Multi-sensor time synchronization device and method

A time synchronization device and multi-sensor technology, applied in multiplex communication, time division multiplex system, electrical components, etc., can solve the problems of unreliable data and time synchronization results, achieve accurate and reliable time synchronization results, reduce Selection restrictions, the effect of time synchronization
CN112787740AInactive Publication Date: 2021-05-11WUHAN KOTEI INFORMATICS
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
WUHAN KOTEI INFORMATICS
Publication Date
2021-05-11
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a multi-sensor time synchronization device and method. The device comprises an acquired data processing module, a frequency divider, a camera, a laser radar and a data storage module, a pulse per second (PPS) signal output by a GPS module is used as a time reference of sensor time synchronization, the camera and the laser radar are triggered to acquire data, and the data are stored in the data storage module; the UTC time obtained by a GPS module from a satellite is used as a system clock source, and timestamps are added to the image data and the point cloud data, so that time synchronization of multiple sensors is realized, a time synchronization result is ensured to be accurate and reliable, and dependence of the sensors on a PTP protocol function and influence brought by network instability can be avoided.
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Description

technical field

[0001] The invention relates to the field of automatic driving data collection, in particular to a multi-sensor time synchronization device and method. Background technique

[0002] The core sensors of the current autonomous driving perception system are mainly cameras and lidars. The two are redundant in function for obstacle detection and recognition, and make up for each other in terms of performance defects. A key factor for the functional reliability of the autonomous driving perception system is perception Fusion technology, and perception fusion needs to ensure time synchronization between sensors.

[0003] At present, the time synchronization methods of the data acquisition system include: directly using the recording system time method to stamp the time stamp on the data frame saved by the sensor to achieve rough time synchronization; or using the PTP protocol to synchronize the time of multiple sensor nodes. In the former method, each sensor has a ...

Claims

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