Lidar Datapoint Aggregation with Dynamic Payload Negotiation
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Solution Overview
Problem
Current lidar communication protocols rely on Ethernet MTU to determine payload size, resulting in high CPU usage and network contention due to a relatively low payload size, which is inefficient and resource-intensive.
Innovation Solution
A system and method for resource-driven datapoint aggregation that negotiates payload size independently of Ethernet MTU by performing handshaking between the lidar sensor and host computing device to determine an overlapping range between pre-defined sensor and host payload size ranges, selecting an acceptable payload size within this range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If payload size is determined based on Ethernet MTU, then network compatibility is ensured, but CPU usage increases significantly and network contention increases
Solution Approach 1:
The patent changes the parameter determination method from fixed Ethernet MTU-based approach to dynamic negotiation-based approach. The payload size is no longer fixed but is negotiated between sensor and host based on their actual resource capabilities, allowing optimization of CPU usage while maintaining network compatibility through the negotiation protocol.
Solution Approach 2:
The patent introduces dynamic negotiation mechanism where payload size is determined through handshaking protocol between sensor and host. This dynamic adjustment allows the system to adapt to different network conditions and resource capacities, transforming the static MTU constraint into a flexible, negotiable parameter that optimizes CPU and network resource utilization.
2Productivity
If payload size is increased to reduce packet quantity, then CPU usage decreases, but memory buffer requirements on sensor increase
Solution Approach 1:
The patent implements dynamic payload size negotiation where the sensor and host exchange capabilities during handshaking. The sensor reports its memory buffer capacity, and the host adjusts the payload size accordingly. This dynamic adaptation allows the system to achieve larger payloads (reducing CPU load) without exceeding the sensor's memory buffer limitations.
Solution Approach 2:
The negotiation protocol incorporates feedback mechanisms where the sensor provides information about its memory buffer capacity, and the host uses this feedback to determine an appropriate payload size. This feedback loop ensures that the selected payload size optimizes CPU usage while respecting the sensor's memory constraints, achieving a balance between processing efficiency and hardware limitations.
3Productivity
If payload size is increased to reduce packet quantity, then network contention decreases, but protocol complexity increases
Solution Approach 1:
The patent performs the payload size negotiation during the connection establishment phase (handshaking), before actual data transmission begins. By determining the optimal payload size in advance based on exchanged capability information, the system avoids the need for complex runtime adjustments during data flow, thus reducing network contention without introducing significant protocol complexity during operation.
Solution Approach 2:
The negotiation protocol segments the connection establishment process into distinct phases: capability exchange, overlap determination, and payload size selection. This segmentation allows the complex negotiation logic to be organized in manageable steps during handshaking, while keeping the actual data transmission phase simple and efficient, thus balancing protocol complexity with network performance optimization.
Data Source
AI summary
A system and a method for performing exchange of lidar datapoints between a lidar sensor and a host computing device are provided. The lidar sensor stores a sensor payload size range, and the host computing device stores a host payload size range. When the lidar connection is initiated, the host computing device and the lidar sensor perform handshaking to determine an overlapping range between the host sensor payload size range and the sensor payload size range, and to negotiate an acceptable datapoint payload size based on the overlapping range. Once the handshaking is complete, the lidar connection may be performed using the acceptable data point payload size as a payload size thereof. Thus, the payload size is independent of a maximum transmission unit (MTU) of an Ethernet.