Service-Node Timing for Autonomous Driving End-to-End Delay
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Solution Overview
Problem
Existing autonomous driving systems lack a simple and cost-effective method to determine end-to-end delay without requiring user-provided key data flow link information, which complicates the calculation process and affects safety and efficiency.
Innovation Solution
A method and apparatus to determine end-to-end delay by obtaining delay information from a tail service node, recording relevant moments, and calculating delay based on these moments without needing user-provided data flow link information, using communication middleware to reduce overheads and improve accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If user-provided key data flow link information is required for delay determination, then measurement precision may be improved, but device complexity and ease of operation deteriorate
Solution Approach 1:
The system automatically determines end-to-end delay by having service nodes self-report their timing information through standardized messages. The tail service node autonomously records receipt time and sends delay information without requiring user intervention to configure or trace data flow links, making the system self-sufficient while maintaining accurate measurement
Solution Approach 2:
The delay determination mechanism is designed to work universally across different service nodes and data flow links without requiring node-specific configuration. A standardized message format and procedure enables any service node to participate in delay measurement, eliminating the need for user-provided key information while maintaining measurement capability across the entire system
2Measurement precision
If user-provided key data flow link information is required, then measurement precision may be improved, but ease of operation worsens
Solution Approach 1:
The system eliminates the need for user education and manual configuration by automatically performing delay determination. Service nodes autonomously generate and exchange timing messages, and the system automatically calculates end-to-end delay, completely removing the operational burden from users while preserving measurement accuracy
Solution Approach 2:
A standardized message format acts as an intermediary that automatically carries timing information between service nodes. This intermediary mechanism handles all the complexity of delay measurement internally, presenting a simple interface to users who need only to initiate the measurement without understanding the underlying complex processes
3Measurement precision
If comprehensive delay information collection is implemented, then measurement precision is improved, but loss of time increases
Solution Approach 1:
Service nodes pre-record their timing information (send time, receive time) as messages are transmitted through the system. This preliminary recording of timing data ensures that when delay calculation is needed, all necessary information is already available, eliminating the need for time-consuming data collection at the measurement moment while maintaining comprehensive measurement accuracy
Solution Approach 2:
The tail service node sends back delay information containing pre-recorded timing data to the head service node. This feedback mechanism efficiently transfers all necessary measurement data in a single communication cycle, enabling immediate delay calculation without requiring additional time for information gathering from multiple nodes
Data Source
AI summary
This application provides a delay determining method and apparatus, and an intelligent driving device. The method includes: when a tail service node on a first data flow link sends a message including a first control instruction, or when the tail service node receives a message used to generate the first control instruction, obtaining a first message sent by the tail service node, and recording a first moment at which the first message is obtained; obtaining first delay information from the first message, where the first delay information is used to determine a second moment at which a head service node on the first data flow link sends first data, and the first data is used to generate the first control instruction; and determining a first end-to-end delay of the first data flow link based on the first moment and the second moment.