Centralized scheduling system using event loop for operating autonomous driving vehicles

An automatic driving and event technology, applied in control/adjustment system, vehicle position/route/height control, motor vehicle, etc., can solve problems such as inability to provide output, inconsistency, deadlock, etc.

Active Publication Date: 2019-01-15
BAIDU USA LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • Centralized scheduling system using event loop for operating autonomous driving vehicles
  • Centralized scheduling system using event loop for operating autonomous driving vehicles
  • Centralized scheduling system using event loop for operating autonomous driving vehicles

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Embodiment Construction

[0024] Various embodiments and aspects of the present disclosure will be described with reference to the details discussed below, and the accompanying drawings will illustrate various embodiments. The following description and drawings are illustrations of the present disclosure, and should not be construed as limiting the present disclosure. Many specific details are described to provide a comprehensive understanding of various embodiments of the present disclosure. However, in some cases, well-known or conventional details are not described to provide a concise discussion of the embodiments of the present disclosure.

[0025] The reference to "one embodiment" or "an embodiment" in this specification means that a specific feature, structure, or characteristic described in combination with the embodiment may 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 do not necessaril...

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Abstract

An event queue is maintained to store IO events generated from a number of sensors and timer events generated for a number of autonomous driving modules. For each of the events pending in the event queue, in response to determining that the event is an IO event, the data associated with the IO event is stored in a data structure associated with the sensor in a global store. In response to determining that the event is a timer event, a worker thread associated with the timer event is launched. The worker thread executes one of the autonomous driving modules triggered or initiated the timer event. Input data is retrieved from the global store and provided to the worker thread to allow the worker thread to process the input data.

Description

Technical field [0001] The embodiments of the present disclosure generally relate to operating autonomous vehicles. More specifically, the embodiments of the present disclosure relate to scheduling tasks of automatic driving. Background technique [0002] A vehicle operating in an automatic driving mode (for example, unmanned driving) can free the occupants, especially the driver, from some driving-related duties. When operating in automatic driving mode, the vehicle can use on-board sensors to navigate to various locations, allowing the vehicle to travel with minimal human-computer interaction or in some cases without any passengers. [0003] Most autonomous vehicles (ADV) are controlled by an autonomous driving module hosted by an operating system, such as Robot Operating System (ROS). Existing robot-based autonomous driving systems are implemented using a revised robot operating system with multiple defects, including difficulty in deployment, difficulty in debugging, and inco...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0236G05D1/024G05D1/0242G05D1/0253G05D1/0255G05D1/0257G05D1/0259G05D1/0276G05D1/0278G05D1/028G05D1/0289G05D1/0291G06F9/4831G06F9/542G06F13/26G05D1/0088G05D1/0212G06Q10/00
Inventor 杨一清余思洋刘轩曹昱李章詹君杨光
Owner BAIDU USA LLC
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