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Radar data synchronization method, device, device and computer storage medium

A technology of radar equipment and radar data, applied in transmission systems, electrical components, etc., can solve problems such as large message delay, uncertain waiting time for radar messages, and unstable message delay, so as to increase stability and reduce message delay. The effect of delay

Active Publication Date: 2021-01-22
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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Problems solved by technology

Therefore, in the automatic driving system with high real-time requirements, this solution has the problem of large message delay caused by the first radar message waiting for the later radar message, and each radar device is an independent operating device. Therefore, due to different radar devices themselves, the waiting time for radar messages is uncertain, which will cause the problem of unstable message delay.

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  • Radar data synchronization method, device, device and computer storage medium
  • Radar data synchronization method, device, device and computer storage medium
  • Radar data synchronization method, device, device and computer storage medium

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used in the embodiments of the present invention and the appended claims, the singular forms "a", "said" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0025] It should be understood that the term "and / or" used herein is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and / or B, which may mean that A exists alone, and A and B exist simultaneously. B, there are three situations of B alone. In addition, the character " / " in this articl...

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Abstract

The present invention provides a radar data synchronization method, device, equipment and computer storage medium, wherein the radar data synchronization method includes: setting a counter; referring to the radar driver corresponding to the radar equipment and counting the counter at a preset time interval update; each radar driver caches the data packets obtained from the corresponding radar device; each radar driver detects that the count of the counter is updated, and then releases a message, which includes all the data in the period from the last counter update to this counter update. cached packets. The present invention sets a counter, uses the counter as a unified timing for each radar driver to release messages, realizes synchronous release of radar messages at the data source, thereby reducing message time delay and increasing the stability of message time delay.

Description

【Technical field】 [0001] The present invention relates to the technical field of automatic driving, in particular to a radar data synchronization method, device, equipment and computer storage medium. 【Background technique】 [0002] In the autonomous driving technology, the self-driving car scans the surrounding environment through the vehicle-mounted lidar device, outputs a frame of point cloud data, and then uses the obstacle recognition algorithm to recognize the point cloud data output by the vehicle-mounted lidar device. Pedestrians, bicycles, cars, and trucks around the self-driving car provide data support for the on-board decision-making control algorithm. It can be seen that lidar equipment is one of the most important sensors in the automatic driving system. In order to enhance the perception of the surrounding environment, self-driving cars often adopt a multi-radar combination technical solution to analyze and process the data collected by multiple radar devices...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L29/08
CPCH04L67/1095H04L67/5682
Inventor 冯凯文陈卓邓呈亮何玮
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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