Unmanned vehicle delay statistics method, device, equipment and computer readable medium
A statistical method and time point technology, applied in the field of unmanned vehicles, to achieve the effect of reducing dependence and accurate time delay statistics
Active Publication Date: 2019-10-22
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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[0007] Embodiments of the present invention provide a method, device, device, and computer-readable medium for unmanned vehicle delay statistics to solve or alleviate one or more technical problems in the prior art
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[0046] In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive. The embodiments of the present invention mainly provide a method and device for statistics of the time delay of unmanned vehicles, and the technical solutions are described in the following embodiments respectively.
[0047] see figure 1 , which is a flow chart of the method for statistics of unmanned vehicle time delay according to the embodiment of the present invention. The unmanned vehicle time delay statistical method may include the following steps:
[0048] S101: Receive a first sensor message through a communication framework, and record a first time point when the first sensor message includes an o...
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The invention provides a method for counting delay of an unmanned vehicle, comprising the steps of: receiving a first sensor message through a communication frame, recording a first time point of thefirst sensor message including the original sensor; sending the first sensor message to a first work module through the communication framework, and receiving a second sensor message returned by the first working module; determining whether the first working module returning the second sensor message is a working module recorded in a configuration file that records the information of each workingmodule requiring delay counting in the unmanned vehicle; if so, recording a second time point sent by the second sensor message from the first working module; and calculating the processing time of the first working module according to the second time point and the first time point. The embodiments of the invention are capable of reducing the dependence of the modules on the delay statistical interface, and making the delay statistics more accurate. In addition, the delay of a single working module may be counted.
Description
technical field [0001] The present invention relates to the technical field of unmanned vehicles, in particular to a method, device, equipment and computer-readable medium for unmanned vehicle time delay statistics. Background technique [0002] The end-to-end delay refers to the time difference from the time when the sensor data is generated to the time when the control module issues a control command based on the sensor data. The smaller the time difference, the faster the unmanned vehicle responds to the road conditions, which is the key to the unmanned vehicle system. an important performance indicator. The entire end-to-end delay is composed of the delay of each module, including the preprocessing module, perception module, decision planning module and control module. [0003] In the existing solution, the ROS (Robot Operating System, robot operating system) framework provides an interface for each module, and each module invokes the interface when receiving a message ...
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IPC IPC(8): H04L12/26H04L29/08
Inventor 邓呈亮杨凯鲍万宇辛建康张伍召冯凯文
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD