CN113574502B - Data acquisition method and device of unmanned vehicle operating system - Google Patents
Data acquisition method and device of unmanned vehicle operating system Download PDFInfo
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Abstract
A data acquisition method of an unmanned vehicle operating system comprises the steps of running a performance analysis application program when the unmanned vehicle operating system is started, installing the performance analysis application program in the unmanned vehicle operating system, acquiring data acquisition interfaces of all computing nodes in the unmanned vehicle operating system, starting the data acquisition interfaces of all the computing nodes, and calling the data acquisition interfaces of all the computing nodes through the performance analysis application program to acquire data of all the computing nodes.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a data acquisition method and apparatus for an operation system of an unmanned vehicle, a computer device, and a computer readable storage medium.
Background
With the development of vehicle technology, unmanned technology has emerged. While unmanned vehicle technology has higher safety requirements for automobiles. In the conventional data acquisition method for the unmanned vehicle operation system, various data in the unmanned vehicle operation system are generally acquired through an external data acquisition tool. However, this data collection method of the conventional unmanned vehicle operating system has a problem of slow data collection speed.
Disclosure of Invention
According to various embodiments of the present application, a data acquisition method, apparatus, computer device, and computer-readable storage medium for an unmanned vehicle operating system are provided.
A method of data collection for an unmanned vehicle operating system, the method comprising:
When an operating system of the unmanned vehicle is started, a performance analysis application program is operated, wherein the performance analysis application program is installed in the operating system of the unmanned vehicle;
Acquiring data acquisition interfaces of all computing nodes in an operation system of the unmanned vehicle, starting the data acquisition interfaces of all the computing nodes, and
And calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node.
In one embodiment, the invoking, by the performance analysis application, the data collection interface of each computing node to collect data of each computing node includes:
Calling a data acquisition interface of each computing node through the performance analysis application program, monitoring each computing node, and
And collecting data of the computing nodes when the computing nodes generate the data.
In one embodiment, the method further comprises:
And when the computing node finishes running, closing a data acquisition interface of the computing node which finishes running.
In one embodiment, the method further comprises:
summarizing the data of each computing node, and
And sending the summarized data to the front end of the unmanned vehicle, and displaying the summarized data on a display screen of the unmanned vehicle.
In one embodiment, the method further comprises:
acquiring a target device associated with the unmanned vehicle, and
And sending the summarized data to the target equipment, and displaying the summarized data on a display screen of the target equipment.
In one embodiment, the method further comprises:
monitoring data of each of the computing nodes, and
And when the data of the computing nodes exceeds a preset range, generating an early warning signal.
In one embodiment, the method further comprises:
acquiring the proportion of each computing node occupying the operating system resource respectively, and
And stopping running the computing nodes occupying the operating system resources, wherein the proportion of the computing nodes occupying the operating system resources is larger than a proportion threshold value.
In one embodiment, the method further comprises:
respectively counting the operation time of each computing node and
And stopping running the computing node with the running time longer than the time threshold.
In one embodiment, the method further comprises:
Acquiring target time length
And the target duration is spaced, and the data acquisition interfaces of all the computing nodes are called through the performance analysis application program to acquire the data of all the computing nodes.
In one embodiment, the method further comprises:
Acquisition frequency
And calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node at the acquisition frequency.
In one embodiment, the method further comprises:
detecting a travel speed of the unmanned vehicle;
reducing the acquisition frequency when the travel speed is below a first speed threshold;
Increasing the acquisition frequency when the travel speed is above a second speed threshold, the first speed threshold being less than the second speed threshold, and
And when the running speed is lower than or equal to a second speed threshold value and higher than or equal to a first speed threshold value, keeping the acquisition frequency unchanged.
A data acquisition device for an unmanned vehicle operating system, the device comprising:
the performance analysis application program running module is used for running the performance analysis application program when the operating system of the unmanned vehicle is started, and the performance analysis application program is installed in the operating system of the unmanned vehicle;
The data acquisition interface opening module is used for acquiring the data acquisition interfaces of all the computing nodes in the operation system of the unmanned vehicle and opening the data acquisition interfaces of all the computing nodes;
and the data acquisition module is used for calling the data acquisition interfaces of the computing nodes through the performance analysis application program and acquiring the data of the computing nodes.
In one embodiment, the data acquisition module is further configured to call a data acquisition interface of each computing node through the performance analysis application program, monitor each computing node, and acquire data of the computing node when the computing node generates data.
In one embodiment, the device further includes a closing module, configured to close a data collection interface of the computing node that ends operation when the computing node ends operation.
In one embodiment, the device further comprises a summarizing module, wherein the summarizing module is used for summarizing the data of each computing node, sending the summarized data to the front end of the unmanned vehicle and displaying the summarized data on a display screen of the unmanned vehicle.
In one embodiment, the summarizing module is further used for acquiring target equipment associated with the unmanned vehicle, sending summarized data to the target equipment and displaying the summarized data on a display screen of the target equipment.
In one embodiment, the device further comprises an early warning module for monitoring the data of each computing node, and generating an early warning signal when the data of the computing nodes exceeds a preset range.
In one embodiment, the device further comprises a stopping module, which is used for obtaining the proportion of each computing node occupying the operating system resource, and stopping the computing nodes occupying the operating system resource with the proportion larger than a proportion threshold.
In one embodiment, the operation stopping module is further configured to count operation time periods of the computing nodes respectively, and stop operation of the computing nodes with the operation time periods greater than a time period threshold.
In one embodiment, the data acquisition module is further configured to acquire a target duration, and to call the data acquisition interface of each computing node through the performance analysis application program to acquire data of each computing node at intervals of the target duration.
In one embodiment, the data acquisition module is further configured to acquire an acquisition frequency, and call a data acquisition interface of each computing node through the performance analysis application program to acquire data of each computing node at the acquisition frequency.
In one embodiment, the acquisition frequency adjustment module is configured to detect a running speed of the unmanned vehicle, reduce the acquisition frequency when the running speed is lower than a first speed threshold, increase the acquisition frequency when the running speed is higher than a second speed threshold, the first speed threshold is lower than the second speed threshold, and keep the acquisition frequency unchanged when the running speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold.
A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions that, when executed by the processor, cause the processor to perform a data collection method for an unmanned vehicle operating system as described above.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements a data collection method of an unmanned vehicle operating system as described above.
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For a better description and illustration of embodiments and/or examples of those inventions disclosed herein, reference may be made to one or more of the accompanying drawings. Additional details or examples used to describe the drawings should not be construed as limiting the scope of the disclosed invention, the presently described embodiments and/or examples, and any of the presently understood modes of carrying out the invention.
FIG. 1 is a flow chart of a method of data collection of an unmanned vehicle operating system in one embodiment;
FIG. 2 is a flow chart of generating an early warning signal in one embodiment;
FIG. 3 is a flow diagram of a shutdown of a compute node in one embodiment;
FIG. 4 is a flow chart of stopping a computing node in another embodiment;
FIG. 5 is a flow chart of a method of data collection of an unmanned vehicle operating system in another embodiment;
FIG. 6 is a flow chart of adjusting acquisition frequency in one embodiment;
FIG. 7 is a block diagram of a data acquisition device of an unmanned vehicle operating system in one embodiment;
fig. 8 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that the terms first, second, etc. as used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element. For example, a first speed threshold may be referred to as a second speed threshold, and similarly, a second speed threshold may be referred to as a first speed threshold, without departing from the scope of the application. 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 flow chart of a method of data collection of an unmanned vehicle operating system in one embodiment. As shown in fig. 1, a data collection method of an operation system of an unmanned vehicle is applied to computer equipment of the unmanned vehicle, and includes:
and 102, when the operating system of the unmanned vehicle is started, running a performance analysis application program, wherein the performance analysis application program is installed in the operating system of the unmanned vehicle.
Unmanned vehicles are one type of intelligent automobiles, also called wheeled mobile robots, and mainly rely on intelligent drivers in the automobile, which are mainly based on an operating system, to achieve the purpose of unmanned. The operation system of the unmanned vehicle is a computer operation system specially designed aiming at the characteristics of complex structure of a computing node of the unmanned vehicle, large computing amount, large occupied software and hardware resources, high consistency requirement and the like. The operating system is responsible for scheduling the running period and sequence of each computing node, ensuring the efficient communication of the messages among the computing nodes, and fully utilizing different computing resources.
The performance analysis application refers to an application program for performing performance analysis on various data of an operating system of the unmanned vehicle, and comprises operations such as monitoring, collecting, transmitting, receiving, analyzing and the like of the data.
The performance analysis application is installed in the unmanned vehicle operating system, i.e., the performance analysis application may be a sub-module of the unmanned vehicle operating system content. When the unmanned vehicle operating system is started, the computer device runs a performance analysis application.
Step 104, acquiring data acquisition interfaces of all the computing nodes in the operating system of the unmanned vehicle, and starting the data acquisition interfaces of all the computing nodes.
The computing node is an algorithm module for executing computing tasks, such as a driving module for collecting sensor data, a sensing module for detecting obstacles, a prediction module for analyzing the running track of surrounding objects, a positioning module for positioning the position, a planning module for determining the running route, a control module for outputting automobile running control signals and the like. The mutual dependency relationship exists among all computing nodes in the operation system of the unmanned vehicle, and the unmanned vehicle needs to be scheduled and executed according to a certain time interval or logic sequence so as to ensure that all information is utilized by high-efficiency and reasonable computing resources, and the unmanned vehicle can safely run.
The operation system of the unmanned vehicle provides a data acquisition interface and an interface identification of each data acquisition interface for each computing node in advance. The interface identifier may have uniqueness, and a corresponding data acquisition interface may be uniquely found according to the interface identifier. Wherein the interface identifier may be the number, the character string, the name of the computing node, etc., without limitation.
The computer equipment acquires the interface identification of the data acquisition interface of each computing node in the operating system of the unmanned vehicle, searches the data acquisition interface of the corresponding computing node according to the interface identification, and opens the data acquisition interface for acquiring the data of the computing node.
And step 106, calling a data acquisition interface of each computing node through the performance analysis application program, and acquiring data of each computing node.
The performance analysis application program comprises a performance acquisition function, wherein the performance acquisition function can call a bottom layer function of an operating system of the unmanned vehicle, the bottom layer function can call a data acquisition interface of each computing node, and the data acquisition interface is used for acquiring data of each computing node.
The conventional technology generally adopts an external performance analysis tool to collect and analyze the data of the vehicle, and the external performance analysis tool occupies more system resources no matter the data is collected, stored or operated smoothly. In the application, the occupancy rate of the performance analysis application program to the operating system resource can be reduced by collecting the data through the performance analysis application program installed in the operating system of the unmanned vehicle and calling the data collection interface of each computing node through the bottom layer function.
In the embodiment of the application, when the operation system of the unmanned vehicle is started, the computer equipment runs the performance analysis application program, the performance analysis application program is installed in the operation system of the unmanned vehicle, the data acquisition interfaces of all the calculation nodes in the operation system of the unmanned vehicle are acquired, the data acquisition interfaces of all the calculation nodes are started, the data of all the calculation nodes can be acquired more quickly by calling the data acquisition interfaces of all the calculation nodes through the performance analysis application program installed in the operation system of the unmanned vehicle, the delay in data acquisition is reduced, the acquired data is more timely, and the data acquisition speed is improved.
In addition, the data acquisition interfaces of all the computing nodes are called through the performance analysis application program installed in the operation system of the unmanned vehicle, and the computer equipment can acquire more complete data such as actual running time, data volume, stack condition and the like, so that the performance of the operation system of the unmanned vehicle can be more accurately analyzed, analysis results with higher accuracy and higher effectiveness can be obtained, the operation system of the unmanned vehicle can be assisted to timely find and solve potential safety problems in the running process, and the safety and stability of the unmanned vehicle system are improved.
In one embodiment, the data collection interface of each computing node is invoked by the performance analysis application to collect data of each computing node, including the data collection interface of each computing node is invoked by the performance analysis application to monitor each computing node, and the data of the computing node is collected when the computing node generates the data.
The data acquisition interface of the computing node can monitor the computing node, and when the computing node generates data, the computer equipment controls the data acquisition interface to acquire the generated data.
Further, for each computing node, when the data currently generated by the computing node is different from the last data acquired, the computer equipment controls the data acquisition interface to acquire the data currently generated by the computing node.
It will be appreciated that when the data currently generated by a computing node is different from the last data collected, indicating that the state of the node may change, the computer device controls the data collection interface to collect the data currently generated by the computing node. When the current generated data of the computing node is the same as the last data acquired, the state of the node is unchanged, the current generated data can not be acquired, and the resources of an operating system of the unmanned vehicle are saved.
For example, when the last data collected by the computing node is 100, when the current data generated by the computing node is 90, the current data is different from the last data collected, the computer equipment controls the data collection interface to collect the current data 90, and when the current data generated by the computing node is 100, the state of the computing node is unchanged, the current data can not be collected, and the resources of the operating system of the unmanned vehicle are saved.
In the embodiment, the data acquisition interface of each computing node is called through the performance analysis application program to monitor each computing node, and when the computing node generates data, the data of the computing node can be acquired in time, so that the data acquisition speed is improved.
In one embodiment, the method further comprises closing the data acquisition interface of the computing node ending the operation when the computing node ends the operation.
When the operation of the computing node is finished, the computer equipment closes the data acquisition interface of the computing node which finishes the operation, so that the resources of the operating system of the unmanned vehicle can be saved.
Further, when the data acquisition interface of the operational computing node is closed, the computer device allocates computer resources of the closed data acquisition interface to the operational computing node.
It will be appreciated that when the data acquisition interface is in an on state, many computer resources, such as CPU resources, GPU resources, memory resources, etc., need to be consumed. After the data acquisition interface is closed by the computer equipment, the computer resources originally occupied by the data acquisition interface can be saved. The computer equipment distributes the saved computer resources to the running computing nodes, so that the data acquisition speed of the running computing nodes can be further improved.
In one embodiment, the method further comprises the steps of summarizing the data of each computing node, sending the summarized data to the front end of the unmanned vehicle, and displaying the summarized data on a display screen of the unmanned vehicle.
The computer equipment gathers the data of each computing node, sends the data after gathering to the front end of the unmanned vehicle, and shows on the display screen of the unmanned vehicle, can make the user observe the data of each computing node.
In another embodiment, the computer device classifies the data of each computing node, sends the classified data to the front end of the unmanned vehicle, and displays the classified data on a display screen of the unmanned vehicle.
In one embodiment, the method further comprises the steps of acquiring target equipment associated with the unmanned vehicle, sending summarized data to the target equipment and displaying the summarized data on a display screen of the target equipment.
The target device associated with the unmanned vehicle may be a target device that accesses the same wireless network as the unmanned vehicle, or may be a target device that is bound to the unmanned vehicle, but is not limited thereto. The target device may be a mobile device such as a smart phone or a notebook computer, or a wearable device such as a smart bracelet, or may be one or more servers in a traffic system for monitoring an unmanned vehicle, which is not limited thereto.
In another embodiment, the data of each computing node is classified, the classified data is sent to the target device, and the data is displayed on a display screen of the target device.
In one embodiment, as shown in fig. 2, the method further includes:
step 202, data of each computing node is monitored.
And 204, generating an early warning signal when the data of the existing computing nodes exceeds a preset range.
The computer equipment monitors the data of each computing node, and when the data of one computing node in each computing node exceeds a preset range, an early warning signal is generated. The early warning signal may be sound, vibration, text information, etc., but is not limited thereto. It should be noted that the preset ranges corresponding to the data of different computing nodes may be the same or different, and are not limited thereto.
Further, the computer equipment presets early warning signals corresponding to the computing nodes. The computer equipment takes the computing node with the data exceeding the preset range as an early warning node, and generates an early warning signal corresponding to the early warning node.
For example, the early warning signal corresponding to the computing node a is an early warning sound 1, the early warning signal corresponding to the computing node B is an early warning sound 2, the early warning signal corresponding to the computing node C is a vibration, the early warning sound 1 is generated when the data of the computing node a exceeds a preset range, the corresponding early warning signal is an early warning sound 2 when the data of the computing node B exceeds a corresponding preset range, and the corresponding early warning signal is a vibration when the data of the computing node C exceeds a corresponding preset range.
In one embodiment, as shown in fig. 3, the method further includes:
Step 302, obtaining the proportion of each computing node occupying operating system resources respectively.
Resources of the operating system may include at least one of a CPU, GPU, memory, network ports, throughput speed, and the like.
Step 304, stopping running the computing node occupying the operating system resources with the proportion greater than the proportion threshold.
The computer equipment obtains the proportion that each computing node occupies operating system resources respectively, and when the proportion that the computing node occupies the operating system resources is larger than a proportion threshold value, the computing node occupies more resources of the operating system of the unmanned vehicle, and the running speed of the whole operating system can be dragged.
Therefore, when a computing node which occupies the operating system resources and has a proportion larger than the proportion threshold exists, the computer equipment stops running the computing node, and the running speed of the whole operating system can be improved.
In one embodiment, as shown in fig. 4, the method further includes:
step 402, respectively counting the operation time of each computing node.
The operation time length refers to a time length between the moment when the computing node starts to operate and the current moment.
In the performance analysis application program, a timer is further included, and the running time of each computing node can be counted through the timer.
Step 404, stopping running the computing node with the time length greater than the time length threshold.
When the runtime is greater than the duration threshold, indicating that the computing node is running for a longer time, the computing node may be in a deadlock condition. Deadlock refers to a phenomenon in which two or more threads are blocked during execution due to competing resources or due to communication with each other, and cannot be advanced without external force.
Therefore, when the computing node with the running time length being larger than the time length threshold exists, the computing node stops running by the computer equipment, and the deadlock state of the computing node can be avoided.
In one embodiment, the method further comprises the steps of obtaining target time length, and calling a data acquisition interface of each computing node through the performance analysis application program to acquire data of each computing node at intervals of the target time length.
The target duration may be set according to the needs of the user. The data acquisition interface of each calculation node is called through the performance analysis application program to acquire the data of each calculation node, so that the data of each calculation node can be prevented from being acquired in real time, and the computer resources of the operating system of the unmanned vehicle are saved.
Further, the computer equipment acquires the running speed of the unmanned vehicle, shortens the target time when the running speed of the unmanned vehicle exceeds a preset speed threshold, and invokes the data acquisition interface of each computing node through the performance analysis application program to acquire the data of each computing node.
When the running speed of the unmanned vehicle exceeds a preset speed threshold, the speed of the unmanned vehicle is indicated to be high. When the unmanned vehicle is faster, the requirement on safety is higher, so that the computer equipment shortens the target duration, the target duration after the interval is shortened collects the data of each computing node, more data of each computing node can be collected, the data of the unmanned vehicle can be known more timely, and the safety of the unmanned vehicle is improved.
In one embodiment, as shown in fig. 5, the method further includes:
Step 502, acquisition frequency is acquired.
The acquisition frequency refers to the number of times data is acquired per unit time.
Step 504, calling the data acquisition interface of each computing node through the performance analysis application program to acquire the data of each computing node at the acquisition frequency.
When the acquisition frequency is higher, the number of times of acquiring data in unit time is more, the data of the unmanned vehicle can be acquired more timely, and when the acquisition frequency is lower, the computer resource of an operating system of the unmanned vehicle can be saved.
In one embodiment, as shown in fig. 6, the method further includes:
Step 602, detecting a driving speed of the unmanned vehicle.
In a computer device of an unmanned vehicle, a speed sensor is installed. The speed sensor can detect the running speed of the unmanned vehicle.
In the computer equipment of the unmanned vehicle, components such as a gyroscope and an accelerometer are also mounted. The angular velocity of the unmanned vehicle can be obtained by the gyroscope. The acceleration of the unmanned vehicle can be obtained through the accelerometer.
Step 604, reducing the acquisition frequency when the travel speed is below a first speed threshold.
The first speed threshold may be set as desired by the user.
When the running speed is lower than the first speed threshold value, the running speed of the unmanned vehicle is lower, the requirement of the unmanned vehicle on safety is relatively lower, the computer equipment can reduce the acquisition frequency, and computer resources of an operating system of the unmanned vehicle are saved.
Step 606, increasing the acquisition frequency when the driving speed is higher than a second speed threshold, wherein the first speed threshold is smaller than the second speed threshold.
When the running speed is higher than the second speed threshold, the running speed of the unmanned vehicle is higher, so that the requirement of the unmanned vehicle on safety is relatively higher, the computer equipment can increase the acquisition frequency, namely, more data can be acquired in unit time, and the data of the unmanned vehicle can be acquired more timely.
Step 608, when the driving speed is lower than or equal to the second speed threshold value and higher than or equal to the first speed threshold value, keeping the acquisition frequency unchanged.
When the travel speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, indicating that the travel speed of the unmanned vehicle is within a stable interval, the computer device may keep the acquisition frequency unchanged.
Various steps in the flowcharts of the embodiments of the present application are shown in order as indicated by the arrows, but these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the embodiments of the present application may include a plurality of sub-steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, the order of which is not necessarily sequential, and may be performed in turn or alternately with at least some of the other steps or the sub-steps of the other steps.
Fig. 7 is a block diagram of a data acquisition device of an unmanned vehicle operating system in one embodiment. As shown in fig. 7, a data acquisition device 700 of an unmanned vehicle operating system includes:
the performance analysis application running module 702 is configured to run the performance analysis application when the operating system of the unmanned vehicle is started, and the performance analysis application is installed in the operating system of the unmanned vehicle.
The data acquisition interface opening module 704 is configured to acquire data acquisition interfaces of all computing nodes in an operating system of the unmanned vehicle, and open the data acquisition interfaces of all the computing nodes.
The data collection module 706 is configured to call a data collection interface of each computing node through the performance analysis application program, and collect data of each computing node.
In the embodiment of the application, when the operation system of the unmanned vehicle is started, the computer equipment runs the performance analysis application program, the performance analysis application program is installed in the operation system of the unmanned vehicle, the data acquisition interfaces of all the calculation nodes in the operation system of the unmanned vehicle are acquired, the data acquisition interfaces of all the calculation nodes are started, the data of all the calculation nodes can be acquired more quickly by calling the data acquisition interfaces of all the calculation nodes through the performance analysis application program installed in the operation system of the unmanned vehicle, the delay in data acquisition is reduced, the acquired data is more timely, and the data acquisition speed is improved.
In addition, the performance analysis application program installed in the operation system of the unmanned vehicle invokes the data acquisition interface of each calculation node, so that more complete data such as actual running time, data volume, stack condition and the like can be acquired, the performance of the operation system of the unmanned vehicle can be more accurately analyzed, the analysis result with higher accuracy and stronger effectiveness can be obtained, the operation system of the unmanned vehicle can be assisted to find and solve potential safety problems in time in the running process, and the safety and stability of the unmanned vehicle system are improved.
In one embodiment, the data collection module is further configured to call a data collection interface of each computing node through the performance analysis application program, monitor each computing node, and collect data of the computing node when the computing node generates data.
In one embodiment, the apparatus further includes a shutdown module configured to shutdown the data collection interface of the computing node that is finished running when the computing node is finished running.
In one embodiment, the device further comprises a summarizing module, wherein the summarizing module is used for summarizing the data of each computing node, sending the summarized data to the front end of the unmanned vehicle and displaying the summarized data on a display screen of the unmanned vehicle.
In one embodiment, the summarizing module is further configured to acquire a target device associated with the unmanned vehicle, send summarized data to the target device, and display the summarized data on a display screen of the target device.
In one embodiment, the device further comprises an early warning module for monitoring the data of each computing node, and generating an early warning signal when the data of the computing nodes exceeds a preset range.
In one embodiment, the device further comprises a stopping module, wherein the stopping module is used for acquiring the proportion of each computing node occupying the operating system resource respectively, and stopping the computing nodes occupying the operating system resource with the proportion larger than the proportion threshold value.
In one embodiment, the operation stopping module is further configured to count operation time periods of the computing nodes respectively, and the operation stopping time period is greater than a time period threshold value.
In one embodiment, the data acquisition module is further configured to acquire a target duration, and the data acquisition interface of each computing node is called to acquire data of each computing node through the performance analysis application program at intervals of the target duration.
In one embodiment, the data acquisition module is further configured to acquire an acquisition frequency, and call a data acquisition interface of each computing node through the performance analysis application program to acquire data of each computing node at the acquisition frequency.
In one embodiment, the acquisition frequency adjustment module is configured to detect a driving speed of the unmanned vehicle, reduce the acquisition frequency when the driving speed is lower than a first speed threshold, increase the acquisition frequency when the driving speed is higher than a second speed threshold, the first speed threshold is lower than the second speed threshold, and maintain the acquisition frequency unchanged when the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold.
The division of each module in the data acquisition device of the unmanned vehicle operating system is only used for illustration, and in other embodiments, the data acquisition device of the unmanned vehicle operating system may be divided into different modules according to the need, so as to complete all or part of the functions of the display screen detection device.
For specific limitations on the data acquisition device of the unmanned vehicle operating system, reference may be made to the above limitations on the data acquisition method of the unmanned vehicle operating system, and no further description is given here. The modules in the data acquisition device of the unmanned vehicle operating system can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing 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 media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program, when executed by a processor, implements a data collection method for an operating system of an unmanned vehicle. 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, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 8 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor implementing the data collection method of the unmanned vehicle operating system described above when executing the computer program.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, implements the data collection method of the unmanned vehicle operating system described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, 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.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
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