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US 2022/0092231 A1Published application
Architecture for distributed system simulation timing alignment
AssigneeBeijing Voyager Technology Co., Ltd.
InventorsYuzhu Shen, Yun Jiang, Alok Priyadarshi
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Abstract
Systems and methods are provided for the accurate reproduction during simulation of distributed systems, such as vehicle-based processing systems. In a simulation, the execution times of individual tasks are aligned to those of a recorded process. Data consumed during the recorded process is also consumed during the corresponding portion of the simulation, and data generated during the simulation is associated with timing data from data generated during the recorded processes.
Claims20
A system comprising:
- a data store storing trip data regarding a trip of a vehicle, wherein the trip data comprises:
- simulated sensor data representing sensor data output from a sensor of the vehicle during the trip;
- execution timing data representing a recorded execution time of a particular execution of a recurrently-executing node during the trip;
- message timing data representing a first recorded publication time of a first message published by the node during the particular execution;
- and
- message consumption data representing a second recorded publication time of a second message consumed by the node during the particular execution;
- and
- one or more computing devices configured by executable instructions to at least:
- initiate a simulation of the trip using the simulated sensor data and a simulation clock;
- determine a simulated execution time within the simulation of the trip at which to execute the node, wherein the simulated execution time is based on the recorded execution time;
- determine that a time of the simulation clock corresponds to the simulated execution time;
- execute the node, wherein the time of the simulation clock remains static during execution of the node;
- and
- publish a simulated message during execution of the node, wherein the simulated message is based at least partly on the simulated sensor data, and wherein the simulated message is assigned a simulated publication time corresponding to the first recorded publication time.
11 more elements
A computer-implemented method comprising:
- under control of a computing system comprising a computer processor configured to execute specific instructions,
- loading simulation data comprising:
- a simulated sensor message representing sensor data;
- a first timing data item representing an observed execution time of a subsystem, the observed execution time associated with prior processing of the sensor data;
- and
- a second timing data item representing an observed timestamp of an output message of the subsystem, the output message associated with the prior processing of the sensor data;
- determining that a time of a simulation clock corresponds to the observed execution time represented by the first timing data item;
- executing the subsystem in response to determining that the time of the simulation clock corresponds to the observed execution time, wherein the simulation clock remains static during execution of the subsystem;
- and
- generating a simulated output message of the subsystem based at least partly on the simulated sensor message, wherein a timestamp of the simulated output message comprises the observed timestamp represented by the second timing data item.
7 more elements
A system comprising:
- computer-readable memory storing executable instructions;
- and
- one or more processors programed by the executable instructions to:
- load simulation data comprising:
- a simulated sensor message representing sensor data;
- a first timing data item representing an observed execution time of a subsystem, the observed execution time associated with prior processing of the sensor data;
- and
- a second timing data item representing an observed timestamp of an output message of the subsystem, the output message associated with the prior processing of the sensor data;
- determine that a time of a simulation clock corresponds to the observed execution time represented by the first timing data item;
- execute the subsystem in response to determining that the time of the simulation clock corresponds to the observed execution time, wherein the simulation clock remains static during execution of the subsystem;
- and
- generate a simulated output message of the subsystem based at least partly on the simulated sensor message, wherein a timestamp of the simulated output message comprises the observed timestamp represented by the second timing data item.
9 more elements
Dependencies are inferred from the claim text.