Automatic driving method, terminal and readable storage medium based on data synchronization
A technology for automatic driving and data synchronization, applied in instruments, test/monitoring control systems, control/regulation systems, etc., can solve problems such as poor sensor data synchronization accuracy, to ensure accuracy, improve reliability, and reduce delays Effect
Active Publication Date: 2021-09-24
SHENZHEN ECHIEV AUTONOMOUS DRIVING TECH CO LTD
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[0005] The main purpose of the present invention is to provide an automatic driving method based on data synchronization, which aims to solve the technical problem of poor synchronization accuracy of sensor data in the automatic driving system in time and space
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[0106] Based on the first embodiment, the second embodiment of the automatic driving method based on data synchronization of the present invention is proposed. In this embodiment, before step S10, it also includes:
[0107] Step S50, acquiring GPS signals in real time based on the RTK module of the vehicle, and acquiring driving data of the vehicle based on the IMU module;
[0108] In this embodiment, RTK carrier phase difference technology is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field, and is a major milestone in GPS applications. Therefore, the RTK module can provide GPS signals in real time, and the IMU module can obtain the current vehicle in real time. driving data.
[0109] Further, step S50 includes:
[0110] Step S51, the driving data includes: a first driving direction of the vehicle and a first driving speed of the vehicle.
[0111] In this embodiment, the current driving data of the vehicle includes the dri...
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The invention discloses an automatic driving method based on data synchronization, comprising the following steps: acquiring a GPS synchronization signal based on the CAN bus data corresponding to the IMU module of the vehicle, and then regularly acquiring the acquisition data corresponding to the integrated module based on the GPS synchronization signal, and Generate environmental data based on the collected data and preset rules, then generate a control signal corresponding to the vehicle based on the environmental data and the CAN bus data, and finally control the vehicle based on the control signal. The invention also discloses a terminal and a readable storage medium. By using the GPS synchronization signal to regularly collect data, data synchronization is realized, and the delay between data is reduced. At the same time, all collected data are processed at the same time, which effectively prevents data loss, ensures data accuracy, and improves the reliability of automatic driving. sex.
Description
technical field [0001] The present invention relates to the technical field of automatic driving, in particular to an automatic driving method based on data synchronization, a terminal and a readable storage medium. Background technique [0002] With the promotion and use of self-driving technology, self-driving vehicles have gradually been promoted and applied. Autonomous driving can not only reduce the risk of driving, but also relieve users of heavy driving tasks. Therefore, autonomous driving is also a major trend in future automotive development. [0003] At present, most autonomous driving systems use multiple discrete sensors (cameras, lidars) to collect and process the data of each discrete sensor separately. This processing method may cause some data loss, resulting in the synchronization accuracy of each sensor data in time and space. Poor, the delay is relatively serious, which has a great impact on the reliability of the vehicle. [0004] The above content is o...
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IPC IPC(8): G05B23/02
CPCG05B23/0213
Inventor 刘新宋朝忠郑亚伟张诚实王超凯冯宇
Owner SHENZHEN ECHIEV AUTONOMOUS DRIVING TECH CO LTD