Data synchronous acquisition method, control module, system and storage medium

Abstract

The invention discloses a data synchronous acquisition method, a control module, a system and a storage medium. The method comprises the steps: obtaining the rotation direction of laser radar; according to the rotation direction of the laser radar, generating an adjustment signal for controlling a rotatable roller shutter type camera to rotate to a preset state, wherein the stretching direction of an output result of the rotatable roller shutter type camera to a moving object in the preset state is consistent with the stretching direction of an output result of the laser radar to the moving object; acquiring the rotation speed of the laser radar and shooting parameters of the rotatable roller shutter type camera; setting a shooting frame rate and shooting time of the rotatable roller shutter type camera according to the rotation speed and the shooting parameters; and according to the shooting frame rate and the shooting time, generating shooting signals for controlling the rotatable roller shutter type camera to shoot. According to the invention, the function of synchronization of pixel point measurement by the camera and laser radar point cloud acquisition is realized, the difficulty and calculation amount of information fusion of the camera and the laser radar can be greatly reduced, and the result reliability is improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a data synchronous acquisition method, a control module, a system and a storage medium. Background technique [0002] At present, most of the target perception of autonomous vehicles uses cameras and lidars. There is a certain time difference between the pixels of the same frame image of the camera and the point clouds of the lidar. Therefore, when the target is moving at high speed, the outline of the object will change Deformation occurs, and the time of each point of the two sensors cannot be effectively synchronized. [0003] In practical applications, due to various factors such as cost and sensitivity, rolling shutter cameras are widely used. figure 1 is a schematic diagram of rolling shutter exposure time in the prior art, specifically as figure 1 As shown, the rolling shutter camera adopts an independent exposure method for each row, where, t V is the single ...

AI Technical Summary

Problems solved by technology

[0007] There are inconsistent object deformations in the images of horizontally moving objects captured by the camera and the lidar. It is necessary to restore the shape of the object before information fusion can be performed. The restoration requires accurate object speed and distance information as a guide, and the amount of calculation is large. The result Can not control

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