Method and device for unmanned acquired data synchronism

Abstract

The invention discloses a method and device for unmanned acquired data synchronism. An unmanned vehicle is provided with at least one inertia measuring unit (IMU), a laser radar sensor and a camera sensor, at least one industrial computer and a hardware synchronous circuit board. The method comprises the steps that the hardware synchronous circuit board obtains collected data information in the atleast one inertia measuring unit and pulse signals of a certain frequency sent by the sensors, and after the frequency of the obtained pulse signals sent by the inertia measuring unit is lowered to apreset value, the pulse signals are sent to the laser radar sensor. The signals are processed by adopting a hardware circuit, due to the fact that the hardware body adopts a controller with the highclock precision, the time difference between data generated by the hardware body is in the microsecond level, the synchronous precision is high, modularized functional units are adopted, the modules are integrated on the small space, the integration level is high, the size is small, and the modules can be easily transplanted into different unmanned systems.

Description

technical field [0001] The present invention relates to the technical field of motor vehicles, in particular to the technical field of unmanned vehicles, in particular to a method and device for unmanned driving to obtain data synchronization. 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 the fields of enhancing highway safety, alleviating traffic congestion, and reducing air pollution, unmanned driving will bring The subversive improvement 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 acquisition frequency, and there is a certa...

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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