Data fusion method and device, electronic equipment and computer readable medium

Abstract

The embodiment of the invention discloses a data fusion method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises the following steps: acquiring a timestamp synchronization message sent by a timestamp broadcast node, the timestamp synchronization message comprising a message broadcast timestamp; in response to the received target data message sequence, determining a synchronization timestamp according to the receiving timestamp, the message broadcast timestamp and the receiving timestamp of the timestamp synchronization message corresponding to each target data message in the target data message sequence, and obtaining a synchronization timestamp sequence, a target data message in the target data message sequence being a data message sent by the target node; and generating a fusion data set according to the synchronization timestamp sequence and the target data message sequence. According to the embodiment, the data fusion success rate and the data transmission efficiency of the CAN bus are improved.

Description

technical field [0001] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a data fusion method, device, electronic equipment, and computer-readable medium. Background technique [0002] With the development of related technologies in the field of autonomous driving, autonomous vehicles have gradually entered people's field of vision. In actual situations, self-driving vehicles often require multiple sensors to acquire real-time data around the vehicle body, so that self-driving vehicles can automatically perform path planning and obstacle avoidance. Therefore, it is particularly important to process the data collected by multiple sensors. At present, when processing data collected by multiple sensors, a common method is: a data fusion node performs data fusion on data collected by multiple sensors transmitted through a CAN (Controller Area Network, Controller Area Network) bus. [0003] However, when the above method ...

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Problems solved by technology

[0004] First, when multiple sensors transmit data on the CAN bus, the corresponding sensors often need to set time stamps for data fusion. However, when the internal clocks of multiple sensors are not synchronized, data fusion often fails;

[0005] Second, the time stamps set by multiple sensors often need to be transmitted on the CAN bus to ensure that the data fusion node fuses the data collected by the sensors according to the time stamps. However, the time stamps set by multiple sensors are processed through the CAN bus Transmission will increase the data transmission pressure of the CAN bus and reduce the data transmission efficiency of the CAN bus

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