US 12,461,864 B2
System and method for resource-driven datapoint aggregation of lidar datapoints exchanged between lidar sensor and host computing device and application of same
Tejash Shah, Mountain View, CA (US); Houman Tavakoli Shiraji, San Diego, CA (US); Ma Jun, Beijing (CN); and Wu Gaojin, Beijing (CN)
Assigned to GUANGZHOU XIAOPENG AUTOPILOT TECHNOLOGY CO., LTD., Guangdong (CN)
Filed by Guangzhou Xiaopeng Autopilot Technology Co., Ltd., Guangdong (CN)
Filed on Jul. 26, 2021, as Appl. No. 17/384,905.
Prior Publication US 2023/0023701 A1, Jan. 26, 2023
Int. Cl. G06F 13/10 (2006.01); G01S 7/48 (2006.01); G01S 17/08 (2006.01)
CPC G06F 13/102 (2013.01) [G01S 7/4808 (2013.01); G01S 17/08 (2013.01)] 16 Claims
OG exemplary drawing
 
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.