CN114727253A - Multi-sensor time domain synchronization method and device, storage medium and terminal - Google Patents
Multi-sensor time domain synchronization method and device, storage medium and terminal Download PDFInfo
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Abstract
The application discloses a multi-sensor time domain synchronization method, a device, a storage medium and a terminal, the method provided by the application calibrates local time according to GPS signals by acquiring GPS signals, adds time marks to feedback information sent by a plurality of sensors, and realizes that the feedback information sent by all the sensors is related to the synchronized time because the time marks are determined according to the calibrated time, so that the time marks added in the feedback information of the plurality of sensors are the calibrated local time, and time synchronization is carried out on the feedback information fed back by different sensors according to the time marks, thereby processing the feedback information of each sensor according to the calibrated time of a processor, and improving the planning accuracy of a vehicle driving route.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for synchronizing time domains of multiple sensors, a storage medium, and a terminal.
Background
The automatic driving technology is realized based on information interaction between a processor and a plurality of sensors, namely, each sensor respectively collects corresponding data, and the processor plans a vehicle driving route of a vehicle according to the data collected by each sensor.
In the prior art, a processor processes data collected by each sensor in sequence according to a time identifier in the received data collected by the sensor, but if the time data in the sensor is wrong, the accuracy of planning a vehicle driving route by the processor is affected.
Therefore, there is a need in the art for a solution or device that improves the accuracy of vehicle route planning.
Disclosure of Invention
The application provides a multi-sensor time domain synchronization method, a multi-sensor time domain synchronization device, a storage medium and a terminal, and can solve the technical problem that a scheme or a device capable of improving the accuracy of vehicle driving route planning is needed in the related technology.
In a first aspect, an embodiment of the present application provides a multi-sensor time domain synchronization method, which is applied to a processor, where the processor is connected to a GPS, and the method includes:
time calibration is carried out on the local time according to the GPS signal;
driving a plurality of sensors to return feedback information, and adding a time identifier to the feedback information returned by each sensor; wherein the time identifier is determined according to the calibrated time and is used for indicating the time for receiving the feedback information;
and carrying out time synchronization on feedback information returned by different sensors according to the time identification.
Optionally, the time calibrating the local time according to the GPS signal includes:
acquiring a signal of the GPS, wherein the signal of the GPS comprises time information and a pulse per second;
calibrating the local crystal oscillator according to the pulse per second;
and time calibration is carried out on the local time according to the calibrated local crystal oscillator and the time information.
Optionally, the acquiring the signal of the GPS includes:
judging whether the signal of the GPS is stable;
and when the signal of the GPS is stable, acquiring the signal of the GPS.
Optionally, the method further comprises:
and sending the feedback information after time synchronization to the controller connected with the processor.
Optionally, the sending the time-synchronized feedback information to the controller connected to the processor includes:
verifying whether the result of the time synchronization is accurate;
and when the result of the time synchronization is accurate, sending feedback information after the time synchronization to the controller.
Optionally, the driving the multiple sensors to return feedback information, and adding a time identifier to the feedback information returned by each of the sensors includes:
sending driving information to the plurality of sensors according to preset time, wherein the driving information is used for driving the plurality of sensors to return feedback information;
and receiving feedback information sent by the sensors, and adding time marks to the feedback information according to the time of receiving the feedback information.
In a second aspect, an embodiment of the present application provides a multi-sensor time domain synchronization system, including: the system comprises a GPS, a clock synchronization module, a data sending module and a sensor synchronization module;
the clock synchronization module is used for carrying out time calibration on local time according to the GPS signal;
the data sending module is used for driving the plurality of sensors to return feedback information and adding time identification to the feedback information returned by each sensor; wherein the time identifier is determined according to the calibrated time and is used for indicating the time for receiving the feedback information;
and the sensor synchronization module is used for carrying out time synchronization on feedback information returned by different sensors according to the time identification.
Optionally, the clock synchronization module is configured to acquire a signal of the GPS, where the signal of the GPS includes time information and a pulse per second; calibrating the local crystal oscillator according to the pulse number per second; and time calibration is carried out on the local time according to the calibrated local crystal oscillator and the time information.
Optionally, the clock synchronization module is further configured to determine whether a signal of the GPS is stable; and when the signal of the GPS is stable, acquiring the signal of the GPS.
Optionally, the data sending module is further configured to send the feedback information after time synchronization to the controller connected to the processor.
Optionally, the data sending module is further configured to verify whether the result of the time synchronization is accurate; and when the result of the time synchronization is accurate, sending feedback information after the time synchronization to the controller.
Optionally, the data sending module is further configured to compare whether the time identifiers of the feedback information received at the same time are the same; and if the time identifications of the feedback information received at the same moment are the same, determining that the time synchronization result is accurate.
Optionally, the data sending module is specifically configured to send driving information to the plurality of sensors according to preset time, where the driving information is used to drive the plurality of sensors to return feedback information; and receiving feedback information sent by the sensors, and adding time marks to the feedback information according to the time of receiving the feedback information.
Optionally, the sensor synchronization module comprises: the system comprises a camera synchronization module, a radar synchronization module and a wheel speed instrument synchronization module; the sensor includes: the system comprises a camera module, a radar module and a wheel speed meter module; the camera synchronization module is used for sending a driving signal with preset frequency to the camera module and adding a time mark to received camera module feedback information, the radar synchronization module is used for sending a driving signal with preset frequency to the radar module and adding a time mark to the received camera module feedback information, and the wheel speed instrument synchronization module is used for receiving feedback information of a wheel speed instrument module and adding a time mark to the received feedback information of the wheel speed instrument module.
In a third aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the steps of the method according to any one of the first aspect.
In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to any one of the first aspect when executing the program.
The application provides a multi-sensor time domain synchronization method, which is applied to a processor, wherein the processor is connected with a GPS, and the method comprises the following steps: time calibration is carried out on the local time according to the signal of the GPS; driving a plurality of sensors to return feedback information, and adding a time identifier to the feedback information returned by each sensor; the time mark is determined according to the calibrated time and is used for indicating the time for receiving the feedback information; and performing time synchronization on feedback information returned by different sensors according to the time identification. The method and the device can be used for further improving the time accuracy of the GPS by acquiring the GPS signal and calibrating the local time according to the GPS signal, the time identification is added to the feedback information sent by the sensors, and because the time identification is determined according to the calibrated time, further, the time mark added in the feedback information of a plurality of sensors is the calibrated local time, and the feedback information fed back by different sensors is time-synchronized according to the time mark, and further realizes that the feedback information sent by all the sensors is related to the synchronized time, so that the feedback information of each sensor is processed according to the time calibrated by the processor, the planning accuracy of the obtained vehicle driving route is higher, therefore, the problem that the accuracy of the processor for planning the vehicle driving route is insufficient due to the fact that time data in the sensor are wrong is solved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a diagram illustrating an exemplary system architecture of a multi-sensor time domain synchronization method according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of a multi-sensor time domain synchronization method according to another embodiment of the present application;
FIG. 3 is a flow chart of a multi-sensor time domain synchronization method according to another embodiment of the present application;
FIG. 4 is a flow chart of a multi-sensor time domain synchronization method according to another embodiment of the present application;
FIG. 5 is a block diagram of a multi-sensor time domain synchronization system according to another embodiment of the present application;
FIG. 6 is a block diagram of a multi-sensor time domain synchronization system according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims.
Fig. 1 is an exemplary system architecture diagram of a multi-sensor time domain synchronization method according to an embodiment of the present disclosure.
As shown in fig. 1, the system architecture may include sensors 101, a controller 102, a GPS103, a processor 104, and a network 105. The network 105 is used to provide a medium for communication links between the sensors 101, the controller 102, the GPS103, and the processor 104. Network 102 may include various types of wired or wireless communication links, such as: the wired communication link includes an optical fiber, a twisted pair wire or a coaxial cable, and the Wireless communication link includes a bluetooth communication link, a Wireless-Fidelity (Wi-Fi) communication link, a microwave communication link, or the like.
The automatic driving technology is taken as an important future development direction of automobiles, along with the development of computer technology, people divide the automatic driving technology into two types, one type is that all automobiles in one area are controlled by one controller or processor to realize the automatic driving in the area, the other type is that each automobile is provided with a plurality of sensors, the information related to driving is detected through the sensors, the information related to driving is sent to the automobile processor, the automobile processor analyzes the information related to driving, and then the automatic driving data of the automobile is obtained, so that the automatic driving of the automobile is realized.
However, whether the automatic driving is performed in a controller or a processor control area or the automatic driving of an automobile, the information interaction between the processor in the automobile and a plurality of sensors is required, that is, the processor plans the driving route of the automobile according to data collected by each sensor, when the automatic driving vehicle runs on a road, the data collected by each sensor is sequentially processed by the processor according to a time mark in the received data collected by the sensor, but if the time data in the sensor is wrong, the accuracy of planning the driving route of the automobile by the processor is affected, and the driving route of the automobile and the planned driving route have certain time deviation, which is disastrous.
In summary, in the automatic driving technology of an automobile, a method capable of solving the above problems needs to be found, and therefore the present application proposes a multi-sensor time domain synchronization method based on a computer technology, in which a local time is calibrated by using a GPS signal, and when feedback information of each sensor is obtained, a time identifier is added according to the locally calibrated time, so that a processor can complete time synchronization of the feedback information according to the time identifier in the feedback information, and thus the feedback information sent to the controller by the processor is synchronized feedback information.
Fig. 2 is a flowchart of a multi-sensor time domain synchronization method according to another embodiment of the present application. As shown in fig. 2, an execution subject of the method of the present application is exemplified as a processor, and the processor is connected to a GPS, and the method of the embodiment of the present application includes:
s201, time calibration is carried out on the local time according to the GPS signal.
It can be understood that the core of the scheme of the application lies in calibrating the local time according to the signal of the GPS, and adding the time identifier to the feedback information sent by the sensor by using the calibrated local time, thereby performing time synchronization on the feedback information of different sensors by using the time identifier. Therefore, the method of the present application first needs to acquire a GPS signal and calibrate the local time according to the GPS signal.
The signal of the GPS is a signal transmitted to the local processor by a satellite in the GPS system, the signal of the GPS at least includes time information, and the specific content of the signal of the GPS is not specifically limited herein; and a local time is set in the processor, the local time also indicating the time in the processor.
In practical application, for some reasons, there will be some deviation in the local time in the processor, so that the local time in the processor needs to be calibrated, specifically, the processor acquires the GPS signal and analyzes the GPS signal to obtain the time information in the GPS signal, and adjusts the local time of the processor according to the time information to calibrate the local time.
For example, if time information on time in the GPS signal is obtained by analyzing the GPS signal, and the time information in the GPS signal is 15: 01, and the local time in the processor is 15:30, then based on the time information 15 in the GPS signal: 01, adjust local time in the processor to 15: 01, thereby realizing the calibration of the local time in the processor.
S202, driving the plurality of sensors to return feedback information, and adding time identification to the feedback information returned by each sensor.
It can be understood that, since the calibrated time needs to be synchronized into the feedback information fed back by each sensor, the processor needs to acquire the feedback information sent by each sensor and add a time identifier to the feedback information after calibrating the local time in the processor.
Specifically, because the processor is connected to the plurality of sensors, the processor may receive feedback information fed back by the plurality of sensors, and because the acquisition frequencies of the plurality of sensors and the types of acquired data are different, the frequencies at which the processor receives the feedback information of the plurality of sensors are also different, that is, the number of the feedback information of the same sensor received by the processor in the same time period is also different, and thus, time labeling needs to be performed on the feedback information of each sensor according to the calibrated time, so that the time identifier labeled in the feedback information can be used for indicating the time at which the processor receives the feedback information.
For example: 16: 45, the processor receives feedback information fed back by the radar and feedback information fed back by the wheel speed instrument; 16: 46 the processor receives the feedback information fed back by the camera, the processor adds the information about 16: 45, adding 16 to the feedback information of the camera: 46.
Optionally, the processor may send driving information to a plurality of the sensors, and when the processor sends the driving information to the plurality of the sensors, a time identifier for sending the driving information may also be added to the driving information.
And S203, synchronizing the time of the feedback information returned by different sensors according to the time marks.
It can be understood that, the core of the present application lies in calibrating the local time according to the signal of the GPS, and adding the time identifier to the feedback information sent by the sensor by using the calibrated local time, so as to perform time synchronization on the feedback information of different sensors by using the time identifier. Therefore, after adding the time identifier to the feedback information of different sensors, the feedback information returned by different sensors needs to be time-synchronized according to the time identifier.
Specifically, the feedback information of different sensors is sorted according to the time sequence of the time identification, and the feedback information of the sensors corresponding to the same time identification is sent to the processor according to the sequence, so that the time identifications of the feedback information received by the processor at the same time are the same, and further, the time synchronization of the feedback information returned by different sensors is realized.
For example: the corresponding time identifier in the feedback information of the radar is 16: 45, the corresponding time in the feedback information of the wheel speed meter is marked as 16: 45, the time mark in the feedback information of the camera is 16: 46, it is required to sort the corresponding time identifiers in the feedback information of the camera, the feedback information of the wheel speed meter and the feedback information of the radar, that is, the time identifier is 16: 45, the time mark is 16: 46 is the feedback information of the camera, thereby completing the time synchronization of the feedback information returned by different sensors.
The application provides a multi-sensor time domain synchronization method, which is applied to a processor, wherein the processor is connected with a GPS, and the method comprises the following steps: time calibration is carried out on the local time according to the GPS signal; driving a plurality of sensors to return feedback information, and adding a time identifier to the feedback information returned by each sensor; the time mark is determined according to the calibrated time and is used for indicating the time for receiving the feedback information; and performing time synchronization on feedback information returned by different sensors according to the time identification. The method and the device can be used for further improving the time accuracy of the GPS by acquiring the GPS signal and calibrating the local time according to the GPS signal, the time identification is added to the feedback information sent by the sensors, and because the time identification is determined according to the calibrated time, the time mark added in the feedback information of a plurality of sensors is the calibrated local time, and the feedback information fed back by different sensors is time-synchronized according to the time mark, and further realizes that the feedback information sent by all the sensors is related to the synchronized time, so that the feedback information of each sensor is processed according to the time calibrated by the processor, the planning accuracy of the obtained vehicle driving route is higher, therefore, the problem that the accuracy of the processor for planning the vehicle driving route is insufficient due to the fact that time data in the sensor are wrong is solved.
Fig. 3 is a flowchart of a multi-sensor time domain synchronization method according to another embodiment of the present application, as shown in fig. 3, the method includes:
s301, acquiring a GPS signal, wherein the GPS signal comprises time information and the number of pulses per second.
It can be understood that the solution of the present application requires to acquire the signal of the GPS, and since the GPS is a positioning system of high-precision radio navigation based on artificial earth satellite, when the local time needs to be calibrated by using the signal of the GPS, a local processor needs to be connected with the GPS to receive the signal sent by the GPS.
Since the GPS signal is used to calibrate the local time, the time information in the GPS signal and the GPS pulse per second, which is used to indicate the time interval between the GPS and the processor transmission time, are acquired.
Specifically, in the process of acquiring a GPS signal, it is first required to determine whether the GPS signal is stable; and when the signal of the GPS is stable, acquiring the signal of the GPS.
In practical application, the scheme for determining whether the GPS signal is stable is to detect the number of GPS satellites connected to the processor, determine that the GPS signal is stable if the number of GPS satellites connected to the processor is greater than a preset threshold, determine that the GPS signal is unstable if the number of GPS satellites connected to the processor is not greater than the preset threshold, and set the preset threshold according to actual needs without specific limitations.
And S302, calibrating the local crystal oscillator according to the pulse number per second.
It can be understood that, when the local time is calibrated, the local crystal oscillator is arranged in the local processor and is used for timing the local time.
In practical application, the pulse per second in the GPS information is used as the vibration frequency of the local crystal oscillator of the processor, that is, the process of calibrating the local crystal oscillator according to the pulse per second is completed.
And S303, performing time calibration on the local time according to the calibrated local crystal oscillator and the time information.
The travel time of the local time is determined according to the frequency of the local crystal oscillator, so that the time point of the local time can be calibrated according to the time information in the GPS information, and the process of using the calibrated local crystal oscillator and the time information to calibrate the local time is completed by combining the frequency of the local crystal oscillator calibrated through the pulse number per second.
And S304, transmitting driving information to the plurality of sensors according to preset time.
As can be understood, since the plurality of sensors are respectively connected to the processor, the plurality of sensors can respectively directly realize information interaction with the processor, obtain feedback information of the plurality of sensors, and optionally, after calibrating the local time of the processor, send driving information to the plurality of sensors according to a preset time to drive the plurality of sensors to operate.
The preset time can be a preset time period, namely, the processor sends driving information to the plurality of sensors by taking a certain time length as a period; the preset time may also be a time point, and each time at a corresponding time of the time point, the processor sends driving information of the plurality of sensors to the plurality of sensors, and the driving information is used for driving the plurality of sensors to return feedback information.
Optionally, after the driving information is sent to the plurality of sensors according to the preset time, the method further includes: the plurality of sensors operate according to the corresponding driving information and send feedback information to the processor. Specifically, the sensor includes: the camera module receives the driving information sent by the processor, operates according to the driving information and the set frequency, and sends the level signal to the processor as a feedback signal in the operating process. The radar synchronization module receives the driving information sent by the processor, works according to the driving information and preset frequency, and sends acquired data serving as feedback information to the processor. And after receiving the driving information, the wheel speed instrument works according to the frequency corresponding to the driving information and sends the corresponding wheel speed information to the processor as feedback information.
S305, receiving feedback information sent by a plurality of sensors, and adding time marks to the plurality of feedback information according to the time when the feedback information is received.
It can be understood that the processor sends the driving information to each sensor, and after each sensor operates according to the driving, the processor sends corresponding feedback information to the processor, so that the processor receives the feedback information sent by each sensor after sending the driving information to each sensor.
Specifically, after receiving the feedback information of each sensor, the processor adds a time identifier to the feedback information according to a time point of receiving the feedback information, where the time identifier is used to indicate a time when the processor receives the feedback information.
And S306, performing time synchronization on feedback information returned by different sensors according to the time identification.
The step S306 is identical to the step S203, and is not described herein in detail.
The application provides a multi-sensor time domain synchronization method, which is applied to a processor, wherein the processor is connected with a GPS, and the method comprises the following steps: time calibration is carried out on the local time according to the signal of the GPS; driving a plurality of sensors to return feedback information, and adding a time identifier to the feedback information returned by each sensor; the time mark is determined according to the calibrated time and is used for indicating the time for receiving the feedback information; and performing time synchronization on feedback information returned by different sensors according to the time identification. The method and the device can be used for further improving the time accuracy of the GPS by acquiring the GPS signal and calibrating the local time according to the GPS signal, adds time identification to the feedback information sent by a plurality of sensors, because the time identification is determined according to the calibrated time, the time mark added in the feedback information of a plurality of sensors is the calibrated local time, and the feedback information fed back by different sensors is time-synchronized according to the time mark, and further realizes that the feedback information sent by all the sensors is related to the synchronized time, so that the feedback information of each sensor is processed according to the time calibrated by the processor, the planning accuracy of the obtained vehicle driving route is higher, therefore, the problem that the accuracy of the processor for planning the driving route of the vehicle is insufficient due to the fact that time data in the sensor are wrong is solved.
Fig. 4 is a flowchart of a multi-sensor time domain synchronization method according to another embodiment of the present application. As shown in fig. 4, the processor is further connected to the controller, and the method further includes:
s401, time calibration is carried out on the local time according to the GPS signal.
S402, driving the plurality of sensors to return feedback information, and adding time identification to the feedback information returned by each sensor.
And S403, performing time synchronization on feedback information returned by different sensors according to the time identification.
The steps S401 to S403 are completely the same as the steps S201 to S203, and are not described herein again.
And S404, sending the feedback information after time synchronization to a controller connected with the processor.
It will be appreciated that after the processor synchronizes the feedback information from the sensors, the feedback information needs to be returned to an actuator, such as a controller, so that the controller can control the vehicle according to the time-synchronized feedback information.
In practical application, before sending the feedback information after time synchronization to the controller, it is necessary to verify whether the result of time synchronization is accurate, if the result of time synchronization is accurate, the feedback information after time synchronization may be sent to the controller, and if the result of time synchronization is not accurate, the time identifier needs to be added to the feedback information of each sensor again.
Specifically, the process of verifying whether the synchronized time information is accurate is as follows: firstly, comparing whether the time marks of the feedback information received at the same time are the same; and then, if the time identifications of the feedback information received at the same moment are the same, determining that the time synchronization result is accurate.
Because the time marks on the feedback information of the sensors received at the same time are the same time mark, the time marks on the feedback information of the sensors received at the same time can be used for comparison, and if the time marks on the feedback information received at the same time are the same, the result of time synchronization is determined to be accurate. And if the time identifications of the feedback information received at the same moment are different, determining that the time synchronization result is not accurate.
And S405, when the time synchronization result is accurate, sending feedback information after time synchronization to the controller.
The application provides a multi-sensor time domain synchronization method, which is applied to a processor, wherein the processor is connected with a GPS, and the method comprises the following steps: time calibration is carried out on the local time according to the GPS signal; driving a plurality of sensors to return feedback information, and adding a time identifier to the feedback information returned by each sensor; the time mark is determined according to the calibrated time and is used for indicating the time for receiving the feedback information; and performing time synchronization on feedback information returned by different sensors according to the time identification. The method and the device can be used for further improving the time accuracy of the GPS by acquiring the GPS signal and calibrating the local time according to the GPS signal, the time identification is added to the feedback information sent by the sensors, and because the time identification is determined according to the calibrated time, the time mark added in the feedback information of a plurality of sensors is the calibrated local time, and the feedback information fed back by different sensors is time-synchronized according to the time mark, and further realizes that the feedback information sent by all the sensors is related to the synchronized time, so that the feedback information of each sensor is processed according to the time calibrated by the processor, the planning accuracy of the obtained vehicle driving route is higher, therefore, the problem that the accuracy of the processor for planning the vehicle driving route is insufficient due to the fact that time data in the sensor are wrong is solved. And because the method verifies the synchronization time of the feedback information sent to the controller, the controller controls the vehicle according to the synchronized feedback information, and the vehicle is controlled more accurately.
Fig. 5 is a flowchart of a multi-sensor time domain synchronization method according to another embodiment of the present application, and as shown in fig. 5, a multi-sensor time domain synchronization system 500 includes:
the clock synchronization module 501 performs time calibration on local time according to the signal of the GPS 504;
the data sending module 502 is configured to drive the multiple sensors to return feedback information, and add a time identifier to the feedback information returned by each sensor; the time mark is determined according to the calibrated time and is used for indicating the time for receiving the feedback information;
and the sensor synchronization module 503 is configured to perform time synchronization on feedback information returned by different sensors according to the time identifier.
Optionally, the clock synchronization module 501 is configured to acquire a GPS signal, where the GPS signal includes time information and a pulse per second; calibrating the local crystal oscillator according to the pulse number per second; and time calibration is carried out on the local time according to the calibrated local crystal oscillator and the time information.
Optionally, the clock synchronization module 503 is further configured to determine whether a signal of the GPS is stable; when the GPS signal is stable, the GPS signal is acquired
Optionally, the data sending module 502 is further configured to send the time-synchronized feedback information to a controller connected to the processor.
Optionally, the data sending module 502 is further configured to verify whether the result of time synchronization is accurate; and when the result of the time synchronization is accurate, sending feedback information after the time synchronization to the controller.
Optionally, the data sending module 502 is further configured to compare whether the time identifiers of the feedback information received at the same time are the same; and if the time identifications of the feedback information received at the same moment are the same, determining that the time synchronization result is accurate.
Optionally, the data sending module 502 is specifically configured to send driving information to the multiple sensors according to preset time, where the driving information is used to drive the multiple sensors to return feedback information; and receiving feedback information sent by a plurality of sensors, and adding time marks to the plurality of feedback information according to the time of receiving the feedback information.
Fig. 6 is a block diagram of a multi-sensor time domain synchronization system according to another embodiment of the present application. As shown in fig. 6, optionally, the sensor synchronization module 503 comprises: a camera synchronization module 5031, a radar synchronization module 5032 and a wheel speed synchronization module 5033; the sensor includes: the system comprises a camera module, a radar module and a wheel speed meter module; the camera synchronization module 5031 is configured to send a driving signal with a preset frequency to the camera module and add a time identifier to the received camera module feedback information, the radar synchronization module 5032 is configured to send a driving signal with a preset frequency to the radar module and add a time identifier to the received camera module feedback information, and the wheel speed synchronization module 5033 is configured to receive feedback information of the wheel speed instrument module and add a time identifier to the received feedback information of the wheel speed instrument module.
The application provides a multisensor time domain synchronization system, includes: the clock synchronization module is used for carrying out time calibration on local time according to the GPS signal; the data sending module is used for driving the plurality of sensors to return feedback information and adding time identification to the feedback information returned by each sensor; the time mark is determined according to the calibrated time and is used for indicating the time for receiving the feedback information; the sensor synchronization module is used for performing time synchronization on feedback information returned by different sensors according to time identification, the GPS signals are acquired, the local time is calibrated according to the GPS signals, further, the time identification is added to the feedback information sent by the sensors, the time identification is determined according to the calibrated time, the time identification added to the feedback information of the sensors is the calibrated local time, the feedback information fed back by the different sensors is subjected to time synchronization according to the time identification, and further, the feedback information sent by all the sensors is related to the synchronized time, so that the feedback information of each sensor is processed according to the time calibrated by the processor, the planning accuracy of the obtained vehicle driving route is higher, and the error of time data in the sensors is avoided, and the accuracy of the processor for planning the driving route of the vehicle is insufficient.
Embodiments of the present application also provide a computer-readable storage medium, which may store a plurality of instructions adapted to be loaded by a processor and to perform the steps of the method according to any one of the above embodiments.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, the electronic device 600 may include: at least one electronic device processor 601, at least one network interface 604, a user interface 603, a memory 605, at least one communication bus 602. Wherein the communication bus 602 is used to enable connection communication between these components.
The user interface 603 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 603 may also include a standard wired interface and a wireless interface.
The network interface 604 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
The Memory 605 may include a Random Access Memory (RAM) or a Read-Only Memory (ROM). Optionally, the memory 605 includes a non-transitory computer-readable medium. The memory 605 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 605 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 605 may optionally be at least one storage device located remotely from the electronic device processor 601. As shown in fig. 6, the memory 605, which is a kind of computer-readable storage medium, may include therein an operating system, a network communication module, a user interface module, and a test script generating program.
In the electronic device 600 shown in fig. 6, the user interface 603 is mainly used for providing an input interface for a user to obtain data input by the user; the electronic device processor 601 may be configured to call the test script generating program stored in the memory 605, and specifically perform the following operations:
time calibration is carried out on the local time according to the signal of the GPS;
driving a plurality of sensors to return feedback information, and adding a time identifier to the feedback information returned by each sensor; the time mark is determined according to the calibrated time and is used for indicating the time for receiving the feedback information;
and performing time synchronization on feedback information returned by different sensors according to the time identification.
In some embodiments, the processor 601 specifically performs the following steps when performing time calibration of the local time according to the GPS signal: acquiring a signal of a GPS, wherein the signal of the GPS comprises time information and a pulse per second; calibrating the local crystal oscillator according to the pulse number per second; and time calibration is carried out on the local time according to the calibrated local crystal oscillator and the time information.
In some embodiments, the processor 601 specifically performs the following steps when executing the acquisition of the GPS signal: judging whether the signal of the GPS is stable; when the signal of the GPS is stable, the signal of the GPS is acquired.
In some embodiments, processor 601 also performs sending time synchronized feedback information to a controller connected to the processor.
In some embodiments, when the processor 601 executes the controller to send the feedback information after time synchronization, the following steps are specifically executed: verifying whether the time synchronization result is accurate or not; and when the result of the time synchronization is accurate, sending feedback information after the time synchronization to the controller.
In some embodiments, the processor 601 specifically performs the following steps when performing the verification whether the synchronized time information is accurate: comparing whether the time marks of the feedback information received at the same time are the same; and if the time identifications of the feedback information received at the same moment are the same, determining that the time synchronization result is accurate.
In some embodiments, when the processor 601 drives the plurality of sensors to return the feedback information and adds a time identifier to the feedback information returned by each sensor, the following steps are specifically performed: sending driving information to the plurality of sensors according to preset time, wherein the driving information is used for driving the plurality of sensors to return feedback information; and receiving feedback information sent by a plurality of sensors, and adding time identification to the plurality of feedback information according to the moment of receiving the feedback information.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required for the application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the multi-sensor time domain synchronization method, system, computer storage medium and electronic device provided by the present application, those skilled in the art will recognize that changes may be made in the embodiments and applications of the method and system according to the teachings of the present application.
Claims (15)
1. A multi-sensor time domain synchronization method applied to a processor, wherein the processor is connected with a GPS, the method comprising:
time calibration is carried out on the local time according to the GPS signal;
driving a plurality of sensors to return feedback information, and adding a time identifier to the feedback information returned by each sensor; wherein the time identifier is determined according to the calibrated time and is used for indicating the time for receiving the feedback information;
and carrying out time synchronization on feedback information returned by different sensors according to the time identification.
2. The method of claim 1, wherein said time-calibrating the local time based on the GPS signal comprises:
acquiring a signal of the GPS, wherein the signal of the GPS comprises time information and a pulse per second;
calibrating the local crystal oscillator according to the pulse per second;
and time calibration is carried out on the local time according to the calibrated local crystal oscillator and the time information.
3. The method of claim 2, wherein the acquiring the GPS signal comprises:
judging whether the signal of the GPS is stable;
and when the signal of the GPS is stable, acquiring the signal of the GPS.
4. The method of claim 1, further comprising:
and sending the feedback information after time synchronization to a controller connected with the processor.
5. The method of claim 4, wherein sending the time-synchronized feedback information to a controller connected to the processor comprises:
verifying whether the result of the time synchronization is accurate;
and when the result of the time synchronization is accurate, sending feedback information after the time synchronization to the controller.
6. The method of claim 1, wherein the driving a plurality of sensors to return feedback information and adding a time stamp to the feedback information returned by each of the sensors comprises:
sending driving information to the plurality of sensors according to preset time, wherein the driving information is used for driving the plurality of sensors to return feedback information;
and receiving feedback information sent by the sensors, and adding time marks to the feedback information according to the time of receiving the feedback information.
7. A multi-sensor time domain synchronization system, the system comprising: the system comprises a GPS, a clock synchronization module, a data sending module and a sensor synchronization module;
the clock synchronization module is used for carrying out time calibration on local time according to the GPS signal;
the data sending module is used for driving the plurality of sensors to return feedback information and adding time identification to the feedback information returned by each sensor; wherein the time identifier is determined according to the calibrated time and is used for indicating the time for receiving the feedback information;
and the sensor synchronization module is used for carrying out time synchronization on feedback information returned by different sensors according to the time identification.
8. The system of claim 7, wherein the clock synchronization module is configured to obtain the GPS signal, and the GPS signal includes time information and a number of pulses per second; calibrating the local crystal oscillator according to the pulse per second; and time calibration is carried out on the local time according to the calibrated local crystal oscillator and the time information.
9. The system of claim 8, wherein the clock synchronization module is further configured to determine whether the GPS signal is stable; and when the signal of the GPS is stable, acquiring the signal of the GPS.
10. The system of claim 9, wherein the data sending module is further configured to send the time-synchronized feedback information to the controller connected to the processor.
11. The system of claim 10, wherein the data sending module is further configured to verify whether the result of the time synchronization is accurate; and when the result of the time synchronization is accurate, sending feedback information after the time synchronization to the controller.
12. The system according to claim 6, wherein the data sending module is specifically configured to send driving information to the plurality of sensors according to a preset time, where the driving information is used to drive the plurality of sensors to return feedback information; and receiving feedback information sent by the sensors, and adding time marks to the feedback information according to the time of receiving the feedback information.
13. The system of claim 6, wherein the sensor synchronization module comprises: the system comprises a camera synchronization module, a radar synchronization module and a wheel speed instrument synchronization module; the sensor includes: the system comprises a camera module, a radar module and a wheel speed meter module; the camera synchronization module is used for sending a driving signal with preset frequency to the camera module and adding a time mark to received camera module feedback information, the radar synchronization module is used for sending a driving signal with preset frequency to the radar module and adding a time mark to the received camera module feedback information, and the wheel speed instrument synchronization module is used for receiving feedback information of a wheel speed instrument module and adding a time mark to the received feedback information of the wheel speed instrument module.
14. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the steps of the method according to any of claims 1 to 6.
15. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 6 when executing the program.
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