Camera synchronous triggering system and method and computer equipment

Abstract

The invention relates to the technical field of sensing equipment synchronous control, and discloses a camera synchronous triggering system and method and computer equipment. The system comprises a vehicle-mounted upper computer which is used for sending a working mode control instruction to a synchronous trigger box; the positioning device is used for sending a first pulse signal corresponding to the position information to the synchronous trigger box; the laser radar is used for sending a second pulse signal corresponding to the distance information to the synchronous trigger box; the synchronous triggering box is used for determining a target execution strategy corresponding to the target working mode according to the working mode control instruction and a pre-stored corresponding relation between the working mode and the execution strategy; the processor is used for determining a trigger signal according to the target execution strategy so as to control the camera to perform exposure; and the camera is used for receiving the trigger signal to realize exposure control. By implementing the technical scheme of the invention, the highly synchronous control of the exposure opportunity of the camera is realized, and exposure at a specific position and specific time is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of synchronous control of sensing devices, and in particular to a camera synchronous triggering system, method and computer equipment. Background Art

[0002] As an important component of the intelligent driving system, perception devices mainly include cameras, lidar, millimeter-wave radar, inertial navigation sensors, etc. These sensors together provide multi-dimensional perception data for the intelligent driving system to ensure the normal operation of intelligent driving.

[0003] At present, in the case of sensor integration, due to the different frequencies and precision of the clock crystals inside each sensor, the perception data will have large timestamp errors. These errors may affect the fusion of perception data and the accurate understanding of the vehicle's surroundings, and thus affect the performance and safety of the intelligent driving system. Summary of the invention

[0004] In view of this, the present invention provides a camera synchronization trigger system, method and computer device to solve the problem of reduced reliability of the intelligent driving system caused by inconsistent timestamps of various sensors and differences in crystal oscillator accuracy.

[0005] In the first aspect, the present invention provides a camera synchronization trigger system, including: a vehicle-mounted host computer, which is communicated with the synchronization trigger box and is used to determine the working mode of the synchronization trigger box according to the user's operation instructions; and is used to send a working mode control instruction to the synchronization trigger box; a positioning device, which is communicated with the synchronization trigger box and is used to obtain the location information of the vehicle; and is used to send a first pulse signal corresponding to the location information to the synchronization trigger box; a laser radar, which is communicated with the synchronization trigger box and is used to obtain the distance information of the vehicle's surrounding environment; and is used to send a second pulse signal corresponding to the distance information to the synchronization trigger box; the synchronization trigger box is used to parse the working mode control instruction to obtain the target working mode to be executed; and is used to determine the target execution strategy corresponding to the target working mode according to the target working mode and the correspondence between the pre-stored working mode and the execution strategy; the synchronization trigger box is also used to obtain at least one trigger information of the first pulse signal, the second pulse signal and the crystal oscillator information in the synchronization trigger box according to the target execution strategy; and is used to determine the trigger signal according to the trigger information and the target execution strategy to control the camera to expose; the camera is communicated with the synchronization trigger box and is used to receive the trigger signal sent by the synchronization trigger box to realize exposure control.

[0006] The camera synchronization trigger system provided by the embodiment of the present invention realizes highly synchronized control of the camera exposure timing through the coordinated work between the vehicle-mounted host computer, the positioning device, the laser radar and the synchronization trigger box, ensuring exposure at a specific position and a specific time. The positioning device is used to obtain the vehicle position information and the laser radar is used to obtain the environmental distance information. In combination with the first pulse signal and the second pulse signal, the exposure timing can be accurately determined to ensure that the required target image is captured. The synchronization trigger box automatically adjusts the trigger signal according to the target working mode and execution strategy to achieve adaptive control of the camera, which is suitable for shooting tasks with different scenes and requirements. The system can quickly determine the trigger signal according to the preset working mode and execution strategy, effectively improve the efficiency of the camera exposure control, and is conducive to improving the success rate and quality of shooting. The system has a clear structure, and the various components are connected through communication, which is easy to expand and customize. The system functions can be flexibly adjusted and upgraded according to specific needs, and it is suitable for different camera application scenarios and requirements.

[0007] In an optional embodiment, the synchronization trigger box includes a microcontroller, a first physical connector and a second physical connector; the microcontroller is used to parse the working mode control instruction to obtain the target working mode to be executed by the synchronization trigger box; and is used to determine the target execution strategy corresponding to the target working mode according to the target working mode and the corresponding relationship; the microcontroller is also used to obtain the first pulse signal, the second pulse signal and at least one trigger information of the crystal oscillator information of the synchronization trigger box according to the target execution strategy; and is used to determine the trigger signal according to the trigger information and the target execution strategy; the first physical connector is used to connect the microcontroller and the vehicle-mounted host computer; and is used to transmit the working mode control instruction sent by the vehicle-mounted host computer to the microcontroller; the second physical connector is used to connect the microcontroller and the positioning device, the microcontroller and the laser radar, and the microcontroller and the camera respectively; and is used to transmit the first pulse signal or the second pulse signal to the microcontroller; the second physical connector is also used to transmit the trigger signal generated by the microcontroller to the camera.

[0008] The camera synchronization trigger system provided by the embodiment of the present invention realizes the rapid parsing of the working mode control instructions and the determination of the target execution strategy through the built-in microcontroller, thereby ensuring that the system can efficiently respond to user operations and environmental changes. The design of the first physical connector and the second physical connector enables the synchronization trigger box to be easily connected to the vehicle-mounted host computer, the positioning device, the laser radar and the camera, thereby realizing information exchange and collaborative work between the various components. The synchronization trigger box can simultaneously connect the positioning device, the laser radar and the camera through the second physical connector, and can process different types of signal transmission, so that the system has more functional combinations and application potentials. With the help of the first physical connector and the second physical connector, the synchronization trigger box can reliably transmit key data such as working mode control instructions, position information, distance information and trigger signals, ensuring the stable operation of the system and the reliability of data transmission. By connecting the vehicle-mounted host computer and various external devices, the synchronization trigger box realizes centralized control and integrated management of the entire system, improving the integration degree and overall operation efficiency of the system.

[0009] In an optional implementation, the microcontroller has a software download interface; the software download interface is used to pre-store a program representing the correspondence between the working mode and the execution strategy into the microcontroller.

[0010] The camera synchronization trigger system provided by the embodiment of the present invention can conveniently download new programs or updated programs to the microcontroller through the software download interface of the microcontroller, thereby realizing flexible upgrading and updating of system functions. Pre-storing programs that characterize the correspondence between working modes and execution strategies in the microcontroller can reduce dependence on external devices, reduce system costs, and improve system reliability. Pre-storing programs in the microcontroller can speed up the system's response to changes in working modes and execution strategies, and improve the real-time performance and stability of the system. Pre-storing programs through the software download interface can improve the information security of the system, prevent external programs from interfering with or damaging the system, and protect the security of system data.

[0011] In a second aspect, the present invention provides a camera synchronization trigger method, which is applied to a synchronization trigger box, including: obtaining a working mode control instruction sent by a vehicle-mounted host computer; wherein the working mode control instruction is determined based on an operation instruction of a user on the vehicle-mounted host computer, and the operation instruction is used to characterize the working mode of the synchronization trigger box selected by the user; parsing the working mode control instruction to obtain a target working mode to be executed; determining a target execution strategy corresponding to the target working mode according to the target working mode and a correspondence between a pre-stored working mode and an execution strategy; determining a trigger signal of the camera according to the target execution strategy; and sending the trigger signal to the camera to control the camera to expose.

[0012] The camera synchronous triggering method provided by the embodiment of the present invention determines the target working mode according to the user's operating instructions on the vehicle-mounted host computer by parsing the working mode control instructions sent by the vehicle-mounted host computer, so that the entire system is more user-friendly and intuitive. According to the correspondence between the pre-stored working mode and the execution strategy, the target execution strategy is determined, thereby realizing the automatic determination and generation of the camera trigger signal, simplifying the use process and improving the operation efficiency. According to the target execution strategy, the trigger signal of the camera is determined, and the real-time control of the camera exposure can be realized, ensuring the accurate triggering and control of the camera under different working modes. Through the parsing of the working mode control instructions and the determination of the target execution strategy, the system can adapt to different working modes and execution strategies, has certain flexibility and scalability, and meets the needs in different scenarios. The trigger signal is sent to the camera to control the exposure, realizing the synchronous triggering of the camera, and effectively improving the working efficiency and imaging quality of the camera system.

[0013] In an optional embodiment, the trigger signal of the camera is determined according to the target execution strategy, including: obtaining at least one trigger information among the first pulse signal sent by the positioning device, the second pulse signal sent by the laser radar, and the crystal oscillator information of the synchronization trigger box according to the target execution strategy; and determining the trigger signal according to the trigger information and the target execution strategy.

[0014] The camera synchronization triggering method provided in the embodiment of the present invention realizes the fusion of multi-source information and improves the perception of environmental and position information by acquiring at least one trigger information from the first pulse signal sent by the positioning device, the second pulse signal sent by the laser radar, and the crystal oscillator information of the synchronization trigger box. The trigger signal is determined according to the trigger information and the target execution strategy, so that the trigger timing of the camera can be controlled more accurately, ensuring that the required image information can be accurately captured in complex scenes, and improving the accuracy and stability of imaging. By combining different trigger information and execution strategies, it can adapt to different work scenarios and needs, has a certain degree of flexibility and adaptability, and provides more possibilities for the application of the system in various environments.

[0015] In an optional embodiment, the working mode includes a self-trigger mode, which is used to characterize the collaborative work of the synchronization trigger box and the camera; when the target working mode is the self-trigger mode and the target execution strategy corresponding to the self-trigger mode is the first execution strategy, the first trigger signal of the camera is determined according to the first execution strategy, including: obtaining the crystal oscillator information of the synchronization trigger box; according to the crystal oscillator information of the synchronization trigger box, sending multiple first trigger signals of the same frequency and phase to the camera to trigger the camera to perform synchronous exposure; wherein the first trigger signal is determined according to the internal crystal oscillator of the synchronization trigger box.

[0016] The camera synchronous triggering method provided by the embodiment of the present invention, the self-triggering mode is used to characterize the collaborative working mode of the synchronous trigger box and the camera, ensure the coordination and synchronization between the two, and improve the overall performance and stability of the system. By using the internal crystal oscillator information of the synchronous trigger box to determine the first trigger signal, it is possible to send multiple trigger signals with the same frequency and phase, thereby realizing the precise synchronous triggering of the camera, and improving the accuracy and stability of imaging. By adopting multiple trigger signals with the same frequency and phase, the synchronization performance of the camera during the synchronous exposure process can be ensured, and shooting errors caused by timing problems can be avoided, thereby improving the imaging effect and quality. By using the internal crystal oscillator of the synchronous trigger box to determine the trigger signal, the impact of external interference on the system can be reduced, and the stability and anti-interference ability of the system can be improved.

[0017] In an optional embodiment, the working mode includes an external trigger mode, which is used to characterize the coordinated work of the synchronization trigger box, the positioning device and the camera, or to characterize the coordinated work of the synchronization trigger box, the laser radar and the camera; when the target working mode is the external trigger mode and the target execution strategy corresponding to the external trigger mode is the second execution strategy, the second trigger signal of the camera is determined according to the second execution strategy, including: obtaining a first pulse signal sent by the positioning device or a second pulse signal sent by the laser radar; determining the first pulse signal or the second pulse signal as an external trigger source; when a pulse from the external trigger source is received, a plurality of timers included in the synchronization trigger box are reset and restarted to synchronize the timing of the plurality of timers with the pulse signal of the external trigger source; when the plurality of timers restart timing and the value of the counter included in the synchronization trigger box reaches a preset threshold, a plurality of second trigger signals with the same frequency and phase are output to the camera to trigger the camera to perform synchronous exposure; wherein the second trigger signal is determined according to the internal crystal oscillator of the synchronization trigger box, and the frequency and phase corresponding to the second trigger signal are the same as the frequency and phase corresponding to the first trigger signal.

[0018] The camera synchronization trigger method provided by the embodiment of the present invention realizes the coordinated work between multiple devices through the external trigger mode, and can be applied to the needs of different scenarios. Whether using a positioning device or a laser radar, the trigger signal of the camera can be determined according to the corresponding execution strategy, showing flexibility and applicability. The pulse signal sent by the external trigger source is used to restart the timing, which ensures that multiple timers are synchronized with the pulse signal of the external trigger source, thereby realizing high-precision camera trigger signal output. When the counter value reaches the preset threshold, the synchronous trigger box can output multiple second trigger signals of the same frequency and phase to the camera, realize the synchronous exposure of the camera, improve the imaging effect, and ensure the synchronization between multiple cameras. The frequency and phase of the second trigger signal are determined by the internal crystal oscillator of the synchronous trigger box, which ensures the stability and consistency of the trigger signal.

[0019] In an optional embodiment, the working mode includes an asynchronous exposure mode, which is used to characterize the collaborative working of the synchronous trigger box, the laser radar, and the camera; when the target working mode is the asynchronous exposure mode and the target execution strategy corresponding to the asynchronous exposure mode is the third execution strategy, the third trigger signal of the camera is determined according to the third execution strategy, including: setting the mode of the target timer included in the synchronous trigger box to the output comparison mode; wherein the target timer is a timer pre-specified by the user; obtaining the second pulse signal sent by the laser radar; determining the exposure timing of the camera according to the pulse frequency corresponding to the second pulse signal; and according to the exposure timing, outputting multiple third trigger signals with different phases to the camera in sequence to trigger the camera to perform asynchronous exposure.

[0020] The camera synchronization triggering method provided by the embodiment of the present invention realizes personalized customization of exposure timing through the target timer pre-specified by the user and determining the exposure timing of the camera according to the second pulse signal, which meets the specific needs of the user and can meet the exposure requirements in different scenarios. The output comparison mode is used to set the target timer, and the exposure timing is determined in combination with the pulse signal sent by the laser radar, which shows a high degree of flexibility and adjustability. The user can set parameters according to specific circumstances and needs to achieve precise control of the camera trigger signal. According to the exposure timing, multiple third trigger signals with different phases are output to the camera in sequence, realizing asynchronous exposure of the camera, which can bring richer imaging effects and is suitable for application scenarios that require special exposure effects. The synchronous trigger box can determine the exposure timing of the camera in time according to the second pulse signal sent by the laser radar, and output the corresponding trigger signal, realizing real-time response and rapid triggering.

[0021] In an optional embodiment, the exposure timing of the camera is determined according to the pulse frequency corresponding to the second pulse signal, including: calculating the pulse period corresponding to the second pulse signal according to the pulse frequency corresponding to the second pulse signal; wherein the angle traversed by the second pulse signal to complete one pulse period is 360 degrees; calculating the time corresponding to each degree according to 360 degrees and the pulse period; dividing 360 degrees according to a preset number to obtain multiple angles; multiplying the angle and the time to obtain a delay time corresponding to the angle; and determining the exposure timing of the camera according to the delay time.

[0022] The camera synchronization triggering method provided by the embodiment of the present invention calculates the pulse period according to the pulse frequency of the second pulse signal, and accurately calculates the delay time corresponding to each angle based on the time ratio under the 360-degree angle, so as to ensure the accuracy and stability of the exposure timing. 360 degrees are divided into multiple angles according to a preset number, and the exposure timing of the camera is determined according to the delay time corresponding to the angle. This flexible division method and the method of calculating the delay time according to the time product of the angle enable the synchronization trigger box to be adjusted and optimized according to different needs. By dividing 360 degrees according to a preset number, the synchronization trigger box effectively organizes and manages the angle information, reduces the calculation complexity and improves the calculation efficiency, and helps to quickly determine the exposure timing of the camera in real-time applications. The delay time is calculated by multiplying the angle and time. This design has good scalability, and the relationship between the angle and time can be adjusted or expanded as needed to suit different application scenarios and requirements.

[0023] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions being stored in the memory, and the processor executing the camera synchronization triggering method of the above-mentioned second aspect or any corresponding embodiment thereof by executing the computer instructions.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the camera synchronization triggering method of the above-mentioned second aspect or any corresponding embodiment thereof.

[0025] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions, which are used to enable a computer to execute the camera synchronization triggering method of the above-mentioned second aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 is a structural block diagram of a camera synchronization trigger system according to an embodiment of the present invention;

[0028] Figure 2 is a structural block diagram of another camera synchronization trigger system according to an embodiment of the present invention;

[0029] Figure 3 is a structural block diagram of another camera synchronization trigger system according to an embodiment of the present invention;

[0030] Figure 4 is a structural block diagram of a signal input module according to an embodiment of the present invention;

[0031] Figure 5 is a structural block diagram of a trigger output module according to an embodiment of the present invention;

[0032] Figure 6 is a structural block diagram of a serial port module according to an embodiment of the present invention;

[0033] Figure 7 is a flow chart of a camera synchronization triggering method according to an embodiment of the present invention;

[0034] Figure 8 is a flow chart of another camera synchronization triggering method according to an embodiment of the present invention;

[0035] Fig. 9 is a flow chart of another camera synchronization triggering method according to an embodiment of the present invention;

[0036] Fig.10 is a schematic diagram of a method flow of a self-triggering mode according to an embodiment of the present invention;

[0037] Fig.11 is a schematic diagram of a method flow chart of another self-triggering mode according to an embodiment of the present invention;

[0038] Fig.12 is a schematic diagram of a method flow of an external trigger mode according to an embodiment of the present invention;

[0039] Fig.13 is a schematic diagram of a method flow chart of another external trigger mode according to an embodiment of the present invention;

[0040] Fig.14 is a schematic diagram of a method flow of an asynchronous exposure mode according to an embodiment of the present invention;

[0041] Fig.15 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0043] Intelligent driving technology is an important part of future intelligent transportation and has developed rapidly in recent years. As an important part of the intelligent driving system, perception devices mainly include cameras, lidar, millimeter-wave radar, inertial navigation sensors, etc. These sensors together provide multi-dimensional perception data for the intelligent driving system to ensure the normal operation of intelligent driving.

[0044] At present, the main technical approach to achieve the synchronous operation of various sensing devices is: each sensor works independently and receives the GPS second pulse signal, and the sensing data is timestamped according to the received GPS second pulse signal, and the timestamp is sent to the computing unit along with the sensing data. The computing unit compensates according to the timestamp information and the time difference between the sensors, thereby achieving time synchronization between the sensors. On this basis, multi-sensor data fusion, target processing and application scenario algorithms are completed, thereby realizing a complete solution for the intelligent driving system.

[0045] Since the camera, laser radar, combined inertial navigation system, etc. each have their own internal clock crystal oscillator, the GPS pulse-per-second signal received by each sensor is consistent. However, due to the inconsistency of the internal frequency of each sensor, the error of the timestamp information in the output perception data is relatively large. At the same time, due to the inconsistency of the accuracy between the crystal oscillators, the timestamp information in the same sensor is related to the performance of the crystal oscillator itself. As the environmental conditions change, the timestamp information changes significantly. In addition, high-precision crystal oscillators will result in higher device costs.

[0046] The calculation unit compensation method used in the relevant perception synchronization technology belongs to the software synchronization solution. At the software level, by adding a timestamp to the collected data, and then matching and synchronizing according to the timestamp during data processing. Although this method is simple, it has high requirements for the accuracy of the timestamp. Some other technical solutions adopt the multi-sensor data fusion processing stage, and adjust the time relationship of the data through an algorithm so that the data from different sensors can be aligned in time. This method relies on the adjustment of the algorithm and has a high synchronization difficulty. The existing perception synchronization trigger solutions that use hardware synchronization are mostly based on external trigger signals to provide the same frequency and phase signals for synchronization, which cannot adapt to different perception architectures.

[0047] In view of this, the synchronization trigger box of the technical solution of the present invention adopts an external input trigger signal to synchronously control the multi-sensor acquisition time compared to the traditional software perception synchronization solution. It does not require complex algorithm adjustment and high-precision software timestamps, and relies on the crystal oscillator of the synchronization trigger box itself or the positioning device / lidar signal to achieve multi-sensor synchronous triggering. Compared with the general external hardware trigger synchronization solution, this solution also provides a switching function for multiple trigger modes. By switching the three working modes of camera self-trigger synchronization, positioning device / lidar external trigger synchronization and asynchronous trigger synchronization, the perception synchronization output under different autonomous driving perception solutions is realized, reducing the number of external equipment and the difficulty of algorithm adjustment.

[0048] In this embodiment, a camera synchronization trigger system is provided, such as Figure 1 As shown, the camera synchronous trigger includes: a vehicle-mounted host computer 1, a positioning device 2, a laser radar 3, a synchronous trigger box 4 and a camera 5.

[0049] The vehicle-mounted host computer 1 is connected to the synchronous trigger box 4 for communication, and is used to determine the working mode of the synchronous trigger box 4 according to the user's operation instruction; and is used to send the working mode control instruction to the synchronous trigger box 4.

[0050] The vehicle-mounted host computer 1 refers to a vehicle-mounted computer or a vehicle-mounted control system, which has data processing, communication and control functions, and can communicate with the synchronization trigger box 4 through an interface such as a serial port. The vehicle-mounted host computer 1 can be used to monitor the vehicle status, send control instructions, receive sensor data, etc., so as to realize intelligent management and control of the vehicle system. Through the connection with the synchronization trigger box 4, the vehicle-mounted host computer 1 can exchange data and perform command control with the synchronization trigger box 4 to realize the coordinated operation of the vehicle system.

[0051] Specifically, the vehicle-mounted host computer 1 sends the user's operation instruction to the synchronization trigger box 4, and the working mode of the synchronization trigger box 4 can be determined. The vehicle-mounted host computer 1 can send the working mode control instruction to the synchronization trigger box 4, thereby realizing the remote control of the synchronization trigger box 4. By sending the control instruction, the vehicle-mounted host computer 1 can change the working state of the synchronization trigger box 4 or switch to different working modes.

[0052] Specifically, the working mode includes trigger mode settings (such as self-triggering, external triggering, etc.) and output delay time configuration of each channel (synchronous, asynchronous settings).

[0053] When the system is in self-trigger mode, no external input signal is required to trigger the operation. Instead, the system decides when to output the signal, and the system does not respond to or accept external input signals.

[0054] In the hybrid trigger mode, a signal validity judgment mechanism is introduced to determine the validity of the input signal. When there is no external input signal, the system works in self-trigger mode, that is, the system generates output signals according to internal rules. When the input signal is valid, the system works in external trigger mode, that is, the system responds to the external input signal and performs corresponding operations. The system needs to record the switching time between self-trigger mode and external trigger mode for subsequent analysis and management. The system identifies the input pulse based on the rising edge, that is, the system performs corresponding processing when the rising edge of the input signal is detected. The system needs to design corresponding logic and algorithms to handle the switching between self-trigger mode and external trigger mode. Among them, the logic of the judgment mechanism for whether it is valid is: if the input signal is within the set range for 100 consecutive cycles (the error does not exceed ±10%), the next input signal is adopted.

[0055] When there is an input signal, the angle and output frequency of each output channel relative to the front of the vehicle will be calculated based on the period of the input signal. When there is no input signal, the angle and output frequency between each output channel will be relative to the standard channel, that is, determined according to the angle difference and frequency difference between each channel and the standard channel.

[0056] Furthermore, an input box can be added to the UI interface of the vehicle-mounted host computer 1 for the user to input the periodic data of the input signal. A mechanism for saving setting parameters is designed to ensure that users can save and manage multiple sets of setting parameters. This can be achieved in the following ways: adding a "Save Settings" button, the user can click the button to save the current settings as a set of parameters; displaying a list of saved parameters on the interface, the user can choose to load or delete the saved parameters; providing import and export functions, the user can export the setting parameters to a file or import the saved setting parameters from a file, without limitation here.

[0057] The positioning device 2 is connected to the synchronous trigger box 4 for communication, and is used for acquiring the position information of the vehicle; and is used for sending a first pulse signal corresponding to the position information to the synchronous trigger box 4.

[0058] The positioning device 2 is used to determine the location information of the vehicle, and may be, for example, a global positioning system (GPS) or a Bluetooth device, etc. The positioning device 2 communicates with the synchronization trigger box 4 and sends a first pulse signal to the synchronization trigger box 4 .

[0059] The first pulse signal is a pulse signal output by the positioning device 2, which is used to accurately time the vehicle. Specifically, the first pulse signal can be a pulse-per-second (PPS) signal emitted by the GPS. After receiving the satellite signal, the GPS receiver determines its own position and precise time through calculation. The PPS signal provides an accurate time reference, emitting a pulse signal per second, which is used to synchronize the time of other devices.

[0060] The laser radar 3 is connected to the synchronous trigger box 4 for communication, and is used for acquiring distance information of the vehicle's surrounding environment; and is used for sending a second pulse signal corresponding to the distance information to the synchronous trigger box 4.

[0061] The laser radar 3 is used to obtain the distance information of the vehicle's surrounding environment, and can send the distance information to the synchronization trigger box 4 by establishing a communication connection with the synchronization trigger box 4. At the same time, the laser radar 3 can also send a second pulse signal generated according to the distance information to the synchronization trigger box 4.

[0062] The second pulse signal refers to the pulse light signal emitted by the laser radar 3 when it is working. After a certain propagation distance, these pulse light signals will interact with the objects around the vehicle and then be received back by the laser radar 3. By measuring the round-trip time and other characteristics of the pulse light signal, the laser radar 3 can calculate the distance information between the object and it.

[0063] The synchronous trigger box 4 is used to parse the working mode control instruction to obtain the target working mode to be executed; and to determine the target execution strategy corresponding to the target working mode according to the corresponding relationship between the target working mode and the pre-stored working mode and the execution strategy; the synchronous trigger box is also used to obtain at least one trigger information of the first pulse signal, the second pulse signal and the crystal oscillator information in the synchronous trigger box according to the target execution strategy; and to determine the trigger signal according to the trigger information and the target execution strategy to control the camera to expose. Wherein, the trigger signal is a square wave signal.

[0064] The synchronous trigger box 4 determines the target working mode to be executed by parsing the received working mode control instruction. According to the correspondence between the target working mode and the preset working mode and execution strategy, the target execution strategy corresponding to the target working mode is determined. The synchronous trigger box 4 obtains at least one trigger information of the first pulse signal, the second pulse signal and the crystal oscillator information in the synchronous trigger box according to the target execution strategy. According to the obtained trigger information and the target execution strategy, the trigger signal is determined to control the camera to expose.

[0065] For example, the synchronous trigger box 4 parses the received working mode control instruction and determines that the target working mode to be executed is the self-trigger mode. According to the correspondence between the preset working mode and the execution strategy, the first execution strategy corresponding to the self-trigger mode is determined. The synchronous trigger box 4 obtains the crystal oscillator information in the synchronous trigger box as trigger information according to the first execution strategy. After the synchronous trigger box 4 performs the corresponding operation according to the execution means included in the target execution strategy based on the acquired trigger information, it outputs a trigger signal to the camera 5.

[0066] Specifically, the hardware parameters of the synchronization trigger box 4 may be:

[0067] Volume: 24(H)x60(W)x90(L)mm;

[0068] Target working environment: -25~+80℃, used in the car;

[0069] Selection temperature: -40 to 85°C;

[0070] Input voltage range: DC: 10V~14V, DC12V input is recommended;

[0071] Processor: STM32F107VCT6 processor;

[0072] Low power consumption, normal power is around 84mW;

[0073] With 15 channels of synchronous output or asynchronous output;

[0074] Input signal voltage supports 1.8V, 3.3V, 5V;

[0075] The output signal voltage supports 1.8V, 3.3V, and 5V.

[0076] The camera 5 is connected to the synchronous trigger box 4 for communication, and is used for receiving the trigger signal sent by the synchronous trigger box 4 to realize exposure control.

[0077] The camera 5 establishes a communication connection with the synchronization trigger box 4, and can send and receive information to each other. The function of the camera 5 is to receive the trigger signal sent from the synchronization trigger box 4 to achieve exposure control. The synchronization trigger box 4 can send a specific trigger signal to tell the camera when to expose, thereby achieving precise control of the camera exposure process.

[0078] The camera synchronization trigger system provided by the embodiment of the present invention realizes highly synchronized control of the camera exposure timing through the coordinated work between the vehicle-mounted host computer, the positioning device, the laser radar and the synchronization trigger box, ensuring exposure at a specific position and a specific time. The positioning device is used to obtain the vehicle position information and the laser radar is used to obtain the environmental distance information. In combination with the first pulse signal and the second pulse signal, the exposure timing can be accurately determined to ensure that the required target image is captured. The synchronization trigger box automatically adjusts the trigger signal according to the target working mode and execution strategy to achieve adaptive control of the camera, which is suitable for shooting tasks with different scenes and requirements. The system can quickly determine the trigger signal according to the preset working mode and execution strategy, effectively improve the efficiency of the camera exposure control, and is conducive to improving the success rate and quality of shooting. The system has a clear structure, and the various components are connected through communication, which is easy to expand and customize. The system functions can be flexibly adjusted and upgraded according to specific needs, and it is suitable for different camera application scenarios and requirements.

[0079] In this embodiment, a synchronous trigger box 4 is provided, such as Figure 2 As shown, the synchronous trigger box 4 includes: a microcontroller 40 , a first physical connector 41 and a second physical connector 42 .

[0080] The microcontroller unit (MCU) 40 is the core controller inside the synchronization trigger box 4, responsible for managing the operation and communication of the entire device. By interacting with the vehicle-mounted host computer 1, the positioning device 2, the laser radar 3 and the camera 5, the microcontroller 40 can realize various complex functions to meet the needs of specific application scenarios.

[0081] The microcontroller 40 is responsible for parsing the working mode control instructions from the vehicle-mounted host computer 1 to determine the target working mode that the synchronous trigger box 4 needs to execute. The microcontroller 40 determines the execution strategy corresponding to the target working mode based on the target working mode and the pre-set correspondence, that is, the microcontroller 40 has the ability to determine the specific execution strategy according to the set rules or parameters. The microcontroller 40 obtains at least one trigger information from the first pulse signal, the second pulse signal, and the synchronous trigger box crystal oscillator information according to the determined execution strategy, that is, the microcontroller 40 can obtain various trigger-related information in real time according to the execution strategy. The microcontroller 40 determines the required trigger signal based on the acquired trigger information and the target execution strategy, that is, the microcontroller 40 has the function of generating a trigger signal according to specific conditions.

[0082] The microcontroller 40 has a built-in software download interface (SW), which is used to connect to a computer or other device via serial communication to facilitate debugging, program burning, data transmission, etc. The main function of the software download interface is to pre-store programs containing the correspondence between the working mode and the execution strategy in the microcontroller. These programs may include configuration information, algorithm logic, parameter settings, etc., which are used to guide the microcontroller 40 on how to parse the working mode and determine the execution strategy during operation.

[0083] The first physical connector 41 is responsible for connecting the microcontroller 40 and the vehicle-mounted host computer 1, and transmitting the working mode control command sent by the vehicle-mounted host computer 1 to the microcontroller 40. The first physical connector 41 enables effective communication and command transmission between the microcontroller 40 and the vehicle-mounted host computer 1. For example, it can be a DB9 connector.

[0084] The second physical connector 42 is responsible for connecting the microcontroller 40 with the positioning device 2, the laser radar 3 and the camera 5, and transmitting the first pulse signal or the second pulse signal to the microcontroller 40. The second physical connector 42 can transmit the trigger signal generated by the microcontroller 40 to the camera 5. Data exchange and control signal transmission between the microcontroller 40 and other devices are realized through the second physical connector 42. For example, it can be a DB26 connector.

[0085] Specifically, the hardware structure of the synchronization trigger box 4 may include:

[0086] The microcontroller 40 adopts the STM32F107VCT6 chip, and most functions of the synchronous trigger box 4 are realized through the STM32, with a 3.3V power input.

[0087] The second physical connector 42 is a DB26 connector, which is used for signal input and output, including 1 GPS or laser radar pulse signal input and 15 signal outputs.

[0088] The first physical connector 41 is a DB9 connector, and the interface of the DB9 connector is used for serial port debugging to achieve synchronous triggering of the box working mode through serial port configuration.

[0089] The software download interface of the microcontroller 40 is used for program download.

[0090] Specifically, the chip selection of the synchronous trigger box 4 can refer to Table 1:

[0091] Table 1

[0092]

[0093] Among them, all chips are industrial-grade chips, and the normal operating temperature range is -25 to +80°C.

[0094] Specifically, the external connector of the synchronous trigger box 4 can refer to Table 2:

[0095] Table 2

[0096]

[0097] Furthermore, when the synchronous trigger box 4 is powered on, the corresponding operation or function is immediately executed. The voltage range of the synchronous trigger box 4 is DC10-14V.

[0098] Among them, the 3.3V power supply objects include: MCU, red indicator light, level conversion chip SN74LVC16T245DGGR, and the total current is less than 250mA.

[0099] The 5V power supply objects include: green indicator light, level conversion chip SN74LVC16T245DGGR (variant design), serial port chip MAX232ESE, level conversion chip SN74LVC1T45DCKR (variant design), and the total current is less than 220mA.

[0100] 1.8V power supply object: level conversion chip SN74LVC16T245DGGR (variant design), level conversion chip SN74LVC1T45DCKR (variant design), the total current is less than 200mA.

[0101] Specifically, the power supply scheme of the synchronous trigger box 4 can refer to Table 3, Table 4 and Table 5:

[0102] Table 3

[0103]

[0104] Table 4

[0105]

[0106]

[0107] Table 5

[0108]

[0109] Among them, the protection of power supply includes:

[0110] Anti-reverse connection: ABS210, voltage drop 1V, maximum current 2A, can provide power for both positive and reverse connection;

[0111] Fuse: Fusing current is 400mA;

[0112] Varistor: The clamping voltage is 36V. When the voltage reaches about 26V, the fuse will blow, thus achieving overvoltage protection;

[0113] TVS tube: SMBJ14A, clamping voltage 14V;

[0114] Electrostatic capacitor: TCC 0805COG151J500BT, selected C0G capacitor, arranged in series cross.

[0115] Among them, those marked with variant designs can only connect to one voltage level, either 5V or 1.8V.

[0116] The camera synchronization trigger system provided by the embodiment of the present invention realizes the rapid parsing of the working mode control instructions and the determination of the target execution strategy through the built-in microcontroller, thereby ensuring that the system can efficiently respond to user operations and environmental changes. The design of the first physical connector and the second physical connector enables the synchronization trigger box to be easily connected to the vehicle-mounted host computer, the positioning device, the laser radar and the camera, thereby realizing information exchange and collaborative work between the various components. The synchronization trigger box can simultaneously connect the positioning device, the laser radar and the camera through the second physical connector, and can process different types of signal transmission, so that the system has more functional combinations and application potentials. With the help of the first physical connector and the second physical connector, the synchronization trigger box can reliably transmit key data such as working mode control instructions, position information, distance information and trigger signals, ensuring the stable operation of the system and the reliability of data transmission. By connecting the vehicle-mounted host computer and various external devices, the synchronization trigger box realizes centralized control and integrated management of the entire system, improving the integration degree and overall operation efficiency of the system.

[0117] In this embodiment, a camera synchronization trigger system is provided, such as Figure 3 As shown, the camera synchronization trigger system includes: a signal input module 11, an MCU main control module 12, a trigger output module 13, a serial port module 14, a crystal oscillator module 15, a reset module 16, an LED module 17 and a SW module 18.

[0118] The block diagram of signal input module 11 is shown in Figure 4 , whose requirement number is:

[0119] SC-012: Input source: PPS signal of GPS;

[0120] SC-021: Input source: pulse signal of laser radar.

[0121] The signal input module 11 adopts a variant design, mainly supporting 1.8V, 3.3V, and 5V input. The input signal is input through pin 1 of the DB26 interface. This input signal is mainly a GPS PPS signal or a laser radar signal.

[0122] Among them, the hardware solution requirement number is: SC-015: Input end variant design, the voltage pulse width must meet the mainstream GPS or combined inertial navigation (such as 5V, 3.3V, .8V) SC-025: Input end variant design, the voltage pulse width must meet the mainstream lidar (such as 5V, 3.3V, 1.8V).

[0123] Among them, the input signal voltage level is 3.3V, which can be directly connected to the MCU after passing through the buffer and 0 ohm resistor. The input signal voltage level is 5V or 1.8V, which needs to be converted before connecting to the MCU. In order to protect the chip, short-circuit protection is added. The short-circuit current of 150 ohm resistor is 22mA, which does not exceed the buffer limit of 50mA. The level conversion chip and buffer have built-in ESD protection, so there is no need to add additional ESD devices. 1 input. A pull-up resistor is added to the input signal end to provide current injection when the output signal current is insufficient. A pull-down resistor is added to the input signal end to limit the current when the output signal current is too large.

[0124] The MCU main control module 12 is mainly an embedded development and is a software operation platform for the overall function. Its requirement number: SC-007: The synchronous trigger box 4 is used as a trigger source to trigger multiple cameras for synchronous exposure according to its own crystal oscillator timing. SC-013: The synchronous trigger box 4 synchronously triggers multiple cameras for synchronous exposure SC-014: It can identify the PPS signal of the positioning device 2 as a resynchronization signal SC-022: The synchronous trigger box 4 synchronously triggers multiple cameras for synchronous exposure.

[0125] Among them, the MCU main control chip of the MCU main control module 12 adopts STM32F107VCT6, which is powered by 3.3V. In the self-trigger mode, only the GPIO output pin is needed, and the main control will automatically send the trigger signal through the GPIO pin according to the set program. In the external trigger resynchronization mode, 1 GPIO port is used as an input pin, and 15 GPIO ports are used as output pins. The program sends the trigger signal through the GPIO output pin. Unused GPIO ports are grounded through 1k resistors.

[0126] The self-triggering mode means that only the camera and the synchronous trigger box work. The external triggering synchronization mode means that the positioning device 2, the synchronous trigger box 4, and the camera 5 work in coordination or the laser radar 3, the synchronous trigger box 4, and the camera 5 work in coordination.

[0127] The block diagram of trigger output module 13 is shown in Figure 5, its requirement number: SC-001: Cameras with 12 channels or more can achieve external synchronous triggering.

[0128] Among them, the trigger output module 13 is a trigger output, which adopts a variant design and mainly supports 1.8V, 3.3V, and 5V trigger outputs. The output signal is output through the 3-9 and 19-26 pins of the DB26 interface, with a total of 15 outputs. This output signal is mainly used to trigger the camera to take pictures.

[0129] Among them, the hardware solution requirement number is: SC-008: Trigger output variant design must meet the voltage level and pulse width requirements of 5V, 3.3V, and 1.8V. SC-016: Trigger output variant design must meet the voltage level and pulse width requirements of 5V, 3.3V, and 1.8V. SC-026: Trigger output variant design must meet the voltage level and pulse width requirements of 5V, 3.3V, and 1.8V.

[0130] Among them, the trigger level meets the requirements of various camera trigger signals, and the trigger frequency meets the requirements of various camera trigger signals, including:

[0131] 1. If you want to trigger the output signal voltage level to 5V or 1.8V, a level conversion chip is required.

[0132] 2. If you want to trigger the output signal voltage level to be 3.3V, just pass it through the buffer directly.

[0133] 3. In order to protect the chip, short-circuit protection is added. The short-circuit protection adopts the form of exclusion. The short-circuit current of 150 ohm resistor is 22mA, which does not exceed the buffer limit of 35mA and 50mA of the level conversion chip.

[0134] 4.15 outputs, the trigger frequency can be determined by the MCU clock.

[0135] The serial port module 14 is mainly used to convert the serial port into RS232 to connect to the vehicle-mounted host computer 1 for communication, so as to facilitate the vehicle-mounted host computer 1 to control the function of the synchronous trigger box 4. Figure 6 .

[0136] Among them, the hardware solution requirement number is: SC-006: Communication with the synchronous trigger box 4 and synchronous trigger box parameter configuration can be achieved through the serial port.

[0137] Among them, the MAX232 chip is used for serial communication with the host computer. The MCU main control chip uses the SW download interface. The serial port interface mainly uses pins 2, 3, and 5. The GND of DB9 and the ground of the board are single-point grounded through a 0-ohm resistor. The DB9 interface is connected to the PESD0603-240 device to achieve ESD protection.

[0138] The crystal oscillator module 15 is mainly used to provide a crystal oscillator clock to the MCU main control module 12 .

[0139] Among them, the hardware solution requirement number is SC-011: The crystal oscillator output error should not be greater than 1us / 1s.

[0140] Among them, a 25MHz passive crystal oscillator X49SM25MSD2SC is used, and the crystal oscillator accuracy is ±20ppm, which means that the maximum error of 1s is ±20us. The load capacitance of X49SM25MSD2SC is 20pF. According to the STM32 reference manual AN2867, according to the following formula, according to the datasheet, substitute CS as 10pF, and calculate the CL1 and CL2 capacitance values ​​to be 20pF.

[0141] The reset module 16 is mainly used to reset the MCU main control module 12 .

[0142] An external push button switch is used to set the reset pin low for reset. A 10K resistor is used to pull it up, and a capacitor is used to eliminate jitter.

[0143] LED module 17 mainly explains the LED design.

[0144] The power light is powered by 3.3V. The RS232 light is connected to 5V, and the other end is connected to the RX interface of RS232. The trigger LED lights are all connected to the GPIO pins of the MCU.

[0145] The SW module 18 is mainly used to download the embedded program of the MCU main control module 12 .

[0146] Among them, since the MCU is a SW interface, the program is downloaded in the form of a pin header. In order to prevent static electricity on the SW interface, a PESD0603-240 device is added.

[0147] Specifically, Figure 7 As shown, the MUC master uses the serial port and DB9 interface to connect to the host computer, and communicates with the host computer through a serial communication protocol (such as UART) to obtain configuration information or exchange data. The microcontroller 40 is connected to the DB26 interface through a general input and output port (GPIO) to receive output signals from GPS or laser radar, and output camera exposure trigger signals to realize the data acquisition and control functions of the device. Through the SW download interface, the program code can be downloaded and burned into the memory of the microcontroller 40 for updating software, firmware or configuration information to ensure that the device runs the latest program version.

[0148] The camera synchronization trigger system provided by the embodiment of the present invention can conveniently download new programs or updated programs to the microcontroller through the software download interface of the microcontroller, thereby realizing flexible upgrading and updating of system functions. Pre-storing programs that characterize the correspondence between working modes and execution strategies in the microcontroller can reduce dependence on external devices, reduce system costs, and improve system reliability. Pre-storing programs in the microcontroller can speed up the system's response to changes in working modes and execution strategies, and improve the real-time performance and stability of the system. Pre-storing programs through the software download interface can improve the information security of the system, prevent external programs from interfering with or damaging the system, and protect the security of system data.

[0149] According to an embodiment of the present invention, a camera synchronization triggering method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0150] In this embodiment, a camera synchronization triggering method is provided, which can be used for the above-mentioned synchronization triggering box. Figure 8 is a flow chart of a camera synchronization triggering method according to an embodiment of the present invention. Figure 8 As shown, the process includes the following steps:

[0151] Step S101, obtaining the working mode control instruction sent by the vehicle-mounted host computer; wherein the working mode control instruction is determined according to the operation instruction of the user on the vehicle-mounted host computer, and the operation instruction is used to represent the working mode of the synchronization trigger box selected by the user.

[0152] The vehicle-mounted host computer sends control instructions to the synchronization trigger box to instruct the synchronization trigger box to execute a specific working mode. These instructions are usually sent to the synchronization trigger box through a communication protocol (such as CAN bus, serial port, etc.). According to the user's operation on the vehicle-mounted host computer, the specific working mode or function is selected, and these operation instructions will be converted into corresponding working mode control instructions and then received.

[0153] Step S102: parsing the working mode control instruction to obtain a target working mode to be executed.

[0154] The working mode control instructions are received through the communication connection established with the vehicle-mounted host computer. These instructions are usually data packets transmitted in a specific format or protocol, containing the working mode information selected by the user. According to the pre-defined parsing rules, the received working mode control instructions are parsed. This process may involve data packet unpacking, field extraction, protocol parsing and other operations to ensure that the working mode information selected by the user is correctly extracted. Through the user-selected working mode information obtained after parsing, the synchronous trigger box can determine the target working mode to be executed. The target working mode can be a specific functional mode of the device, a working parameter configuration, or a mode for performing a specific task. When the target working mode is determined, the synchronous trigger box will perform corresponding operations according to the requirements and settings of the mode, which may involve configuring device parameters, enabling specific functions, adjusting working modes, etc., to ensure that the synchronous trigger box accurately performs the corresponding tasks according to the user's selection.

[0155] Step S103, determining a target execution strategy corresponding to the target working mode according to the target working mode and the correspondence between the pre-stored working modes and execution strategies.

[0156] The synchronous trigger box determines the target working mode to be executed by parsing the working mode control instructions, that is, the specific operation mode or functional mode selected by the user on the vehicle-mounted host computer. Some correspondences between working modes and execution strategies are pre-stored in the synchronous trigger box. These correspondences may be designed by the equipment manufacturer based on the equipment functions and performance, including execution strategies, parameter settings, action sequences and other information that should be adopted in different working modes. According to the target working mode and the correspondence between the pre-stored working mode and execution strategy, the synchronous trigger box will determine the target execution strategy corresponding to the target working mode. When the target execution strategy is determined, the synchronous trigger box will perform corresponding operations according to the strategy, including configuring device parameters, enabling specific functions, adjusting the execution order, etc., to ensure that the device operates according to the correct execution strategy in the target working mode.

[0157] Step S104, determining a trigger signal of the camera according to the target execution strategy.

[0158] It is understandable that the camera needs to receive a trigger signal to start the shooting or recording function. This trigger signal can be in the form of an electrical signal, a pulse signal, a trigger command, etc., which is used to tell the camera when to start performing the shooting task.

[0159] Based on the target working mode and the corresponding target execution strategy determined above, the synchronization trigger box determines the target execution strategy to be adopted to ensure that the device operates in the expected manner. Based on the target execution strategy, the synchronization trigger box determines the camera trigger signal type and timing suitable for the execution strategy, which involves determining when to send the trigger signal (such as at a specific time point, when an event occurs), the content of the trigger signal (such as shooting mode, parameter setting), the transmission method of the trigger signal, etc.

[0160] Step S105: sending a trigger signal to the camera to control the camera to perform exposure.

[0161] Sending a trigger signal to the camera to control exposure can ensure that the camera performs exposure operations according to user requirements at a specific time and under specific conditions, thereby obtaining an image effect that meets the requirements.

[0162] The camera synchronous triggering method provided by the embodiment of the present invention determines the target working mode according to the user's operating instructions on the vehicle-mounted host computer by parsing the working mode control instructions sent by the vehicle-mounted host computer, so that the entire system is more user-friendly and intuitive. According to the correspondence between the pre-stored working mode and the execution strategy, the target execution strategy is determined, thereby realizing the automatic determination and generation of the camera trigger signal, simplifying the use process and improving the operation efficiency. According to the target execution strategy, the trigger signal of the camera is determined, and the real-time control of the camera exposure can be realized, ensuring the accurate triggering and control of the camera under different working modes. Through the parsing of the working mode control instructions and the determination of the target execution strategy, the system can adapt to different working modes and execution strategies, has certain flexibility and scalability, and meets the needs in different scenarios. The trigger signal is sent to the camera to control the exposure, realizing the synchronous triggering of the camera, and effectively improving the working efficiency and imaging quality of the camera system.

[0163] In this embodiment, a camera synchronization triggering method is provided, which can be used for the above-mentioned synchronization triggering box. Fig. 9 is a flow chart of a camera synchronization triggering method according to an embodiment of the present invention. Fig. 9 As shown, the process includes the following steps:

[0164] Step S201, obtaining the working mode control instruction sent by the vehicle-mounted host computer; wherein the working mode control instruction is determined according to the operation instruction of the user on the vehicle-mounted host computer, and the operation instruction is used to represent the working mode of the synchronous trigger box selected by the user. For details, please refer to Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0165] Step S202: parse the working mode control instruction to obtain the target working mode to be executed. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0166] Step S203: Determine the target execution strategy corresponding to the target working mode according to the target working mode and the correspondence between the pre-stored working mode and the execution strategy. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0167] Step S204, determining a trigger signal of the camera according to the target execution strategy.

[0168] Specifically, the above step S204 includes:

[0169] Step S2041, acquiring at least one trigger information including a first pulse signal sent by the positioning device, a second pulse signal sent by the laser radar, and crystal oscillator information in the synchronous trigger box according to the target execution strategy.

[0170] The positioning device is used to determine the position of the vehicle and sends a first pulse signal to provide position information, wherein the first pulse signal includes information such as position coordinates and timestamp.

[0171] LiDAR is a sensor used to measure distance and detect the surrounding environment. It sends laser pulses and receives reflected signals. The second pulse signal includes surrounding environment data, timestamp and other information.

[0172] The crystal oscillator is a key component in the synchronization trigger box, which is used to generate a stable clock signal. Specifically, the crystal oscillator information of the synchronization trigger box can be obtained according to the detailed specification sheet provided when the crystal oscillator leaves the factory, or by testing the crystal oscillator with a frequency meter. The crystal oscillator information of the synchronization trigger box includes the frequency, phase and other parameters of the crystal oscillator to ensure the synchronization and accuracy of the device operation.

[0173] Specifically, at least one trigger information among the first pulse signal, the second pulse signal and the crystal oscillator information of the synchronous trigger box is obtained according to the target execution strategy, which can be used for subsequent operations and analysis.

[0174] Step S2042: determine a trigger signal according to the trigger information and the target execution strategy.

[0175] A trigger signal is generated when specific conditions are met according to the trigger information and the target execution strategy to start or control the camera for corresponding exposure. Specifically, trigger information from various sensors or devices is collected, including location data, environmental data, timing data, etc. The collected trigger information is analyzed to determine whether the current synchronization trigger box state and environmental conditions meet the conditions specified in the target execution strategy. Trigger rules are formulated according to the target execution strategy, that is, to determine when a trigger signal should be generated. This may include setting thresholds, logical judgments, time delays, and other rules. When the trigger rule conditions are met, the system will generate a trigger signal and send it to the camera to control the camera for exposure.

[0176] In some optional implementations, the working mode includes a self-triggering mode, and the self-triggering mode is used to characterize the collaborative working of the synchronization trigger box and the camera; when the target working mode is the self-triggering mode and the target execution strategy corresponding to the self-triggering mode is the first execution strategy, the above step S204 includes:

[0177] Step a: determining a first trigger signal of the camera according to a first execution strategy.

[0178] The self-trigger mode is used to describe a mode in which the synchronization trigger box autonomously triggers an operation or event under internal control. In the self-trigger mode, the synchronization trigger box can autonomously generate a first trigger signal according to a first execution strategy without external intervention. Specifically, the generation condition and timing of the first trigger signal of the camera are determined according to the set first execution strategy.

[0179] Among them, in the self-trigger mode, the synchronous trigger box acts as a trigger source and triggers multiple cameras for synchronous exposure according to its own crystal oscillator timing. Its main requirements are: trigger output requirements and performance requirements.

[0180] The trigger output requirements of the self-trigger mode include: compatible external trigger cameras include: cameras of Solextrix GMSL2 generation board, Hirain GMSL1 generation and Hiran GMSL2 generation board, Basler camera, Hikvision camera, etc. The variable design has different requirements for trigger voltages such as 5V, 3.3V, 1.8V and pulse width requirements.

[0181] The performance requirements of the self-trigger mode include: no frame loss between multiple cameras triggered synchronously (no lost pulse output). The synchronization error between multiple pulse outputs is no more than 1us. Without calculating the cumulative error, the crystal oscillator output error should not be greater than 1us / 1s.

[0182] In some optional implementations, the above step a includes:

[0183] Step a1, obtaining the crystal oscillator information of the synchronization trigger box.

[0184] Get the relevant information of the crystal oscillator inside the synchronous trigger box, where the crystal oscillator information of the synchronous trigger box includes parameters such as the current frequency and phase of the crystal oscillator.

[0185] Step a2, according to the crystal oscillator information of the synchronous trigger box, sending multiple first trigger signals with the same frequency and phase to the camera to trigger the camera to perform synchronous exposure; wherein the first trigger signal is determined according to the internal crystal oscillator of the synchronous trigger box.

[0186] According to the acquired crystal oscillator information of the synchronization trigger box, multiple first trigger signals with the same frequency and phase are generated and sent to the camera. Specifically, according to the frequency and phase information of the crystal oscillator, it is ensured that the generated first trigger signal is in the same frequency and phase as the signal of the crystal oscillator to ensure the synchronous exposure operation of the camera. The first trigger signal is sent to the camera to trigger the camera to perform a synchronous exposure operation to ensure that the camera is exposed at the synchronized frequency and phase under the control of the synchronization trigger box, thereby achieving synchronous operation between multiple cameras or ensuring the exposure quality and stability of a single camera.

[0187] Specifically, in the self-trigger mode, the synchronous trigger box acts as a trigger source, triggering multiple cameras for synchronous exposure according to its own crystal oscillator timing. The error between multiple output channels is no more than 1u. Fig.10 and Fig.11 As shown in the figure, after entering the main program, the TIM, USART, and GPIO are initialized first; the timer TIM is enabled; and then the While loop is entered to execute the corresponding interrupt program according to the interrupt signal. The four timers use the cascade mode, the target timer is configured as the master mode, and the remaining three timers are configured as slave mode, using the internal ITR as a trigger, which can output multiple square wave signals with the same frequency and phase, and the error between multiple outputs is at the ns level.

[0188] In the above-mentioned implementation, the self-trigger mode is used to characterize the collaborative working mode of the synchronization trigger box and the camera, ensure the coordination and synchronization between the two, and improve the overall performance and stability of the system. By using the internal crystal oscillator information of the synchronization trigger box to determine the first trigger signal, it is possible to send multiple trigger signals with the same frequency and phase, thereby realizing the precise synchronization triggering of the camera, and improving the accuracy and stability of imaging. By adopting multiple trigger signals with the same frequency and phase, the synchronization performance of the camera during the synchronous exposure process can be ensured, and shooting errors caused by timing problems can be avoided, thereby improving the imaging effect and quality. By using the internal crystal oscillator of the synchronization trigger box to determine the trigger signal, the impact of external interference on the system can be reduced, and the stability and anti-interference ability of the system can be improved.

[0189] In some optional embodiments, the working mode includes an external trigger mode, and the external trigger mode is used to characterize the coordinated working of the synchronization trigger box, the positioning device, and the camera, or to characterize the coordinated working of the synchronization trigger box, the laser radar, and the camera; when the target working mode is the external trigger mode and the target execution strategy corresponding to the external trigger mode is the second execution strategy, the above step S204 includes:

[0190] Step b: determining a second trigger signal of the camera according to a second execution strategy.

[0191] According to the set second execution strategy, it is determined when the camera should be triggered so as to work in coordination with other devices (such as a synchronization trigger box, a positioning device or a laser radar). This involves setting the time point, frequency or other parameters of the second trigger signal to ensure that the work of the camera can be effectively coordinated and synchronized with the work of other devices.

[0192] Among them, in the external trigger mode, the PPS signal pulse of GPS or combined inertial navigation is used as the input source of the synchronous trigger box. The synchronous trigger box synchronously triggers multiple cameras for synchronous exposure. Its main requirements are: trigger output requirements, trigger output requirements and performance requirements.

[0193] The trigger input requirements of the external trigger mode include the ability to identify the PPS signal output by GPS and combined inertial navigation as a resynchronization signal. The voltage, current and pulse width identified by the pulse input source can adapt to mainstream GPS and combined inertial navigation.

[0194] The trigger output requirements of the external trigger mode include: compatible external trigger cameras include: Solextrix GMSL2 generation board camera, Hirain GMSL1 generation and Hiran GMSL2 generation board camera, Basler camera, Hikvision camera, etc. The variable design has different requirements for trigger voltages such as 5V, 3.3V, 1.8V and pulse width requirements.

[0195] The performance requirements of the external trigger mode include no frame loss between multiple cameras triggered synchronously (no loss, increased pulse output), and the synchronization error between multiple pulse outputs is no more than 1us. The resynchronization mechanism can achieve synchronous exposure of the camera at a fixed frame rate, and no frame loss occurs within 8 hours.

[0196] In some optional implementations, the above step b includes:

[0197] Step b1, obtaining a first pulse signal sent by a positioning device or a second pulse signal sent by a laser radar.

[0198] Acquire the first pulse signal sent by the positioning device or the second pulse signal sent by the laser radar.

[0199] Step b2: determine the first pulse signal or the second pulse signal as an external trigger source.

[0200] The acquired first pulse signal or second pulse signal is determined as an external trigger source for triggering subsequent operations.

[0201] Step b3, when a pulse from the external trigger source is received, the multiple timers included in the synchronous trigger box are reset and restart timing, so that the timing of the multiple timers is synchronized with the pulse signal of the external trigger source.

[0202] When a pulse signal sent by an external trigger source is received, the multiple timers contained in the synchronous trigger box will perform a reset operation, that is, the timing value of the timer is reset to the initial state and restarted to ensure that the multiple timers in the synchronous trigger box are synchronized with the pulse signal sent by the external trigger source, so as to achieve collaborative work between devices at a specific time point or under specific conditions.

[0203] Step b4, when multiple timers restart timing and the value of the counter included in the synchronization trigger box reaches a preset threshold, multiple second trigger signals with the same frequency and phase are output to the camera to trigger the camera to perform synchronous exposure; wherein the second trigger signal is determined according to the internal crystal oscillator of the synchronization trigger box, and the frequency and phase corresponding to the second trigger signal are the same as the frequency and phase corresponding to the first trigger signal.

[0204] After receiving the external second trigger signal, the multiple timers inside the synchronous trigger box will restart timing according to the preset time interval or sequence to ensure that each operation is triggered at the correct time point. At the same time, the counter inside the synchronous trigger box will gradually accumulate according to the timing of the timer. When the value of the counter reaches the preset threshold, it means that the time has come to trigger the camera for exposure. When the value of the counter reaches the preset threshold, the synchronous trigger box will output multiple second trigger signals with the same frequency and phase to the camera. This second trigger signal is determined by the crystal oscillator inside the synchronous trigger box, and its frequency and phase are the same as those corresponding to the first trigger signal.

[0205] Specifically, in the external trigger mode, when the input source is the PPS signal of GPS, multiple cameras are synchronously triggered for synchronous exposure, and the PPS signal of GPS is recognized as a resynchronization signal. There is no frame loss between the multiple cameras that are synchronously triggered, and the error between the multiple output channels is no more than 1us. The resynchronization mechanism enables the cameras to be synchronously exposed at a fixed frequency. When the input source is the pulse signal of the lidar, multiple cameras are synchronously triggered for synchronous exposure, and there is no frame loss between the multiple cameras that are synchronously triggered, and the error between the multiple output channels is no more than 1us. The resynchronization mechanism enables the cameras to be synchronously exposed at a fixed frequency. Fig.12and Fig.13 As shown in the figure, after entering the main program, first initialize TIM, USART, and GPIO; enable timer TIM; identify external trigger signals; reset timer TIM; then enter the While loop to execute the corresponding interrupt program according to the interrupt signal. The four timers all use the reset mode of the external trigger source, and the four timers are in parallel, which can ensure that the output errors between them are all at the ns level. The external trigger source selects the GPS PPS signal or the laser radar signal. Every time an external trigger source pulse is received, the four timers are reset to re-output the square wave signal with the same frequency and phase to realize the resynchronization mechanism.

[0206] In the above-mentioned implementation, the external trigger mode is used to achieve the collaborative work between various devices, which can be applied to the needs of different scenarios. Whether using a positioning device or a laser radar, the trigger signal of the camera can be determined according to the corresponding execution strategy, showing flexibility and applicability. The pulse signal sent by the external trigger source is used to restart the timing, which ensures that multiple timers are synchronized with the pulse signal of the external trigger source, thereby achieving high-precision camera trigger signal output. When the counter value reaches the preset threshold, the synchronous trigger box can output multiple second trigger signals of the same frequency and phase to the camera, realize the synchronous exposure of the camera, improve the imaging effect, and ensure the synchronization between multiple cameras. The frequency and phase of the second trigger signal are determined by the internal crystal oscillator of the synchronous trigger box, which ensures the stability and consistency of the trigger signal.

[0207] In some optional implementations, the working mode includes an asynchronous exposure mode, and the asynchronous exposure mode is used to characterize the collaborative working of the synchronous trigger box, the laser radar, and the camera; when the target working mode is the asynchronous exposure mode and the target execution strategy corresponding to the asynchronous exposure mode is the third execution strategy, the above step S204 includes:

[0208] Step c: determining a third trigger signal of the camera according to a third execution strategy.

[0209] The camera should receive the third trigger signal according to the preset third execution strategy, which involves the camera's exposure control, shooting timing, etc., to ensure that the synchronous trigger box can work correctly according to the third execution strategy in the asynchronous exposure mode.

[0210] Among them, in the asynchronous exposure mode, the pulse signal output by the laser radar (the signal emitted when it turns to the front or rotates a fixed angle) is used as the input source of the synchronization trigger box. The synchronization trigger box synchronously triggers multiple cameras for synchronous exposure or asynchronous exposure in which the laser point cloud and the image overlap. Its main requirements are: trigger output requirements, trigger output requirements and performance requirements.

[0211] The trigger output requirements of the asynchronous exposure mode include the ability to identify the pulse signal output by the LiDAR as a resynchronization signal. The voltage, current and pulse width identified by the pulse input source can be adapted to mainstream LiDARs, including Hesai, Sagitar, Velodyne, Ouster, etc.

[0212] The trigger output requirements of the asynchronous exposure mode include: compatible external trigger cameras include: Solextrix GMSL2 generation board camera, Hirain GMSL1 generation and Hiran GMSL2 generation board camera, Basler camera, Hikvision camera, etc., and the variable design has different requirements for trigger voltages such as 5V, 3.3V, 1.8V and pulse width requirements.

[0213] The performance requirements of the asynchronous exposure mode include: no frame loss for multiple cameras that are synchronously triggered for exposure (no frame loss, increased pulse output), and the synchronization error between multiple pulse outputs is no more than 1us. No frame loss for multiple cameras that are asynchronously triggered for exposure (no frame loss, increased pulse output), and the time error between the setting delay of the pulse signal output by the asynchronously triggered exposure and the actual output pulse signal is no more than 1us. The resynchronization mechanism can achieve synchronous exposure at a fixed frame rate for each camera, and no frame loss occurs within 8 hours.

[0214] In some optional implementations, the above step c includes:

[0215] Step c1, setting the mode of the target timer included in the synchronization trigger box to the output comparison mode; wherein the target timer is a timer pre-specified by the user.

[0216] Output compare mode is a working mode of the timer. Its main function is to compare the output of the timer with the value in a compare register and generate a corresponding output signal when the two are equal. In this mode, the user can pre-set a comparison value. When the count value of the timer reaches this comparison value, the corresponding output operation will be triggered.

[0217] Set the target timer in the synchronous trigger box and set its mode to output comparison mode. Users can control when the timer triggers the output signal by setting the value in the comparison register according to specific needs. Among them, the target timer is a timer selected by the user from the pre-specified timers.

[0218] Step c2, obtaining the second pulse signal sent by the laser radar.

[0219] The second pulse signal sent by the lidar is received and recorded from the lidar receiver.

[0220] Step c3, determining the exposure timing of the camera according to the pulse frequency corresponding to the second pulse signal.

[0221] The exposure timing of the camera is determined based on the frequency information of the second pulse signal sent by the LiDAR. When the LiDAR sends the second pulse signal, its pulse frequency can provide information about the position, speed, and direction of movement of the target object. By analyzing this information, it is possible to determine when the camera needs to shoot so that exposure can be performed in a specific target state. For example, if the frequency of the second pulse signal returned by the LiDAR indicates a change in the speed or distance of a target object, the exposure timing of the camera can be determined based on this information to ensure that the target object is shot when it is in the desired position or state.

[0222] Step c4: output multiple third trigger signals with different phases to the camera in sequence according to the exposure timing, so as to trigger the camera to perform asynchronous exposure.

[0223] According to the exposure timing, the camera is triggered to perform asynchronous exposure by sending multiple third trigger signals with different phases to the camera. Specifically, after the exposure timing is determined, the synchronous trigger box generates multiple third trigger signals with different phases. These signals are offset in time so as to trigger the camera to perform exposure at different time points. These trigger signals with different phases are sent to the camera in sequence to trigger the camera to perform exposure operations at different time points. By controlling the timing and phase of these trigger signals, it is possible to expose the same scene at different time points and capture image data at different times.

[0224] In some optional implementations, the above step c3 includes:

[0225] Step d1, calculating the pulse period corresponding to the second pulse signal according to the pulse frequency corresponding to the second pulse signal; wherein the angle traversed by the second pulse signal to complete one pulse period is 360 degrees.

[0226] The pulse frequency is f, according to the calculation formula The pulse period T corresponding to the second pulse signal is obtained.

[0227] The angle traversed by the second pulse signal to complete one pulse cycle is 360 degrees, that is, within one cycle, the second pulse signal completely traverses the angle of a circle.

[0228] Step d2, calculating the time corresponding to each degree based on 360 degrees and the pulse period.

[0229] The time corresponding to each degree is calculated based on the pulse period, which is used to calculate the camera exposure timing later. Specifically, according to the calculation formula Get the time t corresponding to each degree.

[0230] Step d3, dividing 360 degrees according to a preset number to obtain multiple angles.

[0231] Divide 360 ​​degrees into a preset number of parts to obtain multiple angles, providing angle data for calculation. For example, divide 360 ​​degrees into 120 parts to obtain multiple 3 degrees.

[0232] Step d4, multiplying the angle and the time to obtain the delay time corresponding to the angle.

[0233] Multiply the angle by the time per degree to get the delay time corresponding to the angle, which is used to determine the exposure timing of the camera.

[0234] Step d5, determining the exposure timing of the camera according to the delay time.

[0235] The exposure timing of the camera is determined based on the calculated delay time to ensure asynchronous exposure operation synchronized with the lidar signal.

[0236] Among them, in the asynchronous exposure mode, the laser point cloud and the image are overlapped in asynchronous exposure, which can identify the laser radar pulse signal as a resynchronization signal. Fig.14 As shown, the mode of timer TIM is configured as output comparison mode, and asynchronous exposure is performed by changing the phase angle, while the others remain unchanged. At the same time, 360° corresponds to a complete pulse cycle time, for example, at 20Hz, the complete cycle time is 50ms, and at 10Hz, the complete cycle time is 100ms. 360° is divided into 120 equal parts, each of which is 3°, but the delay time corresponding to 3° needs to be determined according to the frequency. The frequencies currently used are 1Hz, 10Hz, 20Hz, 30Hz, 40Hz, 50Hz, and 60Hz.

[0237] In the above implementation, the exposure timing is customized by the target timer pre-specified by the user and the exposure timing of the camera is determined according to the second pulse signal, which meets the specific needs of the user and can meet the exposure requirements in different scenarios. The output comparison mode is used to set the target timer, and the exposure timing is determined in combination with the pulse signal sent by the laser radar, which shows a high degree of flexibility and adjustability. The user can set parameters according to specific circumstances and needs to achieve precise control of the camera trigger signal. According to the exposure timing, multiple third trigger signals with different phases are output to the camera in sequence, realizing asynchronous exposure of the camera, which can bring richer imaging effects and is suitable for application scenarios that require special exposure effects. The synchronous trigger box can determine the exposure timing of the camera in time according to the second pulse signal sent by the laser radar, and output the corresponding trigger signal, realizing real-time response and fast triggering. The pulse period is calculated according to the pulse frequency of the second pulse signal, and the delay time corresponding to each angle is accurately calculated based on the time ratio at a 360-degree angle to ensure the accuracy and stability of the exposure timing. The 360 ​​degrees are divided into multiple angles according to a preset number, and the exposure timing of the camera is determined according to the delay time corresponding to the angle. This flexible division method and the method of calculating the delay time according to the time product of the angle enable the synchronization trigger box to be adjusted and optimized according to different needs. By dividing 360 degrees according to a preset number, the synchronization trigger box effectively organizes and manages the angle information, reduces the calculation complexity and improves the calculation efficiency, and helps to quickly determine the exposure timing of the camera in real-time applications. The delay time is calculated by multiplying the angle and time. This design has good scalability and can adjust or expand the relationship between the angle and time as needed to suit different application scenarios and requirements.

[0238] Step S205: Send a trigger signal to the camera to control the camera to perform exposure. Figure 1 Step S105 of the illustrated embodiment will not be described in detail here.

[0239] The camera synchronization triggering method provided in the embodiment of the present invention realizes the fusion of multi-source information and improves the perception of environmental and position information by acquiring at least one trigger information from the first pulse signal sent by the positioning device, the second pulse signal sent by the laser radar, and the crystal oscillator information of the synchronization trigger box. The trigger signal is determined according to the trigger information and the target execution strategy, so that the trigger timing of the camera can be controlled more accurately, ensuring that the required image information can be accurately captured in complex scenes, and improving the accuracy and stability of imaging. By combining different trigger information and execution strategies, it can adapt to different work scenarios and needs, has a certain degree of flexibility and adaptability, and provides more possibilities for the application of the system in various environments.

[0240] An embodiment of the present invention further provides a computer device having the above-mentioned synchronization trigger box.

[0241] See also Fig.15 , Fig.15 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.15 As shown, the computer device includes: one or more processors 100, a memory 200, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.15 A processor 100 is taken as an example.

[0242] The processor 100 may be a central processing unit, a network processor or a combination thereof. The processor 100 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable logic gate array, a general purpose array logic or any combination thereof.

[0243] The memory 200 stores instructions executable by at least one processor 100, so that the at least one processor 100 executes the method shown in the above embodiment.

[0244] The memory 200 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 200 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 200 may optionally include a memory remotely arranged relative to the processor 100, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0245] The memory 200 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 200 may also include a combination of the above types of memory.

[0246] The computer device also includes an input device 300 and an output device 400. The processor 100, the memory 200, the input device 300 and the output device 400 may be connected via a bus or other means. Fig.15 The example of connecting through bus is taken in the following.

[0247] The input device 300 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 400 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0248] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0249] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0250] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A camera synchronization trigger system, characterized in that: The system comprises: The vehicle-mounted host computer is connected to the synchronous trigger box for communication, and is used to determine the working mode of the synchronous trigger box according to the user's operation instruction; and is used to send the working mode control instruction to the synchronous trigger box; A positioning device, connected to the synchronous trigger box for obtaining the position information of the vehicle; and for sending a first pulse signal corresponding to the position information to the synchronous trigger box; A laser radar, which is in communication with the synchronous trigger box and is used to obtain distance information of the vehicle's surrounding environment; and is used to send a second pulse signal corresponding to the distance information to the synchronous trigger box; A synchronous trigger box, used for parsing the working mode control instruction to obtain a target working mode to be executed; and for determining a target execution strategy corresponding to the target working mode according to the target working mode and the correspondence between the pre-stored working mode and the execution strategy; the synchronous trigger box is also used for obtaining at least one item of trigger information of the first pulse signal, the second pulse signal and the crystal oscillator information in the synchronous trigger box according to the target execution strategy; and for determining a trigger signal according to the trigger information and the target execution strategy to control the camera to perform exposure; The camera is connected to the synchronous trigger box for receiving a trigger signal sent by the synchronous trigger box to realize exposure control.

2. The system according to claim 1, characterized in that The synchronization trigger box includes a microcontroller, a first physical connector and a second physical connector; A microcontroller, used for parsing the working mode control instruction to obtain the target working mode to be executed by the synchronous trigger box; and for determining the target execution strategy corresponding to the target working mode according to the target working mode and the corresponding relationship; the microcontroller is also used for obtaining at least one trigger information among the first pulse signal, the second pulse signal and the crystal oscillator information of the synchronous trigger box according to the target execution strategy; and used to determine the trigger signal according to the trigger information and the target execution strategy; A first physical connector, used to connect the microcontroller and the vehicle-mounted host computer; and used to transmit the working mode control instruction sent by the vehicle-mounted host computer to the microcontroller; The second physical connector is used to connect the microcontroller and the positioning device, the microcontroller and the laser radar, and the microcontroller and the camera respectively; and is used to transmit the first pulse signal or the second pulse signal to the microcontroller; the second physical connector is also used to transmit the trigger signal generated by the microcontroller to the camera.

3. The system according to claim 2, characterized in that The microcontroller has a software download interface; The software download interface is used to pre-store a program representing the corresponding relationship between the working mode and the execution strategy into the microcontroller.

4. A camera synchronization triggering method, characterized in that: Applied to a synchronous trigger box, the method comprises: Obtaining a working mode control instruction sent by a vehicle-mounted host computer; wherein the working mode control instruction is determined according to an operation instruction of a user on the vehicle-mounted host computer, and the operation instruction is used to represent the working mode of the synchronization trigger box selected by the user; Parsing the working mode control instruction to obtain a target working mode to be executed; Determine a target execution strategy corresponding to the target working mode according to the target working mode and the correspondence between the pre-stored working modes and execution strategies; Determining a trigger signal of a camera according to the target execution strategy; The trigger signal is sent to a camera to control the camera to perform exposure.

5. The method according to claim 4, characterized in that The step of determining a trigger signal of a camera according to the target execution strategy includes: Acquire at least one trigger information of a first pulse signal sent by a positioning device, a second pulse signal sent by a laser radar, and crystal oscillator information in a synchronous trigger box according to the target execution strategy; The trigger signal is determined according to the trigger information and the target execution strategy.

6. The method according to claim 5, characterized in that The working mode includes a self-triggering mode, and the self-triggering mode is used to characterize the coordinated working of the synchronization trigger box and the camera; when the target working mode is the self-triggering mode and the target execution strategy corresponding to the self-triggering mode is the first execution strategy, determining the first trigger signal of the camera according to the first execution strategy includes: Obtaining the crystal oscillator information of the synchronous trigger box; According to the crystal oscillator information of the synchronous trigger box, multiple first trigger signals with the same frequency and phase are sent to the camera to trigger the camera to perform synchronous exposure; Wherein, the first trigger signal is determined according to an internal crystal oscillator of the synchronous trigger box.

7. The method according to claim 5, characterized in that The working mode includes an external trigger mode, and the external trigger mode is used to characterize that the synchronous trigger box, the positioning device and the camera work together, or is used to characterize that the synchronous trigger box, the laser radar and the camera work together; When the target working mode is the external trigger mode and the target execution strategy corresponding to the external trigger mode is the second execution strategy, determining the second trigger signal of the camera according to the second execution strategy includes: Acquire a first pulse signal sent by the positioning device or a second pulse signal sent by the laser radar; determining the first pulse signal or the second pulse signal as an external trigger source; When a pulse from the external trigger source is received, the multiple timers included in the synchronization trigger box are reset and restart timing, so that the timing of the multiple timers is synchronized with the pulse signal of the external trigger source; When the multiple timers restart timing and the value of the counter included in the synchronization trigger box reaches a preset threshold, multiple second trigger signals with the same frequency and phase are output to the camera to trigger the camera to perform synchronous exposure; The second trigger signal is determined according to an internal crystal oscillator of the synchronous trigger box, and the frequency and phase corresponding to the second trigger signal are the same as the frequency and phase corresponding to the first trigger signal.

8. The method according to claim 5, characterized in that The working mode includes an asynchronous exposure mode, and the asynchronous exposure mode is used to represent that the synchronous trigger box, the laser radar and the camera work in coordination; When the target working mode is the asynchronous exposure mode and the target execution strategy corresponding to the asynchronous exposure mode is the third execution strategy, determining the third trigger signal of the camera according to the third execution strategy includes: Setting the mode of the target timer included in the synchronization trigger box to an output comparison mode; wherein the target timer is a timer pre-specified by a user; Acquire a second pulse signal sent by the laser radar; determining an exposure timing of the camera according to a pulse frequency corresponding to the second pulse signal; According to the exposure timing, a plurality of third trigger signals with different phases are output to the camera in sequence to trigger the camera to perform asynchronous exposure.

9. The method according to claim 8, characterized in that The step of determining the exposure timing of the camera according to the pulse frequency corresponding to the second pulse signal includes: The pulse period corresponding to the second pulse signal is calculated according to the pulse frequency corresponding to the second pulse signal; wherein the angle traversed by the second pulse signal to complete one pulse period is 360 degrees; According to the 360 ​​degrees and the pulse period, the time corresponding to each degree is calculated; Dividing the 360 ​​degrees according to a preset number to obtain multiple angles; Multiplying the angle and the time to obtain a delay time corresponding to the angle; The exposure timing of the camera is determined according to the delay time.

10. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the camera synchronization triggering method according to any one of claims 4 to 9 by executing the computer instructions.

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