Zoox, Inc.

Shao-Han Tang

Jacob Lee Askeland

Ryan Martin Cahoon

Rasoul Kabirzadeh

Yangwei Liu

Ryder Rishel

This disclosure describes techniques for latency mitigation during inter-process communication based on pre-allocating and managing shared memory. During the startup phase (e.g., prior to run-time), processes of vehicle computing systems may request to engage in communication with other processes within the vehicle computing system. Based on the request, a memory manager may determine an amount of shared memory to pre-allocate. In such examples, the amount of shared memory may be determined based on a maximum number of messages that may be 'in-flight' at any single instance during run-time, and a maximum size of a message. The memory manager may pre-allocate shared memory consistent with the determined amount, and transmit a key to the requesting process. In such examples, the key may enable the process to access the pre-allocated shared memory. After the startup phase has ended, the process may read and/or write messages to and from the shared memory.

Latency mitigation for inter-process communication

Techniques associated with detecting non-deterministic behavior with a component and/or subcomponents of an autonomous vehicle are discussed herein. In some cases, a simulation system may be configured to simulate operations of the autonomous vehicle and to detect changes in behavior between instances and with respect to log data or expected results. The simulation system may flag or otherwise identify components and/or subcomponents responsive to detecting potentially non-deterministic behavior.

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Foster City, CA, United States of America

Shao-Han Tang