CENTRALIZED SCHEDULING SYSTEM USING GLOBAL STORE FOR OPERATING AUTONOMOUS DRIVING VEHICLES

摘要

A global store is maintained to store a number of data structures. Each data structure includes a number of entries and each entry stores data of one of the events in a chronological order. Each data structure is associated with one of the sensors or the autonomous driving modules of an autonomous driving vehicle. When a first event associated with a first autonomous driving module is received, where the first event includes a first topic ID, the first topic ID is hashed to identify a first data structure corresponding to the first event. A pointer pointing to a head of the first data structure is passed to the first autonomous driving module to allow the first autonomous driving module to process data associated with the first event.