Inter-Process Asynchronous Communication in Autonomous Vehicle Based on Shared Memory

doi:10.13328/j.cnki.jos.005144

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Home > Archive>Volume 28, Issue 5, 2017 >1315-1325. DOI:10.13328/j.cnki.jos.005144

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Inter-Process Asynchronous Communication in Autonomous Vehicle Based on Shared Memory
DOI:
                        10.13328/j.cnki.jos.005144
                    
Author:
                        CHEN Cun-TongCHEN Cun-Tong
College of Electronics and Information Engineering, Tongji University, Shanghai 201800, China;Key Laboratory of Embedded System and Service Computing, Tongji University, Shanghai 201800, China
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ZHAO Jun-QiaoZHAO Jun-Qiao
College of Electronics and Information Engineering, Tongji University, Shanghai 201800, China;Key Laboratory of Embedded System and Service Computing, Tongji University, Shanghai 201800, China
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YE ChenYE Chen
College of Electronics and Information Engineering, Tongji University, Shanghai 201800, China;Key Laboratory of Embedded System and Service Computing, Tongji University, Shanghai 201800, China
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DENG RongDENG Rong
College of Electronics and Information Engineering, Tongji University, Shanghai 201800, China;Key Laboratory of Embedded System and Service Computing, Tongji University, Shanghai 201800, China
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GUAN Lin-TingGUAN Lin-Ting
College of Electronics and Information Engineering, Tongji University, Shanghai 201800, China;Key Laboratory of Embedded System and Service Computing, Tongji University, Shanghai 201800, China;College of Mathematics and Information Science, Zhejiang Ocean University, Zhoushan 316022, China
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LI De-YiLI De-Yi
College of Electronics and Information Engineering, Tongji University, Shanghai 201800, China;Key Laboratory of Embedded System and Service Computing, Tongji University, Shanghai 201800, China;The 61st Research Institute of General Staff Department of Chinese PLA, Beijing 100081, China
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Fund Project:Fundamental Research Funds for the Central Universities (20143436); Program for Young Excellent Talents in Tongji University (2014KJ027); National Natural Science Foundation of China (41201379)

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Abstract:

Timely transmission of sensory data and control instructions is crucial between function modules of autonomous car systems. Socket-based message transmission mechanisms, e.g. LCM and IPC, are the de facto standard for this purpose because of their easy deployment and adaptability for distributed environment. However, they can no longer meet the increasing demands of high bandwidth for sharing large data packets, i.e. images and point clouds, among perception processing modules and the decision making module. The main reason is that socket-based mechanisms have to divide the large data packet into smaller data packets, which introduces extra costs for packing and unpacking, therefore results in high latency and low bandwidth. This paper proposes a new shared-memory-based inter-process message transmission mechanism. The shared memory segment is composed of a super block and several data blocks. The circular queues are deployed for fast scheduling data receiving and delivering. Meanwhile, the atomic operations are applied to improve the overall performance. Experimental results show that the average transmission delay of data packets of size 3MB is 2.5ms, which is drastically lower than LCM's 12ms and is also better than Sharedmem_transport's 3.9ms. The maximum throughput of this method is 1.1GB/s, which is much greater than LCM's 180MB/s and Sharedmem_transport's 600MB/s.

Key words:shared memory;autonomous vehicle;inter-process communication;high bandwidth;low latency

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陈存铜,赵君峤,叶晨,邓蓉,管林挺,李德毅.基于共享内存的智能无人车进程间消息异步传输机制.软件学报,2017,28(5):1315-1325

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Received:July 27,2016
Revised:October 26,2016
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Online: January 22,2017
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