Method and device for determining target module scheduling strategy for automatic driving system

Abstract

The embodiment of the invention discloses a method and a device for determining a target module scheduling strategy for an automatic driving system. The method comprises the following steps: acquiringa reading value of a reading counter stored in a target module and a writing value of a writing counter stored in another module before the target module; wherein the reading value identifies the number of data read by the target module from the corresponding buffer area, and the writing value identifies the number of data written into the corresponding buffer area by the other module; calculating a difference value between the write-in value and the read value to obtain a target water level value between the target module and the other module; obtaining a pre-stored corresponding relationship between each water level value interval and each scheduling strategy; and determining a water level value interval to which the target water level value belongs, and taking a scheduling strategy corresponding to the determined water level value interval as a scheduling strategy of the target module. By applying the scheme provided by the embodiment of the invention, the scheduling strategy of each module can be customized in real time, the data delay is reduced, and the system resource waste is avoided.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a method and device for determining a target module scheduling strategy for an automatic driving system. Background technique [0002] The integration of each software algorithm module of the automatic driving system is a system engineering, which needs to solve the synchronization and communication problems. Currently common inter-module system scheduling methods include: serial, publish-receive. Specifically, assuming that there are three modules A, B, and C, B relies on receiving the results of A, and C relies on receiving the results of B, then as figure 1 As shown, the serial scheduling method is A->B->C->A->B->C->.... Publish-receive is a parallel method, A publishes a message, B subscribes to A's message, and C subscribes to B's message. Taking B as an example, only when A publishes a message will it trigger the execution of B, otherwi...

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