sent to the receiving end from at least one execution instruction based on the timestamp information carried by each execution instruction.
In another aspect, a computer readable storage medium is provided, in which at least one instruction, at least one program, a set of codes, or a set of instructions is stored, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by a processor to implement a data processing method as described above.
The data processing method, the device, the system and the storage medium provided by the embodiment of the application have the following technical effects:
Receiving multi-frame to-be-processed data sent by a sending end, wherein each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information, sending the multi-frame to-be-processed data to a plurality of external data processing devices based on a distribution instruction, acquiring at least one execution instruction fed back by the plurality of external data processing devices, wherein each execution instruction in the at least one execution instruction is obtained by the corresponding external data processing device based on the received to-be-processed data, each execution instruction carries time stamp information contained in the corresponding to-be-processed data, and determining a target execution instruction sent to a receiving end from the at least one execution instruction based on the time stamp information carried by each execution instruction.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;
FIG. 2 is a schematic flow chart of a data processing method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a data processing method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a data processing method according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of a data processing method according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a data processing apparatus according to an embodiment of the present application;
Fig. 7 is a block diagram of a hardware structure of a server of a data processing method according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment provided by an embodiment of the present application, where the schematic diagram includes a server 101 and a vehicle 102, and the vehicle 102 may be an unmanned vehicle, i.e. an automatic driving vehicle, or a semi-automatic driving vehicle.
In an alternative embodiment, the server 101 may be an on-board server disposed in the vehicle 101, each of which may individually receive sensor data from the vehicle and provide control services to the vehicle.
In an alternative embodiment, the server 101 may be connected to a plurality of external data processing devices (Computing System on Chip), and the vehicle-mounted server may separately receive the sensor data from the vehicle, and send the received sensor data of the vehicle to the plurality of external data processing devices for processing, so as to obtain control data fed back by the plurality of external data processing devices, and control the vehicle through the control data.
In the following, a specific embodiment of a data processing method according to the present application is described, and fig. 2 is a schematic flow chart of a data processing method according to an embodiment of the present application, and the present specification provides method operation steps according to an embodiment or a flowchart, but may include more or fewer operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 2, the method may include:
s201: and receiving multi-frame to-be-processed data sent by a sending end, wherein each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information.
In the embodiment of the application, the transmitting end can be a sensor for measuring the state of the vehicle, including a GPS, an IMU, an encoder and the like, or can be a sensor for measuring the environmental state of the vehicle, including a laser radar, a millimeter wave radar, a camera and the like.
In an alternative embodiment, the transmitting end may also be a gas concentration sensor, a temperature sensor, a fluid sensor, a photoelectric sensor, or the like.
In the embodiment of the application, the multi-frame data to be processed can be sent by a sensor for measuring the state of the vehicle or a sensor for measuring the environmental state of the vehicle.
In the embodiment of the application, after receiving the multi-frame to-be-processed data sent by the sending end, the timestamp information can be set for each frame of to-be-processed data based on the receiving time point of each frame of to-be-processed data in the multi-frame to-be-processed data.
In the embodiment of the application, the distribution instruction corresponding to the transmitting end generated by the control unit can be acquired, so that after the time stamp information is set for each frame of the to-be-processed data based on the receiving time point of each frame of the to-be-processed data in the multiple frames of the to-be-processed data, the multiple frames of the to-be-processed data can be distributed.
Thus, the multi-frame to-be-processed data sent by each of the plurality of sending ends can be distributed to the plurality of external data processing devices respectively.
S203: based on the distribution instruction, the multi-frame data to be processed are sent to a plurality of external data processing devices.
In the embodiment of the application, the number of the transmitting ends may be multiple, and the multiple transmitting ends may include sensors for measuring the state of the vehicle, such as a global positioning system (Global Positioning System, GPS), an inertial sensor (Inertial Measurement Unit, IMU), etc., and may also include sensors for measuring the state of the environment where the vehicle is located, such as a camera sensor, a radar sensor, a lidar sensor, etc.
In an alternative embodiment, the Beidou satellite navigation system (BeiDouNavigation SATELLITE SYSTEM, BDS), the Geronus satellite navigation system (GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS) or the Galileo satellite navigation system (Galileo satellite navigation system) can also be used in the sensors for measuring the state of the vehicle itself.
In the embodiment of the application, each of the plurality of external data processing devices is provided with a plurality of processing units, wherein the plurality of processing units in each external data processing device are respectively corresponding to a plurality of sending ends.
Therefore, the multiple processing units in each external data processing device correspond to each sending end, so that each external data processing device can process the received multiple frames of data to be processed, which are sent by the multiple sending ends.
In the embodiment of the application, when the number of the sending ends is multiple, the distribution instruction corresponding to each sending end in the multiple sending ends generated by the control unit is obtained, and based on the distribution instruction corresponding to the sending end, the multi-frame to-be-processed data corresponding to the sending end is sent to the processing unit corresponding to the sending end in the multiple external data processing devices.
In an optional implementation manner, each external data processing device in the plurality of external data processing devices is independent, each external data processing device can independently process the received multi-frame to-be-processed data sent by the plurality of sending ends, specifically, the plurality of processing units corresponding to the plurality of sending ends in each external data processing device respectively process the received multi-frame to-be-processed data sent by the plurality of sending ends, multiple expansion of calculation power can be achieved through the plurality of external data processing devices, the requirement of higher-level automatic driving calculation capability in any scene can be met, and in practical application, the number of the external data processing devices can be determined according to the requirement of service calculation amount.
In an optional implementation manner, each external data processing device may perform algorithm fusion, decision and generate an execution instruction on multi-frame to-be-processed data sent by multiple sending ends and received by multiple data processing units in the external data processing device.
Furthermore, each external data processing device may perform algorithm fusion, decision and generate an execution instruction on each frame of to-be-processed data with the same timestamp information, where the to-be-processed data is received by a plurality of data processing units in the external data processing device, and the execution instruction includes the timestamp information.
In the embodiment of the application, each frame of to-be-processed data in the multi-frame to-be-processed data can be sequentially sent to the data processing unit corresponding to each sending end in the plurality of external data processing devices according to the sequence of the time stamp information.
For example, when the number of the plurality of external data processing devices is 4, fig. 3 to 4 are schematic diagrams of a data processing method according to an embodiment of the present application, where each external data processing device has a plurality of data processing units, the plurality of data processing units may correspond to a plurality of sending terminals, after setting timestamp information for each frame of to-be-processed data based on a receiving time point of each frame of to-be-processed data in a plurality of frames of to-be-processed data sent by a certain sending terminal, a distribution instruction corresponding to the certain sending terminal generated by a control unit is acquired, and sequentially sending an nth frame, an n+1 frame, an n+2 frame, an n+3 frame, and an n+4 frame … … in the plurality of frames of to the data processing units corresponding to the certain sending terminal in the 4 external data processing devices.
Similarly, the nth frame, the n+1 frame, the n+2 frame, the n+3 frame, and the n+4 frame … … in the multi-frame to-be-processed data sent by another sending end in the plurality of sending ends may be sequentially sent to the data processing units corresponding to the other sending end in the 4 external data processing devices in the same manner.
In the embodiment of the application, whether the system operation of each external data processing device in the plurality of external data processing devices is abnormal or not can be judged through a heartbeat mechanism, for example, the system of the external data processing device is blocked, the system crashes, the fusion decision process is Kill and the like, if the external data processing device is found to be abnormal, the abnormal notification can be obtained, and the external data processing device is avoided when multi-frame data to be processed are distributed.
In the embodiment of the application, a heartbeat message can be sent to each external data processing device in a plurality of external data processing devices, and if the heartbeat message feedback returned by the first external data processing device is not received within a first preset time period, the abnormality of the first external data processing device is determined, wherein the plurality of external data processing devices comprise the first external data processing device, and the first external data processing device is the external data processing device with abnormal system operation.
In the embodiment of the application, the first external data processing device can determine the non-abnormal second external data processing device from the plurality of external data processing devices, and each frame of to-be-processed data in the multi-frame to-be-processed data is sequentially sent to the data processing unit corresponding to each sending end in the second external data processing device according to the sequence of the time stamp information.
In the embodiment of the application, when abnormal processing operation is detected, a heartbeat message is sent to a first external data processing device, if heartbeat message feedback returned by the first external data processing device is received, and the duration of the heartbeat message feedback returned by the first external data processing device is longer than or equal to a second preset duration, the first external data processing device is determined to be a non-abnormal external data processing device, and each frame of to-be-processed data in multi-frame to-be-processed data is sequentially sent to data processing units corresponding to each sending end in the first external data processing device and the second external data processing device according to the sequence of time stamp information.
For example, when the number of external data processing devices is 4, referring to fig. 3-4, under normal conditions, sequentially distributing the multi-frame to-be-processed data according to the method, when one of the external data processing devices is abnormal, for example, when the 3 rd external data processing device has abnormal processing operation, for example, a crash scene occurs, the crash scene can not receive the heartbeat message of the 3 rd external data processing device for a long time, and the time exceeds a set threshold, after detecting the abnormality, sequentially sending the received N frame, n+1 frame, n+2 frame, n+3 frame … … to the 1 st, 2 nd and 4 th external data processing devices when distributing the multi-frame to-be-processed data, when the 3 rd external data processing device is restarted, continuously receiving the heartbeat message sent by the 3 rd external data processing device, when continuously receiving the normal heartbeat message, and continuously exceeding the set threshold, and sequentially sending the received heartbeat message to the 1 st, 2 nd and 4 th external data processing device when continuously distributing the multi-frame to-be-processed data.
Therefore, each external data processing device in the plurality of external data processing devices can independently process the multi-frame to-be-processed data sent by the plurality of sending terminals, can perform system abnormality detection and recovery management on each external data processing device, can perform fusion decision on the multi-frame to-be-processed data sent by each sending terminal in the plurality of sending terminals, and generates an execution instruction.
S205: and acquiring at least one execution instruction fed back by the plurality of external data processing devices, wherein each execution instruction in the at least one execution instruction is obtained by the corresponding external data processing device based on the received data to be processed, and each execution instruction carries time stamp information included in the corresponding data to be processed.
In the embodiment of the application, the plurality of external data processing devices include a first data processing device and a second data processing device, the first data processing device is the external data processing device which sends out the interrupt request to be responded after generating the execution instruction, the second data processing device is the external data processing device except for the first data processing device in the plurality of external data processing devices, and the second data processing device can be a plurality of external data processing devices.
In the embodiment of the application, the execution instructions fed back by a plurality of external data processing devices are acquired through a plurality of data transmission interfaces.
FIG. 5 is a flowchart of a data processing method according to an embodiment of the present application, where in the embodiment of the present application, obtaining at least one execution instruction fed back by a plurality of external data processing devices includes:
S501: and receiving an interrupt instruction sent by the first data processing equipment, wherein the interrupt instruction is used for indicating to mask the interrupt instruction sent by the second data processing equipment.
S503: and receiving an execution instruction sent by the first data processing equipment.
S505: and if the data transmission interface corresponding to the second data processing equipment contains the execution instruction corresponding to the second data processing equipment, acquiring the execution instruction corresponding to the second data processing equipment from the data transmission interface.
S207: and determining a target execution instruction sent to the receiving end from at least one execution instruction based on the timestamp information carried by each execution instruction.
In the embodiment of the application, after receiving the execution instruction sent by the first data processing device, the data transmission interfaces corresponding to the plurality of external data processing devices are polled, the timestamp information contained in the execution instruction corresponding to the first data processing device is compared with the timestamp information contained in the execution instructions corresponding to the plurality of second data processing devices respectively, and the timestamp information sent to the receiving end is determined to be the latest execution instruction.
In the embodiment of the application, the receiving end CAN be a controller area network Card (Controller Area Network Card controller area network Card, CAN Card) or an electronic control unit (Electronic Control Unit, ECU) of the vehicle, and the control of the vehicle, such as the transverse and longitudinal control of the vehicle, is realized by sending the execution instruction to the CAN Card or the ECU of the vehicle.
In this way, the multi-frame to-be-processed data sent by the sending end are distributed to the plurality of external data processing devices for processing, and the latest execution instruction is determined to be sent to the receiving end according to the execution instruction fed back by the plurality of external data processing devices, so that the data processing capability of automatic driving is enhanced, and the calculation power requirement of higher-level automatic driving is met.
An embodiment of the present application further provides a data processing apparatus, and fig. 6 is a schematic structural diagram of the data processing apparatus provided in the embodiment of the present application, where, as shown in fig. 6, the apparatus includes:
a first receiving module 601, configured to receive multi-frame to-be-processed data sent by a sending end; each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information;
A distribution module 603, configured to send, based on a distribution instruction, multiple frames of data to be processed to multiple external data processing devices;
A first obtaining module 605, configured to obtain at least one execution instruction fed back by the plurality of external data processing devices; each execution instruction in the at least one execution instruction is obtained by corresponding external data processing equipment based on the received data to be processed; each execution instruction carries time stamp information included in corresponding data to be processed;
the first sending module 607 is configured to determine, from at least one execution instruction, a target execution instruction sent to the receiving end based on timestamp information carried by each execution instruction.
In an alternative embodiment, the plurality of external data processing devices includes a first data processing device and a second data processing device.
In an alternative embodiment, the first acquisition module 605 includes:
the second receiving module is used for receiving an interrupt instruction sent by the first data processing equipment; the interrupt instruction is used for indicating to mask the interrupt instruction sent by the second data processing equipment;
the third receiving module is used for receiving the execution instruction sent by the first data processing equipment;
And the second acquisition module is used for acquiring the execution instruction corresponding to the second data processing equipment from the data transmission interface if the data transmission interface corresponding to the second data processing equipment contains the execution instruction corresponding to the second data processing equipment.
In an alternative embodiment, the first receiving module 601 includes:
a fourth receiving module, configured to receive multi-frame to-be-processed data sent by the sending end;
the setting module is used for setting time stamp information for each frame of to-be-processed data based on the receiving time point of each frame of to-be-processed data in the multi-frame to-be-processed data.
In an alternative embodiment, when the number of the sending ends is a plurality of sending ends, the distributing module is configured to:
Based on the distribution instruction corresponding to each sending end in the plurality of sending ends, multi-frame to-be-processed data corresponding to each sending end are sent to the processing unit corresponding to each sending end in the plurality of external data processing equipment.
In an alternative embodiment, the distribution module is further configured to:
And sequentially transmitting each frame of to-be-processed data in the multi-frame to-be-processed data to a data processing unit corresponding to each transmitting end in the plurality of external data processing devices according to the sequence of the time stamp information.
In an alternative embodiment, the distribution module further comprises:
The second sending module is used for sending heartbeat messages to each external data processing device in the plurality of external data processing devices;
The first determining module is configured to determine that the first external data processing device is abnormal if the heartbeat message feedback returned by the first external data processing device is not received within a first preset duration, where the plurality of external data processing devices include the first external data processing device.
In an alternative embodiment, the distribution module further comprises:
the second determining module is used for determining a non-abnormal second external data processing device from the plurality of external data processing devices based on the first external data processing device;
and the third sending module is used for sequentially sending each frame of to-be-processed data in the multi-frame to-be-processed data to the data processing unit corresponding to each sending end in the second external data processing equipment according to the sequence of the time stamp information.
In an alternative embodiment, the distribution module further comprises:
the fourth sending module is used for sending a heartbeat message to the first external data processing equipment when the abnormal processing operation is detected;
The third determining module is used for determining that the first external data processing device is a non-abnormal external data processing device if the heartbeat message feedback returned by the first external data processing device is received and the duration of the heartbeat message feedback returned by the first external data processing device is longer than or equal to a second preset duration;
And the fifth sending module is used for sequentially sending each frame of to-be-processed data in the multi-frame to-be-processed data to the data processing units corresponding to each sending end in the first external data processing equipment and the second external data processing equipment according to the sequence of the time stamp information.
In an alternative embodiment, the apparatus further comprises:
And the third acquisition module is used for acquiring the distribution instruction corresponding to the transmitting end generated by the control unit.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
The embodiment of the application also provides a data processing system, which comprises: the server side, the transmitting side and the plurality of external data processing devices, of course, may also include a receiving side.
In the embodiment of the present application, the server may be Zynq UltraScale +mpsoc, and of course, may be other devices, products or platforms having a programmable logic side (PL FPGA Domain) and a processing system side (processing system Domain).
In the embodiment of the application, the programmable logic side can receive the multi-frame to-be-processed data sent by the plurality of sending terminals, distribute the received multi-frame to-be-processed data to the plurality of data processing devices, and receive the execution instructions fed back by the plurality of data processing devices.
In the embodiment of the application, the programmable logic side is provided with a plurality of data transmission interfaces, so that a plurality of external data processing devices can be connected through the plurality of data transmission interfaces, and multi-frame to-be-processed data distributed by the programmable logic side is further processed and fed back, thereby improving the data processing capability.
In an alternative embodiment, the data transfer interface may be a data transfer interface conforming to the pci-e3.0 standard.
In an optional implementation manner, the plurality of external data processing devices can be cascaded through the plurality of data transmission interfaces, so that 2-16 times of expansion of calculation power is realized, the calculation capability requirement of higher-level automatic driving in any scene can be met, and in actual application, the number of the plurality of external data processing devices can be determined according to the requirement of service calculation amount to be specifically adopted for cascading.
In the embodiment of the application, the plurality of external data processing devices can comprise a sign 5, a Huashan A1000 and the like, and of course, the external data processing devices can also comprise other devices capable of performing data processing.
In the embodiment of the application, the plurality of external data processing devices can be the same external data processing device or different external data processing devices.
In the embodiment of the present application, the processing system side of the server may include a data control domain (FPGA Control Domain), where the data control domain includes a control unit, and the control unit generates a corresponding distribution instruction according to the sending end, so as to perform distribution control on multi-frame to-be-processed data sent by the sending end.
In the embodiment of the application, the data control domain can also perform hot plug management, system abnormality detection and recovery management of a plurality of data processing devices.
In the embodiment of the application, the processing system side of the server side can also comprise a V2X protocol stack (Vehicle to Everything Domain), and the V2X protocol stack can realize that the vehicle with the V2X protocol stack communicates with other vehicles and equipment on the road side (such as traffic lights and communication equipment on a lamp post), so as to acquire more accurate road condition information.
Furthermore, the road condition information acquired by the V2X protocol stack may be distributed in a manner similar to the distribution of the multi-frame to-be-processed data sent by the sending end, so that the execution instructions generated by the multiple data processing devices may more accurately control the vehicle.
In the embodiment of the application, the processing system side of the server side can also comprise a system monitoring domain (System Monitor Domain) so as to realize the system Kdump management of the programmable logic side, the data control domain and the V2X protocol stack.
In the embodiment of the application, the server side is connected with the transmitting side, and the server side is used for receiving multi-frame to-be-processed data transmitted by the transmitting side, wherein each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information.
In the embodiment of the application, a server side is connected with a plurality of external data processing devices, and the server side is used for sending a plurality of frames of data to be processed to the plurality of external data processing devices based on a distribution instruction;
In the embodiment of the application, a server side is connected with a receiving end, the server side is used for acquiring at least one execution instruction fed back by a plurality of external data processing devices, each execution instruction in the at least one execution instruction is obtained by the corresponding external data processing device based on received data to be processed, each execution instruction carries timestamp information included in the corresponding data to be processed, and a target execution instruction sent to the receiving end is determined from the at least one execution instruction based on the timestamp information carried by each execution instruction.
The method embodiments provided by the embodiments of the present application may be executed in a computer terminal, a server, or similar computing device. Taking the operation on the server as an example, fig. 7 is a block diagram of a hardware structure of the server of a path planning method according to an embodiment of the present application. As shown in fig. 7, the server 700 may vary considerably in configuration or performance and may include one or more central processing units (Central Processing Units, CPU) 710 (the processor 710 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA), memory 730 for storing data, one or more storage mediums 720 (e.g., one or more mass storage devices) for storing applications 723 or data 722. Wherein memory 730 and storage medium 720 may be transitory or persistent. The program stored in the storage medium 720 may include one or more modules, each of which may include a series of instruction operations on the server. Still further, the central processor 710 may be configured to communicate with the storage medium 720 and execute a series of instruction operations in the storage medium 720 on the server 700. The server 700 may also include one or more power supplies 760, one or more wired or wireless network interfaces 750, one or more input/output interfaces 740, and/or one or more operating systems 721, such as Windows ServerTM, mac OS XTM, unixTM, linux, freeBSD, and the like.
Input-output interface 740 may be used to receive or transmit data via a network. The specific example of the network described above may include a wireless network provided by a communication provider of the server 700. In one example, the input/output interface 740 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the Internet. In one example, the input/output interface 740 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 7 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, server 700 may also include more or fewer components than shown in fig. 7, or have a different configuration than shown in fig. 7.
Embodiments of the present application also provide a storage medium that may be disposed in a server to store at least one instruction, at least one program, a set of codes, or a set of instructions for implementing a data processing method in a method embodiment, where the at least one instruction, the at least one program, the set of codes, or the set of instructions are loaded and executed by the processor to implement the data processing method described above.
Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
As can be seen from the embodiments of the data processing method, apparatus or storage medium provided by the present application, in the present application, by receiving multiple frames of to-be-processed data sent by a sending end, each frame of to-be-processed data in the multiple frames of to-be-processed data carries time stamp information, based on a distribution instruction, the multiple frames of to-be-processed data are sent to multiple external data processing apparatuses, at least one execution instruction fed back by the multiple external data processing apparatuses is obtained, each execution instruction in the at least one execution instruction is obtained based on the received to-be-processed data by the corresponding external data processing apparatus, each execution instruction carries time stamp information included in the corresponding to-be-processed data, and a target execution instruction sent to the receiving end is determined from the at least one execution instruction based on the time stamp information carried by each execution instruction.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.
Claims (11)
1. A method of data processing, the method comprising:
Receiving multi-frame to-be-processed data sent by a sending end; each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information;
Based on a distribution instruction, sending the multi-frame data to be processed to a plurality of external data processing devices, wherein the plurality of external data processing devices comprise a first data processing device and a second data processing device;
Acquiring at least one execution instruction fed back by the plurality of external data processing devices; each execution instruction in the at least one execution instruction is obtained by corresponding external data processing equipment based on the received data to be processed; each execution instruction carries time stamp information included in corresponding data to be processed;
determining a target execution instruction sent to a receiving end from the at least one execution instruction based on the timestamp information carried by each execution instruction;
Wherein, the obtaining at least one execution instruction fed back by the plurality of external data processing devices includes:
Receiving an interrupt instruction sent by the first data processing equipment; the interrupt instruction is used for indicating to mask the interrupt instruction sent by the second data processing equipment;
receiving an execution instruction sent by the first data processing equipment;
And if the data transmission interface corresponding to the second data processing equipment contains the execution instruction corresponding to the second data processing equipment, acquiring the execution instruction corresponding to the second data processing equipment from the data transmission interface.
2. The method of claim 1, wherein the receiving the multi-frame pending data sent by the sending end includes:
Receiving multi-frame to-be-processed data sent by the sending end;
And setting the time stamp information for each frame of the to-be-processed data based on the receiving time point of each frame of the to-be-processed data in the multi-frame to-be-processed data.
3. The method according to claim 1, wherein when the number of the transmitting ends is plural, the transmitting the multi-frame data to be processed to the plurality of external data processing apparatuses based on the distribution instruction includes:
And based on the distribution instruction corresponding to each sending end in the plurality of sending ends, sending the multi-frame to-be-processed data corresponding to each sending end to the processing unit corresponding to each sending end in the plurality of external data processing equipment.
4. The method according to claim 3, wherein the transmitting the multi-frame data to be processed corresponding to each transmitting end to the processing unit corresponding to each transmitting end in the plurality of external data processing devices includes:
And sequentially transmitting each frame of to-be-processed data in the multi-frame to-be-processed data to a data processing unit corresponding to each transmitting end in the plurality of external data processing devices according to the sequence of the time stamp information.
5. The method according to claim 4, wherein the method further comprises:
Sending a heartbeat message to each external data processing device in the plurality of external data processing devices;
If the heartbeat message feedback returned by the first external data processing equipment is not received within a first preset time period, determining that the first external data processing equipment is abnormal; the plurality of external data processing devices includes the first external data processing device.
6. The method of claim 5, wherein the method further comprises:
Determining a second external data processing device which is not abnormal from the plurality of external data processing devices based on the first external data processing device;
And sequentially transmitting each frame of to-be-processed data in the multi-frame to-be-processed data to a data processing unit corresponding to each transmitting end in the second external data processing equipment according to the sequence of the time stamp information.
7. The method of claim 6, wherein the method further comprises:
when abnormal processing operation is detected, sending the heartbeat message to the first external data processing equipment;
If the heartbeat message feedback returned by the first external data processing device is received, and the duration time of the heartbeat message feedback returned by the first external data processing device is longer than or equal to a second preset duration time, determining that the first external data processing device is a non-abnormal external data processing device;
And sequentially transmitting each frame of to-be-processed data in the multi-frame to-be-processed data to a data processing unit corresponding to each transmitting end in the first external data processing equipment and the second external data processing equipment according to the sequence of the time stamp information.
8. The method according to any one of claims 1-7, further comprising:
and acquiring a distribution instruction corresponding to the transmitting end generated by the control unit.
9. A data processing apparatus, the apparatus comprising:
the first receiving module is used for receiving multi-frame to-be-processed data sent by the sending end; each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information;
the distribution module is used for sending the multi-frame data to be processed to a plurality of external data processing devices based on a distribution instruction, wherein the plurality of external data processing devices comprise a first data processing device and a second data processing device;
The first acquisition module is used for acquiring at least one execution instruction fed back by the plurality of external data processing equipment; each execution instruction in the at least one execution instruction is obtained by corresponding external data processing equipment based on the received data to be processed; each execution instruction carries time stamp information included in corresponding data to be processed;
The first sending module is used for determining a target execution instruction sent to the receiving end from the at least one execution instruction based on the timestamp information carried by each execution instruction;
wherein, the first acquisition module includes:
the second receiving module is used for receiving an interrupt instruction sent by the first data processing equipment; the interrupt instruction is used for indicating to mask the interrupt instruction sent by the second data processing equipment;
The third receiving module is used for receiving the execution instruction sent by the first data processing equipment;
And the second acquisition module is used for acquiring the execution instruction corresponding to the second data processing equipment from the data transmission interface if the data transmission interface corresponding to the second data processing equipment contains the execution instruction corresponding to the second data processing equipment.
10. A data processing system, the system comprising: the system comprises a server end, a transmitting end, a receiving end and a plurality of external data processing devices;
The server side is connected with the sending end and is used for receiving multi-frame to-be-processed data sent by the sending end; each frame of to-be-processed data in the multi-frame to-be-processed data carries time stamp information;
the server side is connected with the plurality of external data processing devices and is used for sending the multi-frame data to be processed to the plurality of external data processing devices based on a distribution instruction, and the plurality of external data processing devices comprise a first data processing device and a second data processing device;
The server side is connected with the receiving end, and the server side is used for obtaining at least one execution instruction fed back by the plurality of external data processing devices, and the method comprises the following steps: receiving an interrupt instruction sent by the first data processing device, wherein the interrupt instruction is used for indicating to shield the interrupt instruction sent by the second data processing device; receiving an execution instruction sent by the first data processing equipment; if the data transmission interface corresponding to the second data processing device contains an execution instruction corresponding to the second data processing device, acquiring the execution instruction corresponding to the second data processing device from the data transmission interface; each execution instruction in the at least one execution instruction is obtained by corresponding external data processing equipment based on the received data to be processed; each execution instruction carries time stamp information included in corresponding data to be processed; and determining a target execution instruction sent to a receiving end from the at least one execution instruction based on the timestamp information carried by each execution instruction.
11. A computer storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement a data processing method according to any of claims 1-8.
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