CN109189567B - Time delay calculation method, device, equipment and computer readable storage medium - Google Patents
Time delay calculation method, device, equipment and computer readable storage medium Download PDFInfo
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- CN109189567B CN109189567B CN201811001579.8A CN201811001579A CN109189567B CN 109189567 B CN109189567 B CN 109189567B CN 201811001579 A CN201811001579 A CN 201811001579A CN 109189567 B CN109189567 B CN 109189567B
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Abstract
The invention provides a time delay calculation method, a time delay calculation device, time delay calculation equipment and a computer readable storage medium, wherein the method comprises the following steps: receiving a time delay analysis instruction of each functional module, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module; calculating the time delay information of each functional module according to the time to be analyzed; for each functional module, comparing the time delay information with a preset time threshold; and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle. Therefore, the time delay of each functional module can be accurately calculated, the unmanned vehicle is correspondingly adjusted, and the driving safety of the unmanned vehicle is improved.
Description
Technical Field
The invention relates to the field of unmanned vehicles, in particular to a time delay calculation method, a time delay calculation device, time delay calculation equipment and a computer readable storage medium.
Background
The unmanned vehicle is an intelligent vehicle, also called as a wheeled mobile robot, called as unmanned vehicle for short, and mainly depends on an intelligent driving instrument which is mainly a computer system in the vehicle to realize unmanned driving. Generally, an unmanned vehicle has a processing time delay, and a series of operations such as braking or steering cannot be timely performed due to the long time delay, so that how to determine the time delay of the unmanned vehicle becomes a technical problem to be urgently felt.
In the prior art, the unmanned vehicle is generally adjusted by calculating the total time delay of the processing task of the unmanned vehicle.
However, the unmanned vehicle includes a plurality of modules such as a data acquisition module, a prediction module, a planning module, and a control module, and each module has a processing delay during operation, so that the specific module with a delay error cannot be located by using the above method, and the unmanned vehicle cannot be accurately adjusted according to a calculation result.
Disclosure of Invention
The invention provides a time delay calculation method, a time delay calculation device, time delay calculation equipment and a computer readable storage medium, which are used for solving the technical problem that an unmanned vehicle cannot be accurately adjusted according to a calculation result because a specific module with a time delay error cannot be positioned.
The first aspect of the present invention provides a time delay calculation method, including:
receiving a time delay analysis instruction of each functional module, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module;
calculating the time delay information of each functional module according to the time to be analyzed;
comparing the time delay information with a preset time threshold value aiming at each functional module;
and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle.
Another aspect of the present invention provides a latency calculating apparatus, including:
the time delay analysis instruction receiving module is used for receiving time delay analysis instructions of the functional modules, and the time delay analysis instructions comprise time to be analyzed corresponding to the functional modules;
the first calculation module is used for calculating the time delay information of each functional module according to the time to be analyzed;
the comparison module is used for comparing the time delay information with a preset time threshold value aiming at each functional module;
and the processing module is used for executing corresponding instructions according to the comparison result to realize the adjustment of the unmanned vehicle.
Yet another aspect of the present invention provides a latency calculation apparatus, including: a memory, a processor;
a memory; a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the latency calculation method as described above.
Yet another aspect of the present invention is to provide a computer-readable storage medium, in which computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement the latency calculation method as described above.
According to the time delay calculation method, the time delay calculation device, the time delay calculation equipment and the computer readable storage medium, the time delay analysis instruction of each functional module is received, and the time delay analysis instruction comprises the time to be analyzed corresponding to each functional module; calculating the time delay information of each functional module according to the time to be analyzed; for each functional module, comparing the time delay information with a preset time threshold; and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle. Therefore, the time delay of each functional module can be accurately calculated, the unmanned vehicle is correspondingly adjusted, and the driving safety of the unmanned vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic flowchart of a time delay calculation method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a delay calculation method according to a second embodiment of the present invention;
fig. 3 is a schematic flowchart of a time delay calculation method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a delay calculating device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a time delay calculation apparatus according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a time delay calculation apparatus according to a sixth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a latency calculating device according to a seventh embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other examples obtained based on the examples in the present invention are within the scope of the present invention.
Fig. 1 is a schematic flow chart of a time delay calculation method according to an embodiment of the present invention, as shown in fig. 1, the method includes:
In this embodiment, the unmanned vehicle includes a plurality of modules, such as a data acquisition module, a prediction module, a planning module, and a control module, and each module has a processing delay during operation, so that a specific module with a delay error cannot be located by using a method for calculating a link delay, and thus the unmanned vehicle cannot be accurately adjusted according to a calculation result. The data acquisition module is used for receiving the running information acquired by the radar and the camera, the prediction module is used for predicting the running condition according to the running information acquired by the data acquisition module, the planning module is used for planning a route according to the running information acquired by the data acquisition module, and the control module is used for controlling the unmanned vehicle to run according to the route planned by the planning module. In order to solve the above technical problem, a delay analysis instruction sent by each functional module may be received, where the delay analysis instruction includes time to be analyzed corresponding to each functional module. The time to be analyzed includes time information of processing tasks of the functional modules.
And 102, calculating the time delay information of each functional module according to the time to be analyzed.
In this embodiment, after receiving the delay analysis instruction including the to-be-analyzed time corresponding to each functional module sent by each functional module, since the to-be-analyzed time includes the time information of the processing task of each functional module, the delay information of each functional module can be calculated according to the to-be-analyzed time. By accurately calculating the time delay information of each functional module, the fault of the unmanned vehicle can be accurately positioned subsequently according to the calculation result, and convenience is provided for subsequent adjustment.
And 103, comparing the time delay information with a preset time threshold value aiming at each functional module.
In this embodiment, after the time delay information of each functional module is calculated, the time delay information may be compared with a preset time threshold. It can be understood that if the time delay information is lower than the preset time threshold, it indicates that the time delay information is within the normal range, and the normal driving of the unmanned vehicle is not affected, and if the time delay information is greater than the preset time threshold, it indicates that the unmanned vehicle has a fault currently and needs to be processed. Correspondingly, the time delay information is compared with the preset time threshold value aiming at each functional module, so that the functional module which breaks down at present can be accurately determined, and convenience is provided for subsequent adjustment. It should be noted that the preset threshold may be set by the user, or may be a default of the system, and for different functional modules, the preset threshold may have different time thresholds, or may have the same threshold, and may be specifically adjusted according to the actual situation, which is not limited herein.
And 104, executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle.
In this embodiment, after the time delay information is compared with the preset time threshold, a comparison result can be obtained, and the comparison result represents whether each functional module has a fault, so that an instruction corresponding to the comparison result can be executed according to the comparison result, and adjustment of the unmanned vehicle is realized. Specifically, when the time delay information is greater than the preset time threshold, the operation of decelerating or alarming or stopping the vehicle may be performed, so as to avoid the risk brought to the driving due to the excessive time delay.
In the delay calculation method provided by this embodiment, a delay analysis instruction of each functional module is received, where the delay analysis instruction includes time to be analyzed corresponding to each functional module; calculating the time delay information of each functional module according to the time to be analyzed; for each functional module, comparing the time delay information with a preset time threshold; and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle. Therefore, the time delay of each functional module can be accurately calculated, the unmanned vehicle is correspondingly adjusted, and the driving safety of the unmanned vehicle is improved.
Further, on the basis of the above embodiment, the time to be analyzed includes a processing time, a waiting time, and a task completion time; the method comprises the following steps:
receiving a time delay analysis instruction of each functional module, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module;
subtracting the processing time and the waiting time from the task completion time to obtain the time delay information;
comparing the time delay information with a preset time threshold value aiming at each functional module;
and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle.
In this embodiment, after receiving the delay analysis instruction of each functional module, the delay information of each functional module may be calculated according to the time to be analyzed in the delay analysis instruction. Specifically, the time to be analyzed includes processing time, waiting time, and task completion time, where the processing time is the time required by the functional module to process the task, the waiting time is the time for the functional module to wait for receiving the task, and the task completion time is the specific time when the functional module finishes processing the task, and therefore, the delay information corresponding to each functional module can be obtained by subtracting the processing time and the waiting time from the task completion time. And aiming at each functional module, comparing the time delay information with a preset time threshold, and executing a corresponding instruction according to a comparison result to realize the adjustment of the unmanned vehicle.
According to the time delay calculation method provided by the embodiment, the processing time and the waiting time are subtracted from the task completion time to obtain the time delay information, so that the time delay information of each functional module can be accurately calculated, and a foundation is provided for positioning a fault functional module.
Further, on the basis of any of the above embodiments, the method comprises:
sequentially receiving the time delay analysis instructions sent by each functional module; or the like, or, alternatively,
receiving a time delay analysis instruction of all the functional modules in the whole link after the last functional module in the link is integrated, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module;
calculating the time delay information of each functional module according to the time to be analyzed;
comparing the time delay information with a preset time threshold value aiming at each functional module;
and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle.
In this embodiment, since a plurality of functional modules are provided in one link, each functional module may be capable of sending a delay analysis instruction, at this time, the delay analysis instructions sent by each functional module may be sequentially received, in addition, the last functional module in the link may integrate the time to be analyzed, and initiate the delay analysis instruction according to the integrated time to be analyzed, at this time, the delay analysis instructions of all functional modules in the whole link integrated by the last functional module in the link may be received, the delay information of each functional module is calculated according to the time to be analyzed in the delay analysis instruction, for each functional module, the delay information thereof is compared with a preset time threshold, and a corresponding instruction is executed according to the comparison result, thereby implementing adjustment of the unmanned vehicle.
In the delay calculation method provided by this embodiment, delay analysis instructions sent by each functional module are sequentially received; or receiving a time delay analysis instruction of all the functional modules in the whole link after the last functional module in the link is integrated, thereby providing a basis for the subsequent calculation of time delay information.
Fig. 2 is a schematic flow chart of a time delay calculation method according to a second embodiment of the present invention, where on the basis of any of the above embodiments, as shown in fig. 2, the method includes:
and step 205, if the time delay information exceeds a preset second threshold, controlling the unmanned vehicle to stop, wherein the second threshold is larger than the first threshold.
In this embodiment, a time delay analysis instruction of each module is received, time delay information of each functional module is determined according to the time delay analysis instruction, after the time delay information is compared with a preset time threshold, if the time delay information exceeds a preset first threshold, alarm information is sent out to prompt a user to manually check a fault module, and if the time delay information exceeds a preset second threshold, an unmanned vehicle is controlled to stop, and the second threshold is greater than the first threshold. The first threshold value can be a smaller value, namely the time delay information exceeds the first threshold value, the module is characterized by having a fault, but the fault can be solved manually in the driving process, so that alarm information can be sent out when the time delay information exceeds the first threshold value, and a user can manually check the fault module. The second threshold is larger than the first threshold, that is, the time delay information exceeds the second threshold, the characterization module has a large fault, and a problem may occur when the unmanned vehicle continues to run. As an implementation manner, in order to ensure the driving safety of the unmanned vehicle, when the time delay information of the functional module is greater than the first threshold, the unmanned vehicle may be controlled to decelerate and drive, and at the same time, an alarm message is sent out, so that the user performs manual handling on the fault. The time delay information of each functional module is accurately calculated, so that the fault functional module can be accurately positioned, and the manual processing time is prolonged. The preset threshold may be set by the user, or may be default for the system, and for different functional modules, the preset threshold may have different time thresholds, or may have the same threshold, and may be specifically adjusted according to the actual situation, which is not limited herein.
According to the time delay calculation method provided by the embodiment, the time delay information of the functional module is compared with different time thresholds, so that the driving safety of the unmanned vehicle can be further improved.
Further, on the basis of the above embodiment, the method further includes:
receiving a time delay analysis instruction of each functional module, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module;
calculating the time delay information of each functional module according to the time to be analyzed;
comparing the time delay information with a preset time threshold value aiming at each functional module;
if the time delay information exceeds a preset first threshold value, sending alarm information to prompt a user to manually check the fault module;
if the time delay information exceeds a preset second threshold value, controlling the unmanned vehicle to stop, wherein the second threshold value is larger than the first threshold value;
if the time delay information of the functional module is detected to exceed the preset first threshold value again within the preset time, alarm information is sent again;
and if the time delay information of the functional module is detected to be lower than a preset first threshold value within a preset time, sending a normal recovery prompt.
In this embodiment, a time delay analysis instruction of each module is received, time delay information of each functional module is determined according to the time delay analysis instruction, after the time delay information is compared with a preset time threshold, if the time delay information exceeds a preset first threshold, alarm information is sent out, and after a user is prompted to manually check a fault module, in order to ensure the driving safety of an unmanned vehicle, if it is continuously detected that the time delay information of the functional module exceeds the preset first threshold within a preset time, the alarm information is sent out again. Correspondingly, if it is detected that the time delay information of the functional module is lower than the preset first threshold value within the preset time, that is, the functional module is recovered to be normal, a recovery prompt may be sent, so that the user can timely know the state of the functional module, and different prompts are inconsistent.
According to the time delay calculation method provided by the embodiment, the function module continuously delays for a preset time and exceeds a preset threshold value or sends a prompt when the function module returns to normal, so that a user can know the state of the function module in time, and the driving safety of the unmanned vehicle can be improved.
Optionally, on the basis of any of the above embodiments, the method includes:
receiving a time delay analysis instruction of each functional module, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module;
calculating the time delay information of each functional module according to the time to be analyzed;
comparing the time delay information with a preset time threshold value aiming at each functional module;
and if the functional module of which the time delay information exceeds a preset time threshold exceeds a preset threshold, controlling the unmanned vehicle to stop.
In this embodiment, a time delay analysis instruction of each module is received, time delay information of each functional module is determined according to the time delay analysis instruction, after the time delay information is compared with a preset time threshold, if it is detected that a functional module of which the current time delay information exceeds the preset time threshold exceeds the preset threshold, it is represented that all the functional modules in the current unmanned vehicle are abnormal, and at this time, in order to ensure the driving safety of the unmanned vehicle, a parking mode may be adopted, and operation and maintenance personnel are notified to perform processing.
According to the time delay calculation method provided by the embodiment, when the functional module detecting that the current time delay information exceeds the preset time threshold exceeds the preset threshold, the unmanned vehicle is controlled to stop, so that the driving safety of the unmanned vehicle can be ensured.
Fig. 3 is a schematic flow chart of a time delay calculation method according to a third embodiment of the present invention, where on the basis of any of the foregoing embodiments, the time delay analysis instruction further includes a function module identifier; the method comprises the following steps:
301, receiving a delay analysis instruction of each functional module, wherein the delay analysis instruction comprises time to be analyzed corresponding to each functional module;
and 305, executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle.
In this embodiment, after receiving the delay analysis instructions sent by all the functional modules in one link, the delay information of the functional modules can be calculated, so that after receiving the delay information instructions of each functional module, whether the delay analysis instructions of all the functional modules in the link are received currently can be determined according to the functional module identifiers in the delay analysis instructions, and if so, the delay information of each functional module can be continuously calculated according to the delay analysis instructions. And aiming at each functional module, comparing the time delay information with a preset time threshold, and executing a corresponding instruction according to a comparison result to realize the adjustment of the unmanned vehicle.
In the delay calculation method provided in this embodiment, whether delay analysis instructions of all functional modules in a link are received at present is determined according to functional module identifiers in the delay analysis instructions, so that a basis is provided for accurately calculating delay information of each functional module.
Further, on the basis of the above embodiment, the method includes:
receiving a time delay analysis instruction of each functional module, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module;
judging whether time delay analysis instructions of all functional modules in a link are received or not according to the functional module identification;
if not, returning to the step of receiving the time delay analysis instructions of the functional modules until the time delay analysis instructions of all the functional modules in the link are judged to be received according to the functional module identification;
calculating the time delay information of each functional module according to the time to be analyzed;
comparing the time delay information with a preset time threshold value aiming at each functional module;
and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle.
In this embodiment, after receiving the delay analysis instructions sent by all the functional modules in one link, the delay information of the functional modules can be calculated, so that after receiving the delay information instructions of each functional module, whether the delay analysis instructions of all the functional modules in the link are received currently can be determined according to the functional module identifiers in the delay analysis instructions, and if not, the step of receiving the delay analysis instructions of each functional module is executed again until it is determined that the delay analysis instructions of all the functional modules in the link are received according to the functional module identifiers, and the delay information of each functional module is calculated according to the delay analysis instructions. And aiming at each functional module, comparing the time delay information with a preset time threshold, and executing a corresponding instruction according to a comparison result to realize the adjustment of the unmanned vehicle.
In the delay calculation method provided by this embodiment, the step of receiving the delay analysis instruction of each functional module is executed by returning when the delay analysis instruction of all functional modules in the link is not received, until it is determined according to the functional module identifier that the delay analysis instruction of all functional modules in the link is received, and the delay information of each functional module is calculated according to the delay analysis instruction, thereby providing a basis for accurately calculating the delay information of each functional module.
Fig. 4 is a schematic structural diagram of a time delay calculation apparatus according to a fourth embodiment of the present invention, as shown in fig. 4, the apparatus includes:
a delay analysis instruction receiving module 41, configured to receive a delay analysis instruction of each functional module, where the delay analysis instruction includes time to be analyzed corresponding to each functional module.
And the first calculating module 42 is configured to calculate time delay information of each functional module according to the time to be analyzed.
A comparing module 43, configured to compare the delay information with a preset time threshold for each functional module.
And the processing module 44 is configured to execute a corresponding instruction according to the comparison result, so as to adjust the unmanned vehicle.
The delay calculating device provided in this embodiment receives a delay analysis instruction of each functional module, where the delay analysis instruction includes time to be analyzed corresponding to each functional module; calculating the time delay information of each functional module according to the time to be analyzed; for each functional module, comparing the time delay information with a preset time threshold; and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle. Therefore, the time delay of each functional module can be accurately calculated, the unmanned vehicle is correspondingly adjusted, and the driving safety of the unmanned vehicle is improved.
Further, on the basis of the above embodiment, the time to be analyzed includes a processing time, a waiting time, and a task completion time; the device comprises:
the time delay analysis instruction receiving module is used for receiving time delay analysis instructions of the functional modules, and the time delay analysis instructions comprise time to be analyzed corresponding to the functional modules;
the calculation module comprises:
the computing unit is used for subtracting the processing time and the waiting time from the task completion time to obtain the time delay information;
the comparison module is used for comparing the time delay information with a preset time threshold value aiming at each functional module;
and the processing module is used for executing corresponding instructions according to the comparison result to realize the adjustment of the unmanned vehicle.
The delay calculating device provided by this embodiment obtains the delay information by subtracting the processing time and the waiting time from the task completion time, so that the delay information of each functional module can be accurately calculated, and a basis is provided for positioning the faulty functional module.
Further, on the basis of any of the above embodiments, the apparatus comprises:
the time delay analysis instruction receiving module comprises:
the first receiving unit is used for sequentially receiving the time delay analysis instructions sent by the functional modules; or the like, or, alternatively,
the second receiving unit is used for receiving a time delay analysis instruction of all the functional modules in the whole link after the last functional module in the link is integrated, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module;
the first calculation module is used for calculating the time delay information of each functional module according to the time to be analyzed;
the comparison module is used for comparing the time delay information with a preset time threshold value aiming at each functional module;
and the processing module is used for executing corresponding instructions according to the comparison result to realize the adjustment of the unmanned vehicle.
The delay calculating device provided in this embodiment receives the delay analysis instructions sent by the functional modules in sequence; or receiving a time delay analysis instruction of all the functional modules in the whole link after the last functional module in the link is integrated, thereby providing a basis for the subsequent calculation of time delay information.
Fig. 5 is a schematic structural diagram of a time delay calculation apparatus according to a fifth embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 5, the apparatus includes:
a delay analysis instruction receiving module 51, configured to receive a delay analysis instruction of each functional module, where the delay analysis instruction includes time to be analyzed corresponding to each functional module;
the first calculating module 52 is configured to calculate time delay information of each functional module according to the time to be analyzed;
a comparison module 53, configured to compare the delay information with a preset time threshold for each functional module;
the processing module 54 includes:
the first processing unit 501 is configured to send alarm information to prompt a user to manually check the fault module if the time delay information exceeds a preset first threshold;
a second processing unit 502, configured to control the unmanned vehicle to stop if the time delay information exceeds a preset second threshold, where the second threshold is greater than the first threshold.
The delay calculating device provided by the embodiment can further improve the driving safety of the unmanned vehicle by comparing the delay information of the functional module with different time thresholds.
Further, on the basis of the above embodiment, the apparatus further includes:
the time delay analysis instruction receiving module is used for receiving time delay analysis instructions of the functional modules, and the time delay analysis instructions comprise time to be analyzed corresponding to the functional modules;
the first calculation module is used for calculating the time delay information of each functional module according to the time to be analyzed;
the comparison module is used for comparing the time delay information with a preset time threshold value aiming at each functional module;
the processing module comprises:
the first processing unit is used for sending alarm information to prompt a user to manually check the fault module if the time delay information exceeds a preset first threshold value;
the second processing unit is used for controlling the unmanned vehicle to stop if the time delay information exceeds a preset second threshold value, and the second threshold value is larger than the first threshold value;
the alarm unit is used for sending alarm information again if the time delay information of the functional module is detected to exceed a preset first threshold value again within a preset time;
and the reminding unit is used for sending a normal reminding if the time delay information of the functional module is detected to be lower than a preset first threshold value within a preset time.
The time delay calculation device provided by the embodiment sends out a prompt when the continuous time delay of the functional module exceeds the preset threshold value or returns to normal within the preset time, so that the user can know the state of the functional module in time, and the running safety of the unmanned vehicle can be improved.
Optionally, on the basis of any of the above embodiments, the apparatus includes:
the time delay analysis instruction receiving module is used for receiving time delay analysis instructions of the functional modules, and the time delay analysis instructions comprise time to be analyzed corresponding to the functional modules;
the first calculation module is used for calculating the time delay information of each functional module according to the time to be analyzed;
the comparison module is used for comparing the time delay information with a preset time threshold value aiming at each functional module;
the processing module comprises:
and the third processing unit is used for controlling the unmanned vehicle to stop if the functional module of which the time delay information exceeds the preset time threshold exceeds the preset threshold.
The time delay calculation device provided by the embodiment controls the unmanned vehicle to stop when the functional module that detects that the current time delay information exceeds the preset time threshold exceeds the preset threshold, so that the driving safety of the unmanned vehicle can be ensured.
Fig. 6 is a schematic structural diagram of a time delay calculation apparatus according to a sixth embodiment of the present invention, where on the basis of any of the foregoing embodiments, as shown in fig. 6, the time delay analysis instruction further includes a function module identifier; the device comprises:
a delay analysis instruction receiving module 61, configured to receive a delay analysis instruction of each functional module, where the delay analysis instruction includes time to be analyzed corresponding to each functional module;
a judging module 62, configured to judge whether a delay analysis instruction of all the functional modules in the link is received according to the functional module identifier;
a second calculating module 63, configured to calculate, if yes, delay information of each functional module according to the delay analysis instruction;
a comparison module 64, configured to compare the delay information with a preset time threshold for each functional module;
and the processing module 65 is configured to execute a corresponding instruction according to the comparison result, so as to adjust the unmanned vehicle.
The delay calculating device provided in this embodiment determines whether to receive the delay analysis instructions of all the functional modules in the link at present according to the functional module identifiers in the delay analysis instructions, so as to provide a basis for accurately calculating the delay information of each functional module.
Further, on the basis of the above embodiment, the apparatus includes:
the time delay analysis instruction receiving module is used for receiving time delay analysis instructions of the functional modules, and the time delay analysis instructions comprise time to be analyzed corresponding to the functional modules;
the judging module is used for judging whether time delay analysis instructions of all the functional modules in the link are received or not according to the functional module identification;
if not, returning to the step of receiving the time delay analysis instructions of the functional modules until the time delay analysis instructions of all the functional modules in the link are judged to be received according to the functional module identifications;
the first calculation module is used for calculating the time delay information of each functional module according to the time to be analyzed;
the comparison module is used for comparing the time delay information with a preset time threshold value aiming at each functional module;
and the processing module is used for executing corresponding instructions according to the comparison result to realize the adjustment of the unmanned vehicle.
The delay calculating device provided in this embodiment returns to execute the step of receiving the delay analysis instruction of each functional module when the delay analysis instruction of all functional modules in the link is not received, until it is determined according to the functional module identifier that the delay analysis instruction of all functional modules in the link is received, and calculates the delay information of each functional module according to the delay analysis instruction, thereby providing a basis for accurately calculating the delay information of each functional module.
Fig. 7 is a schematic structural diagram of a latency calculating device according to a seventh embodiment of the present invention, and as shown in fig. 7, the latency calculating device includes: a memory 71, a processor 72;
a memory 71; a memory 71 for storing instructions executable by the processor 72;
wherein the processor 72 is configured to execute the latency calculation method as described above by the processor 72.
Yet another embodiment of the present invention provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the latency calculation method as described above when executed by a processor.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (16)
1. A method for calculating a time delay, comprising:
receiving a time delay analysis instruction of each functional module, wherein the time delay analysis instruction comprises time to be analyzed corresponding to each functional module; each of the functional modules is a functional module on a link corresponding to unmanned vehicle path planning, and each of the functional modules includes at least one of the following: the system comprises a data acquisition module, a prediction module, a planning module and a control module; the time to be analyzed comprises processing time, waiting time and task completion time; the processing time is the time required by the functional module to process the task;
subtracting the processing time and the waiting time from the task completion time to obtain time delay information;
comparing the time delay information with a preset time threshold value aiming at each functional module;
and executing a corresponding instruction according to the comparison result to realize the adjustment of the unmanned vehicle.
2. The method of claim 1, wherein the executing the corresponding instruction according to the comparison result comprises:
if the time delay information exceeds a preset first threshold value, sending alarm information to prompt a user to manually check a fault module;
and if the time delay information exceeds a preset second threshold value, controlling the unmanned vehicle to stop, wherein the second threshold value is larger than the first threshold value.
3. The method according to claim 2, wherein if the time delay information exceeds a preset first threshold, sending an alarm message to prompt a user to perform manual inspection on the fault module, further comprising:
if the time delay information of the functional module is detected to exceed the preset first threshold value again within the preset time, alarm information is sent again;
and if the time delay information of the functional module is detected to be lower than a preset first threshold value within a preset time, sending a normal recovery prompt.
4. The method of claim 1, wherein the executing the corresponding instruction according to the comparison result comprises:
and if the functional module of which the time delay information exceeds a preset time threshold exceeds a preset threshold, controlling the unmanned vehicle to stop.
5. The method of claim 1, wherein the latency analysis instructions further comprise a function module identification; after receiving the delay analysis instruction of each functional module, the method further includes:
judging whether time delay analysis instructions of all functional modules in a link are received or not according to the functional module identification;
if yes, calculating the time delay information of each functional module according to the time delay analysis instruction.
6. The method according to claim 1, wherein after determining whether the delay analysis instructions of all the functional modules in the link are received according to the functional module identifier, the method further comprises:
if not, returning to the step of receiving the time delay analysis instructions of the functional modules until the time delay analysis instructions of all the functional modules in the link are judged to be received according to the functional module identification.
7. The method of claim 1, wherein receiving the latency analysis instruction of each functional module comprises:
sequentially receiving the time delay analysis instructions sent by each functional module; or the like, or, alternatively,
and receiving a time delay analysis instruction of all the functional modules in the whole link after the last functional module in the link is integrated.
8. A latency calculation apparatus, comprising:
the time delay analysis instruction receiving module is used for receiving time delay analysis instructions of the functional modules, and the time delay analysis instructions comprise time to be analyzed corresponding to the functional modules; each of the functional modules is a functional module on a link corresponding to unmanned vehicle path planning, and each of the functional modules includes at least one of the following: the system comprises a data acquisition module, a prediction module, a planning module and a control module; the time to be analyzed comprises processing time, waiting time and task completion time; the processing time is the time required by the functional module to process the task;
the first calculation module is used for calculating the time delay information of each functional module according to the time to be analyzed;
the comparison module is used for comparing the time delay information with a preset time threshold value aiming at each functional module;
the processing module is used for executing corresponding instructions according to the comparison result to realize the adjustment of the unmanned vehicle;
the calculation module comprises:
and the computing unit is used for subtracting the processing time and the waiting time from the task completion time to obtain the time delay information.
9. The apparatus of claim 8, wherein the processing module comprises:
the first processing unit is used for sending alarm information and prompting a user to manually check the fault module if the time delay information exceeds a preset first threshold value;
and the second processing unit is used for controlling the unmanned vehicle to stop if the time delay information exceeds a preset second threshold value, wherein the second threshold value is greater than the first threshold value.
10. The apparatus of claim 9, wherein the processing module further comprises:
the alarm unit is used for sending alarm information again if the time delay information of the functional module is detected to exceed a preset first threshold value again within a preset time;
and the reminding unit is used for sending a normal reminding if the time delay information of the functional module is detected to be lower than a preset first threshold value within a preset time.
11. The apparatus of claim 8, wherein the processing module comprises:
and the third processing unit is used for controlling the unmanned vehicle to stop if the functional module of which the time delay information exceeds the preset time threshold exceeds the preset threshold.
12. The apparatus of claim 8, wherein the latency analysis instructions further comprise a function module identification; the device further comprises:
the judging module is used for judging whether time delay analysis instructions of all the functional modules in the link are received or not according to the functional module identification;
and the second calculation module is used for calculating the time delay information of each functional module according to the time delay analysis instruction if the time delay information is correct.
13. The apparatus of claim 8, further comprising:
and if not, returning to the step of receiving the time delay analysis instructions of the functional modules until the time delay analysis instructions of all the functional modules in the link are judged to be received according to the functional module identifications.
14. The apparatus of claim 8, wherein the latency analysis instruction receiving module comprises:
the first receiving unit is used for sequentially receiving the time delay analysis instructions sent by the functional modules; or the like, or, alternatively,
and the second receiving unit is used for receiving the time delay analysis instructions of all the functional modules in the whole link after the last functional module in the link is integrated.
15. A latency computing device, comprising: a memory, a processor;
a memory; a memory for storing the processor-executable instructions;
wherein the processor is configured to perform the latency calculation method of any one of claims 1-7 by the processor.
16. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, implement the latency calculation method of any one of claims 1 to 7.
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| CN113783651B (en) * | 2021-09-10 | 2024-02-06 | 阿波罗智能技术(北京)有限公司 | Remote control method and device for parallel driving, cloud end, vehicle end and parallel driving system |
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