Flexible GPS Message Decoding for Multi-Vendor Autonomous Driving
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Solution Overview
Problem
Autonomous driving vehicles face challenges in accurately interpreting GPS messages due to the lack of a common standard, leading to difficulties in reflecting accurate time information and varying protocols used by different GPS module vendors, which complicates operating scenarios.
Innovation Solution
A sensor unit is introduced to receive GPS messages, determine their type by matching predetermined fields with data patterns, and decode the payload using a specific algorithm, generating a second message in a common format recognizable by the autonomous driving system, utilizing a mask table to select relevant data and apply decoding algorithms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If GPS module vendors use their own protocols to accommodate different operating scenarios, then adaptability is improved, but device complexity increases and measurement precision deteriorates
Solution Approach 1:
The patent introduces an intermediary component (GPS message decoder with mask table) that mediates between diverse GPS vendor protocols and the autonomous driving system. The mask table serves as a lookup intermediary that maps different vendor-specific message formats to a unified internal representation, allowing the system to handle multiple protocols without increasing overall system complexity.
Solution Approach 2:
The system changes the parameter representation of GPS messages by using a mask table that defines different bit patterns for different vendor protocols. By changing how message parameters are structured and interpreted through configurable masks, the system can adapt to various protocols while maintaining consistent internal processing.
2Adaptability or versatility
If GPS module vendors use their own protocols, then adaptability to different scenarios is improved, but reliability of time information deteriorates
Solution Approach 1:
The unified decoding framework acts as an intermediary that ensures reliable time information extraction regardless of the vendor protocol. By centralizing the decoding logic in a standardized mask table, the system ensures consistent and reliable time field interpretation across all GPS message formats.
Solution Approach 2:
The GPS message decoder is designed with universal functionality to handle multiple vendor protocols through a single unified interface. The mask table structure allows the same decoding mechanism to universally process different protocols while reliably extracting time information according to each protocol's specific format.
3Device complexity
If a unified GPS message format is implemented, then device complexity is reduced and reliability is improved, but adaptability to different vendor protocols deteriorates
Solution Approach 1:
The mask table serves as an intermediary layer between the unified internal format and diverse vendor protocols. It enables the system to maintain simple unified internal processing while adapting to different external protocols through configurable mask patterns that translate vendor-specific formats to the standard representation.
Solution Approach 2:
The solution segments the GPS message processing into two distinct layers: a unified simple internal representation layer and a protocol-specific external interface layer handled by the mask table. This segmentation allows the core system to remain simple while the mask table handles the complexity of protocol variations.
Data Source
AI summary
In one embodiment, a sensor unit receives a first GPS message from a GPS sensor, where the sensor unit is coupled between sensors and a perception and planning system of an autonomous driving vehicle (ADV). The sensor unit determines a type of the first GPS message by matching a predetermined field of the first GPS message with a list of predetermined data patterns. Each of the predetermined data patterns corresponds to one of the predetermined types of GPS messages and decodes a payload of the first GPS message using a decoding algorithm associated with the type of the first GPS message.