Time service device and method for synchronizing data acquisition, roadside system and storage medium

Abstract

The application discloses a time service device and method for synchronous data acquisition, a roadside system and a storage medium, to solve the technical problem that different sensors are difficult to truly realize synchronous data acquisition. The time service device comprises: a first time service circuit, configured to start generating a first clock signal based on an original time service signal when the original time service signal is initially received, and provide the first clock signal to a scanning range sensor, the scanning range sensor being configured to perform a ranging task according to the first clock signal; and a second time service circuit, configured to capture a first phase of the scanning range sensor and a second phase opposite to the first phase when the scanning sensor performs the ranging task, generate a second clock signal according to a plurality of first phases and a plurality of second phases captured in sequence, and provide the second clock signal to an image sensor to trigger image acquisition; wherein a period of the second clock signal is a scanning period of the scanning range sensor, and the first phase corresponds to a starting time of the second clock period.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of data acquisition, in particular to a time-providing device and method for synchronous data acquisition, a roadside system and a storage medium. BACKGROUND

[0002] Currently, the domestic vehicle-road coordination road and intersection mainly laid roadside system contains traffic facilities, sensor part, communication part and infrastructure part. Usually, in order to obtain accurate roadside data, different types of sensors need to be laid at the road and intersection, which constitute the sensor part.

[0003] However, the existing scheme is that various sensors collect data by using the same reference clock, and fuse all the data collected by the sensors at the edge computing node to obtain the fused data (i.e. roadside data) and send it to the vehicle for use. However, due to the inconsistent data collection frequency of various sensors, the same time cannot be aligned at the same time, and there is still a millisecond difference, so that the fused data (i.e. roadside data) has an error. For the vehicle using the above roadside data, the difference will cause information error, which will eventually lead to the inability to use the above roadside data for navigation, especially for the vehicle of automatic driving, which cannot use the above roadside data for automatic navigation.

[0004] Therefore, how to make sensors with different data collection frequencies realize real synchronous data collection has become a technical problem to be solved. SUMMARY

[0005] The present application provides a time-providing device and method for synchronous data acquisition, a roadside system and a storage medium, to solve the technical problem that sensors with different data collection frequencies are difficult to realize real synchronous data collection in the prior art.

[0006] In a first aspect, to solve the above technical problem, the present application provides a time-providing device for synchronous data acquisition, comprising:

[0007] A first time-providing circuit is configured to start generating a first clock signal based on an original time-providing signal when the original time-providing signal is initially received, and provide the first clock signal to a scanning range sensor, wherein the scanning range sensor is configured to perform a ranging task according to the first clock signal.

[0008] The second time-providing circuit is configured to capture a first phase and a second phase opposite to the first phase of the scanning range sensor when the scanning range sensor performs the ranging task, generate a second clock signal according to a plurality of the first phases and a plurality of the second phases captured in sequence, and provide the second clock signal to an image sensor configured to collect images according to the second clock signal; wherein a period of the second clock signal is a scanning period of the scanning range sensor, and the first phase corresponds to a starting time of the second clock period.

[0009] In a possible implementation, the first time-providing circuit comprises:

[0010] The receiving circuit is configured to receive an original time-providing signal.

[0011] The pulse generation circuit is electrically connected between the receiving circuit and the scanning range sensor, and configured to start and generate a first clock signal according to the original time-providing signal.

[0012] In a possible implementation, the pulse generation circuit comprises:

[0013] The step-down rectification circuit is electrically connected to the receiving circuit, and configured to step down and rectify the original time-providing signal.

[0014] The sampling and shaping circuit is electrically connected to the step-down rectification circuit, and configured to sample and shape the original time-providing signal after step-down rectification to obtain an intermediate clock signal.

[0015] The frequency division circuit is electrically connected to the sampling and shaping circuit, and configured to frequency-division the intermediate clock signal to obtain the first clock signal.

[0016] In a possible implementation, the second time-providing circuit comprises:

[0017] The phase capture circuit is configured to, at a first synchronization point after receiving the first clock signal, take a current phase corresponding to the scanning range sensor currently captured as the first phase, and output a first level, and take an opposite phase of the current phase as the second phase; and then, continuously detect the current phase, and when the current phase is the first phase, the level of the second clock signal jumps to the first level; when the current phase is the second phase, the level of the second clock signal jumps to a second level.

[0018] The pulse output circuit is electrically connected to the output end of the phase capture circuit, and configured to output the second clock signal to the image sensor.

[0019] In a possible implementation, the scanning ranging sensor comprises:

[0020] A laser radar sensor, a millimeter wave radar sensor.

[0021] In a second aspect, an embodiment of the present application provides a time service method for synchronizing data acquisition, comprising:

[0022] Upon initial reception of an original time service signal, a first clock signal is generated based on the original time service signal and provided to a scanning ranging sensor; wherein the scanning ranging sensor is configured to perform a ranging task according to the first clock signal;

[0023] While the scanning sensor is performing the ranging task, a first phase of the scanning ranging sensor and a second phase opposite to the first phase are captured, and a second clock signal is generated according to a plurality of the first phases and a plurality of the second phases captured in sequence; wherein a period of the second clock signal is a scanning period of the scanning ranging sensor, and the first phase corresponds to a starting time of the second clock period;

[0024] The second clock signal is provided to an image sensor, and the image sensor is configured to acquire an image according to the second clock signal.

[0025] In a possible implementation, capturing the first phase of the scanning ranging sensor and the second phase opposite to the first phase and generating the second clock signal according to a plurality of the first phases and a plurality of the second phases captured in sequence comprises:

[0026] At a first synchronization point after the first clock signal is received, a current phase of the scanning ranging sensor corresponding to a current capture is taken as the first phase, and a first level is output, and a phase opposite to the current phase is taken as the second phase;

[0027] The current phase is continuously detected, and when the current phase is the first phase, a level of the second clock signal jumps to the first level; and when the current phase is the phase opposite to the first phase, the level of the second clock signal jumps to a second level;

[0028] The second clock signal is output to the image sensor.

[0029] In a third aspect, an embodiment of the present application further provides a time service device for synchronizing data acquisition, comprising:

[0030] a memory, a transceiver, and a processor:

[0031] a memory for storing a computer program; a transceiver for transceiving data under control of the processor; a processor for reading the computer program in the memory and performing the following operations:

[0032] Upon initial reception of an original time signal, a first clock signal is generated based on the original time signal, and the first clock signal is provided to a scanning range sensor, the scanning range sensor being configured to perform a ranging task according to the first clock signal;

[0033] While the scanning sensor performs the ranging task, a first phase of the scanning range sensor and a second phase opposite to the first phase are captured, and a second clock signal is generated according to a plurality of the first phases and a plurality of the second phases captured in sequence; wherein a period of the second clock signal is a scanning period of the scanning range sensor, and the first phase corresponds to a starting time of the second clock period;

[0034] The second clock signal is provided to an image sensor, the image sensor being configured to collect images according to the second clock signal.

[0035] In a possible implementation, the processor is further configured to:

[0036] At a first synchronization point after the first clock signal is received, a current phase corresponding to the scanning range sensor currently captured is taken as the first phase, and a first level is output, and an opposite phase of the current phase is taken as the second phase;

[0037] The current phase is continuously detected, when the current phase is the first phase, a level of the second clock signal jumps to a first level; when the current phase is the opposite phase of the first phase, the level of the second clock signal jumps to a signal outputting a second level;

[0038] The second clock signal is output to the image sensor.

[0039] In a fourth aspect, an embodiment of the present application provides a roadside system, comprising:

[0040] The time synchronization data acquisition device according to the first aspect;

[0041] A scanning range sensor configured to acquire a first clock signal from the time synchronization device, and perform a ranging task according to the first clock signal;

[0042] An image sensor configured to acquire a second clock signal from the time synchronization device, and perform an image collection task according to the second clock signal;

[0043] The data fusion device is used for acquiring the collected frame point cloud data from the scanning ranging sensor and the collected image data from the image sensor, fusing the frame point cloud data and the image data collected at the same time, and obtaining roadside data used for representing road condition information.

[0044] In a fifth aspect, the embodiments of the present application further provide a processor-readable storage medium storing a computer program, which is used for causing the processor to execute the method in the first aspect.

[0045] Through the technical solutions in one or more of the above embodiments of the embodiments of the present application, the embodiments of the present application at least have the following technical effects:

[0046] In the embodiments provided by the present application, the first time circuit starts to generate the first clock signal based on the original time signal when the original time signal is initially received, and provides the first clock signal to the scanning ranging sensor, so that the scanning ranging sensor performs the ranging task according to the first clock signal, and the second time circuit captures the first phase of the scanning ranging sensor and the second phase opposite to the first phase when the scanning sensor performs the ranging task, and then generates the second clock signal with the scanning period of the scanning ranging sensor as the period according to the plurality of first phases and the plurality of second phases captured in turn, and provides the second clock signal to the image sensor, so that the image sensor collects the image according to the second clock signal; wherein the first phase corresponds to the starting time of the second clock period. In this way, the scanning ranging sensor and the image sensor can realize real-time synchronous data collection at the time corresponding to the first phase, and since the second clock signal used by the image sensor is generated according to the first phase and the second phase opposite to the first phase of the scanning ranging sensor, even if the scanning sensor is disturbed during scanning, the second clock signal will also change synchronously, so that the scanning ranging sensor and the image sensor can always maintain synchronous data collection, unlike the prior art in which multiple sensors cannot realize real-time synchronous data collection using the same time signal, and when the radar sensor is disturbed, the difference in collection time with other sensors will be aggravated. Since the scanning ranging sensor and the image sensor in the present application can realize real-time synchronous data collection, the information error of the fused data can be improved when the collected data is fused, so that it can be widely used in the field of automatic driving. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 Comparison chart of data collection of different sensors in the prior art roadside system;

[0048] Figure 2A structure diagram of a time service device for synchronous data acquisition provided in an embodiment of the present application is provided.

[0049] Figure 3 A structure diagram of a first time service circuit provided in an embodiment of the present application is provided.

[0050] Figure 4 A structure diagram of a pulse generation circuit provided in an embodiment of the present application is provided.

[0051] Figure 5 A structure diagram of a second time service circuit provided in an embodiment of the present application is provided.

[0052] Figure 6 A phase diagram corresponding to a frame of data collected by a mechanical radar provided in an embodiment of the present application is provided.

[0053] Figure 7 A diagram for generating a second clock signal provided in an embodiment of the present application is provided.

[0054] Figure 8 Another diagram for generating a second clock signal provided in an embodiment of the present application is provided.

[0055] Figure 9 A diagram for data collection using the time service device provided in the present application provided in an embodiment of the present application is provided.

[0056] Figure 10 A flowchart of a time service method for synchronous data acquisition provided in an embodiment of the present application is provided.

[0057] Figure 11 A structure diagram of another time service device for synchronous data acquisition provided in an embodiment of the present application is provided.

[0058] Figure 12 A structure diagram of a road test system provided in an embodiment of the present application is provided.

[0059] The first time service circuit 1, the second time service circuit 2, the receiving circuit 11, the pulse generation circuit 12, the step-down rectifier circuit 121, the sampling and shaping circuit 122, the frequency division circuit 123, the phase capture circuit 21, and the pulse output circuit 22. DETAILED DESCRIPTION

[0060] In the embodiments of the present application, the term “and / or” describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. The character “ / ” generally represents an “or” relationship between the associated objects before and after it.

[0061] In the embodiments of the present application, the term “a plurality of” means two or more, and other quantifiers are similar.

[0062] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0063] The technical solutions provided by the embodiments of the present application can be applied to various systems, especially 5G systems. For example, the applicable systems can be global system of mobile communication (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) system, 5G new radio (NR) system, etc. The various systems all include terminal devices and network devices. The system can also include a core network part, such as evolved packet system (EPS), 5G system (5GS), etc.

[0064] The timing device related to the embodiments of the present application can be a device capable of communicating with a network, a handheld device with wireless connection function, or other processing devices connected to a wireless modem, etc. In different systems, the name of the timing device can also be different. For example, in the 5G system, the timing device can be called user equipment (User Equipment, UE). The wireless timing device can communicate with one or more core networks (Core Network, CN) through a radio access network (Radio Access Network, RAN). The timing device can be a computer with a mobile terminal device, for example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device, which exchanges language and / or data with the radio access network.

[0065] The network related to the embodiments of the present application can be a ground wireless network, a satellite communication network, or a hybrid network of a ground wireless network and a satellite communication network.

[0066] The main roadside system of the domestic vehicle-road cooperation road and intersection includes traffic facilities, sensor part, communication part and infrastructure part. Among them, the sensor part usually includes laser radar, millimeter wave radar and camera sensors.

[0067] The laser radar mainly uses the laser ranging principle to measure the distance of the target and establish a three-dimensional model of the vehicle environment, realizes high-precision vehicle positioning and obstacle recognition, but is easily affected by heavy fog, rain and snow weather, and cannot realize image color and text recognition; the millimeter wave radar is suitable for all-weather application, and can sense the distance, speed and direction of the target, but it is difficult to distinguish pedestrians and non-motor vehicles, and cannot recognize traffic signs; the pictures taken by the camera can be recognized by image recognition technology to recognize traffic signal lights, traffic signs, lane lines, vehicles, pedestrians and road barriers, and assist positioning, but cannot measure distance, and are easily disturbed in bad environments such as heavy fog, strong light and night.

[0068] It can be seen that each type of sensor has its advantages and disadvantages. The deployment of a single sensor cannot effectively obtain all accurate road information and form roadside data for advanced auxiliary driving vehicles or autonomous driving vehicles for use by vehicles. Simply stacking information collected by various sensors also leads to the accumulation of a large amount of repeated information, causing huge repeated calculations and processing for vehicles, increasing processing complexity, and advanced auxiliary driving vehicles or autonomous driving vehicles still cannot be used. The existing solution is to collect laser radar, millimeter wave radar and camera sensing data, and then fuse the data at the edge computing node, and then send the fused data to the running vehicle. However, due to the inconsistent data collection frequency of various sensors, the same time cannot be aligned at the same time, and there is still a millisecond difference, so that the roadside data obtained by fusing the data collected by various sensors has errors. For vehicles using the above roadside data, differences will cause information errors, which will eventually lead to the inability to use the above roadside data for navigation, and autonomous driving vehicles still cannot be effectively used and are still only used as a reference.

[0069] In the prior art, each sensor in the roadside system can receive a timing signal through a network or GPS and trigger the data collection process of the corresponding sensor. For example, the Global Positioning System (GPS) outputs a frequency of 1 Hz, and a 50% duty cycle second pulse signal is used for time synchronization. Each rising edge in the above second pulse signal (i.e., timing signal) output by the GPS is a synchronization point, and each sensor (such as a laser radar or a camera) in the roadside system can start data collection at the above any synchronization point.

[0070] After the laser radar receives the rising edge of the second pulse signal, it starts to collect point cloud data. The frequency of the laser radar is generally 10 Hz or 20 Hz, that is, within the interval period of each rising edge of the second pulse signal (i.e., the scanning period of the laser radar), 10 (10 Hz, 100 ms output one) or 20 (20 Hz, 50 ms output one) point cloud images can be collected. At the same time, after the camera receives the rising edge of the second pulse signal, it starts to collect image data. The frame rate of the camera is generally 15 frames per second, 20 frames per second, 30 frames per second or even higher. That is, within the interval period of each rising edge of the second pulse signal, the camera can collect 15, 20 or 30 images or even more images.

[0071] Please refer to Figure 1 The above is a comparison chart of data collection by different sensors in the prior art roadside system.

[0072] Suppose Figure 1The synchronization point of triggering the laser radar and the camera to start collecting signals is the rising edge, the camera outputs the second frame of image data at the t1 time node, and the laser radar outputs the second frame of point cloud data at the t2 time node. Usually, only the frame of point cloud data closest to the screening time interval is fused with the image data, such as selecting the image data at the t1 moment and the point cloud data at the t2 moment, but there is a time deviation of At = t2-t1 between t2 and t1. By analogy, it can be known that there will be a millisecond-level deviation between the point cloud data and the image data, which leads to the fact that the point cloud data and the image data cannot be strictly aligned when fused, and the fused data also has a millisecond-level deviation.

[0073] To solve the above problems, the embodiment of the application provides a time service device and a method for synchronous data collection, a roadside system and a storage medium, to solve the technical problem that sensors with different data collection frequencies cannot truly realize synchronous data collection in the prior art.

[0074] Among them, the method and the device are based on the same application concept. Since the principles of the method and the device for solving problems are similar, the implementation of the device and the method can be mutually referred to, and the repeated parts will not be described again.

[0075] Please refer to Figure 2 The embodiment of the application provides a time service device for synchronous data collection, which comprises:

[0076] The first time service circuit 1 is used for starting to generate a first clock signal based on the original time service signal when the original time service signal is initially received, and providing the first clock signal to the scanning range sensor, and the scanning range sensor is used for performing a ranging task according to the first clock signal.

[0077] The above-mentioned original time service signal is a time service signal received through a network or a GPS, and the scanning range sensor can be a laser radar sensor or a millimeter wave radar sensor. The above-mentioned laser radar sensor and millimeter wave radar sensor can be a mechanical radar sensor or a non-mechanical radar sensor, which is not limited here.

[0078] The second time service circuit 2 is used for capturing a first phase of the scanning range sensor and a second phase opposite to the first phase when the scanning range sensor performs the ranging task, and generating a second clock signal according to a plurality of first phases and a plurality of second phases captured in sequence, and providing the second clock signal to the image sensor, and the image sensor is used for collecting images according to the second clock signal; wherein the period of the second clock signal is the scanning period of the scanning range sensor, and the first phase corresponds to the starting time of the second clock period.

[0079] With the scanning sensor as the laser radar and the image sensor as the camera as an example, the first timing circuit 1 starts to generate the first clock signal for the laser radar based on the original timing signal after initially receiving the timing signal received through the network or GPS (i.e., the original timing signal), and simultaneously provides the first clock signal to the laser radar and the second timing circuit 2. After receiving the first clock signal, the laser radar starts to collect data point clouds at its radar frequency (i.e., performs the ranging task); at the same time, the second timing circuit 2 starts to continuously capture the first phase of the radar sensor and the second phase opposite to the first phase when initially receiving the first clock signal, and generates the second clock signal according to the plurality of first phases and the plurality of second phases captured in sequence, the period of the second clock signal being the scanning period of the laser radar, the first phase corresponding to the starting time of the second clock period, and the generated second clock signal being provided to the camera to trigger the camera to collect images. If the first phase corresponds to the rising edge of the second clock signal, the camera is triggered to collect images at the rising edge of the second clock signal; if the first phase corresponds to the falling edge of the second clock signal, the camera is triggered to collect images at the falling edge of the second clock signal.

[0080] In the embodiments provided by the present application, by letting the first timing circuit 1 start to generate the first clock signal based on the original timing signal when initially receiving the original timing signal, and provide the first clock signal to the scanning ranging sensor, the scanning ranging sensor performs the ranging task according to the first clock signal, and by letting the second timing circuit 2 capture the first phase of the scanning ranging sensor and the second phase opposite to the first phase when the scanning ranging sensor performs the ranging task, and further generate the second clock signal with the scanning period of the scanning ranging sensor as the period according to the plurality of first phases and the plurality of second phases captured in sequence, and provide the second clock signal to the image sensor, the image sensor collects images according to the second clock signal; wherein the first phase corresponds to the starting time of the second clock period. In this way, the scanning ranging sensor and the image sensor can realize truly synchronous data collection at the time corresponding to the first phase, and since the second clock signal used by the image sensor is generated according to the first phase and the second phase opposite to the first phase of the scanning ranging sensor, even if the scanning ranging sensor is disturbed during scanning, the second clock signal will also change synchronously, so that the scanning ranging sensor and the image sensor always maintain synchronous data collection, unlike the prior art in which multiple sensors cannot realize truly synchronous data collection using the same timing clock signal, and when the radar sensor is disturbed, the difference in collection time with other sensors will be aggravated. Since the scanning ranging sensor and the image sensor in the present application can truly realize synchronous data collection, the information error of the fused data can be improved when the collected data is fused, so that they can be widely applied in the field of autonomous driving.

[0081] Please see Figure 3 The first time-providing circuit provided by the embodiment of the application has a structure diagram as shown in the figure, and the first time-providing circuit 1 comprises:

[0082] The receiving circuit 11 is used for receiving the original time-providing signal, and the receiving circuit 11 can be composed of an antenna and a receiver. If the original time-providing signal is a GPS signal, the receiver is composed of a GPS antenna and a GPS receiver. If the original time-providing signal is a satellite signal (such as a Beidou signal), the receiver is composed of a satellite antenna and a satellite receiver. If the receiver can receive both the GPS signal and the satellite signal, the receiver comprises a first sub-receiver composed of a GPS antenna and a GPS receiver, and / or a second sub-receiver composed of a satellite antenna and a satellite receiver. If the satellite system can directly establish a communication relationship with the core network of the ground wireless communication system, when the receiver is the first sub-receiver, if the original time-providing signal is a satellite signal, the original time-providing signal can also be forwarded to the first sub-receiver via the core network. When the receiver is the second sub-receiver, if the original time-providing signal is a GPS signal, the original time-providing signal can also be forwarded to the second sub-receiver via the satellite system.

[0083] The pulse generating circuit 12 is electrically connected between the receiving circuit 11 and the scanning range sensor, and is used for starting and generating the first clock signal according to the original time-providing signal. Meanwhile, the output end of the pulse generating circuit is also electrically connected with the input end of the second time-providing circuit 2, so that the first clock signal can be synchronously provided to the second time-providing circuit 2. The above-mentioned pulse generating circuit can generate a second pulse signal (denoted as PP1S, that is, the clock period is 1 second) with a duty ratio of 50% according to the original time-providing signal, and output the same as the first clock signal. Of course, other clock periods of the first clock signal can also be generated according to actual requirements, and the specific implementation is not limited.

[0084] The original time-providing signal is received by the receiving circuit 11, and the pulse generating circuit is used for starting and generating the first clock signal according to the original time-providing signal, so that the influence of the original time-providing signal on the execution of the ranging task of the scanning range sensor due to the interference in the propagation process of the original time-providing signal can be prevented.

[0085] Please see Figure 4 The pulse generating circuit 12 provided by the embodiment of the application has a structure diagram as shown in the figure, and the pulse generating circuit 12 comprises:

[0086] The voltage-reducing rectifier circuit 121 is electrically connected with the receiving circuit 11, and is used for voltage-reducing rectification on the original time-providing signal;

[0087] The sampling and shaping circuit 122 is electrically connected with the voltage-reducing rectifier circuit 121, and is used for sampling and shaping the original time-providing signal after the voltage-reducing rectification, so as to obtain the intermediate clock signal;

[0088] The frequency division circuit 123 is electrically connected with the sampling shaping circuit 122, and is used for frequency dividing the intermediate clock information to obtain the first clock signal.

[0089] In the embodiment provided by the application, the original time signal is rectified by using the step-down rectifier circuit 121, and the rectified original signal is sampled and shaped by using the sampling shaping circuit 122, so that a standard square wave signal (i.e. the intermediate clock signal) can be generated, the distortion of the original time signal generated in the propagation and reception process is reduced, and finally the intermediate clock signal generated after sampling and shaping is frequency divided by using the frequency division circuit 123, so that the first clock signal with high precision can be generated.

[0090] Please refer to Figure 5 The second time circuit provided by the embodiment of the application has the structure shown in the figure, and the second time circuit 2 comprises:

[0091] The phase capture circuit 21 is used for, at the first synchronization point after receiving the first clock signal, capturing the current phase corresponding to the scanning range sensor as the first phase, and outputting a first level, and capturing the opposite phase of the current phase as the second phase; then, the current phase of the scanning range sensor is continuously detected, and when the current phase is the first phase, the level of the second clock signal jumps to the first level; when the current phase is the second phase, the level of the second clock signal jumps to the second level.

[0092] The pulse output circuit 22 is electrically connected to the output end of the phase capture circuit 21, and is used for outputting the second clock signal to the image sensor.

[0093] Please refer to Figure 6 and Figure 7 , Figure 6 The phase diagram corresponding to the collection of one frame of data of the mechanical radar provided by the embodiment of the application is shown in the figure; Figure 7 The diagram for generating the second clock signal provided by the embodiment of the application is shown in the figure, and the first clock signal is the second pulse signal of the PPlS, the rising edge of each second pulse signal is a synchronization point, and is provided to the second time circuit 2 and a mechanical radar for time keeping, wherein it is assumed that the mechanical radar collects point cloud data at a frequency of 10 Hz, collects one frame of point cloud data in each 100 ms when the mechanical radar rotates one round, and can collect 10 frames of point cloud data per second.

[0094] The mechanical radar receives the first clock signal at the time t, and since the rising edge of the first clock signal is a synchronization point, the mechanical radar sensor starts to collect point cloud data at the first rising edge (the first synchronization point) after the time t, and the phase starts to change (for example, the phase is 0 at the time t, and the phase is 90° at the time t+1) Figure 6as shown in Fig. 1, to a second clock signal as shown in Fig. 2, and to an image sensor as shown in Fig. 3. Figure 6 As shown in Fig. 1, the current phase of the mechanical radar is the first phase at the rising edge (the first synchronization point) of the first clock signal, please refer to Fig. 2. Figure 7 At the same time, the second timing circuit 2 also receives the first clock signal at time t, and captures the current phase (90°) at the first rising edge (the first synchronization point) thereafter, and takes the current phase as the first phase (90°), and outputs the first level (such as high level), and takes the opposite phase of the first phase as the second phase (-90°), and then continuously detects the current phase of the scanning sensor, and when the current phase changes to the second phase, the level of the second clock signal jumps to the second level (low level), and when the current phase changes to the first phase again, the level of the second clock signal jumps to the first level (high level), and thus reciprocating, the second clock signal can be continuously generated, and the second clock signal is provided to the image sensor for image acquisition, and the image sensor performs image acquisition at the rising edge of the second clock signal after receiving the second clock signal.

[0095] Of course, the above synchronization point can also be the falling edge of the first clock signal, and the first level can also be the second level, and the corresponding second level is high level. As shown in Fig. 4. Figure 8 Fig. 5 shows another schematic diagram for generating the second clock signal provided by the embodiment of the present application, in which Figure 8 The mechanical radar sensor starts to collect point cloud data of the current frame at the rising edge of the first clock signal, and the image sensor performs image acquisition at the falling edge of the second clock signal.

[0096] As shown in Fig. 1, the current phase of the mechanical radar is the first phase at the rising edge (the first synchronization point) of the first clock signal, please refer to Fig. 2. Figure 9 Fig. 6 shows a schematic diagram for data acquisition using the timing device provided by the present application.

[0097] When the first timing circuit 1 initially receives the original timing signal, it starts to generate the first clock signal according to the original timing signal and provides it to the scanning range sensor and the second timing circuit 2, so that the scanning range sensor performs the ranging task according to the first clock signal, and the second timing circuit 2 captures the current phase of the scanning range sensor when it initially receives the first clock signal, takes it as the first phase, outputs the first level, and takes the opposite phase of the first phase as the second phase, and when the current phase changes to the second phase, the level of the second clock signal jumps to the second level, and when the current phase changes to the first phase again, the level of the second clock signal jumps to the first level, and thus reciprocating, the second clock signal is continuously outputted and provided to the image sensor, so that the image sensor performs image acquisition according to the second clock signal.

[0098] As shown in Fig. 1, the current phase of the mechanical radar is the first phase at the rising edge (the first synchronization point) of the first clock signal, please refer to Fig. 2. Figure 10As shown in the figure, an embodiment of the present invention provides a time synchronization method for synchronous data acquisition. Specific embodiments can be found in the description of the time synchronization device, and will not be repeated here. The time synchronization method includes:

[0099] Step 1001: Upon initial receipt of the original timing signal, a first clock signal is generated based on the original timing signal and provided to the scanning ranging sensor; wherein, the scanning ranging sensor is used to perform a ranging task according to the first clock signal;

[0100] Step 1002: When the scanning sensor performs the ranging task, a first phase of the scanning ranging sensor and a second phase opposite to the first phase are captured, and a second clock signal is generated based on the multiple first phases and multiple second phases captured in sequence; wherein, the period of the second clock signal is the scanning period of the scanning ranging sensor, and the first phase corresponds to the start time of the second clock period;

[0101] Step 1003: Provide the second clock signal to the image sensor, which is used to acquire an image according to the second clock signal.

[0102] One possible implementation involves capturing a first phase of the scanning ranging sensor and a second phase opposite to the first phase, and generating a second clock signal based on a plurality of sequentially captured first phases and a plurality of second phases, including:

[0103] At the first synchronization point after receiving the first clock signal, the current phase corresponding to the currently captured scanning ranging sensor is taken as the first phase, and a first level is output, and the opposite phase of the current phase is taken as the second phase;

[0104] The current phase is continuously monitored. When the current phase is a first phase, the level of the second clock signal jumps to a first level; when the current phase is the opposite phase of the first phase, the level of the second clock signal jumps to a second level.

[0105] The second clock signal is output to the image sensor.

[0106] like Figure 11 As shown in the figure, an embodiment of the present invention provides a timing device for synchronous data acquisition. Specific embodiments can be found in the description of the aforementioned timing device, and will not be repeated here. The timing device includes:

[0107] Memory 1101, transceiver 1102, processor 1103:

[0108] The memory 1101 is configured to store a computer program; the transceiver 1102 is configured to transceive data under the control of the processor 1103; the processor 1103 is configured to read the computer program in the memory 1101 and perform the following operations:

[0109] Upon initial reception of an original time signal, a first clock signal is generated based on the original time signal, and the first clock signal is provided to a scanning range sensor, the scanning range sensor being configured to perform a ranging task according to the first clock signal;

[0110] While the scanning sensor performs the ranging task, a first phase of the scanning range sensor and a second phase opposite to the first phase are captured, and a second clock signal is generated according to a plurality of the first phases and a plurality of the second phases captured in sequence; wherein a period of the second clock signal is a scanning period of the scanning range sensor, and the first phase corresponds to a starting time of the second clock period;

[0111] The second clock signal is provided to an image sensor, and the image sensor is configured to collect images according to the second clock signal.

[0112] In a possible implementation, the processor 1103 is further configured to:

[0113] At a first synchronization point after receiving the first clock signal, a current phase corresponding to the scanning range sensor currently captured is taken as the first phase, and a first level is output, and an opposite phase of the current phase is taken as the second phase;

[0114] The current phase is continuously detected, when the current phase is the first phase, a level of the second clock signal jumps to the first level; when the current phase is the opposite phase of the first phase, the level of the second clock signal jumps to a signal outputting a second level;

[0115] The second clock signal is output to the image sensor.

[0116] The transceiver 1102 is configured to receive and send data under the control of the processor 1103.

[0117] Wherein, at Figure 11In particular embodiments, bus architecture can include any number of interconnected buses and bridges, specifically the various circuitry of the one or more processors represented by the processor 1103 and the memory represented by the memory 1101 linked together by a bus architecture. The bus architecture can also link various other circuitry such as peripheral devices, voltage regulators, and power management circuitry, which are well known in the art and thus, are not further described herein. The bus interface provides an interface. The transceiver 1102 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium, including wireless channels, wired channels, optical cables, and the like transmission media.

[0118] The processor 1103 is responsible for managing the bus architecture and general processing, and the memory 1101 can store data used by the processor 1103 in executing operations.

[0119] Optionally, the processor 1103 can be a CPU (Central Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device), and the processor can also adopt a multi-core architecture.

[0120] The processor is used to execute any of the methods provided by the embodiments of the application according to the executable instructions obtained by calling the computer program stored in the memory. The processor and the memory can also be physically arranged separately.

[0121] As shown in Figure 12 The embodiment of the application provides a roadside system, and specific embodiments can refer to the description of the time service device described above. The roadside system includes:

[0122] The time service device 1201 for synchronously collecting data as described above;

[0123] The scanning range-finding sensor 1202 is used to obtain a first clock signal from the time service device 1201 and perform a range-finding task according to the first clock signal;

[0124] The image sensor 1203 is used to obtain a second clock signal from the time service device 1201 and perform an image acquisition task according to the second clock signal;

[0125] The data fusion device 1204 is configured to acquire the acquired frame point cloud data from the scanning ranging sensor 1202 and the acquired image data from the image sensor 1203, fuse the frame point cloud data and the image data acquired at the same time, and obtain roadside data, wherein the roadside data is used to represent road condition information.

[0126] The timing device 1201, the scanning ranging sensor 1202 and the image sensor 1203 can be arranged at an intersection, beside a road, or on a moving object, etc., and the data fusion device 1204 can be arranged together with the timing device 1201, the scanning ranging sensor 1202 and the image sensor 1203, or arranged at an edge computing point close to the timing device 1201, the scanning ranging sensor 1202 and the image sensor 1203, and the specific arrangement position is not limited.

[0127] It should be noted that the above device and system provided by the embodiments of the present application can realize all the method steps achieved by the above method embodiments, and achieve the same technical effects, and the same parts and beneficial effects of the method embodiments in the embodiments will not be repeated here.

[0128] Based on the same inventive concept, the embodiments of the present application also provide a processor readable storage medium, which stores a computer program, and the computer program is used to make the processor execute the timing method.

[0129] The processor readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to a magnetic memory (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (such as a CD, a DVD, a BD, a HVD, etc.), and a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a non-volatile memory (NAND FLASH), a solid state disk (SSD)), etc.

[0130] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer usable program code.

[0131] The computer executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operations steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 1 one or more flows and / or functions specified in the flowchart Figure 1 one or more blocks or steps in the flowchart

[0132] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart Figure 1 one or more flows and / or functions specified in the flowchart Figure 1 one or more blocks or steps in the flowchart

[0133] These processor-executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operations steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 1 one or more flows and / or functions specified in the flowchart Figure 1 one or more blocks or steps in the flowchart

[0134] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A timekeeping device for synchronizing data acquisition, characterized in that, The time service device comprises: A first time service circuit, configured to start generating a first clock signal based on an original time service signal when the original time service signal is initially received, and provide the first clock signal to a scanning range sensor, the scanning range sensor being configured to perform a ranging task according to the first clock signal; A second time service circuit, configured to capture a first phase of the scanning range sensor and a second phase opposite to the first phase when the scanning range sensor performs the ranging task, and generate a second clock signal according to a plurality of the first phases and a plurality of the second phases captured in sequence, and provide the second clock signal to an image sensor, the image sensor being configured to collect images according to the second clock signal; wherein a period of the second clock signal is a scanning period of the scanning range sensor, and the first phase corresponds to a starting time of the period of the second clock signal.

2. The timekeeping device of claim 1, wherein, The first time service circuit comprises: A receiving circuit, configured to receive an original time service signal; A pulse generation circuit, electrically connected between the receiving circuit and the scanning range sensor, configured to start and generate a first clock signal according to the original time service signal.

3. The timekeeping device of claim 2, wherein, The pulse generation circuit comprises: A step-down rectifier circuit, electrically connected to the receiving circuit, configured to step down and rectify the original time service signal; A sampling and shaping circuit, electrically connected to the step-down rectifier circuit, configured to sample and shape the original time service signal after step-down rectification to obtain an intermediate clock signal; A frequency division circuit, electrically connected to the sampling and shaping circuit, configured to frequency-division the intermediate clock signal to obtain the first clock signal.

4. Timekeeping device according to any one of claims 1-3, characterized in that The second time service circuit comprises: A phase capture circuit, configured to, at a first synchronization point after receiving the first clock signal, capture a current phase corresponding to the scanning range sensor as the first phase, and output a first level, and capture an opposite phase of the current phase as the second phase; thereafter, continuously detect the current phase, and when the current phase is the first phase, a level of the second clock signal jumps to the first level; when the current phase is the second phase, the level of the second clock signal jumps to a second level; A pulse output circuit, an input end of the pulse output circuit being electrically connected to an output end of the phase capture circuit, configured to output the second clock signal to the image sensor.

5. The timekeeping device of claim 4, wherein, The scanning range sensor comprises: A laser radar sensor and a millimeter wave radar sensor.

6. A time service method for synchronizing data acquisition, characterized in that, Comprise: When an original time service signal is initially received, start generating a first clock signal based on the original time service signal, and provide the first clock signal to a scanning range sensor; wherein the scanning range sensor is configured to perform a ranging task according to the first clock signal; The first phase of the scanning range sensor and the second phase opposite to the first phase are captured, and a second clock signal is generated according to a plurality of the first phases and a plurality of the second phases captured in sequence; wherein the period of the second clock signal is the scanning period of the scanning range sensor, and the first phase corresponds to the starting time of the period of the second clock signal; The second clock signal is provided to an image sensor, and the image sensor is used to collect images according to the second clock signal.

7. The time-provisioning method of claim 6, wherein, The first phase of the scanning range sensor and the second phase opposite to the first phase are captured, and a second clock signal is generated according to a plurality of the first phases and a plurality of the second phases captured in sequence, including: At the first synchronization point after receiving the first clock signal, the current phase corresponding to the currently captured scanning range sensor is taken as the first phase, and a first level is output, and the opposite phase of the current phase is taken as the second phase; The current phase is continuously detected, and when the current phase is the first phase, the level of the second clock signal jumps to the first level; when the current phase is the opposite phase of the first phase, the level of the second clock signal jumps to the second level; The second clock signal is output to the image sensor.

8. A timekeeping device for synchronizing data acquisition, characterized in that, The memory, the transceiver, and the processor are included. The memory is used to store a computer program; the transceiver is used to transceive data under the control of the processor; and the processor is used to read the computer program in the memory and perform the following operations: When an original time signal is initially received, a first clock signal is generated based on the original time signal, and the first clock signal is provided to a scanning range sensor, and the scanning range sensor is used to perform a ranging task according to the first clock signal; The first phase of the scanning range sensor and the second phase opposite to the first phase are captured, and a second clock signal is generated according to a plurality of the first phases and a plurality of the second phases captured in sequence; wherein the period of the second clock signal is the scanning period of the scanning range sensor, and the first phase corresponds to the starting time of the period of the second clock signal; The second clock signal is provided to an image sensor, and the image sensor is used to collect images according to the second clock signal.

9. The timekeeping device of claim 8, wherein, The processor is further used to: At the first synchronization point after receiving the first clock signal, the current phase corresponding to the currently captured scanning range sensor is taken as the first phase, and a first level is output, and the opposite phase of the current phase is taken as the second phase; The current phase is continuously detected, and when the current phase is the first phase, the level of the second clock signal jumps to the first level; When the current phase is the opposite phase of the first phase, the level of the second clock signal jumps to the signal outputting the second level; The second clock signal is output to the image sensor.

10. A wayside system, characterized in that, The application relates to a time synchronization data acquisition device, comprising: The time synchronization data acquisition device according to any one of claims 1-5; a scanning range-finding sensor configured to acquire a first clock signal from the time synchronization device and perform a range-finding task according to the first clock signal; an image sensor configured to acquire a second clock signal from the time synchronization device and perform an image acquisition task according to the second clock signal; a data fusion device configured to acquire acquired frame point cloud data from the scanning range-finding sensor, acquire acquired image data from the image sensor, and fuse frame point cloud data and image data acquired at the same time to obtain roadside data, wherein the roadside data is used to represent road condition information.

11. A processor-readable storage medium, comprising: The processor readable storage medium stores a computer program, and the computer program is used to make the processor execute the method in claim 6 or 7.

Images