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Multi-sensor time synchronization device and method

A time synchronization device and multi-sensor technology, applied in multiplex communication, time division multiplex system, electrical components, etc., can solve the problems of unreliable data and time synchronization results, achieve accurate and reliable time synchronization results, reduce Selection restrictions, the effect of time synchronization

Inactive Publication Date: 2021-05-11
WUHAN KOTEI INFORMATICS
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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a multi-sensor time synchronization device and method to solve the problem of unreliable time synchronization results of data collected by sensors

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Embodiment Construction

[0022] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work belong to the protection scope of the present invention. The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention, not to limit the scope of the present invention.

[0023] The term "comprising" and other expressions with similar meanings in the description or claims of the p...

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Abstract

The invention provides a multi-sensor time synchronization device and method. The device comprises an acquired data processing module, a frequency divider, a camera, a laser radar and a data storage module, a pulse per second (PPS) signal output by a GPS module is used as a time reference of sensor time synchronization, the camera and the laser radar are triggered to acquire data, and the data are stored in the data storage module; the UTC time obtained by a GPS module from a satellite is used as a system clock source, and timestamps are added to the image data and the point cloud data, so that time synchronization of multiple sensors is realized, a time synchronization result is ensured to be accurate and reliable, and dependence of the sensors on a PTP protocol function and influence brought by network instability can be avoided.

Description

technical field [0001] The invention relates to the field of automatic driving data collection, in particular to a multi-sensor time synchronization device and method. Background technique [0002] The core sensors of the current autonomous driving perception system are mainly cameras and lidars. The two are redundant in function for obstacle detection and recognition, and make up for each other in terms of performance defects. A key factor for the functional reliability of the autonomous driving perception system is perception Fusion technology, and perception fusion needs to ensure time synchronization between sensors. [0003] At present, the time synchronization methods of the data acquisition system include: directly using the recording system time method to stamp the time stamp on the data frame saved by the sensor to achieve rough time synchronization; or using the PTP protocol to synchronize the time of multiple sensor nodes. In the former method, each sensor has a ...

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Application Information

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IPC IPC(8): H04J3/06
CPCH04J3/0644H04J3/0661
Inventor 朱敦尧周风明郝江波王志威
Owner WUHAN KOTEI INFORMATICS
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