Information synchronization method and device, medium and equipment

Abstract

The invention discloses an information synchronization method and device, a medium and equipment, and the method comprises the steps: determining an information queue corresponding to each non-abnormal sensor in each preset time period based on the received real information transmitted by each non-abnormal sensor; based on each information queue, obtaining a target set containing at least one piece of real information corresponding to each non-abnormal sensor; and sending each piece of real information in the target set to a predetermined target object to perform information synchronization. According to the method, the preset time period is set, and the target set is determined based on the information queue of each sensor in each time period, so that the corresponding target set can be determined based on the information queue corresponding to each non-fault sensor even if information interruption is caused by a fault of a certain sensor; the reliability of information synchronization is improved, and the problem that information synchronization cannot be carried out when a certain sensor breaks down in an existing synchronization method is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor information synchronization, and in particular to an information synchronization method, device, medium and equipment. Background Art

[0002] In autonomous driving, the perception of the vehicle's external environment involves data from multiple sensors, such as Lidar, camera, global positioning system GPS, inertial sensor IMU, etc. If the information / information time received by the computing center is not uniform, it will cause problems such as inaccurate obstacle recognition.

[0003] In order to perform high-precision time synchronization for various sensors, hardware synchronization or software synchronization is usually used.

[0004] The existing hardware synchronization method has the problem of high cost. The existing software synchronization method has a low cost, but in the data processing stage, if a sensor fails and the information is interrupted, the synchronization mechanism cannot continue to work, that is, the information synchronization will not be performed, and then the data center / target device object cannot receive the information of other sensors that have not failed. Therefore, there are problems such as unreliable information synchronization and low robustness to failures. Summary of the invention

[0005] In view of this, the present invention provides an information synchronization method, device, medium and equipment, the main purpose of which is to solve the current problems of unreliable information synchronization and low robustness to failures.

[0006] To solve the above problems, the present application provides an information synchronization method, including:

[0007] At the synchronization moment, based on the real information sent by each sensor received within a predetermined period, an information queue corresponding to each sensor is determined;

[0008] Based on each of the information queues, a target set is determined; the target set is used for multi-sensor information synchronization.

[0009] Optionally, determining a target set based on each of the information queues includes:

[0010] A real information combination with the shortest time span is determined from each information queue and is determined as the target set.

[0011] Optionally, determining the information queue corresponding to each sensor based on the real information sent by each sensor received within a predetermined period includes:

[0012] Determine prediction information corresponding to the sensor according to the time of the historical real information received from each sensor;

[0013] For each sensor, combining the real information and the predicted information received within the predetermined period as an information queue corresponding to the sensor;

[0014] Optionally, determining a target set based on each of the information queues includes:

[0015] Determine a first set with the shortest time span from the real information included in each information queue;

[0016] Determine a second set with the shortest time span from all the messages included in each message queue;

[0017] When the first set and the second set are the same, the first set is determined as the target set.

[0018] Optionally, when the first set and the second set are different, the method further includes:

[0019] According to the comparison result of the actual arrival time of the prediction information in the second set and the target critical time, it is determined whether to determine the second set as the target set.

[0020] Optionally, the target critical moment is determined based on a predicted arrival time of the prediction information.

[0021] Optionally, the target critical moment is determined according to the position of the first set, the position of the second set and the synchronization moment.

[0022] Optionally, the information synchronization method further includes:

[0023] If the actual arrival time of the prediction information in the second set is before the target critical time, determining the second set as the target set;

[0024] Otherwise, the first set is determined to be the target set.

[0025] In order to solve the above problems, the present application provides an information synchronization device, including:

[0026] A queue determination module, for determining, at a synchronization moment, an information queue corresponding to each sensor based on real information sent by each sensor received within a predetermined period;

[0027] The set determination module is used to determine a target set based on each of the information queues; the target set is used for multi-sensor information synchronization.

[0028] To solve the above problems, the present application provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above information synchronization methods are implemented.

[0029] To solve the above problems, the present application provides an electronic device, comprising at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above information synchronization methods when executing the computer program on the memory.

[0030] The information synchronization method, device and medium in the present application will determine the information queue corresponding to the sensor based on the real information sent by each sensor within the time period corresponding to the synchronization moment, and then a target set can be determined based on the information queue of each sensor. Therefore, even if a sensor causes information interruption due to a failure, the corresponding target set will be determined based on the information queue corresponding to each non-faulty sensor, and each actual information in the target set will be sent to the target object, thereby improving the reliability of information synchronization, solving the problem that the existing synchronization method cannot synchronize information when a sensor fails, and improving robustness.

[0031] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0033] Figure 1 This is a flow chart of an information synchronization method according to an embodiment of the present application;

[0034] Figure 2 A schematic diagram of the relationship between the information queue and the target set in an embodiment of the present application;

[0035] Figure 3 This is a schematic diagram of an information queue in another embodiment of the present application;

[0036] Figure 4 , Figure 5 This is a schematic diagram of the relationship between the first set A and the second set B in another embodiment of the present application;

[0037] Figure 6This is a structural block diagram of an information synchronization device according to another embodiment of the present application;

[0038] Figure 7 This is a structural block diagram of an electronic device according to another embodiment of the present application. DETAILED DESCRIPTION

[0039] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0040] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.

[0041] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0042] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0043] It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art will be able to readily implement many other equivalent forms of the present application.

[0044] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0045] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0046] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0047] The present application embodiment provides an information synchronization method, which can be specifically applied to electronic devices such as terminals and servers. Figure 1 As shown, the method in this embodiment includes the following steps:

[0048] Step S101, at the synchronization moment, based on the real information sent by each sensor received within a predetermined period, determining the information queue corresponding to each sensor;

[0049] The terminal, server and other electronic devices that execute this method receive information sent from multiple sensors in each predetermined period, and select the most appropriate information from the information from multiple sensors at several synchronization moments based on the multiple information received, as the basis for multi-sensor synchronization. The time between each two synchronization moments is the predetermined period. In other words, at the synchronization moment, the server / terminal device will determine the real information sent by each sensor within the predetermined period before the synchronization moment, and then store the real information of each sensor in order according to the receiving time, so as to determine / create the information queue corresponding to each sensor.

[0050] Step S102, determining a target set based on each of the information queues; the target set is used for multi-sensor information synchronization;

[0051] In this step, even if a sensor is abnormal and the server / electronic device cannot receive the real information sent by the abnormal sensor, the server / electronic device can also obtain information sent by at least two sensors based on the information queues corresponding to other non-abnormal sensors to obtain the target set.

[0052] After obtaining the target set in this step, each real information in the target set can be sent to the predetermined target object for information synchronization. The target object can be a processor or computing center that processes the data of each sensor. After obtaining the target set in this step, the server or electronic device can send the target set once at the synchronization time, so that the processor / computing center can receive the data of each sensor at the same time. Even if a sensor stops sending information due to an abnormality, the processor / computing center can also receive the data of other non-abnormal sensors at the same time, that is, the synchronization of sensor data can also be achieved.

[0053] The information synchronization method in this embodiment, at the synchronization moment, will determine the information queue corresponding to the sensor based on the real information sent by each sensor, and then a target set can be determined based on the information queues of each sensor. Therefore, even if a sensor causes information interruption due to a fault, the corresponding target set will be determined based on the information queues corresponding to each non-faulty sensor, and each real information in the target set will be sent to the target object, thereby improving the reliability of information synchronization, solving the problem that the existing synchronization method cannot synchronize information when a sensor fails, and improving the robustness of avoiding faults.

[0054] Based on the above embodiments, another embodiment of the present application provides an information synchronization method. In this embodiment, when determining the target set based on each of the information queues, that is, when executing step S102, the specific method is: determine the real information combination with the shortest time span from each information queue, and determine it as the target set.

[0055] That is, based on each real information in each of the information queues, several real information combinations can be determined; wherein each real information combination simultaneously contains at least one real information of each sensor; based on the actual reception time of each real information in each real information combination, the time span of each real information combination is determined; and the real information combination with the shortest time span is determined from each of the time spans as the target set.

[0056] For example, Figure 2 The electronic device executing the method (hereinafter referred to as the executing electronic device) receives the real information m1 to m3, m5 and m6 from the three sensors within the predetermined period, and the executing electronic device establishes the following information for each sensor: Figure 2 The first information queue shown in FIG. 1 is used as the information queue of each sensor. Figure 2 As shown, there are three first information queues, namely, first information queue A, first information queue B and first information queue C. First information queue A is the information queue corresponding to sensor 1, first information queue B is the information queue corresponding to sensor 2, and first information queue C is the information queue corresponding to sensor 3. Figure 2 In the figure, arrows m1, m2, m3, m5, and m6 represent real information, and the positions of the arrows represent the time of receiving the real information.

[0057] The first information queue A contains: real information m1;

[0058] The first information queue B includes: real information m2 and real information m5;

[0059] The first information queue C includes: real information m3, real information m6;

[0060] In this embodiment, after obtaining the information queues corresponding to each sensor, at the synchronization moment, the executing electronic device can determine several real information combinations from the real information included in each information queue, such as determining real information combination a (including real information m1, m2, m3), real information combination b (including real information m1, m2, m6), real information combination c (m1, m5, m3) and real information combination d (m1, m5, m6). Then, according to the time span corresponding to each real information combination, the real information combination with the shortest time span is determined as the target set. For example, the time span of real information combination a is the shortest / smallest, that is, in this information combination, the difference between the receiving time of the latest received information and the receiving time of the earliest received information is the shortest, so the real information combination a can be used as the target set.

[0061] In this embodiment, in order to make the determination of the target set more reasonable and accurate, the target set can be determined by further combining the position relationship between each real information combination position and the current time (that is, the synchronization time). Specifically, when multiple real information combinations with the same time span and the minimum time span are obtained, the middle position of the receiving time of the latest information in the combination and the receiving time of the earliest information is defined as the central time of the real information combination, and then the real information combination with the central time closest to the synchronization time / current time is determined as the target set.

[0062] In this embodiment, by adopting the above-mentioned method to obtain the target set, the time span of the target set can be minimized while simultaneously obtaining the real information of each sensor, thereby ensuring that the actual receiving time of each real information in the target set is closest, and sending the real information of multiple sensors with the closest time to the computing center, making the synchronization of sensor information more reasonable and accurate.

[0063] Based on the above embodiments, another embodiment of the present application provides an information synchronization method. In this embodiment, in order to make the determination of the target set more reasonable and accurate, when determining the information queue corresponding to each sensor based on the real information sent by each sensor received within a predetermined period, the information queue of each sensor can be further determined in combination with the predicted information of each sensor.

[0064] That is, the predicted information corresponding to the sensor can be determined based on the time of the historical real information received from each sensor; for each sensor, the real information received within the predetermined period and the predicted information are combined as the second information queue corresponding to the sensor. For example, assuming that in information queue A, according to historical records, the sending frequency of real information is 5 frames within 1 second, then each time the executing electronic device receives real information, it can predict the receiving time of the next real information, that is, the predicted information, based on the receiving time of the last real information.

[0065] For example Figure 3 The information queues shown are the second information queue A', the second information queue B' and the second information queue C'. The current moment is the synchronization moment, where:

[0066] The second information queue A' includes: real information m1 and predicted information m4;

[0067] The second information queue B' includes: real information m2, real information m5, and predicted information m7;

[0068] The second information queue C' includes: real information m3, real information m6, and predicted information m8.

[0069] In this embodiment, after obtaining the second information queues corresponding to each sensor and containing real information and predicted information, the executing electronic device can determine the first set with the shortest time span from the real information included in each second information queue; then determine the second set with the shortest time span from all the information included in each information queue; finally, determine the target set based on the first set and the second set.

[0070] Specifically, the process of determining the target set is as follows:

[0071] Step 1: based on the real information m1, m2, m3, m5 and m6 included in the information queues A', B' and C', determine the first set with the shortest time span;

[0072] In this step, the process of determining the first set with the shortest time span is as follows: based on the real information m1, m2, m3, m5 and m6 included in the information queues A', B' and C', determine several real information combinations, that is, determine real information combination 1 (including real information m1, m2, m3), real information combination 2 (including real information m1, m2, m6), real information combination 3 (m1, m5, m3) and real information combination 4 (m1, m5, m6); then compare the time spans of each real information combination to find that the time span of real information combination a is the shortest / smallest, so real information combination 1 can be used as the first set.

[0073] Step 2: Based on all the information m1, m2, m3, m4, m5, m6, m7 and m8 included in each information queue A', B' and C', determine the second set with the shortest time span;

[0074] In this step, when determining the second set, specifically, several information combinations are determined based on all the information m1, m2, m3, m4, m5, m6, m7 and m8 included in each information queue A', information queue B' and information queue C'; each information combination also contains at least one real information or predicted information of each sensor, and finally the information combination with the smallest time span is determined from each information combination as the second set. That is, based on m1, m2, m3, m4, m5, m6, m7 and m8, information combination 5 (including m1, m2, m3), information combination 6 (m4, m5, m6), information combination 7 (m1, m5, m3), information combination 8 (m1, m5, m8), information combination 9... can be determined. Then, based on the time span of each information combination, the information combination with the smallest time span is determined as the second set.

[0075] In this step, some information combinations, such as information combination 6 and information combination 8, contain prediction information, so the time span of the corresponding information combination can be determined according to the predicted arrival time / predicted arrival time of each prediction information. Then, according to the time span of each information combination, the information combination with the smallest time span is determined as the second set. The second set may be a real information combination or an information combination containing prediction information.

[0076] Step three: determine whether the second set is the same as the first set; when the first set is the same as the second set, determine the first set as the target set.

[0077] In this step, if the first set and the second set are both true information combination 1, it means that combination 1 has the smallest time span and the best synchronization effect. Even if we continue to wait for the predicted message to arrive, the synchronization effect cannot be better. Therefore, true information combination 1 is directly determined as the target set.

[0078] In this embodiment, the target set is further determined by combining the prediction information corresponding to each sensor, which can make the determination of the target set more reasonable and accurate, and lay a foundation for subsequent information synchronization based on the target set.

[0079] Based on the above embodiments, another embodiment of the present application provides an information synchronization method. In this embodiment, when the first set and the second set are not the same, that is, assuming that the first set is real information combination 1 and the second set is information combination 6, and the second set contains both real information and predicted information, the final target set is further determined based on the actual arrival time of the predicted information in the second set.

[0080] Specifically, the target critical moment may be determined first, and then, based on a comparison result between the actual arrival time of the prediction information in the second set and the target critical moment, it is determined whether to determine the second set as the target set.

[0081] For example, if the actual arrival time / actual arrival moment of the predicted information is before the target critical moment, the second set is determined as the target set; otherwise, the first set is determined as the target set. That is, if the executing electronic device receives the real information corresponding to the predicted information before or at the target critical moment, the second set is determined as the target set; conversely, if the executing electronic device does not receive the real information corresponding to the predicted information after the target critical moment, the first set is determined as the target set.

[0082] In this embodiment, since the second set contains the prediction information, and the prediction information is located after the synchronization moment, it is later in time sequence, the latest information, the information value is greater, and the time span is the smallest. Therefore, if the executing electronic device waits for a while at the synchronization moment, waiting for the prediction message to arrive on time or in advance, the second set can be used as the target set for information synchronization, which is better than the execution electronic device directly using the first set including only real information as the target set at the synchronization moment. However, this waiting has certain risks, that is, the prediction message is not a real message after all, and there is a possibility of loss or delay, so the waiting time cannot be extended blindly. Specifically, the target critical moment can be determined first, and then it can be further determined whether the real information corresponding to the prediction information is received within the target critical moment. That is, if the real information corresponding to the prediction information is received within the target critical moment (that is, the actual receiving time of the real information corresponding to the prediction information is less than or equal to the target critical moment), the second set containing the real information can be used as the target set. On the contrary, if the real information corresponding to the predicted information is not received within the target critical time (ie, the actual receiving time of the real information corresponding to the predicted information is greater than the target critical time), the first set is used as the target set, and then the information queue can be cleared.

[0083] In this embodiment, when determining the target critical time, it can be determined based on the predicted arrival time of the prediction information in the second set, or based on the position of the first set, the position of the second set, and the synchronization time. Figure 5 , the target critical moment can be determined in the following three ways:

[0084] Method 1 - "fixed waiting time" method: determine the target critical moment according to the predicted arrival time of the prediction information.

[0085] In this method, the predicted arrival time / predicted arrival time L5 of the prediction information in the second set can be directly used as the target critical moment. The setting of the target critical moment is strictly determined according to the predicted arrival time of the prediction information. That is, when the sensor functions normally, the prediction information will arrive according to the predicted arrival time. Once it is not received after the predicted arrival time, it means that there may be an abnormality in the sensor or communication link, then the second set is discarded and the first set is used as the target set. Since the predicted arrival time is fixed, this method is also called the fixed waiting time method.

[0086] Method 2 - "fixed waiting time + fixed extended waiting time" method: according to the predicted arrival time of the prediction information, the target critical moment is determined by superimposing a fixed extended waiting time.

[0087] In this method, a unified fixed extended waiting time is predetermined, and the fixed extended waiting time is the time required to wait for the predicted message after the predicted arrival time. For example, the fixed extended waiting time is set to 0.1 seconds, 0.2 seconds or 0.25 seconds, and the size of the fixed extended waiting time can be set and adjusted according to actual needs. Then, the target critical moment can be comprehensively determined based on the fixed extended waiting time and the predicted arrival time of the predicted message. For example, if the predicted arrival time is m and the first time threshold is 0.2s, the target critical moment can be determined to be m+0.2s. Of course, this method still needs to ensure that the setting of the target critical moment can minimize the time span of the second set.

[0088] The reason for this is that the second set is more "new" and has a shorter time span than the first set, so it is more valuable from the perspective of timeliness. For this reason, the target critical time of method 2 is set slightly larger than that of method 1, that is, method 2 is more tolerant to the arrival time of the predicted information, and includes some short-term faults or signal fluctuations that cause the delay of the predicted information compared to the predicted arrival time.

[0089] Method three - "fixed waiting time + floating extended waiting time" method: determine the target critical time according to the position of the first set, the position of the second set and the synchronization time.

[0090] In both Method 3 and Method 2, the value of the "new" message is taken into consideration, and the requirements for the predicted message arrival time are relaxed. The difference is that in Method 2, the relaxation limit adopts a fixed extended waiting time, while in Method 3, the relaxation limit is a floating value, that is, the above fixed extended waiting time is replaced by a floating extended waiting time. If the predicted message does not arrive according to the predicted arrival time, the executing electronic device will comprehensively judge how long it is necessary to wait for the predicted message based on the distance between the second set and the current moment, as well as the distance between the first set and the current moment. In other words, the farther the first set is from the current moment, and / or the closer the second set is to the current moment, the greater the value of the second set, and the longer the waiting time (floating extended waiting time) that is worth relaxing.

[0091] Specifically, the target critical moment can be calculated using the following calculation formula:

[0092]

[0093] Combination Figure 5 , L1 is the starting time of the time span of the second set B (that is, the earliest reception time of the information in the second set); L3 is the target critical time, that is, the reception time of the latest predicted information in the second set, and the position of the second set is the midline position of the time span, that is, (L3+L1) / 2. L2 is the synchronization time, and the position of the first set A is also the midline position of the time span, that is, L4. L5 is the expected reception time of the predicted message, and the floating extended waiting time is (L3-L5). T0 represents the time span of the second set if the predicted message arrives according to the predicted arrival time, that is, (L5-L1); λ represents a weight coefficient, which is a preset constant between [0,1]. Of course, the application of the above formula also needs to ensure that the time span (L3-L1) of the second set B is minimized.

[0094] Then, when Known target critical moment:

[0095]

[0096] when Known target critical moment:

[0097]

[0098] In the embodiment of the present application, since the "fixed waiting time + floating extended waiting time" mode is set for the second set, the timeliness of the target set serving as the basis for synchronization is guaranteed, and problems such as poor system flexibility and timeout waiting caused by the use of fixed waiting time and / or fixed extended waiting time are avoided.

[0099] Another embodiment of the present application provides an information synchronization device, such as Figure 6 As shown, including:

[0100] The queue determination module 11 is used to determine the information queue corresponding to each sensor based on the real information sent by each sensor received within a predetermined period at the synchronization moment;

[0101] The set determination module 12 is used to determine a target set based on each of the information queues; the target set is used for multi-sensor information synchronization.

[0102] In the specific implementation process of this embodiment, the set determination module is specifically used to: determine the real information combination with the shortest time span from each information queue, and determine it as the target set.

[0103] In the specific implementation process of this embodiment, the queue determination module is specifically used to:

[0104] Determine the prediction information corresponding to the sensor according to the time of the historical real information received from each sensor; for each sensor, combine the real information and the prediction information received within the predetermined period as the information queue corresponding to the sensor;

[0105] The set determination module is specifically used to: determine a first set with the shortest time span from the real information included in each information queue; determine a second set with the shortest time span from all the information included in each information queue; when the first set and the second set are the same, determine the first set as the target set.

[0106] In the specific implementation process of this embodiment, when the first set and the second set are different, the set determination module is also used to determine whether to determine the second set as the target set based on the comparison result of the actual arrival time of the predicted information in the second set and the target critical time.

[0107] In the specific implementation process of this embodiment, the information synchronization device also includes a critical moment determination module, and the critical moment determination module is used to determine the target critical moment according to the predicted arrival time of the prediction information.

[0108] In the specific implementation process of this embodiment, the critical moment determination module is further used to: determine the target critical moment according to the position of the first set, the position of the second set and the synchronization moment.

[0109] In the specific implementation process of this embodiment, the set determination module is also used to: if the actual arrival time of the predicted information in the second set is before the target critical moment, determine the second set as the target set; otherwise, determine the first set as the target set.

[0110] The information synchronization device in the present application will determine the information queue corresponding to the sensor based on the real information sent by each sensor within the time period corresponding to the synchronization moment, and then a target set can be determined based on the information queues of each sensor. Therefore, even if a sensor causes information interruption due to a failure, the corresponding target set will be determined based on the information queues corresponding to each non-faulty sensor, and each actual information in the target set will be sent to the target object, thereby improving the reliability of information synchronization, solving the problem that the existing synchronization method cannot synchronize information when a sensor fails, and improving the robustness of avoiding failures.

[0111] Another embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the following method steps are implemented:

[0112] Step 1: at the synchronization moment, based on the real information sent by each sensor received within a predetermined period, determine the information queue corresponding to each sensor;

[0113] Step 2: Based on each of the information queues, determine a target set; the target set is used for multi-sensor information synchronization.

[0114] The specific implementation process of the above method steps can be found in the embodiments of any of the above information synchronization methods, and this embodiment will not be repeated here.

[0115] The storage medium in the present application will determine the information queue corresponding to the sensor based on the real information sent by each sensor within the time period corresponding to the synchronization moment, and then a target set can be determined based on the information queues of each sensor. Therefore, even if a sensor causes information interruption due to a failure, the corresponding target set will be determined based on the information queues corresponding to each non-faulty sensor, and each actual information in the target set will be sent to the target object, thereby improving the reliability of information synchronization, solving the problem that the existing synchronization method cannot synchronize information when a sensor fails, and improving the robustness of avoiding failures.

[0116] Another embodiment of the present application provides an electronic device, such as Figure 7 As shown, at least a memory 1 and a processor 2 are included, the memory 1 stores a computer program, and the processor 2 implements the following method steps when executing the computer program on the memory 1:

[0117] Step 1: at the synchronization moment, based on the real information sent by each sensor received within a predetermined period, determine the information queue corresponding to each sensor;

[0118] Step 2: Based on each of the information queues, determine a target set; the target set is used for multi-sensor information synchronization.

[0119] The specific implementation process of the above method steps can be found in the embodiments of any of the above information synchronization methods, and this embodiment will not be repeated here.

[0120] The electronic device in the present application will determine the information queue corresponding to the sensor based on the real information sent by each sensor within the time period corresponding to the synchronization moment, and then determine a target set based on the information queue of each sensor. Therefore, even if a sensor causes information interruption due to a failure, the corresponding target set will be determined based on the information queue corresponding to each non-faulty sensor, and each actual information in the target set will be sent to the target object, thereby improving the reliability of information synchronization, solving the problem that the existing synchronization method cannot synchronize information when a sensor fails, and improving the robustness of avoiding failures.

[0121] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. An information synchronization method, characterized in that: include: At the synchronization moment, based on the real information sent by each sensor received within a predetermined period, an information queue corresponding to each sensor is determined; Based on each of the information queues, a target set is determined; the target set is used for multi-sensor information synchronization.

2. The method according to claim 1, characterized in that The determining of a target set based on each of the information queues includes: A real information combination with the shortest time span is determined from each information queue and is determined as the target set.

3. The method according to claim 1, characterized in that The determining of the information queue corresponding to each sensor based on the real information sent by each sensor received within a predetermined period includes: Determine prediction information corresponding to the sensor according to the time of the historical real information received from each sensor; For each sensor, combining the real information and the predicted information received within the predetermined period as an information queue corresponding to the sensor; Then, based on each of the information queues, determining a target set including at least two information includes: Determine a first set with the shortest time span from the real information included in each information queue; Determine a second set with the shortest time span from all the messages included in each message queue; When the first set and the second set are the same, the first set is determined as the target set.

4. The method according to claim 3, characterized in that When the first set and the second set are different, the method further includes: According to the comparison result of the actual arrival time of the prediction information in the second set and the target critical time, it is determined whether to determine the second set as the target set.

5. The method according to claim 4, characterized in that The target critical moment is determined according to the predicted arrival time of the prediction information.

6. The method according to claim 4, characterized in that The target critical moment is determined according to the position of the first set, the position of the second set and the synchronization moment.

7. The method according to claim 4, characterized in that The method further comprises: If the actual arrival time of the prediction information in the second set is before the target critical time, determining the second set as the target set; Otherwise, the first set is determined to be the target set.

8. An information synchronization device, characterized in that: include: A queue determination module, for determining, at a synchronization moment, an information queue corresponding to each sensor based on real information sent by each sensor received within a predetermined period; The set determination module is used to determine a target set based on each of the information queues; the target set is used for multi-sensor information synchronization.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the information synchronization method described in any one of claims 1 to 7 are implemented.

10. An electronic device, characterized in that: The method comprises at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the information synchronization method according to any one of claims 1 to 7 when executing the computer program on the memory.

Images