Data acquisition method and apparatus for driverless vehicle

• US 10,069,696 B2
• Filed: 01/19/2017
• Issued: 09/04/2018
• Est. Priority Date: 09/13/2016
• Status: Active Grant

• Current Assignee: Beijing Baidu Netcom Science and Technology Company Limited (Baidu Incorporated)
• Original Assignee: Beijing Baidu Netcom Science and Technology Company Limited (Baidu Incorporated)
• Inventors: Liang, Yibing, Liu, Bocong, Chen, Zhuo, He, Wei, Deng, Chengliang, Feng, Kaiwen
• Primary Examiner(s): Smarth, Gerald A
• Application Number:
  US15/410,614
• Publication Number:
  US 20180077034A1
• Time in Patent Office: 593 Days
• CPC Class Codes: H04J 3/0661 using timestamps
• CPC Class Codes: H04J 3/14 Monitoring arrangements for SDH/SONET rings H04J3/085
• CPC Class Codes: H04L 43/04 Processing captured monitoring data, e.g. for logfile generation
• CPC Class Codes: H04L 43/106 using time related information in packets, e.g. by adding timestamps
• CPC Class Codes: H04L 45/3065 for real time traffic
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04L 67/568 Storing data temporarily at an intermediate stage, e.g. caching
• CPC Class Codes: H04Q 9/00 Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
• CPC Class Codes: H04W 4/44 for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Abstract

The present application discloses a data acquisition method and apparatus for a driverless vehicle. A specific implementation of the method comprises: selecting a sensor having the highest importance level among at least one sensor of the driverless vehicle as a first sensor and at least one sensor other than the first sensor to forma second sensor set; acquiring a start time of a current time window, and executing the following data processing steps: executing real-time acquiring and storing operations on data packets collected by each sensor among the at least one sensor after the start time of the current time window; determining whether any condition in the following condition group is met; and in response to determining that any condition in the condition group is met, setting the start time of the current time window to the current time, and continuing executing the data processing steps. This implementation realizes synchronized storage of the data packets collected by the at least one sensor of the driverless vehicle.

Claims

1. A data acquisition method for a driverless vehicle, comprising:

acquiring sensor information from each sensor among at least one sensor of the driverless vehicle, the sensor information comprising;

an importance level, a collection period, and a number of data packets required to be collected per collection period;

selecting a sensor having a highest importance level among the at least one sensor as a first sensor;

selecting at least one sensor other than the first sensor from the at least one sensor based on the importance level of the sensor to form a second sensor set;

acquiring a start time of a current time window, and executing following data processing steps;

executing real-time acquiring and storing operations on data packets collected by each sensor among the at least one sensor after the start time of the current time window;

determining whether any condition in a following condition group is met;

a collection period of the first sensor has elapsed from the start time of the current time window to a current time;

a number of acquired and stored data packets collected by the first sensor has reached the number of data packets required to be collected per collection period of the first sensor, and a number of the acquired and stored data packets collected by each sensor in the second sensor set has reached the number of data packets required to be collected per collection period of the sensor; and

setting the start time of the current time window to the current time in response to determining that any condition in the condition group is met, and continuing executing the data processing steps.

2. The method according to claim 1, wherein the executing the real-time acquiring and storing operations on the data packets collected by each sensor in the at least one sensor after the start time of the current time window comprises:

acquiring in real time the data packets collected by each sensor in the at least one sensor after the start time of the current time window and storing the acquired data packets into a cache indicated by a cache address corresponding to the current time window, and

the method further comprises, after the setting the start time of the current time window as the current time;

setting a corresponding cache address for the current time window.

3. The method according to claim 1, wherein, the selecting the at least one sensor other than the first sensor from the at least one sensor based on the importance level of the sensor to form the second sensor set comprises:

ranking the at least one sensor based on the importance level, and selecting a predetermined number of sensors other than the first sensor from the at least one sensor according to an order from high to low of importance levels to form a second sensor set.

4. The method according to claim 1, wherein, the data packets are data packets with time stamps.

5. The method according to claim 1, wherein, the importance level of the sensor is preset based on a type of the sensor and position information of the sensor in the driverless vehicle.

6. A data acquisition apparatus for a driverless vehicle, comprising:

at least one processor, and memory storing non-transitory computer readable instructions that when executed by the at least one processor operate to;

acquire sensor information from each sensor among at least one sensor of the driverless vehicle, the sensor information comprising;

an importance level, a collection period, and a number of data packets required to be collected per collection period;

select a sensor having a highest importance level among the at least one sensor as a first sensor;

select at least one sensor other than the first sensor from the at least one sensor based on the importance level of the sensor to form a second sensor set;

acquire a start time of a current time window and execute following data processing steps;

executing real-time acquiring and storing operations on data packets collected by each sensor in the at least one sensor after the start time of the current time window; and

determining whether any condition in a following condition group is met;

a collection period of the first sensor has elapsed from the start time of the current time window to a current time;

a number of acquired and stored data packets collected by the first sensor has reached the number of data packets required to be collected per collection period of the first sensor, and a number of the acquired and stored data packets collected by each sensor in the second sensor set has reached the number of data packets required to be collected per collection period of the sensor; and

set the start time of the current time window to the current time in response to determining that any condition in the condition group is met, and continue executing the data processing steps.

7. The apparatus according to claim 6, wherein, the non-transitory computer readable instructions further operating to:

acquire in real time the data packets collected by each sensor in the at least one sensor after the start time of the current time window and store the acquired data packets into a cache indicated by a cache address corresponding to the current time window; and

set a corresponding cache address for the current time window.

8. The apparatus according to claim 6, wherein, the non-transitory computer readable instructions further operating to:

rank the at least one sensor based on the importance level, and select a predetermined number of sensors other than the first sensor from the at least one sensor according to an order from high to low of importance levels to form a second sensor set.

9. The apparatus according to claim 6, wherein, the data packets are data packets with time stamps.

10. The apparatus according to claim 6, wherein, the importance level of the sensor is preset based on a type of the sensor and position information of the sensor in the driverless vehicle.

11. A non-transitory storage medium storing one or more programs, the one or more programs when executed by a device, causing the device to perform a data acquisition method for a driverless vehicle, the data acquisition method comprising:

acquiring sensor information from each sensor among at least one sensor of the driverless vehicle, the sensor information comprising;

an importance level, a collection period, and a number of data packets required to be collected per collection period;

selecting a sensor having a highest importance level among the at least one sensor as a first sensor;

selecting at least one sensor other than the first sensor from the at least one sensor based on the importance level of the sensor to form a second sensor set;

acquiring a start time of a current time window, and executing following data processing steps;

executing real-time acquiring and storing operations on data packets collected by each sensor among the at least one sensor after the start time of the current time window;

determining whether any condition in a following condition group is met;

a collection period of the first sensor has elapsed from the start time of the current time window to a current time;

a number of acquired and stored data packets collected by the first sensor has reached the number of data packets required to be collected per collection period of the first sensor, and a number of the acquired and stored data packets collected by each sensor in the second sensor set has reached the number of data packets required to be collected per collection period of the sensor; and

setting the start time of the current time window to the current time in response to determining that any condition in the condition group is met, and continuing executing the data processing steps.