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

Abstract

Embodiments of the present disclosure disclose a data fusion method, apparatus, electronic device, and computer-readable medium. A specific implementation of the method includes: obtaining a time stamp synchronization message sent by a time stamp broadcast node, wherein the time stamp synchronization message includes: a message broadcast time stamp; in response to receiving the target data message sequence, according to the target data Each target data packet in the packet sequence corresponds to the receiving timestamp, the broadcast timestamp of the packet, and the receiving timestamp of the timestamp synchronization packet, determine the synchronization timestamp, and obtain the synchronization timestamp sequence, in which the target data packet is The target data message in the sequence is the data message sent by the target node; according to the synchronization timestamp sequence and the target data message sequence, a fusion data set is generated. This embodiment improves the success rate of data fusion and the data transmission efficiency of the CAN bus.

Description

technical field [0001] Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a data fusion method, apparatus, electronic device, 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 practice, self-driving vehicles often require multiple sensors to acquire data around the body in real time, 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. Currently, when processing data collected by multiple sensors, a method is usually adopted: 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 is adopte...

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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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