System and method for resource-driven datapoint aggregation of lidar datapoints exchanged between lidar sensor and host computing device and application of same
A system and a method for performing exchange of lidar datapoints between a lidar sensor and a host computing device are provided. The lidar sensor stores a sensor payload size range, and the host computing device stores a host payload size range. When the lidar connection is initiated, the host computing device and the lidar sensor perform handshaking to determine an overlapping range between the host sensor payload size range and the sensor payload size range, and to negotiate an acceptable datapoint payload size based on the overlapping range. Once the handshaking is complete, the lidar connection may be performed using the acceptable data point payload size as a payload size thereof. Thus, the payload size is independent of a maximum transmission unit (MTU) of an Ethernet.
1 . A system for performing exchange of lidar datapoints, comprising:
a lidar sensor configured to be communicatively connected to a host computing device, wherein the lidar sensor has a processor and a storage device storing computer executable instructions and a sensor payload size range, and the computer executable instructions, when executed on the processor, cause the processor to:
initiate a lidar connection between the lidar sensor and the host computing device under a lidar communication protocol by establishing a user datagram protocol (UDP) connection between the lidar sensor and the host computing device, wherein the host computing device defines a host payload size range;
perform handshaking with the host computing device through the UDP connection to determine an overlapping range between the host payload size range and the sensor payload size range, and to negotiate an acceptable datapoint payload size based on the overlapping range; and
perform the lidar connection with the host computing device under the lidar communication protocol using the acceptable data point payload size as a payload size of the lidar connection, wherein the payload size is independent of a maximum transmission unit (MTU) of an Ethernet between the lidar sensor and the host computing device,
wherein the handshaking is performed by:
receiving, by the lidar sensor, a host handshaking message advertised by the host computing device, wherein the host handshaking message includes the host payload size range;
determining, by the lidar sensor, whether the overlapping range exists between the host payload size range and the sensor payload size range; and
in response to determining the overlapping range exists, selecting, by the lidar sensor, the acceptable datapoint payload size based on the overlapping range, and sending the acceptable datapoint payload size from the lidar sensor to the host computing device to complete the handshaking.
2 . The system of claim 1 , wherein the host handshaking message further includes a flag, and the lidar sensor is configured to select the acceptable datapoint payload size by:
determining, by a value of the flag, whether a high end or a low end of the overlapping range is used;
in response to determining the high end of the overlapping range is used, selecting the high end of the overlapping range as the acceptable datapoint payload size; and
in response to determining the low end of the overlapping range is used, selecting the low end of the overlapping range as the acceptable datapoint payload size.
3 . The system of claim 2 , wherein:
the host payload size range is defined by a host low value and a host high value;
the sensor payload size range is defined by a sensor low value and a sensor high value;
the high end of the overlapping range is a minimum value of the host high value and the sensor high value; and
the low end of the overlapping range is a maximum value of the host low value and the sensor low value.
4 . The system of claim 2 , wherein:
the value of the flag is either true or false;
when the value of the flag is true, the high end of the overlapping range is used; and
when the value of the flag is false, the low end of the overlapping range is used.
5 . The system of claim 1 , wherein in response to determining the overlapping range does not exist, the lidar sensor is configured to terminate the UDP connection between the lidar sensor and the host computing device.
6 . A system for performing exchange of lidar datapoints, comprising:
a host computing device configured to be communicatively connected to a lidar sensor, wherein the host computing device has a processor and a storage device storing computer executable instructions and a host payload size range, and the computer executable instructions, when executed on the processor, cause the processor to:
initiate a lidar connection between the lidar sensor and the host computing device under a lidar communication protocol by establishing a user datagram protocol (UDP) connection between the lidar sensor and the host computing device, wherein the lidar sensor defines a sensor payload size range;
perform handshaking with the lidar sensor through the UDP connection to determine an overlapping range between the host payload size range and the sensor payload size range, and to negotiate an acceptable datapoint payload size based on the overlapping range; and
perform the lidar connection with the lidar sensor under the lidar communication protocol using the acceptable data point payload size as a payload size of the lidar connection, wherein the payload size is independent of a maximum transmission unit (MTU) of an Ethernet between the lidar sensor and the host computing device,
wherein the handshaking is performed by:
sending, by the host computing device to the lidar sensor, a host handshaking message including includes the host payload size range, wherein the lidar sensor is configured to receive the host handshaking message, to determine whether the overlapping range exists between the host payload size range and the sensor payload size range, and in response to determining the overlapping range exists, to select the acceptable datapoint payload size based on the overlapping range; and
receiving, by the host computing device from the lidar sensor, the acceptable datapoint payload size to complete the handshaking.
7 . The apparatus of claim 6 , wherein the host handshaking message further includes a flag, and the lidar sensor is configured to select the acceptable datapoint payload size by:
determining, by a value of the flag, whether a high end or a low end of the overlapping range is used;
in response to determining the high end of the overlapping range is used, selecting the high end of the overlapping range as the acceptable datapoint payload size; and
in response to determining the low end of the overlapping range is used, selecting the low end of the overlapping range as the acceptable datapoint payload size.
8 . The apparatus of claim 7 , wherein:
the value of the flag is either true or false; and
when the value of the flag is true, the high end of the overlapping range is used; and
when the value of the flag is false, the low end of the overlapping range is used.
9 . The apparatus of claim 7 , wherein:
the host payload size range is defined by a host low value and a host high value;
the sensor payload size range is defined by a sensor low value and a sensor high value;
the high end of the overlapping range is a minimum value of the host high value and the sensor high value; and
the low end of the overlapping range is a maximum value of the host low value and the sensor low value.
10 . The apparatus of claim 6 , wherein in response to determining the overlapping range does not exist, the lidar sensor is configured to terminate the UDP connection between the lidar sensor and the host computing device.
11 . A method for performing exchange of lidar datapoints, comprising:
initiating a lidar connection between a lidar sensor and a host computing device under a lidar communication protocol by establishing a user datagram protocol (UDP) connection between the lidar sensor and the host computing device, wherein the lidar sensor defines a sensor payload size range, and the host computing device defines a host payload size range;
performing handshaking between the lidar sensor and the host computing device through the UDP connection to determine an overlapping range between the host payload size range and the sensor payload size range, and to negotiate an acceptable datapoint payload size based on the overlapping range; and
performing the lidar connection between the lidar sensor and the host computing device under the lidar communication protocol using the acceptable data point payload size as a payload size of the lidar connection, wherein the payload size is independent of a maximum transmission unit (MTU) of an Ethernet between the lidar sensor and the host computing device,
wherein the handshaking is performed by:
receiving, by the lidar sensor, a host handshaking message advertised by the host computing device, wherein the host handshaking message includes the host payload size range;
determining, by the lidar sensor, whether the overlapping range exists between the host payload size range and the sensor payload size range; and
in response to determining the overlapping range exists, selecting, by the lidar sensor, the acceptable datapoint payload size based on the overlapping range, and sending the acceptable datapoint payload size from the lidar sensor to the host computing device to complete the handshaking between the lidar sensor and the host computing device.
12 . The method of claim 11 , further comprising:
in response to determining the overlapping range does not exist, terminating the UDP connection between the lidar sensor and the host computing device.
13 . The method of claim 11 , wherein the host handshaking message further includes a flag, and the acceptable datapoint payload size is selected by:
determining, by a value of the flag, whether a high end or a low end of the overlapping range is used;
in response to determining the high end of the overlapping range is used, selecting the high end of the overlapping range as the acceptable datapoint payload size; and
in response to determining the low end of the overlapping range is used, selecting the low end of the overlapping range as the acceptable datapoint payload size.
14 . The method of claim 13 , wherein:
the host payload size range is defined by a host low value and a host high value;
the sensor payload size range is defined by a sensor low value and a sensor high value;
the high end of the overlapping range is a minimum value of the host high value and the sensor high value; and
the low end of the overlapping range is a maximum value of the host low value and the sensor low value.
15 . The method of claim 13 , wherein:
the value of the flag is either true or false;
when the value of the flag is true, the high end of the overlapping range is used; and
when the value of the flag is false, the low end of the overlapping range is used.
16 . A non-transitory tangible computer-readable medium storing computer executable instructions which, when executed by one or more processors of a lidar sensor, cause a method of claim 11 to be performed.