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A method for off-line synchronization of unmanned vehicle sensor data

An unmanned vehicle and sensor technology, applied in the directions of synchronization devices, wireless communication, synchronization devices, etc., can solve the problems of confusion in sensor processing threads, inability to input sensor raw data, and large differences in computing performance, so as to meet the needs of changing sensors at any time. Types or the number of sensors added or deleted, easy to find problems and later algorithm improvements, and the effect of a wide range of applications

Active Publication Date: 2021-04-13
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the current offline data synchronization method applied in the field of unmanned driving is mainly based on the time stamp method, which records the wall time of the system at that time while recording each frame of point cloud or image data, and stores it as a A new data format, which will be played back according to the sequence of time stamps when running offline; this data synchronization method destroys the organizational form of the original data, and cannot use the original data generated by the sensor as input, which has certain limitations; in addition, There is no interaction between the data playback and the processing program. Although the timing relationship between the data is guaranteed by using the timestamp, if the reference clock is not set properly during the offline simulation or the computing performance of the platform running the offline program is quite different from that of the vehicle platform, it will It leads to confusion among the processing threads of each sensor, and it is impossible to simulate the real state of the program when it is running online

Method used

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  • A method for off-line synchronization of unmanned vehicle sensor data
  • A method for off-line synchronization of unmanned vehicle sensor data
  • A method for off-line synchronization of unmanned vehicle sensor data

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Embodiment 1

[0024] See attached Figure 1-2 As shown, Embodiment 1 of the present invention provides an off-line synchronization method for unmanned vehicle sensor data, including the following steps:

[0025] S1: Set the type and quantity of sensors, and set the thread for processing one of the sensor data as the main thread, and the data of each other sensor corresponds to a sub-thread;

[0026] S2: The sensor collects data in real time, the main thread generates and stores the synchronization node file and the corresponding main sensor raw data file in real time, and the sub-thread generates and stores the corresponding sensor raw data file in real time;

[0027] S3: After the acquisition, in offline mode, reload the original data file and the synchronization node file, and the main thread reads the synchronization node count in the synchronization node file and the data of each sensor in each node frame count;

[0028] S4: If the number of frames processed by the main thread and the...

Embodiment 2

[0034] See attached image 3 As shown, Embodiment 2 of the present invention is an application example of an off-line synchronization method for unmanned vehicle sensor data. In this embodiment, the on-board sensors processed by the system include:

[0035] (1) Laser radar, the laser radar can be erected in front of the roof to detect various obstacles in the driving environment, and the model HDL-64E high-precision laser radar produced by Velodyne can be selected;

[0036] (2) Camera. The camera can be installed on the vehicle axis in front of the roof for target recognition or passable area detection. You can choose the model DFK 23G274 industrial camera produced by Yingmeijing Company, with a resolution of 640×480;

[0037] (3) High-precision combined positioning system. The signal receiving antenna of the combined positioning system is located behind the roof of the vehicle to obtain the GPS and attitude information of the vehicle at a certain moment. You can choose the SP...

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Abstract

The invention discloses an off-line synchronization method for unmanned vehicle sensor data, which includes the following steps: S1: Set the type and quantity of sensors, and set the thread for processing one of the sensor data as the main thread, and the data of each other sensor corresponds to A sub-thread; S2: the sensor collects data in real time, the main thread generates and stores the synchronization node file and the corresponding main sensor raw data file in real time, and the sub-thread stores the processed sensor raw data; S3: after the collection is completed, In offline mode, reload the original data file and the synchronization node file, the main thread reads the synchronization node count in the synchronization node file and the data frame count of each sensor in each node; the present invention adopts The synchronization node table realizes the synchronization of frame nodes, so as to realize the offline synchronization of the sensor data of unmanned vehicles.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, and more specifically relates to an off-line synchronization method for sensor data of unmanned vehicles. Background technique [0002] At present, an unmanned vehicle is a new type of intelligent vehicle that can continuously drive autonomously. It senses the surrounding environment information of the vehicle by installing a variety of different types of on-board sensors, and on this basis combines the actual real-time planning route and controls the vehicle to reach the destination. It has broad application prospects in the fields of national defense, military and civil transportation; however, unmanned vehicles sometimes encounter unexpected situations during the driving process. If there is a problem in the network, the offline synchronization data can reproduce the scene at that time and find out the reason. [0003] However, the current offline data synchronization method ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04W56/00H04L29/08H04L7/00G06F9/50
CPCG06F9/5027G06F2209/5018H04L7/00H04L67/1095H04W56/001
Inventor 王智灵徐凤煜林玲龙钟泽宇梁华为
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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