Data acquiring method and apparatus applied to driverless vehicle
First Claim
1. A data acquiring method applied to a driverless vehicle, the method comprising:
- acquiring parameter information of each of at least one laser radar of the driverless vehicle, the parameter information comprising;
an importance level, a collection period, and a number of point cloud data packets to be collected in a collection period;
selecting, from the at least one laser radar, a laser radar having a highest importance level as a first laser radar;
acquiring a start time of a current time window and executing following data processing steps;
executing a real-time acquisition and storage operation on point cloud data packets collected by the each of the at least one laser radar after the start time of the current time window; and
determining whether any condition in a group of conditions is satisfied;
a collection period of the first laser radar has elapsed between the start time of the current time window and a current time; and
a number of acquired and stored point cloud data packets collected by the first laser radar has reached the number of point cloud data packets to be collected by the first laser radar in a collection period; and
setting the start time of the current time window to be the current time and continuing to execute the data processing steps, in response to determining that any of the group of conditions is satisfied.
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Abstract
The present application discloses a data acquiring method and apparatus applied to a driverless vehicle. A specific implementation of the method includes: selecting, from at least one laser radar of the driverless vehicle, a laser radar having a highest importance level as a first laser radar; acquiring a start time of a current time window and executing following data processing steps: executing a real-time acquisition and storage operation on point cloud data packets collected by the each of the at least one laser radar after the start time of the current time window; and determining whether any condition in a group of conditions is satisfied; and setting the start time of the current time window to be the current time and continuing to execute the data processing steps, in response to determining that any of the group of conditions is satisfied. This implementation implements the alignment and storage of point cloud data packets collected by at least one laser radar of the driverless vehicle.
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Citations
10 Claims
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1. A data acquiring method applied to a driverless vehicle, the method comprising:
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acquiring parameter information of each of at least one laser radar of the driverless vehicle, the parameter information comprising;
an importance level, a collection period, and a number of point cloud data packets to be collected in a collection period;selecting, from the at least one laser radar, a laser radar having a highest importance level as a first laser radar; acquiring a start time of a current time window and executing following data processing steps; executing a real-time acquisition and storage operation on point cloud data packets collected by the each of the at least one laser radar after the start time of the current time window; and determining whether any condition in a group of conditions is satisfied;
a collection period of the first laser radar has elapsed between the start time of the current time window and a current time; and
a number of acquired and stored point cloud data packets collected by the first laser radar has reached the number of point cloud data packets to be collected by the first laser radar in a collection period; andsetting the start time of the current time window to be the current time and continuing to execute the data processing steps, in response to determining that any of the group of conditions is satisfied. - View Dependent Claims (2, 3, 4, 5)
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6. A data acquiring apparatus applied to a driverless vehicle, the apparatus comprising:
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at least one processor; and a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising; acquiring parameter information of each of at least one laser radar of the driverless vehicle, the parameter information comprising;
an importance level, a collection period, and a number of point cloud data packets to be collected in a collection period;selecting, from the at least one laser radar, a laser radar having a highest importance level as a first laser radar; acquiring a start time of a current time window and execute following data processing steps; executing a real-time acquisition and storage operation on point cloud data packets collected by the each of the at least one laser radar after the start time of the current time window; and determine whether any condition in a group of conditions is satisfied;
a collection period of the first laser radar has elapsed between the start time of the current time window and a current time; and
a number of acquired and stored point cloud data packets collected by the first laser radar has reached the number of point cloud data packets to be collected by the first laser radar in a collection period; andsetting the start time of the current time window to be the current time and continuing to execute the data processing steps, in response to determining that any of the group of the conditions is satisfied. - View Dependent Claims (7, 8, 9, 10)
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Specification