Centralized scheduling system for operating autonomous driving vehicles
A technology for autonomous driving and vehicles, applied in control/regulation systems, vehicle position/route/altitude control, motor vehicles, etc., to solve problems such as deadlock, inability to provide output, and inconsistency
Active Publication Date: 2019-01-15
BAIDU USA LLC
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Problems solved by technology
This can lead to deadlocks requiring additional methods to handle
Therefore, existing systems cannot provide consistent output given the same input since there is no time constraint on communication
Delays in communication will lead to inconsistent results
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[0024] Various embodiments and aspects of the disclosure will be described with reference to details discussed below, and the accompanying drawings will illustrate various embodiments. The following description and drawings are illustrative of the present disclosure and should not be construed as limiting the present disclosure. Numerous specific details are described to provide a thorough understanding of various embodiments of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the present disclosure.
[0025] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. The appearances of the phrase "in one embodiment" in various places in this specification are not necessarily ...
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An autonomous driving system includes a number of sensors and a number of autonomous driving modules. The autonomous driving system further includes a global store to store data generated and used byprocessing modules such as sensors and / or autonomous driving modules. The autonomous driving system further includes a task scheduler coupled to the sensors, the autonomous driving modules, and the global store. In response to output data generated by any one or more of processing modules, the task scheduler stores the output data in the global store. In response to a request from any of the processing modules for processing data, the task scheduler provides input data stored in the global store to the processing module. The task scheduler is executed in a single thread that is responsible formanaging data stored in the global store and dispatching tasks to be performed by the processing modules.
Description
technical field [0001] Embodiments of the present disclosure generally relate to operating an autonomous vehicle. More specifically, embodiments of the present disclosure relate to scheduling tasks for automatic driving. Background technique [0002] Vehicles operating in an autonomous mode (eg, driverless) can relieve the occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some cases without any passengers. [0003] Most autonomous vehicles (ADVs) are controlled using an autopilot module hosted by an operating system, such as the Robot Operating System (ROS). Existing robotics-based approaches to autonomous driving systems are implemented using revised robotic operating systems that have several drawbacks, including difficulty in deployment, difficulty in debugging, and inconsistent outp...
Claims
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IPC IPC(8): B60W50/00
CPCB60W50/00B60W2050/0075B60W2050/0005B60W2050/0014G05D1/0088G06Q10/06G06F9/542G06F9/4887G06F9/544G05D1/0221G06F9/4881B60W30/00
Inventor 詹君杨一清余思洋刘轩曹昱李章杨光
Owner BAIDU USA LLC