Abstract: Embodiments of the present disclosure provide a method and a coroutine framework for processing parallel tasks, a device, a medium and an unmanned vehicle. The method includes: switching a current coroutine to a target coroutine in response to a task switching instruction, in which, the coroutine is created at a user layer for processing a task, and the coroutine at the user layer is executed by a thread at a kernel layer; and saving context of a task processed by the current coroutine, and reading context of a task processed by the target coroutine, such that the thread at the kernel layer corresponding to the target coroutine processes the task based on the context of the target coroutine when executing the target coroutine.

Abstract: Provided are a message processing method, an apparatus, an electronic control unit, and a readable storage medium. The method includes configuring different sending times for any two different electronic control units corresponding to the same message ID in sending time configuration information of electronic control units; and when sending messages to a CAN bus, sending, by the electronic control units, the messages to the CAN bus at available sending times according to corresponding sending time configuration information, so that the time for any two different electronic control units corresponding to the same message ID to send messages to the CAN bus is separated. The method can improve the safety of the unmanned system.

Abstract: A method for controlling an unmanned vehicle includes: acquiring unmanned vehicle monitoring information of the unmanned vehicle when it is determined that a course of the unmanned vehicle will be out of control; determining a safety level corresponding to the unmanned monitoring information according to a predefined correspondence between unmanned vehicle monitoring information and a safety level; and controlling, according to the safety level corresponding to the unmanned monitoring information, the unmanned vehicle to drive. Thus, upon determining that the unmanned vehicle has gone beyond a boundary of the autopilot, the problem is identified that the unmanned vehicle will encounter a danger in driving. Then, the autopilot process of the unmanned vehicle is demoted according to the severity of the danger, e.g., decelerated or adjusted in its direction, to avoid safety hazards.

Abstract: Embodiments of the present disclosure provide a method for detecting and avoiding a collision applied to a vehicle which determines a first path according to a real-time vehicle status. The method can include: S1) predefining a second path according to the real-time vehicle status; S2) determining whether the current first path is at risk of a collision, and determining whether the current second path is at risk of a collision; and S3) controlling the vehicle with an apparatus using a method for avoiding a collision, in a case where the current first path is at risk of a collision and/or the current second path is at risk of a collision.

Abstract: The present disclosure provides an method, an apparatus, a device and a storage medium for controlling an unmanned vehicle, where the method includes: receiving control messages transmitted by at least two automatic driving physical apparatuses, where the control messages include indication information; determining an optimal control message according to the indication information in each of the control messages; transmitting the optimal control message to a device for controlling an unmanned vehicle, so that the device for controlling an unmanned vehicle performs driving control on the unmanned vehicle according to the optimal control message. When a plurality of automatic driving physical apparatuses transmit control messages, at this time, the control messages are redundant, and a control message can be selected for execution, so that the unmanned vehicle can receive a control signal in time, which is beneficial to the safe driving of the unmanned vehicle.

Abstract: Embodiments of the preset disclosure provide a task scheduling method, an apparatus, an electronic device, and a storage medium. The method comprises traversing tasks in a current queue, and obtaining current values of current state information and a frequency parameter for each task that has been traversed, wherein the frequency parameter is a preset parameter for indicating a scheduled frequency of a corresponding task; selecting a task with the minimum scheduled frequency in the tasks having the current state information indicating an executable state as a target task according to the current values of the current state information and the frequency parameter for each task; and executing the selected target task, and updating the current value of the frequency parameter corresponding to the target task after the target task is executed.

Abstract: Embodiments of the present disclosure provide a method for detecting and avoiding a collision applied to a vehicle which determines a first path according to a real-time vehicle status. The method can include: S1) predefining a second path according to the real-time vehicle status; S2) determining whether the current first path is at risk of a collision, and determining whether the current second path is at risk of a collision; and S3) controlling the vehicle with an apparatus using a method for avoiding a collision, in a case where the current first path is at risk of a collision and/or the current second path is at risk of a collision.

Abstract: Embodiments of the present disclosure provide a method and a coroutine framework for processing parallel tasks, a device, a medium and an unmanned vehicle. The method includes: switching a current coroutine to a target coroutine in response to a task switching instruction, in which, the coroutine is created at a user layer for processing a task, and the coroutine at the user layer is executed by a thread at a kernel layer; and saving context of a task processed by the current coroutine, and reading context of a task processed by the target coroutine, such that the thread at the kernel layer corresponding to the target coroutine processes the task based on the context of the target coroutine when executing the target coroutine.

Abstract: The present disclosure provides an method, an apparatus, a device and a storage medium for controlling an unmanned vehicle, where the method includes: receiving control messages transmitted by at least two automatic driving physical apparatuses, where the control messages include indication information; determining an optimal control message according to the indication information in each of the control messages; transmitting the optimal control message to a device for controlling an unmanned vehicle, so that the device for controlling an unmanned vehicle performs driving control on the unmanned vehicle according to the optimal control message. When a plurality of automatic driving physical apparatuses transmit control messages, at this time, the control messages are redundant, and a control message can be selected for execution, so that the unmanned vehicle can receive a control signal in time, which is beneficial to the safe driving of the unmanned vehicle.

Abstract: The present disclosure provides a positioning drift detecting method, apparatus, device and computer readable medium, where the method includes: obtaining driving information of a driverless vehicle at a current time point; predicting an estimated driving range of the driverless vehicle at a next time point according to the driving information at the current time point, where there is a preset time interval between the current time point and the next time point; obtaining driving information of the driverless vehicle at the next time point; and determining whether the driving information at the next time point is within the estimated driving range, and performing a corresponding operation according to a determination result. As a result, it is possible to accurately determine whether or not a drift occurs currently, thereby preventing a driving accident of the driverless vehicle and improving a driving safety of the driverless vehicle.

Abstract: Provided are a method, an apparatus, a device and a storage medium for controlling an unmanned vehicle, where the method includes: acquiring unmanned vehicle monitoring information of the unmanned vehicle when it is determined that a course of the unmanned vehicle will be out of control; determining a safety level corresponding to the unmanned monitoring information according to a predefined correspondence between unmanned vehicle monitoring information and a safety level; and controlling, according to the safety level corresponding to the unmanned monitoring information, the unmanned vehicle to drive. Thus, upon determining that the unmanned vehicle has gone beyond a boundary of the autopilot, the problem is identified that the unmanned vehicle will encounter a danger in driving. Then, the autopilot process of the unmanned vehicle is demoted according to the severity of the danger, e.g., decelerated or adjusted in its direction, to avoid safety hazards.

Abstract: Provided are a message processing method, an apparatus, an electronic control unit, and a readable storage medium. The method includes configuring different sending times for any two different electronic control units corresponding to the same message ID in sending time configuration information of electronic control units; and when sending messages to a CAN bus, sending, by the electronic control units, the messages to the CAN bus at available sending times according to corresponding sending time configuration information, so that the time for any two different electronic control units corresponding to the same message ID to send messages to the CAN bus is separated. The method can improve the safety of the unmanned system.

Abstract: The present application provides a vehicle fault handling method, an apparatus, a device, and a storage medium, where the method includes: a vehicle fault handling device obtains data information of a main system of the vehicle in real time; the vehicle fault handling device determines whether the main system has a fault according to the data information; and the vehicle failure processing device controls travelling status of the vehicle if the main system has a fault. Safety hazards of the vehicle that are caused by the fault in the main system can be avoided and the safety of the driverless vehicle can be enhanced effectively.

Abstract: Embodiments of the preset disclosure provide a task scheduling method, an apparatus, an electronic device, and a storage medium. The method comprises traversing tasks in a current queue, and obtaining current values of current state information and a frequency parameter for each task that has been traversed, wherein the frequency parameter is a preset parameter for indicating a scheduled frequency of a corresponding task; selecting a task with the minimum scheduled frequency in the tasks having the current state information indicating an executable state as a target task according to the current values of the current state information and the frequency parameter for each task; and executing the selected target task, and updating the current value of the frequency parameter corresponding to the target task after the target task is executed.

Abstract: The present disclosure provides a data storage method and device. The data storage method includes: receiving data by a simulating device from a client operating system; encapsulating the data in a user space of a host system according to a protocol used by a storage server; and sending the encapsulated data to the storage server for storage. The method can realize storing data in the storage server, thereby shortening the I/O path, improving the I/O throughput of a system, reducing the CPU load, and optimizing the system performance.

Abstract: The present application discloses a method and apparatus of unloading an out of memory (OOM) processing flow to a user space. A specific implementation of the method includes: writing related information of an OOM event into a memory page shared by a user space and a kernel space when a process triggers the OOM event, the related information comprising: an identification of the process and a path of a memory resource control sub-system where the process exists; acquiring, by an OOM service process of the user space, the related information of the OOM event through the memory page; and processing, by the OOM service process of the user space, the OOM event using the related information of the OOM event.

Abstract: The present application discloses a method and apparatus for capturing an operation, and security control in a container-based virtualization system. A specific implementation of the method for capturing the operation includes: detecting, in a user mode, a process launch operation in a container of the container-based virtualization system; and performing, in a kernel mode, a step of capturing a signal processing operation, if the process launch operation is detected, the step of capturing the signal processing operation comprising: determining a presence of an unprocessed signal in the process; causing an executable instruction indicated by the unprocessed signal to jump to an entry address of a self-defined first function, and passing a signal number of the unprocessed signal to the first function, if the unprocessed signal exists; and capturing a signal processing operation corresponding to the passed signal number, if the first function is called.

Abstract: The present disclosure provides a data storage method and device. The data storage method includes: receiving data by a simulating device from a client operating system; encapsulating the data in a user space of a host system according to a protocol used by a storage server; and sending the encapsulated data to the storage server for storage. The method can realize storing data in the storage server, thereby shortening the I/O path, improving the I/O throughput of a system, reducing the CPU load, and optimizing the system performance.

Abstract: The present application discloses a method and apparatus of unloading an out of memory (OOM) processing flow to a user space. A specific implementation of the method includes: writing related information of an OOM event into a memory page shared by a user space and a kernel space when a process triggers the OOM event, the related information comprising: an identification of the process and a path of a memory resource control sub-system where the process exists; acquiring, by an OOM service process of the user space, the related information of the OOM event through the memory page; and processing, by the OOM service process of the user space, the OOM event using the related information of the OOM event.

Abstract: The present application discloses a method and apparatus for capturing an operation, and security control in a container-based virtualization system. A specific implementation of the method for capturing the operation includes: detecting, in a user mode, a process launch operation in a container of the container-based virtualization system; and performing, in a kernel mode, a step of capturing a signal processing operation, if the process launch operation is detected, the step of capturing the signal processing operation comprising: determining a presence of an unprocessed signal in the process; causing an executable instruction indicated by the unprocessed signal to jump to an entry address of a self-defined first function, and passing a signal number of the unprocessed signal to the first function, if the unprocessed signal exists; and capturing a signal processing operation corresponding to the passed signal number, if the first function is called.