Sensor data transfer with self adaptive configurations for autonomous driving vehicle
View Patent ↗A sensor system for an autonomous driving vehicle (ADV) includes a sensor interface coupled to a plurality of sensors, a host interface coupled to a host system of the ADV, and a self-adaptive sensor transfer unit coupled between the sensor interface and the host interface. The self-adaptive sensor transfer unit includes a sensor monitor module, configured to monitor a data rate of sensor data received from a sensor, and a configuration control module, configured to: receive a target data rate from the host via the host interface; receive the monitored data rate of the sensor data; and control the data rate of the sensor data to be within a threshold of the target data rate.
1. A computer-implemented method, comprising:
monitoring a data rate for sensor output data from a sensor, wherein the sensor is one of a plurality of sensors mounted on an autonomous driving vehicle (ADV), a host system of the ADV receives sensor data from the sensors, the sensor data correspond to a driving environment surrounding the ADV, and the host system plans a planning trajectory to autonomously drive the ADV based on the planning trajectory;
receiving a target data rate from the host system;
receiving the monitored data rate of the sensor data; and
controlling the data rate of the sensor data to be within a threshold of the target data rate.
2. The method of claim 1 , wherein controlling the data rate of the sensor data further comprises adjusting a configuration setting of the sensor.
3. The method of claim 1 , wherein controlling the data rate of the sensor data further comprises removing a frame for every P frames received from the sensor or interpolating every Q frames received from the sensor, wherein P and Q are a positive integer greater than 1.
4. The method of claim 1 , further comprising receiving M inputs and to generate N outputs from the M inputs, wherein M and N are positive integers, M is greater than 0, and N is greater than 1.
5. The method of claim 1 , wherein one or more dynamic memory access (DMA) channels are used to transfer data to the host system.
6. The method of claim 1 , further comprising providing a recovery mode to automatically recover erroneous sensor data from the sensor.
7. The method of claim 1 , further comprising providing a user selection of a configurable recovery mode to automatically recover a subset of erroneous sensor data for the sensor.
8. A sensor system for an autonomous driving vehicle (ADV), comprising:
a processor; and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to
monitor a data rate for sensor output data from a sensor, wherein the sensor is one of a plurality of sensors mounted on an autonomous driving vehicle (ADV), a host system of the ADV receives sensor data from the sensors, the sensor data correspond to a driving environment surrounding the ADV, and the host system plans a planning trajectory to autonomously drive the ADV based on the planning trajectory;
receive a target data rate from the host system;
receive the monitored data rate of the sensor data; and
control the data rate of the sensor data to be within a threshold of the target data rate.
9. The sensor system of claim 8 , wherein the processor is further caused to adjust a configuration setting of the sensor to control the data rate of the sensor data received from the sensor.
10. The sensor system of claim 8 , wherein the processor is further caused to adjust a frame rate by removing a frame for every P frames received from the sensor or interpolating every Q frames received from the sensor, wherein P and Q are a positive integer greater than 1.
11. The sensor system of claim 8 , wherein the processor is further caused to receive M inputs and to generate N outputs from the M inputs, wherein M and N are positive integers, M is greater than 0, and N is greater than 1.
12. The sensor system of claim 8 , wherein the processor is further caused to transfer data to the host system.
13. The sensor system of claim 8 , wherein the processor is further caused to provide a recovery mode to automatically recover erroneous sensor data from a sensor.
14. The sensor system of claim 8 , wherein the processor is further caused to provide a user a configurable recovery mode to automatically recover a subset of erroneous sensor data for the sensor.
15. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to:
monitor a data rate for sensor output data from a sensor, wherein the sensor is one of a plurality of sensors mounted on an autonomous driving vehicle (ADV), a host system of the ADV receives sensor data from the sensors, the sensor data correspond to a driving environment surrounding the ADV, and the host system plans a planning trajectory to autonomously drive the ADV based on the planning trajectory;
receive a target data rate from the host system;
receive the monitored data rate of the sensor data; and
control the data rate of the sensor data to be within a threshold of the target data rate.
16. The non-transitory machine-readable medium of claim 15 , wherein the processor is further caused to adjust a configuration setting of the sensor to control the data rate of the sensor data received from the sensor.
17. The non-transitory machine-readable medium of claim 15 , wherein the processor is further caused to adjust a frame rate by removing a frame for every P frames received from the sensor or interpolating every Q frames received from the sensor, wherein P and Q are a positive integer greater than 1.
18. The non-transitory machine-readable medium of claim 15 , wherein the processor is further caused to receive M inputs and to generate N outputs from the M inputs, wherein M and N are positive integers, M is greater than 0, and N is greater than 1.
19. The non-transitory machine-readable medium of claim 15 , wherein the processor is further caused to to transfer data to the host system.
20. The non-transitory machine-readable medium of claim 15 , wherein the processor is further caused to: provide a recovery mode to automatically recover erroneous sensor data for a sensor.