| CPC G06F 9/3851 (2013.01) [B60W 60/00 (2020.02); G06F 9/4881 (2013.01)] | 16 Claims |
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1. A control system of an autonomous vehicle, comprising:
a plurality of modules arranged in the autonomous vehicle and configured to perform a connective operation; and
a module scheduling system configured to monitor operations of the plurality of modules, to parallelize the plurality of modules using an additional thread, and to control the plurality of modules to aperiodically operate using a pipelining method, wherein the module scheduling system comprises:
a reception management module configured to monitor an operation of each module and to perform parallelization control related to data reception and data processing of each module; and
a transmission management module configured to monitor an operation of each module and to perform parallelization control related to data processing and data transmission of each module,
wherein the plurality of modules comprise:
a sensing module unit comprising a plurality of sensor modules configured to output various pieces of sensing data;
a processing module unit configured to process the sensing data provided from the plurality of sensor modules of the sensing module unit; and
a control mod red control an operation of autonomous driving using a processing result of the processing modules unit;
wherein each module of the plurality of modules compromises:
a module reception thread configured to periodically receive data from a previous module;
a reception buffer configured to temporality store the data from the module reception thread;
a module main thread configured to aperiodically process the data stored in the reception buffer;
a transmission buffer configured to temporarily store data based on an operating result of the module main thread; and
a module transmission thread configured to aperiodically transmit the data stored in the transmission buffer to another module;
wherein the reception management module is configured to receive information on a data reception state from the module reception thread inside the module, to process information on a module processing state from the module main thread inside the module, and to provide a processing command to the module main thread inside the module; and
wherein the transmission at module is configured to receive e information on the module processing state from the module main thread inside the module, to receive information on a data transmission state from the module transmission thread inside the module, and to provide a transmission command to the module transmission thread inside the module.
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