CN112884942A - Data recording and playback system and playback method thereof - Google Patents
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Abstract
The invention provides a data recording and playback system and a playback method thereof, wherein the data recording and playback system comprises an automatic driving area controller, an upper computer and a sensor data acquisition module, wherein the automatic driving area controller comprises a self-adaptive application layer, a data distribution service layer in communication connection with the self-adaptive application layer and a communication management module in bidirectional communication connection with the data distribution service layer; the upper computer comprises a data packet command module, a console in communication connection with the data packet command module, and a data warehouse subject layer in communication connection with the data packet command module; the sensor data acquisition module comprises a laser radar, an ultrasonic radar, a millimeter wave radar, a camera and a navigation module. The invention solves the data recording and playback problems of an automatic driving system developed based on an adaptive platform automobile open system architecture, and is based on the performance verification and calibration of a data sensor, the detection and tracking of a target object, the verification of a control algorithm, the system debugging, the fault troubleshooting and the like.
Description
Technical Field
The invention relates to the field of complex number calculation, in particular to a data recording and playback system and a playback method thereof.
Background
With the rapid increase of the requirements of automobiles on in-vehicle bandwidth and processor performance, a classical Autosar platform aiming at a traditional embedded ECU software architecture cannot be sufficient. For this reason, the Autosar organization introduced a new software architecture, Adaptive Platform (AP), which is highly flexible, high-performance, and supports dynamic characteristics.
Automatic driving is one of the most important application scenes in the future of an adaptive platform automobile open system architecture, and data recording and playback are important subjects in the development process of an automatic driving system. Currently, the adaptive platform automobile open system architecture has not defined a specific data recording and playback module or tool, and the ROS2 framework already has a mature data recording and playback tool data packet command module.
At present, for a node of a topic, it cannot distinguish whether the data in the topic is obtained in real time or played back from a data packet command module.
Disclosure of Invention
The purpose of the invention is as follows: it is an object to propose a data playback method to solve the above-mentioned problems of the prior art. A further object is to propose a calculation method based on the above system.
The technical scheme is as follows: a data recording and playback system comprising the following modules:
an automatic driving area controller: the system comprises an adaptive application layer, a data distribution service layer in communication connection with the adaptive application layer, and a communication management module in bidirectional communication connection with the data distribution service layer;
an upper computer: the system comprises a data packet command module, a console in communication connection with the data packet command module, and a data warehouse subject layer in communication connection with the data packet command module;
the sensor data acquisition module comprises a laser radar, an ultrasonic radar, a millimeter wave radar, a camera and a navigation module.
In a further embodiment, an ethernet gateway is also included; the data recording module, the internet connection module and the video recording module are respectively in bidirectional communication connection with the Ethernet gateway; and a computing platform in one-way communication connection with the Ethernet gateway;
the computing platform comprises an information processing service terminal used for reading external equipment and a playback module in communication connection with the information processing service terminal.
In a further embodiment, the data recording module, the networking module and the video recording module form a recording device, the recording device comprises a plurality of CAN bus interfaces and at least one vehicle control unit, and the vehicle control unit is in communication connection with one of the CAN bus interfaces; the vehicle control unit is used for receiving the state mark data of the vehicle up-down electric signal.
A data playback method, comprising the steps of:
step 1, a data packet command module in an upper computer subscribes a preset data warehouse theme layer;
step 2, sending the sensor data acquired by the sensor data acquisition module to an AP application layer for preprocessing;
step 3, distributing the sensor data processed by the AP application layer by a DDS communication submodule of the communication management module according to a corresponding theme;
step 4, a data packet command module in the upper computer receives the subscribed theme data and records the subscribed theme data into a data packet of the bag suffix;
and 5, playing back the bag suffix data packet, and displaying the bag suffix in the console.
In a further embodiment, the data recording and playback method is embodied in a visualization management system comprising the following modules: the middleware service module is used for acquiring service information through multiple ports; the database module is used for collecting and recording service position information; a router for transmitting the collected service discovery information to other ECUs; and other ECUs for receiving the router transmission service information.
In a further embodiment, the middleware service module includes a registration service interface, a discovery service interface, and a stop service interface, and the middleware service module processes all registration service, stop service, and discovery service requests in the local APP.
In a further embodiment, the database module records registration and stop of all service instances and location information of service discovery; the router is provided with a group of input interfaces and two groups of output interfaces, and the three groups of interfaces acquire mutual data information in an information interaction mode, so that a preprocessing stage is provided for a data transmission element and a data receiving element; the other ECUs generate two paths of branch ECUs through router output interfaces, the two paths of branch ECUs comprise two sets of service providing information or consumption APP information, and the service providing information or the consumption APP information is located inside the two paths of branch ECUs; the database module is provided with four interfaces; the four interfaces are respectively connected with the two middleware service modules, the router input interface and the service visual management platform; the information transmission of the four interfaces adopts an information interaction mode to acquire mutual data information so as to provide a preprocessing stage for the data transmission element and the data receiving element, a group of input interfaces are arranged on the four interfaces and the router, and the information transmission modes of the two groups of output interfaces are the same.
In a further embodiment, the visualization management system comprises the following steps in visualization management:
s1, registering and stopping service information; the APP registers and stops service through the service API; the APP performs registration and stop control on the acquired service information, and feeds back service discovery to the middleware service module in the stage of acquiring the service information;
s2, updating service state data; the S2 further receives the service information fed back by the S1, and updates the service state to the database through the middleware service module; and then the query service is transmitted to the database through the middleware service module.
S3, reading data storage service information; the step S3 is further to utilize the visual management platform to read the service information stored in the database in real time through the network and process the display service information; further transmitting the query and set service information to a database through a visual management platform;
s4, feeding back service information to the APP; and S4 further acquires the service information of the database for the middleware service module, queries the service information in the database and returns the service information to the APP terminal, thereby completing the transmission of the service information and the adjustment of the set data.
Has the advantages that: according to the invention, the sensor data is issued to the data packet command module through the theme defined by the DDS of the subscription communication management module, so that the AP data is recorded and played back. The method solves the data recording and playback problems of an automatic driving system developed based on an adaptive platform automobile open system architecture, and is based on the performance verification and calibration of data sensors (laser, radar, cameras and the like), the detection and tracking of target objects, the verification of control algorithms, the debugging and troubleshooting of the system and the like.
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FIG. 1 is a system architecture diagram of the present invention.
FIG. 2 is a timing diagram of the present invention.
Fig. 3 is a flow chart of the playback method of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
When the automatic driving system developed based on the self-adaptive platform automobile open system framework runs, some data can be produced. Sometimes we need real-time processing, i.e. getting the data, the written program analyzing the data and then getting the result. But other times we want to collect data only, which can be stored in the packet command module.
The data packet command module is mainly used for recording, playing back and analyzing data in the theme. The system can record data in a specified subject into a bag suffix, and facilitates offline analysis and processing of the data in the bag suffix. For the nodes of the script topic, it cannot distinguish whether the data in the topic is obtained in real time or played back from the data packet command module. The method helps us to quickly reproduce the actual scene based on the offline data, and can perform repeatable and low-cost analysis and debugging.
The general technical scheme of the invention is as follows:
step 1, a data packet command module in an upper computer subscribes a preset data warehouse theme layer;
step 2, sending the sensor data acquired by the sensor data acquisition module to an AP application layer for preprocessing;
step 3, distributing the sensor data processed by the AP application layer by a DDS communication submodule of the communication management module according to a corresponding theme;
step 4, a data packet command module in the upper computer receives the subscribed theme data and records the subscribed theme data into a data packet of the bag suffix;
and 5, playing back the bag suffix data packet, and displaying the bag suffix in the console.
The data recording and playback system comprises the following modules: an automatic driving area controller: the system comprises an adaptive application layer, a data distribution service layer in communication connection with the adaptive application layer, and a communication management module in bidirectional communication connection with the data distribution service layer; an upper computer: the system comprises a data packet command module, a console in communication connection with the data packet command module, and a data warehouse subject layer in communication connection with the data packet command module; the sensor data acquisition module comprises a laser radar, an ultrasonic radar, a millimeter wave radar, a camera and a navigation module. The system also comprises an Ethernet gateway; the data recording module, the internet connection module and the video recording module are respectively in bidirectional communication connection with the Ethernet gateway; and a computing platform in one-way communication connection with the Ethernet gateway; the computing platform comprises an information processing service terminal used for reading external equipment and a playback module in communication connection with the information processing service terminal. The data recording module, the networking module and the video recording module form recording equipment, the recording equipment comprises a plurality of paths of CAN bus interfaces and at least one path of vehicle control unit, and the vehicle control unit is in communication connection with one of the CAN bus interfaces; the vehicle control unit is used for receiving the state mark data of the vehicle up-down electric signal.
The data recording and playback method is embodied in a visualization management system, and the visualization management system comprises the following modules: the middleware service module is used for acquiring service information through multiple ports; the database module is used for collecting and recording service position information; a router for transmitting the collected service discovery information to other ECUs; and other ECUs for receiving the router transmission service information.
The middleware service module comprises a registration service interface, a discovery service interface and a service stopping interface, and processes all registration service, service stopping and service discovering requests in the local APP.
The database module records the registration and stop of all service instances and the position information of service discovery;
the router is provided with a group of input interfaces and two groups of output interfaces, and the three groups of interfaces acquire mutual data information in an information interaction mode, so that a preprocessing stage is provided for a data transmission element and a data receiving element;
the other ECUs generate two paths of branch ECUs through router output interfaces, the two paths of branch ECUs comprise two sets of service providing information or consumption APP information, and the service providing information or the consumption APP information is located inside the two paths of branch ECUs;
the database module is provided with four interfaces; the four interfaces are respectively connected with the two middleware service modules, the router input interface and the service visual management platform; the information transmission of the four interfaces adopts an information interaction mode to acquire mutual data information so as to provide a preprocessing stage for the data transmission element and the data receiving element, a group of input interfaces are arranged on the four interfaces and the router, and the information transmission modes of the two groups of output interfaces are the same.
The visualization management system comprises the following steps when visualization management is carried out:
s1, registering and stopping service information; the APP registers and stops service through the service API; the APP performs registration and stop control on the acquired service information, and feeds back service discovery to the middleware service module in the stage of acquiring the service information;
s2, updating service state data; the S2 further receives the service information fed back by the S1, and updates the service state to the database through the middleware service module; and then the query service is transmitted to the database through the middleware service module.
S3, reading data storage service information; the step S3 is further to utilize the visual management platform to read the service information stored in the database in real time through the network and process the display service information; further transmitting the query and set service information to a database through a visual management platform;
s4, feeding back service information to the APP; and S4 further acquires the service information of the database for the middleware service module, queries the service information in the database and returns the service information to the APP terminal, thereby completing the transmission of the service information and the adjustment of the set data.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A data recording and playback system, comprising the modules of:
an automatic driving area controller: the system comprises an adaptive application layer, a data distribution service layer in communication connection with the adaptive application layer, and a communication management module in bidirectional communication connection with the data distribution service layer;
an upper computer: the system comprises a data packet command module, a console in communication connection with the data packet command module, and a data warehouse subject layer in communication connection with the data packet command module;
the sensor data acquisition module comprises a laser radar, an ultrasonic radar, a millimeter wave radar, a camera and a navigation module.
2. A data recording and playback system according to claim 1, wherein: the system also comprises an Ethernet gateway; the data recording module, the internet connection module and the video recording module are respectively in bidirectional communication connection with the Ethernet gateway; and a computing platform in one-way communication connection with the Ethernet gateway;
the computing platform comprises an information processing service terminal used for reading external equipment and a playback module in communication connection with the information processing service terminal.
3. The data recording and playback system according to claim 1, wherein the data recording module, the networking module and the video recording module form a recording device, the recording device comprises a plurality of CAN bus interfaces and at least one vehicle control unit, and the vehicle control unit is in communication connection with one of the CAN bus interfaces; the vehicle control unit is used for receiving the state mark data of the vehicle up-down electric signal.
4. A data playback method, comprising the steps of:
step 1, a data packet command module in an upper computer subscribes a preset data warehouse theme layer;
step 2, sending the sensor data acquired by the sensor data acquisition module to an AP application layer for preprocessing;
step 3, distributing the sensor data processed by the AP application layer by a DDS communication submodule of the communication management module according to a corresponding theme;
step 4, a data packet command module in the upper computer receives the subscribed theme data and records the subscribed theme data into a data packet of the bag suffix;
and 5, playing back the bag suffix data packet, and displaying the bag suffix in the console.
5. A data playback method according to claim 4, characterized in that the data recording and playback method is embodied in a visualization management system, which comprises the following modules:
the middleware service module is used for acquiring service information through multiple ports;
the database module is used for collecting and recording service position information;
a router for transmitting the collected service discovery information to other ECUs;
and other ECUs for receiving the service information sent by the router.
6. The data playback method according to claim 5, wherein the middleware service module includes a registration service interface, a discovery service interface, and a stop service interface, and the middleware service module processes all registration service, stop service, and discovery service requests in the local APP.
7. A data playback method according to claim 5, wherein the database module records registration and stop of all service instances and location information of service discovery;
the router is provided with a group of input interfaces and two groups of output interfaces, and the three groups of interfaces acquire mutual data information in an information interaction mode, so that a preprocessing stage is provided for a data transmission element and a data receiving element;
the other ECUs generate two paths of branch ECUs through router output interfaces, the two paths of branch ECUs comprise two sets of service providing information or consumption APP information, and the service providing information or the consumption APP information is located inside the two paths of branch ECUs;
the database module is provided with four interfaces; the four interfaces are respectively connected with the two middleware service modules, the router input interface and the service visual management platform; the information transmission of the four interfaces adopts an information interaction mode to acquire mutual data information so as to provide a preprocessing stage for the data transmission element and the data receiving element, a group of input interfaces are arranged on the four interfaces and the router, and the information transmission modes of the two groups of output interfaces are the same.
8. The data playback method according to claim 5, wherein the visualization management system comprises the following steps in visualization management:
s1, registering and stopping service information; the APP registers and stops service through the service API; the APP performs registration and stop control on the acquired service information, and feeds back service discovery to the middleware service module in the stage of acquiring the service information;
s2, updating service state data; the S2 further receives the service information fed back by the S1, and updates the service state to the database through the middleware service module; then the query service is transmitted to a database through a middleware service module;
s3, reading data storage service information; the step S3 is further to utilize the visual management platform to read the service information stored in the database in real time through the network and process the display service information; further transmitting the query and set service information to a database through a visual management platform;
s4, feeding back service information to the APP; and S4 further acquires the service information of the database for the middleware service module, queries the service information in the database and returns the service information to the APP terminal, thereby completing the transmission of the service information and the adjustment of the set data.
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| CN115202321B (en) * | 2022-06-10 | 2024-09-17 | 重庆长安汽车股份有限公司 | Data acquisition system and method for automatic driving road test |
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