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Time synchronization method and device

A technology of time synchronization and time stamping, applied in the field of navigation, can solve problems such as the inability to accurately control the exposure time of the camera, and achieve the effect of precise time stamping

Active Publication Date: 2019-04-05
IFLYTEK CO LTD
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Problems solved by technology

[0005] The present invention provides a time synchronization method and device to solve the problem in the related art that the exposure time of the camera cannot be precisely controlled

Method used

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  • Time synchronization method and device

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Embodiment Construction

[0074] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0075] refer to figure 1 , shows a flow chart of the steps of an embodiment of a time synchronization method of the present invention, the method can be applied to a host, and specifically may include the following steps:

[0076] Step 101, receiving the GPRMC packet;

[0077] Among them, GPS (Global Positioning System, Global Positioning System) can send GPRMC (recommended positioning information) data packets to lidar;

[0078] The host in this embodiment of the present invention can receive the GPRMC data packet from the laser radar, or the host in the embodiment of the present invention can also receive the GPRMC data packet directly from the GPS.

[0079] The present invention does not specifically limit which object the GP...

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Abstract

The invention provides a time synchronization method and device. The method comprises that a GPRMC data packet is received; reception time of the GPRMC data packet is determined; a first time stamp iscalculated according to the reception time and trigger time of a PPS signal; if a PPS signal is received, a camera is controlled to implement exposure; image data shot by the camera is received; andthe first time stamp is combined with the image data to generate image data with the first time stamp. The first time stamp serves as time stamp information of the image shot by the camera via exposure, the time stamp of the shot image represents image shooting time, the exposure time of the camera is controlled accurately, and the shot image data includes the accurate time stamp.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a time synchronization method and device. Background technique [0002] In the field of autonomous driving, Lidar and Camera are two common sensors. [0003] In autonomous driving technology, Lidar can scan obstacles by laser to generate point cloud data with time stamp. The camera can capture obstacles to generate images, and the embedded system of the vehicle can collect the image data captured by the camera and add time stamps to it. However, due to the poor real-time performance of the embedded system, it is difficult to achieve precise timing at the sub-millisecond level. Therefore, the time stamp added by the embedded system to the image data is not accurate enough, not the exact exposure time of the image by the Camera. [0004] Then there will be a time stamp error between the camera image data and the Lidar point cloud data, and the error will lead to errors in the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N5/235H04N5/06
CPCH04N5/06H04N23/73
Inventor 江涛陈赞羽
Owner IFLYTEK CO LTD
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