The embodiment of the invention relates to a parallel processing method for periodic tasks by an automatic driving decision-making system. The method comprises the following steps: acquiring current latest perception and prediction data from a perception and prediction data pool to generate a first data set; creating a first periodic task for processing the first data set; respectively inputting the first data set into each first decision planning unit of the first period task to carry out parallel data decision processing of a single task to generate first decision data; monitoring the processing end time of the first decision planning unit of the first period task in the parallel data decision processing process of the single task, and generating first end time T1; after the first end time T1, acquiring current latest perception and prediction data from the perception and prediction data pool to generate a second data set; and creating a new first period task in parallel to process the second data set. The method can shorten the calculation time of the driving track.
本发明实施例涉及一种自动驾驶决策系统对周期任务的并行处理方法,所述方法包括:从感知预测数据池中获取当前最新的感知与预测数据生成第一数据集合;创建用于处理第一数据集合的第一周期任务;将第一数据集合分别输入到第一周期任务的各个第一决策规划单元中进行单一任务的并行数据决策处理生成第一决策数据;在单一任务的并行数据决策处理过程中对第一周期任务的第1个第一决策规划单元的处理结束时间进行监控,生成第一结束时间T1;在第一结束时间T1之后,从感知预测数据池中获取当前最新的感知与预测数据生成第二数据集合;并行创建一个新的第一周期任务对第二数据集合进行处理。本发明方法可以缩短行驶轨迹的计算时间。
Parallel processing method for periodic tasks by automatic driving decision-making system
一种自动驾驶决策系统对周期任务的并行处理方法
2021-09-14
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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