Unmanned perception system based on hardware synchronization and working method thereof

Abstract

The invention discloses an unmanned perception system based on hardware synchronization and a working method thereof. The device comprises at least more than one laser radar, at least more than one color vision camera, at least one grayscale vision camera and at least more than one inertial measurement unit (IMU), and at least more than one hardware synchronization circuit board. The system comprises the laser radars, an industrial computer of a system environment operated by visual software and the like. Hardware synchronization is carried out on the inertial measurement unit, the laser radarand the visual cameras at the same time; the types of synchronous sensors are multiple, the types of obtained data are rich, a high-performance single-chip microcomputer is adopted for processing signals, the time difference generated by hardware is of the microsecond level, and the synchronization precision is high. According to the system, all sensors and a control processing system are integrated on one movable platform, so that a traditional automobile can be conveniently transformed, and the unmanned perception system based on the hardware synchronization can be conveniently installed.

Description

technical field [0001] The invention relates to the technical field of motor vehicles, in particular to the technical field of unmanned vehicles, in particular to an unmanned driving perception system based on hardware synchronization and its working method. Background technique [0002] In recent years, with the development of computer technology and sensor technology, unmanned vehicles are getting closer to people's daily life. In areas such as enhancing highway safety, alleviating traffic congestion, and reducing air pollution, unmanned driving will bring about subversion. performance improvement and has broad application prospects. Since unmanned driving is affected by a series of complex environments, a single sensor cannot meet the needs of perceiving the surrounding environment in various environments, so multiple sensors need to work together. Due to different hardware parameters, different types of sensors have certain differences in acquisition cycle and acquisiti...

AI Technical Summary

Problems solved by technology

Since unmanned driving is affected by a series of complex environments, a single sensor cannot meet the needs of perceiving the surrounding environment in various environments, so multiple sensors need to work together

Due to the different hardware parameters of different types of sensors, there are certain differences in the acquisition cycle and acquisition frequency, and there is a certain time difference in the returned data. Asynchronous data will have a great impact on the later data fusion and algorithm development.

However, the existing unmanned driving perception system performs secondary processing on the data returned by the sensor from the software level and releases it, which does not actually solve the problem of time difference in the hardware.

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