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公开(公告)号：US20170371810A1
公开(公告)日：2017-12-28
申请号：US15281261
申请日：2016-09-30
Inventor： Liming Xia , Jingchao Feng , Quan Wang , Ning Qu , Zhuo Chen
Abstract: The present application discloses a method and a system for transmitting data. A method embodiment comprises: acquiring a most recent shared memory block index of a shared memory segment by a data receiver, the shared memory segment being used by a data transmitter and the data receiver to transmit data; deciding whether the most recent shared memory block index is consistent with a shared memory block index corresponding to data recently read by the data receiver; and determining, according to the decision, whether to read the data in the shared memory block corresponding to the most recent shared memory block index. According to the present application, when the frequency at which the data receiving process processes data is lower than the frequency at which the data transmitting process processes data, the data receiving process directly reads the most recent data and abandons the outdated data which is not processed in time, without influencing other data receiving processes that process data in a higher frequency. Accordingly, the extremely high demand for instantaneity for processing data by a process in the control system of an autonomous vehicle, for example, is satisfied. Therefore, the security and stability of the system are improved.
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公开(公告)号：US20170371591A1
公开(公告)日：2017-12-28
申请号：US15281268
申请日：2016-09-30
Inventor： Liming Xia , Jingchao Feng , Quan Wang , Ning Qu , Zhuo Chen
CPC classification number: G06F3/0659 , G05D1/0246 , G06F3/0604 , G06F3/064 , G06F3/067 , H04L67/00 , H04L67/1095
Abstract: The present application discloses a data transmission method and system. A specific embodiment of the method includes: receiving a data transmission-instruction by a data sender, wherein the data transmission-instruction includes a thematic name indicative of a type of to-be-transmitted data required by a data receiver; creating a shared memory segment corresponding to the thematic name. It makes possible for the data sender and the data receiver to run in a separate memory space. When data is needed to be transmitted, a corresponding shared memory segment may be created for data transmission in accordance with any transmitting requirement, and the shared memory segment may be released when the transmission is done or appears abnormal. On one hand, it reduces the redundant operations of the data transmission system during data transmission, and improves the data transmission performance; on the other hand, the data transmitting procedure between the data sender and the data receiver, and other operations executed by the data sender or the data receiver are independent of each other, which improves the stability of the data transmission system.
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公开(公告)号：US10969971B2
公开(公告)日：2021-04-06
申请号：US15410953
申请日：2017-01-20
Inventor： Jingchao Feng , Liming Xia , Quan Wang , Ming Qu , Zhuo Chen , Yu Ma , Haifeng Wang , Yibing Liang
IPC: G06F3/06
Abstract: The present application discloses a data storage method and apparatus. A specific implementation of the method includes: acquiring to-be-serialized data and a description file related to the to-be-serialized data, wherein the to-be-serialized data includes a data name and a data value, and the description file includes a file identifier and at least one data element, the data element includes at least one data item, and the data item includes a data item name and a data type; allocating a memory space to the data item according to the data type; finding, according to a preset matching relationship between the to-be-serialized data and the data item, a data item matched with the to-be-serialized data; and storing the data value into the memory space of the found data item as a data item value of the found data item. This implementation improves the data storage efficiency.
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公开(公告)号：US10649089B2
公开(公告)日：2020-05-12
申请号：US15411795
申请日：2017-01-20
Inventor： Yibing Liang , Bocong Liu , Zhuo Chen , Wei He , Chengliang Deng , Kaiwen Feng
IPC: G01S17/88 , G06F13/362 , G01S17/87 , G01S7/00 , G01S17/931 , G05D1/02
Abstract: The present application discloses a data acquisition method and apparatus for a driverless vehicle. The driverless vehicle is provided with a LIDAR sensor and a camera sensor, and the method of an embodiment comprises: acquiring a collection period of the LIDAR sensor as a first period; acquiring a start time of a current time window; executing following data processing steps: executing real-time acquiring and storing operations on data packets collected by the LIDAR sensor and the camera sensor after the start time of the current time window; and determining whether a following condition is met: the first period has elapsed from the start time of the current time window to a current time; setting the start time of the current time window to the current time in response to determining that the condition is met, and continuing executing the data processing steps. This embodiment realizes synchronized storage of data packets collected by the LIDAR sensor and data packets collected by the camera sensor in the driverless vehicle.
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公开(公告)号：US10345433B2
公开(公告)日：2019-07-09
申请号：US15410906
申请日：2017-01-20
Inventor： Wei He , Kaiwen Feng , Chengliang Deng , Yibing Liang , Bocong Liu , Zhuo Chen , Yu Ma
Abstract: The present application discloses a data acquiring method and apparatus applied to a driverless vehicle. A specific implementation of the method includes: selecting, from at least one laser radar of the driverless vehicle, a laser radar having a highest importance level as a first laser radar; acquiring a start time of a current time window and executing following data processing steps: executing a real-time acquisition and storage operation on point cloud data packets collected by the each of the at least one laser radar after the start time of the current time window; and determining whether any condition in a group of conditions is satisfied; and setting the start time of the current time window to be the current time and continuing to execute the data processing steps, in response to determining that any of the group of conditions is satisfied. This implementation implements the alignment and storage of point cloud data packets collected by at least one laser radar of the driverless vehicle.
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Patent Agency Ranking
公开(公告)号：US10268926B2
公开(公告)日：2019-04-23
申请号：US15410713
申请日：2017-01-19
Inventor： Kaiwen Feng , Zhuo Chen , Bocong Liu , Yibing Liang , Yu Ma , Haifeng Wang
Abstract: The present application discloses a method and an apparatus for processing point cloud data. The method in an embodiment comprises: presenting a to-be-labeled point cloud frame and a camera image formed by photographing an identical scene at an identical moment as the point cloud frame; determining, in response to an operation of selecting an object in the point cloud frame by a user, an area encompassing the selected object in the point cloud frame; projecting the area from the point cloud frame to the camera image, to obtain a projected area in the camera image; and adding a mark in the projected area, for labeling, by the user, the selected object in the point cloud frame according to the mark indicating an object in the camera image. This implementation can assist labeling personnel in rapidly and correctly labeling an object in a point cloud frame.
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公开(公告)号：US10133688B2
公开(公告)日：2018-11-20
申请号：US15409930
申请日：2017-01-19
Inventor： Jingchao Feng , Liming Xia , Quan Wang , Ning Qu , Zhuo Chen , Yu Ma , Haifeng Wang , Yibing Liang
IPC: G06F12/00 , G06F13/16 , G06F12/02 , G06F12/1072
Abstract: The present application discloses a method and an apparatus for transmitting information. A specific implementation of the method includes: sending first information to be transmitted to a shared memory; traversing memory groups in the shared memory, and acquiring a first memory unit suitable for the amount of the first information, each of the memory groups including at least one memory unit, each of memory units in the memory group having an identical size, and the memory units in different memory groups having different sizes; and storing the first information into the acquired first memory unit, so that the first information is read from the first memory unit by a receiving node. Through this implementation, the first information that needs to be transmitted is stored into the memory unit suitable for the amount of the first information, thereby saving memory resources.
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28.发明授权公开(公告)号：US10127093B1
公开(公告)日：2018-11-13
申请号：US16039151
申请日：2018-07-18
Inventor： Yu Ma , Weide Zhang , Wei He , Haifeng Wang , Yibing Liang , Zhuo Chen
Abstract: This disclosure discloses a method and apparatus for monitoring a message transmission frequency in a robot operating system. A specific implementation of the method includes: writing to-be-transmitted messages, into a pre-allocated memory; obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list; determining a message transmission frequency within a preset time interval based on the time points in the time point list; and comparing the message transmission frequency with a preset message transmission frequency threshold, and generating monitoring information based on a comparing result. This implementation monitors the message transmission frequency of a process to thereby avoid information codes related to monitoring of each application from being added to the application so as to reduce the program debugging cost, and improve the monitoring efficiency.
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29.发明授权公开(公告)号：US10055265B2
公开(公告)日：2018-08-21
申请号：US15410446
申请日：2017-01-19
Inventor： Yu Ma , Weide Zhang , Wei He , Haifeng Wang , Yibing Liang , Zhuo Chen
CPC classification number: G06F9/546 , G06F11/3006 , G06F11/3013 , G06F11/3024 , G06F11/3055 , G06F11/3072 , G06F2201/81 , G06F2209/508 , Y10S901/50
Abstract: This discolor discloses a method and apparatus for monitoring a message transmission frequency in a robot operating system. A specific implementation of the method includes: writing to-be-transmitted messages, into a pre-allocated memory; obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list; determining a message transmission frequency within a preset time interval based on the time points in the time point list; and comparing the message transmission frequency with a preset message transmission frequency threshold, and generating monitoring information based on a comparing result. This implementation monitors the message transmission frequency of a process to thereby avoid information codes related to monitoring of each application from being added to the application so as to reduce the program debugging cost, and improve the monitoring efficiency.
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公开(公告)号：US20180075666A1
公开(公告)日：2018-03-15
申请号：US15409667
申请日：2017-01-19
Inventor： Kaiwen Feng , Zhuo Chen , Bocong Liu , Chengliang Deng , Yibing Liang , Yu Ma
CPC classification number: G06K9/00671 , G06K9/00711 , G06K9/00805 , G06K2209/40 , G06T19/00 , G06T2207/10028 , G06T2219/004
Abstract: The present application discloses a method and an apparatus for processing point cloud data. The method of an embodiment comprises: recognizing an object in a to-be-labeled point cloud frame by using an obstacle recognition algorithm, to obtain a recognition result; presenting the recognition result as an initial labeling result of the point cloud frame; and updating the labeling result in response to a correction operation by a user on the labeling result. According to the embodiment, the speed and accuracy of point cloud data labeling are improved.
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