Camera synchronous triggering system, method and computer device

Abstract

The application relates to the technical field of perception device synchronous control, and discloses a camera synchronous triggering system and method and computer equipment. The system comprises: a vehicle-mounted upper computer configured to send a working mode control instruction to a synchronous triggering box; a positioning device configured to send a first pulse signal corresponding to position information to the synchronous triggering box; a laser radar configured to send a second pulse signal corresponding to distance information to the synchronous triggering box; the synchronous triggering box is configured to determine a target execution strategy corresponding to a target working mode according to the working mode control instruction and a pre-stored corresponding relationship between working modes and execution strategies; and configured to determine a triggering signal according to the target execution strategy to control the camera to perform exposure; and the camera is configured to receive the triggering signal to realize exposure control. Through the technical scheme, highly synchronous control of the exposure timing of the camera is realized, and exposure at a specific position and at a specific time is ensured.

Description

Technical Field

[0001] This invention relates to the field of synchronous control technology for sensing devices, specifically to a camera synchronous triggering system, method, and computer device. Background Technology

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

[0003] Currently, in the case of sensor integration, the different frequencies and accuracy of the internal clock crystals of each sensor can lead to significant timestamp errors in the perceived data. These errors may affect the fusion of perceived data and the accurate understanding of the vehicle's surrounding environment, thereby impacting 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 triggering system, method and computer device to solve the problem of reduced reliability of intelligent driving system caused by inconsistent timestamps of various sensors and differences in crystal oscillator accuracy.

[0005] In a first aspect, the present invention provides a camera synchronization triggering system, comprising: an on-board host computer, communicatively connected to a synchronization triggering box, configured to determine the operating mode of the synchronization triggering box according to user operation instructions; and configured to send operating mode control instructions to the synchronization triggering box; a positioning device, communicatively connected to the synchronization triggering box, configured to acquire vehicle location information; and configured to send a first pulse signal corresponding to the location information to the synchronization triggering box; a lidar, communicatively connected to the synchronization triggering box, configured to acquire distance information of the vehicle's surrounding environment; and configured to send a second pulse signal corresponding to the distance information to the synchronization triggering box; the synchronization triggering box, configured to parse the operating mode control instructions to obtain a target operating mode to be executed; and configured to determine a target execution strategy corresponding to the target operating mode according to the target operating mode and a pre-stored correspondence between operating modes and execution strategies; the synchronization triggering box is further configured to acquire at least one trigger information, including the first pulse signal, the second pulse signal, and crystal oscillator information in the synchronization triggering box, according to the target execution strategy; and configured to determine a trigger signal according to the trigger information and the target execution strategy to control the camera to perform exposure; and a camera, communicatively connected to the synchronization triggering box, configured to receive the trigger signal sent by the synchronization triggering box to achieve exposure control.

[0006] The camera synchronization triggering system provided in this invention achieves highly synchronized control of camera exposure timing through the collaborative work of an onboard host computer, a positioning device, a LiDAR, and a synchronization triggering box, ensuring exposure at specific locations and times. By utilizing the positioning device to obtain vehicle location information and the LiDAR to obtain environmental distance information, combined with the first and second pulse signals, the exposure timing can be accurately determined, ensuring the capture of the desired target image. The synchronization triggering box automatically adjusts the trigger signal according to the target operating mode and execution strategy, achieving adaptive control of the camera, suitable for shooting tasks with different scenarios and requirements. The system can quickly determine the trigger signal based on preset operating modes and execution strategies, effectively improving the efficiency of camera exposure control and contributing to higher shooting success rates and quality. The system has a clear structure, with all components connected via communication, facilitating expansion and customization. System functions can be flexibly adjusted and upgraded according to specific needs, making it suitable for different camera application scenarios and requirements.

[0007] In one optional embodiment, the synchronous trigger box includes a microcontroller, a first physical connector, and a second physical connector. The microcontroller is used to parse the working mode control command to obtain the target working mode to be executed by the synchronous trigger box; and to determine the target execution strategy corresponding to the target working mode based on the target working mode and the corresponding relationship. The microcontroller is also used to acquire at least one of the 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 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 to transmit the working mode control command sent by the vehicle-mounted host computer to the microcontroller. The second physical connector is used to connect the microcontroller to the positioning device, the microcontroller to the lidar, and the microcontroller to the camera, respectively; and 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 triggering system provided in this invention, through its built-in microcontroller, enables rapid parsing of operating mode control commands and determination of target execution strategies, thereby ensuring the system can efficiently respond to user operations and environmental changes. The design of the first and second physical connectors allows the synchronization trigger box to easily connect to the vehicle-mounted host computer, positioning device, LiDAR, and camera, thus realizing information exchange and collaborative work between these components. The synchronization trigger box can simultaneously connect to the positioning device, LiDAR, and camera via the second physical connector and can handle different types of signal transmission, giving the system more functional combinations and application potential. With the help of the first and second physical connectors, the synchronization trigger box can reliably transmit key data such as operating mode control commands, position information, distance information, and trigger signals, ensuring stable system operation and reliable data transmission. By connecting to the vehicle-mounted host computer and various external devices, the synchronization trigger box achieves centralized control and integrated management of the entire system, improving the system's integration level and overall operating efficiency.

[0009] In one alternative implementation, the microcontroller has a software download interface for pre-storing a program representing the correspondence between operating modes and execution strategies into the microcontroller.

[0010] The camera synchronization triggering system provided in this invention allows for convenient downloading of new or updated programs to the microcontroller via its software download interface, enabling flexible upgrades and updates to system functions. Pre-storing programs representing the correspondence between operating modes and execution strategies in the microcontroller reduces reliance on external devices, lowers system costs, and improves system reliability. Pre-storing programs in the microcontroller accelerates the system's response to changes in operating modes and execution strategies, improving real-time performance and stability. Pre-storing programs through the software download interface enhances system information security, preventing interference or damage from external programs and protecting system data security.

[0011] Secondly, the present invention provides a camera synchronization triggering method applied to a synchronization triggering box, comprising: acquiring a working mode control command sent by an in-vehicle host computer; wherein the working mode control command is determined according to an operation command of a user on the in-vehicle host computer, and the operation command is used to characterize the working mode of the synchronization triggering box selected by the user; parsing the working mode control command 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 the pre-stored correspondence between working modes and execution strategies; determining a trigger signal for the camera according to the target execution strategy; and sending the trigger signal to the camera to control the camera to perform exposure.

[0012] The camera synchronization triggering method provided in this invention analyzes the working mode control commands sent by the vehicle-mounted host computer and determines the target working mode based on the user's operation commands on the host computer, making the entire system more user-friendly and intuitive. Based on the pre-stored correspondence between working modes and execution strategies, the target execution strategy is determined, thereby achieving automated determination and generation of camera trigger signals, simplifying the usage process and improving operational efficiency. Determining the camera trigger signal according to the target execution strategy enables real-time control of camera exposure, ensuring accurate triggering and control of the camera in different working modes. Through the analysis of working mode control commands and the determination of target execution strategies, the system can adapt to different working modes and execution strategies, possessing a certain degree of flexibility and scalability, meeting the needs of different scenarios. Sending the trigger signal to the camera to control exposure achieves synchronous triggering of the camera, effectively improving the working efficiency and imaging quality of the camera system.

[0013] In one optional implementation, determining the camera's trigger signal according to the target execution strategy includes: acquiring at least one of the following trigger information according to the target execution strategy: a first pulse signal sent by the positioning device, a second pulse signal sent by the lidar, and information from the synchronous trigger box crystal oscillator; and determining the trigger signal based on the trigger information and the target execution strategy.

[0014] The camera synchronization triggering method provided in this invention achieves multi-source information fusion by acquiring at least one of the following triggering information: a first pulse signal sent by a positioning device, a second pulse signal sent by a lidar, and information from the crystal oscillator of the synchronization trigger box. This improves the perception capability of environmental and location information. Determining the trigger signal based on the triggering information and the target execution strategy allows for more precise control of the camera's triggering timing, ensuring accurate capture of the required image information in complex scenes and improving imaging accuracy and stability. By combining different triggering information and execution strategies, the method can adapt to different working scenarios and needs, exhibiting flexibility and adaptability, and providing more possibilities for the system's application in various environments.

[0015] In one optional implementation, the operating mode includes a self-triggering mode, which characterizes the coordinated operation of the synchronization trigger box and the camera. When the target operating mode is the self-triggering mode and the target execution strategy corresponding to the self-triggering mode is the first execution strategy, the first trigger signal of the camera is determined according to the first execution strategy, including: acquiring the crystal oscillator information of the synchronization trigger box; and sending multiple first trigger signals of the same frequency and phase to the camera according to the crystal oscillator information of the synchronization trigger box to trigger the camera to perform synchronous exposure. The first trigger signal is determined according to the internal crystal oscillator of the synchronization trigger box.

[0016] The camera synchronization triggering method provided in this invention uses a self-triggering mode to characterize the collaborative working mode of the synchronization trigger box and the camera, ensuring their coordination and synchronization, and improving the overall system performance and stability. By utilizing the information from the internal crystal oscillator of the synchronization trigger box to determine the first trigger signal, multiple trigger signals with the same frequency and phase can be sent, thereby achieving precise synchronous triggering of the camera and improving the accuracy and stability of imaging. By employing multiple trigger signals with the same frequency and phase, the synchronization performance of the camera during synchronous exposure can be ensured, avoiding shooting errors caused by timing issues and improving imaging effect and quality. Utilizing the internal crystal oscillator of the synchronization trigger box to determine the trigger signal can reduce the impact of external interference on the system, improving the system's stability and anti-interference capability.

[0017] In one optional implementation, the operating mode includes an external trigger mode, which is used to characterize the coordinated operation of the synchronization trigger box, the positioning device, and the camera, or to characterize the coordinated operation of the synchronization trigger box, the LiDAR, and the camera. When the target operating 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: acquiring a first pulse signal sent by the positioning device or a second pulse signal sent by the LiDAR; 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 restarted to synchronize the timing of the multiple timers with the pulse signal of the external trigger source; when the multiple timers restart 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.

[0018] The camera synchronization triggering method provided in this invention enables collaborative work between multiple devices through an external triggering mode, making it applicable to various scenarios. Whether using a positioning device or LiDAR, the trigger signal for the camera can be determined according to the corresponding execution strategy, demonstrating flexibility and applicability. Utilizing the pulse signal sent by the external trigger source to restart the timing ensures synchronization between multiple timers and the pulse signal from the external trigger source, thereby achieving high-precision camera trigger signal output. When the counter value reaches a preset threshold, the synchronization trigger box can output multiple synchronous and in-phase second trigger signals to the camera, achieving synchronous exposure of the cameras, improving imaging effects, and ensuring synchronization between multiple cameras. The frequency and phase of the second trigger signal are determined by the internal crystal oscillator of the synchronization trigger box, ensuring the stability and consistency of the trigger signal.

[0019] In one optional implementation, the operating mode includes an asynchronous exposure mode, which characterizes the coordinated operation of the synchronous trigger box, the LiDAR, and the camera. When the target operating 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 output comparison mode; wherein the target timer is a timer pre-specified by the user; acquiring the second pulse signal sent by the LiDAR; determining the exposure timing of the camera according to the pulse frequency corresponding to the second pulse signal; and sequentially outputting multiple third trigger signals of different phases to the camera according to the exposure timing to trigger the camera to perform asynchronous exposure.

[0020] The camera synchronization triggering method provided in this invention achieves personalized customization of the exposure timing by using a user-specified target timer and determining the camera's exposure timing based on a second pulse signal. This meets specific user needs and can satisfy exposure requirements in different scenarios. By using an output comparison mode to set the target timer and combining it with the pulse signal sent by the LiDAR to determine the exposure timing, it demonstrates high flexibility and adjustability. Users can set parameters according to specific situations and needs to achieve precise control of the camera trigger signal. Based on the exposure timing, multiple third trigger signals of different phases are sequentially output to the camera, achieving asynchronous exposure of the camera. This results in richer imaging effects and is suitable for application scenarios requiring special exposure effects. The synchronization trigger box can promptly determine the camera's exposure timing based on the second pulse signal sent by the LiDAR and output the corresponding trigger signal, achieving real-time response and rapid triggering.

[0021] In one optional implementation, determining the camera's exposure timing based on the pulse frequency corresponding to the second pulse signal includes: calculating the pulse period corresponding to the second pulse signal based on 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 based on 360 degrees and the pulse period; dividing the 360 ​​degrees into multiple angles according to a preset number; multiplying the angles and times to obtain the delay time corresponding to the angles; and determining the camera's exposure timing based on the delay time.

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

[0023] Thirdly, the present invention provides a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the camera synchronization triggering method of the second aspect above or any corresponding embodiment thereof.

[0024] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the camera synchronization triggering method of the second aspect or any corresponding embodiment described above.

[0025] Fifthly, the present invention provides a computer program product, including computer instructions, which are used to cause a computer to execute the camera synchronization triggering method of the second aspect above or any corresponding embodiment thereof. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

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

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

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

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

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

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

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

[0035] Figure 9 This is a flowchart illustrating another camera synchronization triggering method according to an embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram of the method flow for the self-triggered mode according to an embodiment of the present invention;

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

[0038] Figure 12 This is a schematic diagram of the method flow for the external triggering mode according to an embodiment of the present invention;

[0039] Figure 13 This is a schematic diagram of a method flow for another external triggering mode according to an embodiment of the present invention;

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

[0041] Figure 15 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Intelligent driving technology is a crucial component of future intelligent transportation and has experienced rapid development in recent years. Sensing devices, as an essential part of intelligent driving systems, mainly include cameras, LiDAR, millimeter-wave radar, and inertial navigation sensors. These sensors collectively provide multi-dimensional perception data to ensure the normal operation of intelligent driving systems.

[0044] The current main technical approach to synchronizing the operation of various sensing devices is as follows: each sensor operates independently, receiving GPS second pulse signals. Based on the received GPS second pulse signals, the sensing data is timestamped, and the timestamps are sent to the computing unit along with the sensing data. The computing unit compensates for the time difference between the sensors based on the timestamp information, thereby achieving time synchronization between the sensors. On this basis, multi-sensor data fusion, target processing, and application scenario algorithms are completed, thus realizing a complete solution for the intelligent driving system.

[0045] Because cameras, LiDAR, and integrated inertial navigation systems each have their own independent clock crystals, the GPS second pulse signals received by each sensor are consistent. However, due to the inconsistency in the internal frequencies of each sensor, the timestamp information in the output sensing data has a relatively large error. Furthermore, the inconsistency in the precision of each crystal oscillator means that the timestamp information within the same sensor is related to the crystal's own performance, resulting in significant changes in timestamp information as environmental conditions change. In addition, high-precision crystal oscillators lead to higher device costs.

[0046] The computational unit compensation method used in related sensing synchronization technologies is a software synchronization scheme. At the software level, it adds timestamps to the collected data and then matches and synchronizes it based on the timestamps during data processing. While this method is simple, it requires high accuracy of the timestamps. Other technical solutions adjust the temporal relationship of data through algorithms during the multi-sensor data fusion processing stage, ensuring that data from different sensors are aligned in time. This method relies heavily on algorithm calibration, making synchronization more difficult. Existing hardware-based sensing synchronization triggering schemes mostly rely on external trigger signals to provide in-phase and frequency signals for synchronization, which cannot adapt to different sensing architectures.

[0047] In view of this, compared with traditional software perception synchronization solutions, the synchronization trigger box of this invention adopts an external input trigger signal to synchronously control the acquisition time of multiple sensors. It eliminates the need for complex algorithm calibration and high-precision software timestamps, relying solely on the crystal oscillator or positioning device / LiDAR signal within the synchronization trigger box itself to achieve multi-sensor synchronous triggering. Compared with typical external hardware trigger synchronization solutions, this solution also provides multiple trigger mode switching functions. By switching between three working modes—camera self-triggered synchronization, positioning device / LiDAR external trigger synchronization, and asynchronous trigger synchronization—perception synchronization output under different autonomous driving perception schemes can be achieved, reducing the number of external devices and the difficulty of algorithm calibration.

[0048] This embodiment provides a camera synchronization triggering system, such as Figure 1 As shown, the camera synchronization trigger includes: vehicle-mounted host computer 1, positioning device 2, lidar 3, synchronization trigger box 4, and camera 5.

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

[0050] The vehicle-mounted host computer 1 refers to the vehicle-mounted computer or vehicle-mounted control system, which has data processing, communication, and control functions, and can communicate with the synchronous trigger box 4 through interfaces such as serial ports. The vehicle-mounted host computer 1 can be used to monitor vehicle status, send control commands, and receive sensor data, thereby achieving intelligent management and control of the vehicle system. Through its connection with the synchronous trigger box 4, the vehicle-mounted host computer 1 can exchange data and control commands with the synchronous trigger box 4 to achieve coordinated operation of the vehicle system.

[0051] Specifically, by sending user operation commands to the synchronization trigger box 4 via the vehicle-mounted host computer 1, the operating mode of the synchronization trigger box 4 can be determined. The vehicle-mounted host computer 1 can send operating mode control commands to the synchronization trigger box 4, thereby realizing remote control of the synchronization trigger box 4. By sending control commands, the vehicle-mounted host computer 1 can change the operating status of the synchronization trigger box 4 or switch between different operating modes.

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

[0053] When the system is in self-trigger mode, it does not require external input signals to trigger the operation. Instead, the system decides when to output a signal and does not respond to or accept external input signals.

[0054] In the hybrid triggering mode, a signal validity determination mechanism is introduced to determine the validity of the input signal. When there is no external input signal, the system operates in self-triggering mode, meaning the system generates the output signal automatically according to internal rules. When the input signal is valid, the system operates in external triggering mode, meaning the system responds to the external input signal and performs the corresponding operation. The system needs to record the switching time between self-triggering mode and external triggering mode for subsequent analysis and management. The system identifies input pulses based on the rising edge, meaning the system performs corresponding processing when it detects the rising edge of the input signal. The system needs to design corresponding logic and algorithms to handle the switching between self-triggering mode and external triggering mode. The validity determination mechanism logic is as follows: if the input signal's period is within a set range (error not exceeding ±10%) for 100 consecutive cycles, then the next input signal is accepted.

[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 of the vehicle-mounted host computer 1 for users to input the periodic data of the input signal. A mechanism for saving setting parameters should be 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, which users can click to save the current settings as a set of parameters; displaying a list of saved parameters on the interface, where users can choose to load or delete saved parameters; and providing import and export functions, allowing users to export setting parameters to a file or import saved setting parameters from a file, without limitation.

[0057] The positioning device 2 is communicatively connected to the synchronous trigger box 4 and is used to acquire the vehicle's location information; and to send the first pulse signal corresponding to the location information to the synchronous trigger box 4.

[0058] Positioning device 2 is used to determine the vehicle's location information; for example, it can be a Global Positioning System (GPS) or Bluetooth device. Positioning device 2 communicates with synchronization trigger box 4 and sends a first pulse signal to synchronization trigger box 4.

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

[0060] The lidar 3 is communicatively connected to the synchronization trigger box 4 to acquire distance information of the vehicle's surrounding environment and to send a second pulse signal corresponding to the distance information to the synchronization trigger box 4.

[0061] The lidar 3 is used to acquire distance information about the vehicle's surroundings. It can establish a communication connection with the synchronization trigger box 4 and send the distance information to the synchronization trigger box 4. At the same time, the lidar 3 can also send a second pulse signal generated based on this distance information to the synchronization trigger box 4.

[0062] The second pulse signal refers to the pulsed light signal emitted by the lidar 3 during operation. After traveling a certain distance, these pulsed light signals interact with objects around the vehicle and are then received back by the lidar 3. By measuring the round-trip time and other characteristics of the pulsed light signals, the lidar 3 can calculate the distance information between the object and the lidar 3.

[0063] Synchronous trigger box 4 is used to parse the working mode control command to obtain the target working mode to be executed; and to determine the target execution strategy corresponding to the target working mode based on the target working mode and the pre-stored correspondence between working modes and execution strategies; the synchronous trigger box is also used to acquire at least one of the trigger information, namely 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 based on the trigger information and the target execution strategy to control the camera to perform exposure. The trigger signal is a square wave signal.

[0064] The synchronous trigger box 4 determines the target operating mode to be executed by parsing the received operating mode control command. Based on the correspondence between the target operating mode and the pre-set operating mode and execution strategy, it determines the target execution strategy corresponding to the target operating mode. The synchronous trigger box 4 acquires at least one trigger information based on the target execution strategy: a first pulse signal, a second pulse signal, and crystal oscillator information from the synchronous trigger box. Based on the acquired trigger information and the target execution strategy, it determines the trigger signal, thereby controlling the camera to perform exposure.

[0065] For example, the synchronous trigger box 4 parses the received operating mode control command and determines that the target operating mode to be executed is the self-trigger mode. Based on the pre-set correspondence between operating modes and execution strategies, it determines the first execution strategy corresponding to the self-trigger mode. The synchronous trigger box 4 then obtains the crystal oscillator information from within the synchronous trigger box as trigger information according to the first execution strategy. Based on the obtained trigger information, the synchronous trigger box 4 performs the corresponding operation according to the execution means included in the target execution strategy and then outputs a trigger signal to the camera 5.

[0066] Specifically, the hardware parameters of the synchronous trigger box 4 can be:

[0067] Dimensions: 24 (height) x 60 (width) x 90 (length) mm;

[0068] Target operating environment: -25~+80℃, for use inside a vehicle;

[0069] Temperature range for selection: -40 to 85℃;

[0070] Input voltage range: DC: 10V~14V, DC 12V input is recommended;

[0071] Processor: STM32F107VCT6 processor;

[0072] Low power consumption, with a normal power output of around 84mW;

[0073] It features 15 channels of synchronous or asynchronous output;

[0074] The input signal voltage supports 1.8V, 3.3V, and 5V;

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

[0076] Camera 5 is communicatively connected to synchronous trigger box 4 and is used to receive trigger signals sent by synchronous trigger box 4 to achieve exposure control.

[0077] Camera 5 establishes a communication connection with the synchronization trigger box 4, enabling them to send and receive information. The function of camera 5 is to receive trigger signals from the synchronization trigger box 4 for exposure control. The synchronization trigger box 4 can send specific trigger signals to instruct the camera when to expose, achieving precise control over the camera's exposure process.

[0078] The camera synchronization triggering system provided in this invention achieves highly synchronized control of camera exposure timing through the collaborative work of an onboard host computer, a positioning device, a LiDAR, and a synchronization triggering box, ensuring exposure at specific locations and times. By utilizing the positioning device to obtain vehicle location information and the LiDAR to obtain environmental distance information, combined with the first and second pulse signals, the exposure timing can be accurately determined, ensuring the capture of the desired target image. The synchronization triggering box automatically adjusts the trigger signal according to the target operating mode and execution strategy, achieving adaptive control of the camera, suitable for shooting tasks with different scenarios and requirements. The system can quickly determine the trigger signal based on preset operating modes and execution strategies, effectively improving the efficiency of camera exposure control and contributing to higher shooting success rates and quality. The system has a clear structure, with all components connected via communication, facilitating expansion and customization. System functions can be flexibly adjusted and upgraded according to specific needs, making it suitable for different camera application scenarios and requirements.

[0079] This embodiment provides a synchronous trigger box 4, 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 synchronous trigger box 4, responsible for managing the operation and communication of the entire device. By interacting with the on-board host computer 1, positioning device 2, LiDAR 3, and camera 5, the microcontroller unit 40 can perform various complex functions to meet the needs of specific application scenarios.

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

[0082] The microcontroller 40 includes a built-in Software Download Interface (SW), which connects to a computer or other devices via serial communication for debugging, program burning, and data transfer. The main function of the SW is to pre-store programs containing the correspondence between operating modes and execution strategies into the microcontroller. These programs may include configuration information, algorithm logic, parameter settings, etc., guiding the microcontroller 40 on how to parse the operating mode and determine the execution strategy during runtime.

[0083] The first physical connector 41 connects the microcontroller 40 and the vehicle-mounted host computer 1, and transmits the operating mode control commands 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 connects the microcontroller 40 to the positioning device 2, the lidar 3, and the camera 5, and transmits a first pulse signal or a second pulse signal to the microcontroller 40. The second physical connector 42 can also transmit trigger signals generated by the microcontroller 40 to the camera 5. Data exchange and control signal transmission between the microcontroller 40 and other devices are achieved through the second physical connector 42. For example, it could be a DB26 connector.

[0085] Specifically, the hardware configuration of the synchronous trigger box 4 may include:

[0086] The microcontroller 40 uses the STM32F107VCT6 chip to implement most of the functions of the synchronous trigger box 4 through the STM32, with a 3.3V power input.

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

[0088] The first physical connector 41 adopts a DB9 connector. The interface of the DB9 connector is used for serial port debugging, so as to realize the 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 for synchronous trigger box 4 can be found in Table 1:

[0091] Table 1

[0092]

[0093] All chips are industrial-grade and have a normal operating temperature range of -25 to +80℃.

[0094] Specifically, the external connectors of the synchronous trigger box 4 can be found in Table 2:

[0095] Table 2

[0096]

[0097] Furthermore, when the synchronous trigger box 4 is powered on, it immediately begins to execute the corresponding operation or function. The voltage range of the synchronous trigger box 4 is DC10~14V.

[0098] The 3.3V power supply is used to power the following components: MCU, red indicator light, and level conversion chip SN74LVC16T245DGGR, with a total current of less than 250mA.

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

[0100] The 1.8V power supply is used to power the following devices: level conversion chip SN74LVC16T245DGGR (variant design) and level conversion chip SN74LVC1T45DCKR (variant design), with a total current of less than 200mA.

[0101] Specifically, the power supply scheme for synchronous trigger box 4 can be found in Tables 3, 4, and 5:

[0102] Table 3

[0103]

[0104] Table 4

[0105]

[0106]

[0107] Table 5

[0108]

[0109] The protection of the power supply includes:

[0110] Reverse connection protection: ABS210, voltage drop 1V, maximum current 2A, can supply power in both positive and negative directions;

[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 diode: SMBJ14A, clamping voltage 14V;

[0114] Static capacitor: TCC 0805COG151J500BT, select C0G capacitor, and arrange in series in a cross shape.

[0115] Among them, the variant design indicates that it can only be connected to one voltage level, either 5V or 1.8V.

[0116] The camera synchronization triggering system provided in this invention, through its built-in microcontroller, enables rapid parsing of operating mode control commands and determination of target execution strategies, thereby ensuring the system can efficiently respond to user operations and environmental changes. The design of the first and second physical connectors allows the synchronization trigger box to easily connect to the vehicle-mounted host computer, positioning device, LiDAR, and camera, thus realizing information exchange and collaborative work between these components. The synchronization trigger box can simultaneously connect to the positioning device, LiDAR, and camera via the second physical connector and can handle different types of signal transmission, giving the system more functional combinations and application potential. With the help of the first and second physical connectors, the synchronization trigger box can reliably transmit key data such as operating mode control commands, position information, distance information, and trigger signals, ensuring stable system operation and reliable data transmission. By connecting to the vehicle-mounted host computer and various external devices, the synchronization trigger box achieves centralized control and integrated management of the entire system, improving the system's integration level and overall operating efficiency.

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

[0118] See the block diagram of signal input module 11. Figure 4 Its requirement number is:

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

[0120] SC-021: Input source: Pulse signal from lidar.

[0121] The signal input module 11 employs a variant design, primarily supporting 1.8V, 3.3V, and 5V inputs. The input signal is received via pin 1 of the DB26 interface. This input signal is mainly a GPS PPS signal or a LiDAR signal.

[0122] Among them, hardware solution requirement number: SC-015: Input terminal variant design, voltage pulse width must meet the mainstream GPS or combined inertial navigation (such as 5V, 3.3V, 0.8V) SC-025: Input terminal variant design, voltage pulse width must meet the mainstream LiDAR (such as 5V, 3.3V, 1.8V).

[0123] The input signal voltage level is 3.3V, which can be directly connected to the MCU after passing through a buffer and a 0-ohm resistor. Input signal voltage levels of 5V or 1.8V require level conversion before connection to the MCU. Short-circuit protection is added to protect the chip; the short-circuit current of the 150-ohm resistor is 22mA, which does not exceed the buffer's limit of 50mA. The level conversion chip and buffer have built-in ESD protection, so no additional ESD protection devices are needed. There is one input channel. A pull-up resistor is added to the input signal terminal to provide current sinking when the output signal current is insufficient. A pull-down resistor is added to the input signal terminal to limit the current when the output signal current is excessive.

[0124] The MCU main control module 12 is primarily for embedded development, serving as the software platform for the overall functionality. Its requirements are as follows: SC-007: Synchronous trigger box 4 acts as a trigger source, triggering multiple cameras for synchronous exposure according to its own crystal oscillator timing. SC-013: Synchronous trigger box 4 synchronously triggers multiple cameras for synchronous exposure. SC-014: Capable of recognizing the PPS signal from positioning device 2, serving as a resynchronization signal. SC-022: Synchronous trigger box 4 synchronously triggers multiple cameras for synchronous exposure.

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

[0126] In this context, the self-triggered mode refers to the operation of only the camera and the synchronization trigger box. The externally triggered synchronization mode refers to the coordinated operation of the positioning device 2, the synchronization trigger box 4, and the camera 5, or the coordinated operation of the lidar 3, the synchronization trigger box 4, and the camera 5.

[0127] See the block diagram of trigger output module 13. Figure 5The requirement number is SC-001: cameras with 12 or more channels should implement external synchronous triggering.

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

[0129] The hardware requirements are as follows: SC-008: Trigger output variant design, requiring compliance with 5V, 3.3V, and 1.8V voltage levels and pulse width requirements. SC-016: Trigger output variant design, requiring compliance with 5V, 3.3V, and 1.8V voltage levels and pulse width requirements. SC-026: Trigger output variant design, requiring compliance with 5V, 3.3V, and 1.8V voltage levels and pulse width requirements.

[0130] The trigger level and trigger frequency meet the trigger signal requirements of various cameras, including:

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

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

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

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

[0135] Serial port module 14 mainly converts the serial port to RS232 for communication with the vehicle-mounted host computer 1, facilitating the vehicle-mounted host computer 1's functional control of the synchronous trigger box 4. Its block diagram is shown below. Figure 6 .

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

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

[0138] The crystal oscillator module 15 mainly provides the crystal oscillator clock for the MCU main control module 12.

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

[0140] The system uses a 25MHz passive crystal oscillator, X49SM25MSD2SC, with an accuracy of ±20ppm, which translates to a maximum error of ±20µs per second. The load capacitance of the X49SM25MSD2SC is 20pF. According to the STM32 reference manual AN2867, using the following formula and substituting CS as 10pF from the datasheet, the capacitance values ​​of CL1 and CL2 are calculated 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 for pull-up, and a capacitor is used for debouncing.

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

[0144] The power LED is powered by 3.3V. The RS232 LED is connected to 5V, with the other end connected to the RS232's RX interface. Trigger LEDs are all connected to the MCU's GPIO pins.

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

[0146] Since the MCU uses an SW interface, a pin header is used for program downloading. A PESD0603-240 converter is added to prevent static electricity buildup at the SW interface.

[0147] Specifically, such as Figure 7 As shown, the MUC main controller connects to the host computer via a serial port and a DB9 interface, communicating with the host computer through a serial communication protocol (such as UART) to obtain configuration information or exchange data. The microcontroller 40 connects to the DB26 interface via general purpose input / output (GPIO) ports to receive output signals from GPS or LiDAR and output camera exposure trigger signals, realizing the device's data acquisition and control functions. Through the SW download interface, program code can be downloaded and burned into the microcontroller 40's memory to update software, firmware, or configuration information, ensuring the device runs the latest program version.

[0148] The camera synchronization triggering system provided in this invention allows for convenient downloading of new or updated programs to the microcontroller via its software download interface, enabling flexible upgrades and updates to system functions. Pre-storing programs representing the correspondence between operating modes and execution strategies in the microcontroller reduces reliance on external devices, lowers system costs, and improves system reliability. Pre-storing programs in the microcontroller accelerates the system's response to changes in operating modes and execution strategies, improving real-time performance and stability. Pre-storing programs through the software download interface enhances system information security, preventing interference or damage from external programs and protecting system data security.

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

[0150] This embodiment provides a camera synchronization triggering method, which can be used in the aforementioned synchronization triggering box. Figure 8 This is a flowchart of a camera synchronization triggering method according to an embodiment of the present invention, such as... Figure 8 As shown, the process includes the following steps:

[0151] Step S101: Obtain the working mode control command sent by the vehicle-mounted host computer; wherein, the working mode control command is determined according to the user's operation command on the vehicle-mounted host computer, and the operation command is used to characterize the working mode of the synchronous trigger box selected by the user.

[0152] The onboard host computer sends control commands to the synchronous trigger box to instruct it to execute specific operating modes. These commands are typically sent to the synchronous trigger box via a communication protocol (such as CAN bus, serial port, etc.). Based on the user's operations on the onboard host computer, selecting specific operating modes or functions, these operation commands are converted into corresponding operating mode control commands and then received.

[0153] Step S102: Parse the working mode control command to obtain the target working mode to be executed.

[0154] The system receives operating mode control commands via a communication connection established with the onboard host computer. These commands are typically data packets transmitted in a specific format or protocol, containing the user-selected operating mode information. The received operating mode control commands are parsed according to predefined parsing rules. This process may involve data packet unpacking, field extraction, and protocol parsing to ensure the correct extraction of the user-selected operating mode information. Based on the parsed user-selected operating mode information, the synchronization trigger box can determine the target operating mode to be executed. The target operating mode can be a specific function mode of the device, a configuration of operating parameters, or a mode for performing a specific task. Once the target operating mode is determined, the synchronization trigger box will perform corresponding operations according to the requirements and settings of that mode. This may involve configuring device parameters, enabling specific functions, adjusting the operating mode, etc., to ensure that the synchronization trigger box accurately executes the corresponding task according to the user's selection.

[0155] Step S103: Determine the target execution strategy corresponding to the target working mode based on the target working mode and the correspondence between the pre-stored working modes and execution strategies.

[0156] The synchronous trigger box determines the target operating mode to be executed by parsing the operating mode control commands; this is the specific operation mode or function mode selected by the user on the vehicle-mounted host computer. The synchronous trigger box pre-stores a mapping between operating modes and execution strategies. These mappings, likely designed by the equipment manufacturer based on the equipment's functions and performance, include information such as the execution strategies, parameter settings, and action sequences to be adopted under different operating modes. Based on the target operating mode and the pre-stored mappings, the synchronous trigger box determines the target execution strategy corresponding to the target operating mode. Once the target execution strategy is determined, the synchronous trigger box executes the corresponding operations according to the strategy, including configuring equipment parameters, enabling specific functions, and adjusting the execution order, to ensure that the equipment operates according to the correct execution strategy in the target operating mode.

[0157] Step S104: Determine the camera's trigger signal based on the target execution strategy.

[0158] Understandably, a camera needs to receive a trigger signal to initiate the shooting or recording function. This trigger signal can be in the form of an electrical signal, a pulse signal, a trigger command, etc., and is used to inform the camera when to start the shooting task.

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

[0160] In step S105, a trigger signal is sent to the camera to control the camera to perform exposure.

[0161] Sending a trigger signal to the camera to control the exposure ensures that the camera performs the exposure operation according to the user's needs at specific times and under specific conditions, thereby obtaining the desired image effect.

[0162] The camera synchronization triggering method provided in this invention analyzes the working mode control commands sent by the vehicle-mounted host computer and determines the target working mode based on the user's operation commands on the host computer, making the entire system more user-friendly and intuitive. Based on the pre-stored correspondence between working modes and execution strategies, the target execution strategy is determined, thereby achieving automated determination and generation of camera trigger signals, simplifying the usage process and improving operational efficiency. Determining the camera trigger signal according to the target execution strategy enables real-time control of camera exposure, ensuring accurate triggering and control of the camera in different working modes. Through the analysis of working mode control commands and the determination of target execution strategies, the system can adapt to different working modes and execution strategies, possessing a certain degree of flexibility and scalability, meeting the needs of different scenarios. Sending the trigger signal to the camera to control exposure achieves synchronous triggering of the camera, effectively improving the working efficiency and imaging quality of the camera system.

[0163] This embodiment provides a camera synchronization triggering method, which can be used in the aforementioned synchronization triggering box. Figure 9 This is a flowchart of a camera synchronization triggering method according to an embodiment of the present invention, such as... Figure 9 As shown, the process includes the following steps:

[0164] Step S201: Obtain the operating mode control command sent by the vehicle-mounted host computer; wherein, the operating mode control command is determined based on the user's operation command on the vehicle-mounted host computer, and the operation command is used to characterize the operating mode of the synchronization trigger box selected by the user. For details, please refer to... Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0165] Step S202: Parse the operating mode control command to obtain the target operating mode to be executed. For details, please refer to [link to relevant documentation]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0166] Step S203: Based on the target working mode and the pre-stored correspondence between working modes and execution strategies, determine the target execution strategy corresponding to the target working mode. For details, please refer to [link to details]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0167] Step S204: Determine the camera trigger signal according to the target execution strategy.

[0168] Specifically, step S204 includes:

[0169] Step S2041: According to the target execution strategy, acquire at least one of the following trigger information: the first pulse signal sent by the positioning device, the second pulse signal sent by the lidar, and the crystal oscillator information in the synchronization trigger box.

[0170] The positioning device is used to determine the vehicle's location and sends a first pulse signal to provide location information. This first pulse signal includes information such as location coordinates and a timestamp.

[0171] LiDAR (Light Detection and Ranging) is a sensor used for ranging and detecting the surrounding environment. It sends laser pulses and receives reflected signals. The second pulse signal includes information such as surrounding environment data and timestamps.

[0172] The crystal oscillator is a key component in the synchronization trigger box, used to generate a stable clock signal. Specifically, the crystal oscillator information for the synchronization trigger box can be obtained from the detailed specifications provided with the crystal oscillator at the factory, or by testing the crystal oscillator with a frequency meter. This information includes parameters such as the crystal oscillator's frequency and phase, ensuring the synchronization and accuracy of the equipment operation.

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

[0174] Step S2042: Determine the trigger signal based on the trigger information and the target execution strategy.

[0175] Based on trigger information and the target execution strategy, a trigger signal is generated when specific conditions are met to initiate or control the camera for corresponding exposure. Specifically, trigger information from various sensors or devices is collected, including location data, environmental data, and timing data. The collected trigger information is analyzed to determine whether the current state of the synchronization trigger box and environmental conditions meet the conditions specified in the target execution strategy. Trigger rules are formulated according to the target execution strategy, i.e., determining when a trigger signal should be generated. This may include rules such as setting thresholds, logical judgments, and time delays. When the trigger rule conditions are met, the system generates a trigger signal and sends it to the camera to control the camera's exposure.

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

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

[0178] The self-trigger mode describes a mode in which the synchronous trigger box autonomously triggers operations or events under internal control. In self-trigger mode, the synchronous trigger box can autonomously generate a first trigger signal according to a first execution strategy without external intervention. Specifically, the generation conditions and timing of the camera's first trigger signal are determined according to the set first execution strategy.

[0179] In the self-triggered mode, the synchronous trigger box acts as the trigger source, triggering multiple cameras to perform synchronous exposure according to its own crystal oscillator timing. Its main requirements are: trigger output requirements and performance requirements.

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

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

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

[0183] Step a1: Obtain information about the synchronous trigger box crystal oscillator.

[0184] Obtain relevant information about the crystal oscillator inside the synchronization trigger box, including parameters such as the current frequency and phase of the crystal oscillator.

[0185] Step a2: Based on the information from the crystal oscillator in the synchronization trigger box, send 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 based on the internal crystal oscillator of the synchronization trigger box.

[0186] Based on the acquired information from the crystal oscillator in the synchronization trigger box, multiple first trigger signals with the same frequency and phase are generated and sent to the camera. Specifically, the frequency and phase information of the crystal oscillator are used to ensure that the generated first trigger signals are in phase with the crystal oscillator signals, thus ensuring synchronized exposure operation of the camera. Sending the first trigger signals to the camera triggers it to perform synchronized exposure operation, ensuring that the camera, under the control of the synchronization trigger box, exposes according to the synchronized frequency and phase, thereby achieving synchronized operation between multiple cameras or ensuring the exposure quality and stability of a single camera.

[0187] Specifically, in self-triggered mode, the synchronous trigger box acts as the trigger source, triggering multiple cameras to perform synchronous exposure according to its own crystal oscillator timing. The error between multiple output channels is no greater than 1µs. For example... Figure 10 and Figure 11 As shown, after entering the main program, TIM, USART, and GPIO are initialized first; timer TIM is enabled; then, a While loop is entered, and the corresponding interrupt routine is executed based on the interrupt signal. The four timers are cascaded, with the target timer configured as the master and the remaining three timers configured as slaves, using the internal ITR as the trigger. This can output multiple square wave signals with the same frequency and phase, and the error between the multiple outputs is in the nanosecond range.

[0188] In the above embodiments, the self-trigger mode is used to characterize the collaborative working method of the synchronization trigger box and the camera, ensuring their coordination and synchronization, and improving the overall system performance and stability. By using the information from the internal crystal oscillator of the synchronization trigger box to determine the first trigger signal, multiple trigger signals of the same frequency and phase can be sent, thereby achieving precise synchronous triggering of the camera and improving the accuracy and stability of imaging. By employing multiple trigger signals of the same frequency and phase, the synchronization performance of the camera during synchronous exposure can be ensured, avoiding shooting errors caused by timing issues and improving imaging effect and quality. Using the internal crystal oscillator of the synchronization trigger box to determine the trigger signal can reduce the impact of external interference on the system, improving the system's stability and anti-interference capability.

[0189] In some optional implementations, the operating mode includes an external triggering mode, which is used to characterize the coordinated operation of the synchronization trigger box, the positioning device, and the camera, or to characterize the coordinated operation of the synchronization trigger box, the LiDAR, and the camera; when the target operating mode is the external triggering mode and the target execution strategy corresponding to the external triggering mode is the second execution strategy, the above step S204 includes:

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

[0191] Based on the established second execution strategy, it is determined when the camera should be triggered to coordinate with other devices (such as synchronization trigger boxes, positioning devices, or LiDAR). This involves setting the timing, frequency, or other parameters of the second trigger signal to ensure that the camera's operation can be effectively coordinated and synchronized with the operation of other devices.

[0192] In the external trigger mode, the PPS signal pulse from GPS or combined inertial navigation serves as the input source for the synchronization trigger box. The synchronization trigger box synchronously triggers multiple cameras for synchronous exposure. Its main requirements include: trigger output requirements, trigger output requirements, and performance requirements.

[0193] The trigger input requirements for external trigger mode include the ability to recognize the PPS signal output from GPS and integrated inertial navigation systems as a resynchronization signal. The voltage, current, and pulse width of the pulse input source should be compatible with mainstream GPS and integrated inertial navigation systems.

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

[0195] The performance requirements for the external trigger mode include that there are no frame drops (no frame loss, no additional pulse output) among multiple synchronously triggered cameras, and the synchronization error between multiple pulse outputs is no greater than 1µs. The resynchronization mechanism can achieve synchronous exposure of cameras at a fixed frame rate, and there are no frame drops within 8 hours.

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

[0197] Step b1: Obtain the first pulse signal sent by the positioning device or the second pulse signal sent by the lidar.

[0198] The system acquires the first pulse signal sent by the positioning device or the second pulse signal sent by the lidar.

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

[0200] The first or second pulse signal is determined as the external trigger source to trigger subsequent operations.

[0201] Step b3: When a pulse from an external trigger source is received, the multiple timers included in the synchronous trigger box are reset and restarted to synchronize the timing of the multiple timers with the pulse signal from the external trigger source.

[0202] When a pulse signal is received from an external trigger source, the multiple timers contained inside the synchronization trigger box will perform a reset operation, that is, reset the timing value of the timer to the initial state and restart the timing, so as to ensure that the multiple timers in the synchronization 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 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] Upon receiving the external second trigger signal, multiple timers inside the synchronization trigger box restart their timing, following a preset time interval or sequence to ensure each operation is triggered at the correct time. Simultaneously, a counter inside the synchronization trigger box gradually increments based on the timer's progress. When the counter value reaches a preset threshold, it indicates that the timing for triggering the camera to expose is reached. When the counter value reaches the preset threshold, the synchronization trigger box outputs multiple synchronous second trigger signals to the camera. This second trigger signal is determined by a crystal oscillator inside the synchronization trigger box, and its frequency and phase are identical to those of the first trigger signal.

[0205] Specifically, in external trigger mode, when the input source is a GPS PPS signal, multiple cameras are simultaneously triggered for synchronized exposure. The GPS PPS signal is identified as the resynchronization signal. No frame loss occurs between the simultaneously triggered cameras, and the error between multiple output channels is no greater than 1µs. The resynchronization mechanism ensures that the cameras expose synchronously at a fixed frequency. When the input source is a LiDAR pulse signal, multiple cameras are simultaneously triggered for synchronized exposure. Again, no frame loss occurs between the simultaneously triggered cameras, and the error between multiple output channels is no greater than 1µs. The resynchronization mechanism ensures that the cameras expose synchronously at a fixed frequency. For example... Figure 12and Figure 13 As shown, after entering the main program, TIM, USART, and GPIO are first initialized; timer TIM is enabled; external trigger signals are identified; timer TIM is reset; then, a While loop is entered, and the corresponding interrupt routine is executed according to the interrupt signal. All four timers use an external trigger source reset mode, and the four timers are connected in parallel. This ensures that the output error between them is in the nanosecond range. The external trigger source is selected from GPS PPS signals or LiDAR signals. Each time an external trigger source pulse is received, the four timers are reset and re-output square wave signals of the same frequency and phase, achieving a resynchronization mechanism.

[0206] In the above implementation, the external triggering mode enables collaborative operation among multiple devices, making it suitable for various scenarios. Whether using a positioning device or LiDAR, the camera trigger signal can be determined according to the corresponding execution strategy, demonstrating flexibility and applicability. Restarting the timing using a pulse signal sent by an external trigger source ensures synchronization between multiple timers and the pulse signal from the external trigger source, thereby achieving high-precision camera trigger signal output. When the counter value reaches a preset threshold, the synchronization trigger box can output multiple synchronous and in-phase second trigger signals to the camera, achieving synchronous exposure of the cameras, improving imaging quality, and ensuring synchronization between multiple cameras. The frequency and phase of the second trigger signal are determined by the internal crystal oscillator of the synchronization trigger box, ensuring the stability and consistency of the trigger signal.

[0207] In some optional implementations, the operating mode includes an asynchronous exposure mode, which is used to characterize the coordinated operation of the synchronous trigger box, LiDAR, and camera; when the target operating 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: Determine the third trigger signal of the camera according to the third execution strategy.

[0209] The third trigger signal that the camera should receive is determined based on a pre-set third execution strategy. This third trigger signal involves aspects such as camera exposure control and shooting timing to ensure that the synchronous trigger box can operate correctly according to the third execution strategy in asynchronous exposure mode.

[0210] In the asynchronous exposure mode, the pulse signal output by the LiDAR (the signal emitted when turning to the front or rotating at a fixed angle) serves as the input source of the synchronous trigger box. The synchronous trigger box synchronously triggers multiple cameras to perform synchronous exposure or asynchronous exposure where 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 for asynchronous exposure mode include the ability to recognize the pulse signal output by the LiDAR as a resynchronization signal. The voltage, current, and pulse width of the pulse input source must be compatible with mainstream LiDARs, including Hesai, RoboSense, Velodyne, and Ouster.

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

[0213] The performance requirements for asynchronous exposure mode include: no frame drops occurring when multiple cameras trigger exposure synchronously (no frame loss, increased pulse output), and the synchronization error between multiple pulse outputs not exceeding 1µs. Similarly, no frame drops occurring when multiple cameras trigger exposure asynchronously (no frame loss, increased pulse output), and the time error between the set delay of the asynchronously triggered exposure pulse signal and the actual output pulse signal not exceeding 1µs. The resynchronization mechanism enables synchronous exposure at a fixed frame rate for each camera, with no frame drops occurring within 8 hours.

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

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

[0216] Output compare mode is a timer operating mode whose main function is to compare the timer's output with the value in a compare register, and generate a corresponding output signal when the two are equal. In this mode, the user can preset a comparison value, and when the timer's count reaches this comparison value, the corresponding output operation will be triggered.

[0217] Configure the target timer in the synchronous trigger box to output compare mode. Users can control when the timer triggers the output signal by setting the value in the compare register according to specific needs. The target timer is a timer selected by the user from a pre-specified list of timers.

[0218] Step c2: Obtain the second pulse signal sent by the lidar.

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

[0220] Step c3: Determine the exposure timing of the camera based on the pulse frequency corresponding to the second pulse signal.

[0221] The camera's exposure timing 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 provides information about the target object's position, velocity, and direction of movement. By analyzing this information, the timing for the camera to capture the image can be determined so that exposure is performed under specific target conditions. For example, if the frequency of the second pulse signal returned by the LiDAR indicates a change in the velocity or distance of a target object, this information can be used to determine the camera's exposure timing, ensuring that the image is captured when the target object is in the desired position or state.

[0222] Step c4: Based on the exposure timing, output multiple third trigger signals of different phases to the camera in sequence to trigger the camera to perform asynchronous exposure.

[0223] Depending on the exposure timing, the camera is triggered to perform asynchronous exposure by sending multiple third trigger signals of different phases to the camera. Specifically, after determining the exposure timing, the synchronous trigger box generates multiple third trigger signals of different phases. These signals are time-shifted to trigger the camera to expose at different times. These trigger signals of different phases are sent to the camera sequentially to trigger the camera to perform exposure operations at different times. By controlling the timing and phase of these trigger signals, the same scene can be exposed at different times, capturing image data at different moments.

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

[0225] Step d1: Calculate the pulse period of the second pulse signal based on the pulse frequency of 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 second pulse signal travels 360 degrees to complete one pulse cycle, meaning that within one cycle, the second pulse signal completes a full circle.

[0228] Step d2: Calculate 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 then used to calculate the camera's exposure timing. Specifically, according to the calculation formula... Obtain the time t corresponding to each degree.

[0230] Step d3: Divide the 360 ​​degrees into multiple angles according to a preset number of divisions.

[0231] The 360 ​​degrees are divided into multiple angles according to a preset number, providing angle data for calculation. For example, dividing the 360 ​​degrees into 120 parts yields multiple 3-degree intervals.

[0232] Step d4: Multiply the angle and time to obtain the delay time corresponding to the angle.

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

[0234] Step d5: Determine the camera's exposure timing based on the delay time.

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

[0236] In asynchronous exposure mode, where the laser point cloud coincides with the image, the pulse signal from the LiDAR can be identified as a resynchronization signal. For example... Figure 14 As shown, the timer TIM is configured to output comparator mode, performing asynchronous exposure by changing the phase angle, while other settings remain unchanged. A complete pulse cycle time corresponds to 360°; for example, at 20Hz, the complete cycle time is 50ms, and at 10Hz, it is 100ms. The 360° is divided into 120 equal parts, each representing 3°, but the delay time corresponding to each 3° needs to be determined based on the frequency. Currently used frequencies include 1Hz, 10Hz, 20Hz, 30Hz, 40Hz, 50Hz, and 60Hz.

[0237] In the above implementation, by using a user-specified target timer and determining the camera's exposure timing based on the second pulse signal, personalized customization of the exposure timing is achieved, meeting specific user needs and satisfying exposure requirements in different scenarios. Using an output comparison mode to set the target timer, combined with the pulse signal sent by the LiDAR to determine the exposure timing, demonstrates high flexibility and adjustability. Users can set parameters according to specific situations and needs, achieving precise control over the camera's trigger signal. Based on the exposure timing, multiple third trigger signals of different phases are sequentially output to the camera, achieving asynchronous exposure of the camera, which can bring richer imaging effects and is suitable for application scenarios requiring special exposure effects. The synchronous trigger box can promptly determine the camera's exposure timing based on the second pulse signal sent by the LiDAR and output the corresponding trigger signal, achieving real-time response and rapid triggering. By calculating the pulse period based on the pulse frequency of the second pulse signal and accurately calculating the delay time corresponding to each angle based on the time ratio under a 360-degree angle, the accuracy and stability of the exposure timing are ensured. The 360-degree angle is divided into multiple angles according to a preset number, and the camera's exposure timing is determined based on the corresponding delay time for each angle. This flexible division method and the approach of calculating the delay time by multiplying the angle by the time allow the synchronization trigger box to be adjusted and optimized according to different needs. By dividing the 360-degree angle into a preset number, the synchronization trigger box effectively organizes and manages angle information, reducing computational complexity and improving computational efficiency, which helps to quickly determine the camera's exposure timing in real-time applications. The design, which calculates the delay time by multiplying the angle and time, has good scalability and can adjust or extend the relationship between angle and time as needed to suit different application scenarios and requirements.

[0238] Step S205: A trigger signal is sent to the camera to control the camera's exposure. See details below. Figure 1 Step S105 of the illustrated embodiment will not be described again here.

[0239] The camera synchronization triggering method provided in this invention achieves multi-source information fusion by acquiring at least one of the following triggering information: a first pulse signal sent by a positioning device, a second pulse signal sent by a lidar, and information from the crystal oscillator of the synchronization trigger box. This improves the perception capability of environmental and location information. Determining the trigger signal based on the triggering information and the target execution strategy allows for more precise control of the camera's triggering timing, ensuring accurate capture of the required image information in complex scenes and improving imaging accuracy and stability. By combining different triggering information and execution strategies, the method can adapt to different working scenarios and needs, exhibiting flexibility and adaptability, and providing more possibilities for the system's application in various environments.

[0240] This invention also provides a computer device having the aforementioned synchronization trigger box.

[0241] Please see Figure 15 , Figure 15 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 15 As shown, the computer device includes one or more processors 100, memory 200, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 15 Take a processor 100 as an example.

[0242] Processor 100 may be a central processing unit, a network processor, or a combination thereof. Processor 100 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GPA), or any combination thereof.

[0243] The memory 200 stores instructions executable by at least one processor 100 to cause the at least one processor 100 to perform the method shown in the above embodiments.

[0244] The memory 200 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 200 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 200 may optionally include memory remotely located relative to the processor 100, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0245] The memory 200 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or 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, memory 200, input device 300, and output device 400 can be connected via a bus or other means. Figure 15 Taking the example of a connection between China and Israel via a bus.

[0247] Input device 300 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 400 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0248] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0249] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

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

Claims

1. A camera synchronous triggering system, characterized in that, The system comprises: a vehicle-mounted host computer in communication connection with the synchronous trigger box, configured to determine a working mode of the synchronous trigger box according to an operation instruction of a user, and configured to send a working mode control instruction to the synchronous trigger box; a positioning device in communication connection with the synchronous trigger box, configured to acquire position information of a vehicle, and configured to send a first pulse signal corresponding to the position information to the synchronous trigger box; a laser radar in communication connection with the synchronous trigger box, configured to acquire distance information of an environment around the vehicle, and configured to send a second pulse signal corresponding to the distance information to the synchronous trigger box; the synchronous trigger box is configured to analyze the working mode control instruction to obtain a target working mode to be executed, and configured to determine a target execution strategy corresponding to the target working mode according to a correspondence between the target working mode and a pre-stored working mode and execution strategy; the synchronous trigger box is further configured to acquire at least one trigger information of the first pulse signal, the second pulse signal, and crystal oscillator information in the synchronous trigger box according to the target execution strategy, and configured to determine a trigger signal according to the trigger information and the target execution strategy to control exposure of a camera; wherein the working mode comprises an external trigger mode, the external trigger mode is used to represent that the synchronous trigger box, the positioning device, and the camera work cooperatively, or is used to represent that the synchronous trigger box, the laser radar, and the camera work cooperatively; when the target working mode is the external trigger mode and a target execution strategy corresponding to the external trigger mode is a second execution strategy, a second trigger signal of the camera is determined according to the second execution strategy, comprising: acquiring the first pulse signal sent by the positioning device or the second pulse signal sent by the laser radar; determining the first pulse signal or the second pulse signal as an external trigger source; when one pulse of the external trigger source is received, a plurality of timers included in the synchronous trigger box are reset and restarted to count, so that the counting of the plurality of timers is synchronized with the pulse signal of the external trigger source; when the plurality of timers are restarted to count and a value of a counter included in the synchronous trigger box reaches a preset threshold, a plurality of second trigger signals of 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 an internal crystal oscillator of the synchronous trigger box, and a frequency and a phase corresponding to the second trigger signal are the same as a frequency and a phase corresponding to a first trigger signal; the camera is in communication connection with the synchronous trigger box, configured to receive the trigger signal sent by the synchronous trigger box to realize exposure control.

2. The system of claim 1, wherein, The synchronous trigger box comprises a microcontroller, a first physical connector, and a second physical connector. a microcontroller configured to parse the working mode control instruction to obtain a target working mode to be executed by the synchronization trigger box, and configured to determine a target execution strategy corresponding to the target working mode according to the target working mode and the correspondence relationship, and configured to obtain at least one trigger information from the first pulse signal, the second pulse signal, and the synchronization trigger box crystal oscillator information according to the target execution strategy; and configured to determine the trigger signal according to the trigger information and the target execution strategy; a first physical connector configured to connect the microcontroller and the vehicle-mounted host computer; and configured to transmit the working mode control instruction sent by the vehicle-mounted host computer to the microcontroller; a second physical connector configured to connect the microcontroller and the positioning device, the microcontroller and the laser radar, and the microcontroller and the camera respectively, and configured to transmit the first pulse signal or the second pulse signal to the microcontroller, and configured to transmit the trigger signal generated by the microcontroller to the camera.

3. The system of claim 2, wherein, The microcontroller has a software download interface. The software download interface is configured to pre-store a program representing the correspondence relationship between the working mode and the execution strategy into the microcontroller.

4. A camera synchronous triggering method, characterized in that, The method applied to the camera synchronization trigger system of any one of claims 1-3, the method comprising: 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 a 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 pre-stored correspondence relationship between the working mode and the execution strategy; determining a trigger signal of the camera according to the target execution strategy; sending the trigger signal to the camera to control the camera to expose.

5. The method of claim 4, wherein, The determination of the trigger signal of the camera according to the target execution strategy comprises: obtaining at least one trigger information from a first pulse signal sent by a positioning device, a second pulse signal sent by a laser radar, and crystal oscillator information in a synchronization trigger box according to the target execution strategy; determining the trigger signal according to the trigger information and the target execution strategy.

6. The method of claim 5, wherein, The working mode includes a self-triggering mode, which is used to represent the cooperative work 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 a first execution strategy, the determination of the first trigger signal of the camera according to the first execution strategy comprises: obtaining the synchronization trigger box crystal oscillator information; sending multiple same-frequency and same-phase first trigger signals to the camera according to the synchronization trigger box crystal oscillator information to trigger the camera to expose synchronously; wherein the first trigger signal is determined according to an internal crystal oscillator of the synchronization trigger box.

7. The method of claim 5, wherein, The working modes include an asynchronous exposure mode for characterizing the synchronous trigger box, the laser radar and the camera to work cooperatively; When the target working mode is the asynchronous exposure mode and the target execution strategy corresponding to the asynchronous exposure mode is a third execution strategy, a third trigger signal of the camera is determined according to the third execution strategy, including: setting a mode of a target timer included in the synchronous trigger box to an output comparison mode; wherein the target timer is a timer specified by a user in advance; acquiring a second pulse signal sent by the laser radar; determining an exposure time of the camera according to a pulse frequency corresponding to the second pulse signal; outputting a plurality of third trigger signals of different phases to the camera in sequence according to the exposure time, so as to trigger the camera to perform asynchronous exposure.

8. The method of claim 7, wherein, The determining of the exposure time of the camera according to the pulse frequency corresponding to the second pulse signal includes: calculating a pulse period corresponding to the second pulse signal according to the pulse frequency corresponding to the second pulse signal; wherein an angle experienced by the second pulse signal for completing a pulse period is 360 degrees; calculating a time corresponding to each degree according to the 360 degrees and the pulse period; dividing the 360 degrees according to a preset number to obtain a plurality of angles; multiplying the angle and the time to obtain a delay time corresponding to the angle; determining the exposure time of the camera according to the delay time.

9. A computer device, comprising: including: a memory and a processor, which are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the camera synchronous trigger method in any one of claims 4 to 8.

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