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Sensor data distribution system

A data distribution and sensor technology, applied in control/regulation systems, instruments, non-electric variable control, etc., can solve problems such as complex software package version dependencies, huge ROS system, poor real-time transmission of messages, etc., to reduce framework dependencies Effects of complexity, optimized transmission efficiency, and improved priority

Pending Publication Date: 2020-10-13
BEIJING MOMENTA TECH CO LTD
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Problems solved by technology

[0004] However, due to the current ROS, there are mainly the following problems: 1. The ROS system is relatively large, and the software package version dependencies are complicated
2. The real-time performance of the ROS system to transmit messages is poor
Therefore, ROS is not the best choice when implementing a real-time autonomous driving sensor data acquisition system on an embedded device

Method used

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Embodiment 1

[0043] see figure 1 , figure 1 It is a structural block diagram of a sensor data distribution system provided by an embodiment of the present invention. The system is applied to the host side of autonomous driving. The internal operation process of the system can be an online collection process of real-time sensor data, or an offline simulation process. For the offline simulation process, the historical data files are played back according to the real situation. Specifically, the file reading thread is responsible for reading the historical data files of each sensor, and injecting them into the system in the order of the corresponding data timestamps to simulate the real on-board sensors. Data collection and distribution system. This embodiment will mainly describe the real-time acquisition process in detail.

[0044] Such as figure 1 As shown, the sensor data distribution system provided in this embodiment includes: a monitoring unit 110 , a first data processing unit 120 ...

Embodiment 2

[0064] see figure 2 , figure 2 It is a structural block diagram of another sensor data distribution system provided by the embodiment of the present invention. The distribution system of this embodiment includes a first host 10 and a second host 20, wherein the first host 10 and the second host 20 establish a communication connection according to a communication mode preset in the communication module.

[0065] Specifically, the first host computer includes a driver module 110 and a first data distribution module 120, and the second host computer 20 includes a second data distribution module 210; the first data distribution module 120 includes a monitoring unit 121, a first data processing unit 122 and a data distribution module 120. Unit 123; the second data distribution module 210 includes a data receiving unit 211, a second data processing unit 212 and a preset algorithm unit 213; wherein,

[0066] The monitoring unit 121 is configured to distribute the sensor data to t...

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Abstract

The embodiment of the invention discloses a sensor data distribution system, which comprises that a monitoring unit is configured to distribute sensor data to a first data processing unit when a real-time thread monitors that the sensor data corresponding to the priority of the thread arrives; a first data processing thread pool in the first data processing unit processes the sensor data accordingto the priority of the sensor data; a data sending thread pool in the data distribution unit sequentially sends the sensor data to the data receiving unit through the communication unit according tothe priority of the sensor data; a data receiving thread pool in the data receiving unit distributes the sensor data to a second data processing thread pool in the second data processing unit, whereinthe priorities of the first data processing thread pool, the data sending thread pool, the data receiving thread pool and the second data processing thread pool are consistent with the priority of the sensor data. By adopting the scheme, the framework dependence complexity is reduced, and the real-time performance of sensor data is ensured.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a sensor data distribution system. Background technique [0002] An autonomous vehicle is a complex system composed of multiple sensors, and a stable and reliable sensor data collection and distribution framework is the basis for realizing autonomous driving. [0003] Most of the data distribution schemes used in existing autonomous driving are based on ROS (Robot Operating System, robot software operating system), which provides service mechanisms such as subscription, publishing, and remote invocation, and is a general software framework. [0004] However, the current ROS mainly has the following problems: 1. The ROS system is relatively large, and the software package version dependencies are complicated. 2. The real-time performance of the ROS system to transmit messages is poor. Therefore, ROS is not the best choice when implementing a real-time autonomous drivin...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0214G05D1/0221G05D1/0293G05D1/0278G05D1/0276
Inventor 李元王超王碧刘承华
Owner BEIJING MOMENTA TECH CO LTD
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