CN115017222B - Information processing system and method based on multiple information sources - Google Patents
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Abstract
The disclosure relates to a multi-information-source-based information processing system and method. The information processing system based on multiple information sources comprises: an information source; the first processor comprises a first processing unit, a first communication interface and a plurality of information source interfaces, wherein the first communication interface and the plurality of information source interfaces are connected with the first processing unit; the second processor comprises a second processing unit, a second communication interface and at least one data interface, wherein the second communication interface and the at least one data interface are connected with the second processing unit; the first processing unit is provided with reference time information, data information of each information source is sent to the second processing unit through the first processing unit or through a data interface, and each data information is bound with the reference time information. Therefore, the information of all the information sources is unified by taking the reference time information as a reference, and the time consistency of all the information sources is ensured.
Description
Technical Field
The present disclosure relates to the field of information processing technologies, and in particular, to an information processing system and method based on multiple information sources.
Background
In the field of automatic driving, in order to better sense the environment and acquire an accurate three-dimensional model and a driving track near a vehicle, multiple detection devices are generally required to detect, and detection results are combined to comprehensively determine environmental information of an area where the vehicle is located.
Disclosure of Invention
In order to solve the technical problem, the present disclosure provides an information processing system and method based on multiple information sources.
In a first aspect of the present disclosure, there is provided a multi-information-source based information processing system, including:
a plurality of information sources;
the system comprises a first processor, a second processor and a plurality of information sources, wherein the first processor comprises a first processing unit, a first communication interface and a plurality of information source interfaces, the first communication interface and the plurality of information source interfaces are connected with the first processing unit, and the plurality of information source interfaces are respectively connected with the plurality of information sources;
a second processor, the second processor comprising a second processing unit, and a second communication interface and at least one data interface connected to the second processing unit, the at least one data interface being connected to at least some of the plurality of information sources, the first communication interface being communicatively connected to the second communication interface;
the first processing unit is provided with reference time information, data information of each information source is sent to the second processing unit through the first processing unit or the data interface, and each data information is bound with the reference time information.
In some embodiments of the present disclosure, the plurality of information sources include a first information source, the plurality of information source interfaces include a first information source interface connected to the first information source, the at least one data interface includes a first data interface connected to the first information source, the first information source is configured to send first data information to the second processing unit through the first data interface in response to a first trigger signal sent by the first processing unit through the first information source interface, the first processing unit is configured to send first reference time information when the first trigger signal is sent to the second processing unit, and the second processing unit is configured to bind the first data information with the first reference time information.
In some embodiments of the present disclosure, the plurality of information sources includes a second information source, the plurality of information source interfaces includes a second information source interface connected to the second information source, the second information source is configured to send, in response to a second trigger signal sent by the first processing unit through the second information source interface, second data information to the first processing unit through the second information source interface, and the first processing unit is configured to bind second reference time information when the second trigger signal is sent to the second processing unit with the second data information, and then send the second reference time information to the second processing unit.
In some embodiments of the present disclosure, the plurality of information sources include a third information source, the plurality of information source interfaces include a third information source interface connected to the third information source, and the first processing unit is configured to acquire third data information of the third information source through the third information source interface, bind third reference time information when the third data information is acquired with the third data information, and send the bound third reference time information to the second processing unit.
In some embodiments of the present disclosure, the plurality of information sources includes a fourth information source, the plurality of information source interfaces includes a fourth information source interface connected to the fourth information source, the at least one data interface includes a second data interface connected to the fourth information source, the first processing unit is configured to send fourth reference time information to the fourth information source through the fourth information source interface, and the fourth information source is configured to send fourth data information to the second processing unit through the second data interface after being bound to the fourth reference time information.
In some embodiments of the present disclosure, the first processor includes a reference time input interface for connecting to a reference time transmission system, and the first processing unit is connected to the reference time input interface and configured to modify the reference time information according to information received by the reference time input interface.
In some embodiments of the present disclosure, the first processor further includes a third communication interface, the second processor further includes a fourth communication interface, and the first processing unit is configured to send a pulse signal to the second processing unit through the third communication interface to trigger the second processing unit to correct the built-in time.
In a second aspect of the present disclosure, there is provided a method for processing information based on multiple information sources, applied to a first processor, the first processor being connected to multiple information sources and to a second processor, the method for processing information based on multiple information sources comprising:
sending a first trigger signal to the information source, wherein the first trigger signal is used for triggering the information source to send first data information to the second processor;
sending first reference time information when the first trigger signal is sent to the second processor, so that the second processor binds the first data information with the first reference time information;
or,
sending a second trigger signal to the information source, wherein the second trigger signal is used for triggering the information source to send second data information to the first processor;
receiving the second data information;
binding second reference time information and the second data information when the second trigger signal is sent, and sending the second reference time information and the second data information to the second processor;
or,
acquiring third data information from the information source;
binding third reference time information obtained when the third data information is obtained with the third data information and then sending the third reference time information and the third data information to the second processing unit;
or,
and periodically sending fourth reference time information to the information source so that the information source sends fourth data information to the second processing unit by taking the fourth reference time information as a time reference.
In a third aspect of the present disclosure, there is provided a method for processing information based on multiple information sources, applied to a second processor, the second processor being connected to at least one information source and to a first processor, the method for processing information based on multiple information sources comprising:
receiving first data information sent by the information source;
receiving first reference time information sent by the first processor;
and binding the first data information and the corresponding first reference time information.
In some embodiments of the present disclosure, the second processor is connected to a lidar, the first processor is connected to an encoder, the encoder is located in a driving motor of the lidar, and the information processing method based on multiple information sources includes:
receiving fourth data information and corresponding fourth reference time information sent by the laser radar;
receiving third data information of the encoder and corresponding third reference time information sent by the first processor;
determining encoder data information corresponding to the fourth reference time information based on the fourth reference time information, the third data information, and the third reference time information;
determining radar data information based on the fourth data information and the encoder data information.
The information processing system based on the multiple information sources is provided with a first processor and a second processor, reference time information is arranged in a first processing unit of the first processor, data information of all the information sources is bound with the reference time information arranged by the first processing unit, and data processing is carried out in the second processor, so that the information of all the information sources is unified by taking the reference time information as a reference, and the time consistency of the information of all the information sources is ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
The accompanying drawings that form a part hereof are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic diagram of a clock comparison of a detection apparatus in the related art;
FIG. 2 is a schematic diagram illustrating a time delay in receiving data from a detection device by a processor according to the related art;
FIG. 3 is a block diagram of an information handling system based on multiple information sources according to an exemplary embodiment of the present disclosure;
FIG. 4 is a block diagram of a multi-information source based information handling system according to another exemplary embodiment of the present disclosure;
fig. 5 is a flowchart illustrating an information processing method based on multiple information sources according to a first embodiment of the present disclosure;
fig. 6 is a flowchart illustrating an information processing method based on multiple information sources according to a second embodiment of the present disclosure;
fig. 7 is a flowchart illustrating an information processing method based on multiple information sources according to a third embodiment of the present disclosure;
fig. 8 is a flowchart illustrating an information processing method based on multiple information sources according to a fifth embodiment of the present disclosure;
fig. 9 is a flowchart of an information processing method based on multiple information sources according to a sixth embodiment of the present disclosure.
In the figure:
100. an information source; 110. a first information source; 120. a second information source; 130. a third information source; 140. a fourth information source;
200. a first processor; 210. a first processing unit; 220. a first communication interface; 230. an information source interface; 231. a first information source interface; 232. a second information source interface; 233. a third information source interface; 234. a fourth information source interface; 240. a reference time input interface; 250. a third communication interface;
300. a second processor; 310. a second processing unit; 320. a second communication interface; 330. a data interface; 331. a first data interface; 332. a second data interface; 340. a fourth communication interface;
400. a reference time transmission system.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure. It should be noted that, in the present disclosure, the embodiments and the features of the embodiments may be arbitrarily combined with each other without conflict.
In the related art, each detection device has a separate Time system, and the Time systems of different detection devices are different due to differences in manufacturing processes, for example, fig. 1 shows a schematic diagram of a UTC (Universal Time Coordinated, network Coordinated Universal Time) clock, a radar clock, and a camera clock. In addition, the detection device is often transmitted to the processor through a communication protocol, and for some processors processing large-scale data such as graphic images, a non-real-time operating system (e.g. Linux) is generally installed, and due to system scheduling, the data received by the processor from the detection device is delayed and uncertain, as shown in fig. 2, there is a time difference of Δ t between the detection device timing and the processor timing, so even if there is no error in the clock between the detection devices, the real time generated by the detection device data cannot be known because the transmission delay time is uncertain.
Based on the above, the present disclosure provides an information processing system based on multiple information sources, which is provided with a first processor and a second processor, wherein reference time information is set in a first processing unit of the first processor, data information of each information source is bound with the reference time information set by the first processing unit, and data processing is performed in the second processor, so that the information of all the information sources uniformly takes the reference time information as a reference, and the time consistency of the information of each information source is ensured.
An exemplary embodiment of the present disclosure provides an information processing system based on multiple information sources, as shown in fig. 3, the information processing system includes a plurality of information sources 100, a first processor 200, and a second processor 300, wherein the plurality of information sources 100 are respectively used for generating different information, for example, the plurality of information sources 100 are a plurality of different detection devices, and the plurality of information sources 100 include an image acquisition device, an inertial measurement device, a laser radar, an encoder, and the like.
The first processor 200 includes a first processing unit 210, and a first communication interface 220 and a plurality of information source interfaces 230 connected to the first processing unit 210, the plurality of information source interfaces 230 are respectively connected to the plurality of information sources 100, and the first processing unit 210 can communicate with the corresponding information source 100 through the information source interface 230. The second processor 300 comprises a second processing unit 310, and a second communication interface 320 and at least one data interface 330 connected to the second processing unit 310, wherein the at least one data interface 330 is connected to at least a part of the information sources 100 of the plurality of information sources 100, and the first communication interface 220 is communicatively connected to the second communication interface 320.
In this way, the data information of each information source 100 can be transmitted to the second processing unit 310 through the first processing unit 210, for example, the data information of the information source 100 is transmitted to the first processing unit 210 through the information source interface 230, and the first processing unit 210 transmits the received data information to the second processing unit 310 through the first communication interface 220 and the second communication interface 320. The data information of each information source 100 can also be directly transmitted to the second processing unit 310 through the data interface 330.
The first processing unit 210 is provided with reference time information, and each piece of data information is bound with the reference time information, so that the information of all the information sources 100 is uniformly based on the reference time information, and the time consistency of the information of each information source 100 is ensured.
The first processor 200 is a processor with a real-time operating system, such as an MCU (micro controller Unit) or an FPGA (Field Programmable Gate Array), and the second processor 300 is a processor with a non-real-time operating system (such as Linux), which has a strong computing performance and is used for processing large-scale data, such as image data, point cloud data, and the like.
In one embodiment, as shown in fig. 4, the plurality of information sources 100 includes a first information source 110, the plurality of information source interfaces 230 includes a first information source interface 231 connected to the first information source 110, and the at least one data interface 330 includes a first data interface 331 connected to the first information source 110. The first information source 110 is configured to send first data information to the second processing unit 310 through the first data interface 331 in response to a first trigger signal sent by the first processing unit 210 through the first information source interface 231, the first processing unit 210 is configured to send first reference time information when the first trigger signal is sent to the second processing unit 310, and the second processing unit 310 is configured to bind the first data information with the first reference time information.
In this embodiment, the data size of the first data information generated by the first information source 110 is large, the first data information of the first information source 110 can be directly transmitted to the second processor 300 for processing, and the first processor 200 sends the first reference time information when the first trigger signal is sent to the second processing unit 310, so as to ensure that the first reference time information accurately represents the acquisition time of the first data information.
Illustratively, as shown in fig. 4, the first information source 110 is an image capturing device, the first data information is image information captured by the image capturing device, the first information source interface 231 is a General Purpose Input/Output Port (GPIO) interface, and the first processing unit 210 sends a first trigger signal to the image capturing device through the first information source interface 231 to trigger the image capturing device to capture an image and sends the captured image information to the second processing unit 310 through the first data interface 331. Meanwhile, the first processing unit 210 sends the first reference time information when the first trigger signal is sent to the second processing unit 310 through the first communication interface 220 and the second communication interface 320, so that the second processing unit 310 binds the information and the time, and performs data processing on the image information after the binding time, for example, running a real-time positioning and mapping (slam) algorithm. The first communication interface 220 and the second communication interface 320 may adopt SPI (Serial Peripheral interface) interfaces.
In order to ensure that the second processing unit 310 can accurately bind the image information of each image acquisition with the acquisition time one by one, in one embodiment, the second processing unit 310 adds 1 to the image number flag Np each time a frame of image is received, and adds 1 to the time flag Nt each time first reference time information is received, so that when binding is performed, the image information with the same image number flag and time flag is bound with the time information to ensure the one-to-one correspondence relationship between the image information and the time information.
In an embodiment, as shown in fig. 4, the plurality of information sources includes a second information source 120, the plurality of information source interfaces 230 includes a second information source interface 232 connected to the second information source 120, the second information source 120 is configured to send, in response to a second trigger signal sent by the first processing unit 210 via the second information source interface 232, second data information to the first processing unit 210 through the second information source interface 232, and the first processing unit 210 is configured to bind second reference time information when the second trigger signal is sent with the second data information and send the second reference time information to the second processing unit 310.
In this embodiment, the first processing unit 210 binds the second reference time information and the second data information and sends the bound second reference time information and the second data information to the second processing unit 310, and the second processing unit 310 does not need to perform the matching process between the information and the time, which simplifies the processing process of the second processing unit 310 and improves the processing efficiency of the second processing unit 310.
Illustratively, as shown in fig. 4, the second information source 120 is an inertial measurement unit for measuring three-axis attitude angle (or angular velocity) and acceleration of the object, the second information source interface 232 includes a GPIO interface and a UART (Universal Asynchronous Receiver/Transmitter) interface, the first processing unit 210 sends the second trigger signal to the inertial measurement unit through the GPIO interface, and the inertial measurement unit returns IMU data to the second processing unit 310 through the UART interface. After receiving the IMU data, the first processing unit 210 binds the IMU data with the corresponding time information, and then sends the IMU data to the second processing unit 310 through the first communication interface 220 and the second communication interface 320.
In an embodiment, as shown in fig. 4, the plurality of information sources includes a third information source 130, the plurality of information source interfaces 230 includes a third information source interface 233 connected to the third information source 130, and the first processing unit 210 is configured to obtain third data information of the third information source 130 through the third information source interface 233, bind third reference time information when the third data information is obtained with the third data information, and send the bound third reference time information to the second processing unit 310.
The present embodiment is suitable for an information source with a small transmission data amount and a negligible transmission time, and exemplarily, as shown in fig. 4, the third information source 130 is an encoder. In the field of large-scale handheld laser scanning, in order to better acquire an environmental three-dimensional model, a laser radar (described in detail later) is used, and meanwhile, a multi-view vision fusion mode is usually used for preventing the point cloud matching failure of the radar, and the failure condition is usually found in a long and straight tunnel and a flat road surface. Meanwhile, in order to increase the view field angle of the mechanical rotation laser radar, the motor with the encoder is used for driving the laser radar to rotate. The third information source interface 233 may adopt a UART interface, and the first processing unit 210 may obtain encoder data from the encoder through the UART interface, bind the encoder data with time information, and send the bound encoder data to the second processing unit 310.
In one embodiment, as shown in fig. 4, the plurality of information sources includes a fourth information source 140, the plurality of information source interfaces 230 includes a fourth information source interface 234 connected to the fourth information source 140, the at least one data interface 330 includes a second data interface 332 connected to the fourth information source 140, the first processing unit 210 is configured to send fourth reference time information to the fourth information source 140 through the fourth information source interface 234, and the fourth information source 140 is configured to bind the fourth data information with the fourth reference time information and send the fourth data information to the second processing unit 310 through the second data interface 332.
In this embodiment, the first processing unit 210 sends the reference time information to the fourth information source 140, and the fourth information source 140 binds the data information with the reference time information, thereby further reducing the computation of the first processing unit 210.
Illustratively, the fourth information source 140 is a laser radar, the fourth data information is point cloud information collected by the laser radar, the fourth information source interface 234 may adopt a UART interface, and the first processing unit 210 sends the fourth reference time information to the laser radar through the UART interface. In addition, the fourth information source interface 234 may further include a GPIO interface, and the first processing unit 210 sends a pulse signal, for example, a PPS (pulse per second) signal, to the lidar through the GPIO interface to trigger the lidar to correct the built-in time. Illustratively, the first processing unit 210 sends the first PPS signal and the corresponding reference time information after initialization, and the lidar updates the initial time of the lidar after receiving the first PPS signal and the reference time information. Then, the first processing unit 210 sends a pulse signal to the lidar every 1s (or other fixed time), without sending the reference time information, and the lidar records the time of the pulse signal through an external interrupt, and increases the system time of the lidar by 1s.
The reference time information provided in the first processing unit 210 may be modified, for example, in an exemplary embodiment, as shown in fig. 4, the first processor 200 includes a reference time input interface 240 for connecting the reference time transmission system 400, and the first processing unit 210 is connected to the reference time input interface 240 for modifying the reference time information according to the information received by the reference time input interface 240, so as to ensure the accuracy of the reference time information provided in the first processing unit 210. For example, the reference time input interface 240 includes a GPIO interface and a UART interface, and the reference time transmission system 400 may transmit the UTC time to the first processing unit 210 through the UART interface. The reference time transmission system 400 may transmit the PPS signal to the first processing unit 210 through the GPIO interface. Since the transmission of the UTC time information requires a certain time, when the first processing unit 210 receives the UTC time, a certain time difference is present between the UTC time and the time sent by the reference time transmission system 400, for this reason, when the reference time transmission system 400 sends the UTC time to the first processing unit 210 through the UART interface, the PPS signal is sent to the first processing unit 210 through the GPIO interface, because the PPS signal has real-time property, when the first processing unit 210 receives the PPS signal, the time point of receiving the PPS signal is confirmed as the time point of sending the UTC time by the reference time transmission system 400, when the UTC time is received, the UTC time to be received corresponds to the time point of receiving the PPS signal, thereby ensuring the accuracy of the reference time of the first processing unit 210. The reference time transmission System 400 may be, for example, a GPS (Global Positioning System) or an RTK (Real-time kinemaTIc).
In an exemplary embodiment of the present disclosure, as shown in fig. 4, the first processor 200 further includes a third communication interface 250, the second processor 300 further includes a fourth communication interface 340, and the first processing unit 210 is configured to send a pulse signal to the second processing unit 310 through the third communication interface 250 to trigger the second processing unit 310 to correct the built-in time. Illustratively, the first processing unit 210 sends a first PPS signal and corresponding reference time information after initialization, and the second processing unit 310 updates the initial time of the second processing unit 310 after receiving the first PPS signal and the reference time information. Then, the first processing unit 210 sends a pulse signal to the second processing unit 310 every 1s (or other fixed time), without sending the reference time information, and the second processing unit 310 records the time of the pulse signal through an external interrupt, and increases the system time thereof by 1s at the time.
In this embodiment, when the second processing unit 310 receives the reference time information, such as the first reference time information, the second reference time information, the third reference time information, the fourth reference time information, and the like, the second processing unit 310 compares the system time of the second processing unit with the reference time information, and when the difference between the system time and the reference time information is greater than a preset difference, it is determined that the data information bound to the reference time information is invalid, so as to further ensure the time accuracy of the data information received by the second processing unit 310.
An exemplary embodiment of the present disclosure further provides an information processing method based on multiple information sources, which is applied to a first processor, for example, a first processor in the above information processing system based on multiple information sources, and as shown in fig. 5, the information processing method based on multiple information sources shown in the first embodiment of the present disclosure includes the following steps:
s100, sending a first trigger signal to the information source, wherein the first trigger signal is used for triggering the information source to send first data information to the second processor.
S200, sending the first reference time information when the first trigger signal is sent to the second processor, so that the second processor binds the first data information with the first reference time information.
The method is suitable for the first information source, and reference may be made to the foregoing description, which is not repeated herein.
As shown in fig. 6, an information processing method based on multiple information sources according to a second embodiment of the present disclosure includes the following steps:
and S110, sending a second trigger signal to the information source, wherein the second trigger signal is used for triggering the information source to send second data information to the first processor.
And S210, receiving second data information.
And S310, binding second reference time information and second data information when the second trigger signal is sent, and sending the bound second reference time information and second data information to the second processor.
The method is suitable for the aforementioned second information source, and reference may be made to the foregoing description, which is not repeated herein.
As shown in fig. 7, an information processing method based on multiple information sources according to a third embodiment of the present disclosure includes the following steps:
s101, third data information is acquired from the information source.
S201, binding third reference time information and third data information when the third data information is obtained, and sending the third reference time information and the third data information to a second processing unit.
The method is suitable for the aforementioned third information source, and specific reference may be made to the foregoing description, which is not repeated herein.
The information processing method based on multiple information sources shown in the fourth embodiment of the present disclosure includes the following steps:
and periodically sending the fourth reference time information to the information source so that the information source sends the fourth data information to the second processing unit by taking the fourth reference time information as a time reference.
The method is suitable for the fourth information source, and reference may be made to the foregoing description, which is not repeated herein.
An exemplary embodiment of the present disclosure further provides an information processing method based on multiple information sources, which is applied to a second processor, for example, the second processor in the information processing system based on multiple information sources, as shown in fig. 8, and an information processing method based on multiple information sources shown in a fifth embodiment of the present disclosure includes:
s10, receiving first data information sent by an information source;
s20, receiving first reference time information sent by a first processor;
and S30, binding the first data information and the corresponding first reference time information.
The method is suitable for the aforementioned second processor, and reference may be made to the foregoing description, which is not repeated herein.
As mentioned above, in the embodiment where the information source includes the laser radar, and the laser radar is driven to rotate by the motor with the encoder, the fourth data information of the laser radar needs to correspond to the third data information of the encoder, and based on this, as shown in fig. 9, the information processing method based on multiple information sources according to the sixth embodiment of the disclosure further includes:
s11, receiving fourth data information and corresponding fourth reference time information sent by the laser radar;
s12, receiving third data information of the encoder and corresponding third reference time information sent by the first processor;
s13, determining encoder data information corresponding to the fourth reference time information based on the fourth reference time information, the third data information and the third reference time information;
and S14, determining radar data information based on the fourth data information and the encoder data information.
In this embodiment, in order to enable the data of the laser radar to correspond to the data of the encoder, the encoder data information corresponding to the fourth reference time information is determined according to the fourth reference time information, the third data information and the third reference time information, and then the fourth data information and the encoder data information are combined, so that matching between the laser radar data and the encoder data is ensured, and accuracy of subsequent operation is further ensured.
Wherein the lidar data may be mapped to the encoder data using linear interpolation. Illustratively, encoder position data corresponding to a fourth reference time of the lidar
Can be calculated by the following formula.
Wherein, t 1 And t 2 Are two adjacent data sample times, R, of the encoder 1 And R 2 Is that the encoder is respectively at t 1 And t 2 Absolute position data of two data sampling instants, t r The data sampling time of the laser radar.
In this embodiment, the absolute position data of the encoder corresponding to the data sampling time of the laser radar can be accurately determined by a linear interpolation method, so that matching between the laser radar data and the encoder data is ensured, and accuracy of subsequent operation is further ensured.
The above descriptions may be implemented individually or in various combinations, and such variations are within the scope of the present disclosure.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In the present disclosure, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" 8230; "does not exclude the presence of additional like elements in an article or device comprising the element.
While the preferred embodiments of the present disclosure have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the disclosure.
It will be apparent to those skilled in the art that various changes and modifications may be made to the disclosure without departing from the spirit and scope of the disclosure. Thus, it is intended that the present disclosure cover the modifications and variations of this disclosure provided they come within the scope of the appended claims and their equivalents.
Claims (6)
1. An information processing system based on multiple information sources, the information processing system based on multiple information sources comprising:
a plurality of information sources;
the first processor comprises a first processing unit, a first communication interface and a plurality of information source interfaces, wherein the first communication interface and the plurality of information source interfaces are connected with the first processing unit, and the plurality of information source interfaces are respectively connected with a plurality of information sources;
a second processor, the second processor comprising a second processing unit, and a second communication interface and at least one data interface connected to the second processing unit, the at least one data interface being connected to at least some of the plurality of information sources, the first communication interface being communicatively connected to the second communication interface;
the first processing unit is provided with reference time information, data information of each information source is sent to the second processing unit through the first processing unit or the data interface, and each data information is bound with the reference time information;
the first processor further comprises a third communication interface, the second processor further comprises a fourth communication interface, and the first processing unit is used for sending a pulse signal to the second processing unit through the third communication interface so as to trigger the second processing unit to correct the built-in time;
after the first processing unit is initialized, sending a first PPS signal and corresponding reference time information, and after the second processing unit receives the first PPS signal and the reference time information, updating the initial time of the second processing unit; then, the first processing unit sends a pulse signal to the second processing unit at regular time intervals, reference time information does not need to be sent any more, the second processing unit records the time of the pulse signal through external interruption, and the system time of the second processing unit is increased by the regular time intervals at the time;
when the second processing unit receives the reference time information, the second processing unit compares the system time of the second processing unit with the reference time information, and when the difference value between the system time and the reference time information is greater than a preset difference value, the data information bound with the reference time information is judged to be invalid;
the first processor is a processor with a real-time operating system, and the second processor is a processor with a non-real-time operating system;
the plurality of information sources include a third information source, the third information source includes an encoder, the plurality of information source interfaces include a third information source interface connected with the third information source, and the first processing unit is configured to acquire third data information of the third information source through the third information source interface, bind third reference time information when the third data information is acquired with the third data information, and send the bound third reference time information to the second processing unit;
the plurality of information sources include a fourth information source, the fourth information source includes a laser radar, the encoder is located in a driving motor of the laser radar, the plurality of information source interfaces include a fourth information source interface connected with the fourth information source, the at least one data interface includes a second data interface connected with the fourth information source, the first processing unit is configured to send fourth reference time information to the fourth information source through the fourth information source interface, and the fourth information source is configured to bind the fourth data information with the fourth reference time information and send the fourth data information to the second processing unit through the second data interface;
to enable the second processor to perform:
receiving fourth data information and corresponding fourth reference time information sent by the laser radar;
receiving third data information of the encoder and corresponding third reference time information sent by the first processor;
determining encoder data information corresponding to the fourth reference time information based on the fourth reference time information, the third data information, and the third reference time information;
determining radar data information based on the fourth data information and the encoder data information.
2. The information processing system according to claim 1, wherein the plurality of information sources includes a first information source, the plurality of information source interfaces includes a first information source interface connected to the first information source, the at least one data interface includes a first data interface connected to the first information source, the first information source is configured to send first data information to the second processing unit through the first data interface in response to a first trigger signal sent by the first processing unit through the first information source interface, the first processing unit is configured to send first reference time information when the first trigger signal is sent to the second processing unit, and the second processing unit is configured to bind the first data information with the first reference time information.
3. The information processing system according to claim 1, wherein the plurality of information sources includes a second information source, the plurality of information source interfaces include a second information source interface connected to the second information source, the second information source is configured to send second data information to the first processing unit through the second information source interface in response to a second trigger signal sent by the first processing unit through the second information source interface, and the first processing unit is configured to send second reference time information when the second trigger signal is sent to the second processing unit after being bound with the second data information.
4. The information processing system according to any of claims 1 to 3, wherein the first processor comprises a reference time input interface for connecting to a reference time transmission system, and the first processing unit is connected to the reference time input interface for modifying the reference time information according to information received by the reference time input interface.
5. An information processing method based on multiple information sources is applied to a first processor, the first processor is connected with multiple information sources and is connected with a second processor, and the information processing method based on multiple information sources comprises the following steps:
sending a first trigger signal to the information source, wherein the first trigger signal is used for triggering the information source to send first data information to the second processor;
sending first reference time information when the first trigger signal is sent to the second processor, so that the second processor binds the first data information with the first reference time information;
or,
sending a second trigger signal to the information source, wherein the second trigger signal is used for triggering the information source to send second data information to the first processor;
receiving the second data information;
binding second reference time information and the second data information when the second trigger signal is sent, and sending the second reference time information and the second data information to the second processor;
or,
acquiring third data information from the information source;
binding third reference time information obtained when the third data information is obtained with the third data information and then sending the third reference time information and the third data information to the second processing unit;
or,
periodically sending fourth reference time information to the information source so that the information source sends fourth data information to the second processing unit by taking the fourth reference time information as a time reference;
the first processor further comprises a third communication interface, the second processor further comprises a fourth communication interface, and the first processing unit is used for sending a pulse signal to the second processing unit through the third communication interface so as to trigger the second processing unit to correct the built-in time;
after the first processing unit is initialized, sending a first PPS signal and corresponding reference time information, and after the second processing unit receives the first PPS signal and the reference time information, updating the initial time of the second processing unit; then, the first processing unit sends a pulse signal to the second processing unit at regular time intervals, reference time information does not need to be sent any more, the second processing unit records the time of the pulse signal through external interruption, and the system time of the second processing unit is increased by the regular time intervals at the time;
when the second processing unit receives the reference time information, the second processing unit compares the system time of the second processing unit with the reference time information, and when the difference value between the system time and the reference time information is greater than a preset difference value, the data information bound with the reference time information is judged to be invalid;
the first processor is a processor with a real-time operating system, and the second processor is a processor with a non-real-time operating system;
the encoder is positioned in a driving motor of the laser radar; to cause the second processor to perform:
receiving fourth data information and corresponding fourth reference time information sent by the laser radar;
receiving third data information of the encoder and corresponding third reference time information sent by the first processor;
determining encoder data information corresponding to the fourth reference time information based on the fourth reference time information, the third data information, and the third reference time information;
determining radar data information based on the fourth data information and the encoder data information.
6. An information processing method based on multiple information sources is applied to a second processor, the second processor is connected with at least one information source and is connected with a first processor, and the information processing method based on multiple information sources comprises the following steps:
receiving first data information sent by the information source;
receiving first reference time information sent by the first processor;
binding the first data information and corresponding first reference time information;
the first processor is a processor with a real-time operating system, and the second processor is a processor with a non-real-time operating system;
the first processor comprises a first processing unit, a first communication interface and a plurality of information source interfaces, wherein the first communication interface and the plurality of information source interfaces are connected with the first processing unit;
the second processor comprises a second processing unit, and a second communication interface and at least one data interface which are connected with the second processing unit, wherein the at least one data interface is connected with at least part of information sources in the plurality of information sources, and the first communication interface is in communication connection with the second communication interface;
the first processor further comprises a third communication interface, the second processor further comprises a fourth communication interface, and the first processing unit is used for sending a pulse signal to the second processing unit through the third communication interface so as to trigger the second processing unit to correct the built-in time;
after the first processing unit is initialized, sending a first PPS signal and corresponding reference time information, and after the second processing unit receives the first PPS signal and the reference time information, updating the initial time of the second processing unit; then, the first processing unit sends a pulse signal to the second processing unit at regular time intervals, reference time information does not need to be sent any more, the second processing unit records the time of the pulse signal through external interruption, and the system time of the second processing unit is increased by the regular time intervals at the time;
when the second processing unit receives the reference time information, the second processing unit compares the system time of the second processing unit with the reference time information, and when the difference value between the system time and the reference time information is larger than a preset difference value, the data information bound with the reference time information is judged to be invalid;
the plurality of information sources comprise a third information source, the plurality of information source interfaces comprise a third information source interface connected with the third information source, and the first processing unit is used for acquiring third data information of the third information source through the third information source interface, binding third reference time information when the third data information is acquired with the third data information, and then sending the third reference time information to the second processing unit;
the plurality of information sources include a fourth information source, the plurality of information source interfaces include a fourth information source interface connected with the fourth information source, the at least one data interface includes a second data interface connected with the fourth information source, the first processing unit is configured to send fourth reference time information to the fourth information source through the fourth information source interface, and the fourth information source is configured to send fourth data information and the fourth reference time information to the second processing unit through the second data interface after being bound;
the second processor is connected with the laser radar, the first processor is connected with an encoder, the encoder is located in a driving motor of the laser radar, and the information processing method based on the multiple information sources comprises the following steps:
receiving fourth data information and corresponding fourth reference time information sent by the laser radar;
receiving third data information of the encoder and corresponding third reference time information sent by the first processor;
determining encoder data information corresponding to the fourth reference time information based on the fourth reference time information, the third data information, and the third reference time information;
determining radar data information based on the fourth data information and the encoder data information.
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