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Multi-sensor time synchronization method and device based on camera exposure characteristics

A time synchronization device and time synchronization technology, applied in two-dimensional position/course control, instrument, vehicle position/route/altitude control, etc., can solve problems such as delay and time stamp are not necessarily accurate

Active Publication Date: 2021-08-31
WUHAN KOTEI INFORMATICS
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Problems solved by technology

For example, lidar, camera, millimeter-wave radar, etc., when acquiring their sensor data, they will time stamp the data according to the current controller's clock, so as to use the time stamps between different data for data synchronization, but the time stamp Not necessarily accurate, especially for different data sources that have not been synchronized by hardware, there may be delays

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  • Multi-sensor time synchronization method and device based on camera exposure characteristics
  • Multi-sensor time synchronization method and device based on camera exposure characteristics
  • Multi-sensor time synchronization method and device based on camera exposure characteristics

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Embodiment Construction

[0026] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0027] refer to figure 1 and Figure 4 , in the first aspect of the present invention, a multi-sensor time synchronization method based on camera exposure characteristics is provided, including the following steps: S101. Determine the exposure period for the camera to acquire a frame of image; S102. Generate a first trigger according to the exposure period Signal; S103. Generate a second trigger signal within one exposure period in response to the first trigger signal; S104. Externally trigger at least one sensor according to the second trigger signal to achieve time synchronization between it and the camera.

[0028] refer to figure 2 and 3 The acquisition of a frame of image by the camera is divided into two s...

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Abstract

The invention relates to a multi-sensor time synchronization method and device based on camera exposure characteristics. The method comprises the following steps of determining an exposure period of a camera for acquiring a frame of image; generating a first trigger signal according to the exposure period; generating a second trigger signal in one exposure period in response to the first trigger signal; and externally triggering the at least one sensor according to the second trigger signal to realize time synchronization of the sensor and the camera. The method is advantaged in that time synchronization is carried out on the multiple sensors by utilizing the exposure characteristics of the camera, time synchronization precision of the multiple sensors is improved, and cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of multi-sensor synchronization, and in particular relates to a multi-sensor time synchronization method and device based on camera exposure characteristics. Background technique [0002] The sensors currently required by autonomous vehicles are mainly cameras and lidars, and cameras are low in cost and rich in information, and have gradually become the mainstream sensors for autonomous driving. With the increase of sensors, multi-sensor synchronization is a prerequisite for autonomous driving fusion, except for the spatial synchronization of data (ie, the coordinate alignment of different sensors). More importantly, different sensors have different frequencies, which makes it difficult to synchronize a large number of sensor data at different times. How to process and make good use of asynchronous sensor data is the key to multi-sensor fusion for autonomous driving, and it is also a prerequisite for ensuri...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 李森林张伟汤戈蔡幼波
Owner WUHAN KOTEI INFORMATICS
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