基于共享内存的智能无人车进程间消息异步传输机制

发布时间：2018-05-01 13:35

本文选题：共享内存 + 智能无人车　；参考：《软件学报》2017年05期

【摘要】：智能无人车软件系统通常由多个功能模块组成,在模块间高效、可靠地传输传感器数据以及决策和控制信息等,是智能无人车系统运行的重要保障.目前,国内外大多数智能无人车软件系统所使用的消息传输机制均基于套接字(socket),其容易部署在分布式的控制器环境中,且能满足在较小数据量下的消息快速传输.但是,随着智能无人车集成控制器性能的提升以及环境感知手段的发展,对功能模块间传输的数据量以及带宽提出了更高的要求.现有基于套接字的消息传输机制因其受网络协议的限制,需要分块传输大数据包,不仅增加了收发双方的开销,而且还增加了消息传输延迟.提出一种基于共享内存(shared memory)的智能无人车进程间消息异步传输机制,模块间通过共享内存空间进行数据交互.共享内存空间由超级块和数据块构成,通过环形队列管理数据块收发;同时,采用原子操作提高整体性能,实现图像等大数据包的有效传输.该设计应用于智能无人车模块间通信,可以明显降低数据传输时延,提高系统吞吐量.实验结果表明,该方法针对典型大数据包(如3MB)的平均传输时延为2.5ms,低于LCM的12ms以及ROS中Sharedmem_transport的3.9ms.另外,该系统的最大吞吐量达到1.1GB/s,高于LCM的180MB/s以及Sharedmem_transport的600MB/s.
[Abstract]:Intelligent unmanned vehicle software system is usually composed of several functional modules. It is an important guarantee for intelligent unmanned vehicle system to transmit sensor data and decision-making and control information efficiently and reliably between modules. At present, most intelligent unmanned vehicle software systems at home and abroad use message transmission mechanism based on socket socket, it is easy to deploy in the distributed controller environment, and can meet the need of fast message transmission in a small amount of data. However, with the improvement of the performance of the intelligent unmanned vehicle integrated controller and the development of the environmental awareness method, the data and bandwidth between the functional modules are required to be higher. Due to the limitation of network protocol, the existing socket-based message transmission mechanism needs to transmit large packets in blocks, which not only increases the overhead of both sender and receiver, but also increases the delay of message transmission. This paper presents an asynchronous message transmission mechanism based on shared memory (shared memory) for intelligent unmanned vehicle (UAV), in which the modules interact with each other through shared memory space. The shared memory space is made up of super blocks and data blocks, and the data blocks are managed by a ring queue. At the same time, atomic operation is used to improve the overall performance and realize the effective transmission of large data packets such as images. This design is applied to communication between modules of intelligent unmanned vehicle, which can obviously reduce the delay of data transmission and improve the throughput of the system. The experimental results show that the average transmission delay of this method for typical large data packets (such as 3MB) is 2.5 Ms, which is lower than that of 12ms in LCM and 3.9 Ms in Sharedmem_transport in ROS. In addition, the maximum throughput of the system is 1.1 GB / s, which is higher than that of 180MB/s of LCM and 600MB / s of Sharedmem_transport.
【作者单位】：同济大学电子与信息工程学院;同济大学嵌入式重点实验室;浙江海洋大学数理与信息学院;总参第61研究所;
【基金】：中央高校基本科研业务费专项资金(20143436) 同济大学青年优秀人才培养计划(2014KJ027) 国家自然科学基金(41201379)~~
【分类号】：TP23;U463.6

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