Data alignment method and system and storage medium

Abstract

The invention provides a data alignment method and system and a storage medium. The method comprises the steps that world time information is acquired, and a constraint mode of a trigger signal is selected; outputting a trigger signal to a corresponding sensing device according to the world time information and the constraint mode, so that each sensing device obtains sensing data based on the trigger signal; and based on the constraint mode, selecting a corresponding alignment mode to perform alignment processing on the sensing data. According to the method provided by the invention, the problem that a back-end perception fusion application cannot obtain accurate perception information due to the fact that the perception contents of the perception devices are not matched is solved, and the perception data collected by the multiple perception devices are effectively aligned.

Description

Technical Field

[0001] The present application belongs to the field of intelligent assisted driving technology, and specifically relates to a data alignment method, system and storage medium. Background Art

[0002] In advanced driver assistance systems and autonomous driving systems, sensors of various modalities such as millimeter wave radar (Radar), laser radar (Lidar), and camera (Camera) are used to detect the surrounding environment in order to perceive the driving environment and perform planning and control. However, the number of frames perceived by different types of sensors is not exactly the same. For example, radar is generally 20Hz, lidar is generally 10Hz, and camera is generally 30Hz. The time when each sensor starts detecting is determined by itself, and they are not aligned with each other. Even if the electronic control unit (ECU) synchronizes the time of each sensor, the time information of the perception information obtained by the ECU is often the time information when the perception data arrives at the ECU. The perception content of each sensor is not matched, resulting in the inability of the back-end perception fusion application to obtain accurate perception information, making it difficult to achieve high-level assisted driving applications, and to a certain extent hindering the rapid development of autonomous driving. Summary of the invention

[0003] In order to solve the above technical problems, the present application proposes a data alignment method, system and storage medium, aiming to provide an effective solution for the inability to obtain accurate perception data due to the mismatch of perception frequencies of various perception devices, and to align the perception data collected by multi-mode perception devices.

[0004] Specifically, the present application proposes a data alignment method, including:

[0005] Get world time information and select the trigger signal constraint method.

[0006] A trigger signal is output to a corresponding sensing device according to the world time information and the constraint method, so that each sensing device obtains sensing data based on the trigger signal.

[0007] And, based on the constraint method, a corresponding alignment method is selected to align each perception data.

[0008] In the above technical solution, by obtaining the world time information, it is possible to ensure that multiple sensing devices operate on a unified time basis, ensuring the consistency of the sensing data, and by aligning the sensing data based on the alignment method corresponding to the selected trigger signal, the data sensed by the multi-mode sensing device can be effectively aligned, ensuring the accuracy and reliability of data alignment. By triggering the signal in the constraint mode, the efficiency of data collection is effectively improved, and the efficiency of collaborative work of the sensing devices is improved.

[0009] As an implementation manner, the constraint mode includes at least a first constraint mode and a second constraint mode.

[0010] The first constraint method specifically includes taking the time interval with the largest interval between the number of frames sensed in the sensing device as the first trigger time interval, and outputting a trigger signal based on the first trigger time interval.

[0011] By selecting the maximum frame interval value in the perception device as the trigger interval through the first constraint method, it is possible to avoid wasting computing resources or storage space due to too frequent triggering and reduce unnecessary data collection. Triggering the signal based on the maximum interval time can solve the problem of asynchronous trigger timing due to frame rate differences between perception devices. Selecting the maximum frame interval time as the trigger period can ensure that the trigger signals of all perception devices are synchronized and reduce data inconsistency caused by device differences. By triggering the signal through the first constraint method, data misalignment and time errors can be reduced to ensure the consistency and accuracy of data collection.

[0012] Furthermore, the second constraint method specifically includes taking the time interval with the smallest interval of the number of perception frames in the perception device as the second trigger time interval, setting the trigger interval time of each perception device according to the minimum time multiple of the second trigger time interval, and outputting a trigger signal based on the second trigger time interval.

[0013] Among them, by selecting the minimum frame interval in the perception device as the second trigger interval, the perception data can be acquired faster, which is suitable for scenarios that require more frequent responses and real-time data collection. By selecting a multiple of the minimum interval to set the trigger interval of each perception device, the consistency of the trigger cycle of each perception device can be ensured. The coordination and synchronization of each perception device are improved. By adjusting the appropriate multiple, it can be ensured that all perception devices collect data at a uniform time interval, thereby improving the robustness of the perception device in collecting sensory data.

[0014] Furthermore, the output trigger signal to the corresponding sensing device includes at least a first trigger mode and a second trigger mode.

[0015] The first triggering method specifically includes transmitting the trigger signal to each sensing device through the trigger interface of each sensing device, so as to control each sensing device to trigger a sensing operation at a preset time based on the trigger signal.

[0016] The second triggering method specifically includes transmitting the trigger signal to each sensing device based on a time synchronization distribution method, so as to control each sensing device to trigger a sensing operation at a preset time based on the trigger signal.

[0017] The first triggering method is adopted to transmit the trigger signal through the trigger interface of each sensing device. Each sensing device has an independent triggering interface, which improves the independence of the sensing data collection process. Each sensing device is triggered according to an independent timing, which is suitable for scenarios where each sensing device needs to work independently. The first triggering method improves the flexibility of sensing data collection. If a sensing device fails when receiving or executing a trigger, other sensing devices can still work independently, which improves the fault tolerance of sensing data collection.

[0018] By adopting the second triggering mode, through the time synchronization distribution mode, the triggering operation of each sensing device can be performed at a predetermined precise time, which is suitable for applications requiring high-precision time control and avoids triggering errors caused by asynchronous clocks of sensing devices. The consistency and accuracy of sensing data can be ensured.

[0019] Furthermore, each sensing device acquires sensing data based on the trigger signal, including:

[0020] When the perception device receives the trigger signal, it obtains environmental data and records the corresponding perception frame number, and packages the environmental data and the perception frame number to obtain perception data.

[0021] By recording the number of perception frames of each perception device, a timestamp can be provided for the perception data, so that each frame of perception data can be accurately managed, ensuring the consistency of perception data processing and analysis, and avoiding data loss or disordered order. By packaging the environmental data and the perception frame number, the transmission and storage of perception data are more efficient, improving the efficiency of data transmission. By recording the perception frame number, it can also be ensured that the data collected by each perception data at the same time point can be associated and synchronized, avoiding data errors caused by different clocks, ensuring that each frame of perception data is fully recorded, and ensuring the integrity and reliability of the perception data.

[0022] Furthermore, the alignment method at least includes a frame-by-frame alignment method and a minimum interval alignment method.

[0023] The frame-by-frame alignment method specifically includes, if the constraint method is the first constraint method, sorting the perception data acquired by each perception device according to the number of perception frames, and aligning the perception data through frame-by-frame alignment processing.

[0024] The frame-by-frame alignment method ensures the temporal consistency of the perception data collected by each perception device, effectively eliminates the time deviation caused by the difference in perception devices, and ensures the accuracy and reliability of the perception data alignment.

[0025] Furthermore, the minimum interval alignment method specifically includes:

[0026] If the constraint mode is the second constraint mode, the number of perception frames with the smallest time interval in each perception device is used for calculation to obtain the number of alignment frames of the perception device, and the perception data alignment processing is performed according to the number of alignment frames.

[0027] The step of obtaining the number of aligned frames of the sensing device specifically includes calculating according to the number of sensed frames of the minimum time interval, multiples of the minimum time interval and a preset value, obtaining an integer quotient, and using the integer quotient as the number of aligned frames.

[0028] By aligning the perception data using the minimum interval alignment method, the temporal consistency and accuracy of the perception data are improved. The number of alignment frames is calculated by using multiples of the minimum time interval and a preset value, thereby reducing data errors. The data deviation caused by the time error of different perception devices is reduced, thereby ensuring the accuracy of the perception data.

[0029] Furthermore, the alignment processing of each perception data further includes:

[0030] Determine whether there are unaligned perception frames in the perception data after the alignment processing. If so, insert data frames into the perception data for alignment processing; otherwise, ignore them.

[0031] By inserting data frames into the perception data for alignment processing, effective alignment processing of the perception data is ensured, and the integrity of the perception data is ensured. The perception data with unaligned data frames is inserted into the data frames for alignment processing, which improves the accuracy and reliability of the perception data alignment processing.

[0032] Based on the same inventive concept, the present application also proposes a system for a data alignment method, the system comprising:

[0033] Time acquisition module, mode selection module, trigger module, data acquisition module and alignment module;

[0034] The time acquisition module is used to acquire world time information;

[0035] The mode selection module is used to select the constraint mode of the trigger signal;

[0036] The trigger module is used to output a trigger signal to a corresponding sensing device according to the world time information and the constraint mode;

[0037] The data acquisition module is used to acquire the sensing data based on the trigger signal through each sensing device;

[0038] And, the alignment module is used to select a corresponding alignment method based on the constraint method to align each perception data.

[0039] Based on the same inventive concept, the present application also proposes a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions implement the data alignment method when executed by a control processor.

[0040] Compared with the prior art, this application has at least the following beneficial effects:

[0041] The data alignment method, system and storage medium proposed in the present application provide an effective solution for the failure to obtain accurate perception data due to frequency mismatch of perception data collected by various perception devices. By obtaining the world time information, it is possible to ensure that multiple perception devices operate on a unified time basis, ensuring the consistency of the perception data. By aligning the perception data based on the alignment method corresponding to the selected trigger signal, the data perceived by the multi-mode perception device can be effectively aligned, ensuring the accuracy and reliability of data alignment. By triggering the signal in the constraint mode, the efficiency of data collection is effectively improved, and the efficiency of collaborative work of perception devices is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a flow chart of a data alignment method shown in an embodiment of the present application.

[0043] Figure 2 It is a schematic diagram of the first constraint mode trigger signal shown in an embodiment of the present application.

[0044] Figure 3 It is a schematic diagram of the second constraint mode trigger signal shown in an embodiment of the present application.

[0045] Figure 4 It is a schematic diagram of a data alignment system shown in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] Embodiment 1:

[0049] Please refer to Figure 1 , the data alignment method mainly includes:

[0050] Obtain world time information and select a constraint mode for triggering a signal. The method can be mainly performed by connecting a GNSS (Global Navigation Satellite System) with an ECU (Electronic Control Unit), and obtaining the world time information from the GNSS through the ECU. The ECU and the GNSS can be connected mainly through a serial communication interface. For example, an RS232 (Recommended Standard 232) communication interface.

[0051] Output a trigger signal to the corresponding perception device according to the world time information and the constraint mode, so that each perception device obtains perception data based on the trigger signal. Each perception device includes at least a millimeter wave radar, a laser radar and a camera. Collect environmental data through a trigger signal to the millimeter wave radar, the laser radar and the camera. Among them, the millimeter wave radar, the laser radar and the camera can be one or more. Those skilled in the art can select other perception devices according to actual conditions, but are not limited to this.

[0052] And, based on the constraint mode, a corresponding alignment mode is selected to align each perception data. The constraint mode mainly includes a first constraint mode and a second constraint mode, and the alignment mode mainly includes a frame-by-frame alignment mode and a minimum interval alignment mode. When the first constraint mode is selected, the frame-by-frame alignment mode is used to align each perception data; when the second constraint mode is selected, the minimum interval alignment mode is used to align each perception data.

[0053] In some embodiments, the first constraint method specifically includes taking the time interval with the largest interval of the number of frames sensed by the sensing device as the first trigger time interval, and outputting a trigger signal based on the first trigger time interval. Figure 2 , taking Radar (millimeter wave radar), Lidar (laser radar), and Camera as the sensing devices, the sensing frame rate of Radar is 20Hz, the sensing frame rate of Lidar is 10Hz, and the sensing frame rate of Camera is 30Hz. That is, the sensing frame interval of the camera is the smallest, and the sensing frame interval of the laser radar is the largest. Therefore, the sensing frame interval of the laser radar is used as the first trigger time interval trigger signal.

[0054] Optionally, the second constraint mode specifically includes taking the minimum time interval of the sensing frame number interval in the sensing device as the second trigger time interval, setting the trigger interval of each sensing device with the minimum time multiple of the second trigger time interval, and outputting the trigger signal based on the second trigger time interval. Figure 3 , taking the millimeter wave radar, laser radar and camera as the data collection of each perception device as an example. Among them, the perception frame number interval of the camera is the smallest, so the trigger interval of the millimeter wave radar and the laser radar is set according to the minimum time multiple of the perception frame number interval of the camera, and the time interval of the camera is used as the second trigger time interval to output the trigger signal.

[0055] Optionally, the output trigger signal to the corresponding sensing device includes at least a first trigger mode and a second trigger mode.

[0056] The first triggering method specifically includes transmitting the trigger signal to each sensing device through the trigger interface of each sensing device, so as to control each sensing device to trigger the sensing operation at a preset time based on the trigger signal; the second triggering method specifically includes transmitting the trigger signal to each sensing device based on a time synchronization distribution method, so as to control each sensing device to trigger the sensing operation at a preset time based on the trigger signal.

[0057] Among them, each sensing device is provided with an independent trigger interface. When the first trigger mode is adopted, the trigger signal is transmitted to the corresponding sensing device through the trigger interface, so as to control the sensing device to trigger the sensing operation. For example, the trigger signal is transmitted to the millimeter-wave radar device through the trigger interface of the millimeter-wave radar device, and the transmitter and receiver of the millimeter-wave radar are controlled to enter the working state, so as to collect environmental data. When the second trigger mode is adopted, the trigger signal is transmitted to each sensing device at the same time through the time-based synchronization distribution method, for example, the trigger signal is output to the millimeter-wave radar, laser radar and camera equipment at the same time, and the millimeter-wave radar, laser radar and camera equipment are controlled to enter the working state to collect environmental data.

[0058] Optionally, each sensing device acquires sensing data based on the trigger signal, including:

[0059] When the perception device receives the trigger signal, it obtains environmental data and records the corresponding perception frame number, and packages the environmental data and the perception frame number to obtain perception data.

[0060] Taking the millimeter wave radar as a sensing device as an example, the millimeter wave radar can be connected to the ECU, wherein the millimeter wave radar can be one or more. When the controller in the millimeter wave radar receives a trigger signal, it transmits a millimeter wave signal to the outside and records the number of millimeter wave frames that occur, converts the received echo information into the environmental data, packages the environmental data and the millimeter wave frame number, obtains the sensing data, and transmits the sensing data to the ECU via the CAN bus or the vehicle Ethernet communication method.

[0061] Taking laser radar as a perception device as an example, the laser radar can be connected to the ECU. The laser radar can be one or more. When the controller of the laser radar receives a trigger signal, it emits an infrared laser to the outside and records the number of light-emitting frames, and receives the return light information and converts it into environmental data. The controller of the laser radar packages the environmental data and the number of light-emitting frames to obtain the perception data, and transmits the perception data to the ECU through the communication method of the on-board Ethernet.

[0062] Taking a camera device as a perception device as an example, the camera device can be connected to the ECU, and the camera device can be one or more. When the camera device receives a trigger signal, it starts exposure and records the number of exposure frames, packages the perception information with the number of exposure frames, obtains the perception data, and transmits the perception data to the ECU through the communication method of the serial deserializer.

[0063] Optionally, the alignment method includes at least a frame-by-frame alignment method and a minimum interval alignment method. The frame-by-frame alignment method specifically includes, if the constraint method is the first constraint method, sorting the perception data acquired by each perception device according to the number of perception frames, and aligning the perception data through frame-by-frame alignment processing.

[0064] For example, when perception data transmitted by each perception device is received, if the first constraint method is used when outputting a trigger signal to each perception device, the perception data is aligned using a frame-by-frame alignment method, and each frame of the perception data is aligned in order of frame numbers.

[0065] Optionally, the minimum interval alignment method specifically includes, if the constraint method is the second constraint method, calculating with the number of perception frames with the smallest time interval in each perception device, obtaining the alignment frame number of the perception device, and performing perception data alignment processing according to the alignment frame number; wherein, obtaining the alignment frame number of the perception device specifically includes calculating with the number of perception frames with the smallest time interval, multiples of the smallest time interval and a preset value, obtaining an integer quotient, and taking the integer quotient as the alignment frame number.

[0066] When receiving the perception data transmitted by each perception device, if the second constraint method is used when outputting the trigger signal to each perception device, the minimum interval alignment method is used to calculate the number of perception frames with the smallest time interval among each perception device. The specific calculation method is:

[0067]

[0068] The integer quotient obtained by calculation is used as the alignment frame number, and the perception data is aligned according to the alignment frame number.

[0069] For example, taking millimeter-wave radar, lidar and camera as examples, the time interval of the camera's perception frames is the smallest. If the camera's perception frames are 9, and the minimum time interval multiple of the time interval of the millimeter-wave radar's perception frames and the time interval of the camera is 2, then the alignment frame number of the millimeter-wave radar is 4, and the minimum time interval multiple of the time interval of the lidar's perception frames and the time interval of the camera is 3, then the alignment frame number of the lidar is 3.

[0070] Optionally, the aligning the sensed data further includes:

[0071] Determine whether there are unaligned perception frames in the perception data after the alignment processing. If so, insert data frames into the perception data for alignment processing; otherwise, ignore them.

[0072] If there are misaligned perception frames in the perception data after the alignment processing, for example, there are misaligned perception frames between the perception data of the camera and the perception data of other perception devices, the perception data can be aligned by inserting data frames into the perception data of the camera.

[0073] Embodiment 2:

[0074] Please refer to Figure 4 The present application also proposes a system using the data alignment method described in Example 1, which mainly includes: a time acquisition module, a mode selection module, a trigger module, a data acquisition module and an alignment module.

[0075] The time acquisition module is used to acquire world time information, and can mainly acquire the world time information by connecting to a global navigation satellite system.

[0076] The mode selection module is used to select the constraint mode of the trigger signal. The constraint mode may include at least a first constraint mode and a second constraint mode. The first constraint mode mainly uses the time interval with the largest number of perception frames in the perception device as the first trigger time interval, and outputs the trigger signal based on the first trigger time interval. The second constraint mode mainly uses the time interval with the smallest number of perception frames in the perception device as the second trigger time interval, sets the trigger interval time of each perception device with the minimum time multiple of the second trigger time interval, and outputs the trigger signal based on the second trigger time interval. The time interval for outputting the trigger signal to each perception device is constrained by the constraint mode, so that the perception data can be aligned more efficiently later.

[0077] The trigger module is used to output a trigger signal to a corresponding sensing device according to the world time information and the constraint mode. The sensing device can mainly be a millimeter wave radar device, a laser radar device, and a camera device. Those skilled in the art can select other sensing devices according to actual conditions, and are not limited thereto.

[0078] The data acquisition module is used to obtain the perception data based on the trigger signal through each perception device. When each perception device receives the trigger signal, it obtains the environmental data based on the trigger signal and records the corresponding perception frame number, and packages the environmental data and the perception frame number to obtain the perception data.

[0079] And, the alignment module is used to select a corresponding alignment method based on the constraint method to align each perception data. When the selected constraint method is the first constraint method, the frame-by-frame alignment method is used to align each perception data, and when the selected constraint method is the second constraint method, the minimum interval alignment method is used to align each perception data.

[0080] Embodiment three:

[0081] The present application also proposes a computer-readable storage medium, the computer-readable storage medium comprising:

[0082] The computer-readable storage medium stores computer-executable instructions.

[0083] When the computer executable instructions are executed by the control processor, the data alignment method described in the first embodiment is implemented.

[0084] In the computer-readable storage medium, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk SolidState Disk (SSD)), etc.

[0085] In summary, the data alignment method, system and storage medium proposed in this application provide an effective solution for the failure to obtain accurate perception data due to frequency mismatch of perception data collected by various perception devices. By obtaining the world time information, it is possible to ensure that multiple perception devices operate on a unified time basis, ensuring the consistency of the perception data. By aligning the perception data based on the alignment method corresponding to the selected trigger signal, the data perceived by the multi-mode perception device can be effectively aligned, ensuring the accuracy and reliability of data alignment. By triggering the signal in the constraint mode, the efficiency of data collection is effectively improved, and the collaborative work efficiency of each perception device is improved.

[0086] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0087] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling an electronic device to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0088] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A data alignment method, characterized in that: include: Get world time information and select the constraint method of trigger signal; Outputting a trigger signal to a corresponding sensing device according to the world time information and the constraint mode, so that each sensing device acquires sensing data based on the trigger signal; And, based on the constraint method, a corresponding alignment method is selected to align each perception data.

2. The data alignment method according to claim 1, characterized in that: The constraint mode includes at least a first constraint mode and a second constraint mode; The first constraint method specifically includes taking the time interval with the largest interval between the number of frames sensed in the sensing device as the first trigger time interval, and outputting a trigger signal based on the first trigger time interval.

3. The data alignment method according to claim 2, characterized in that: The second constraint method specifically includes taking the time interval with the smallest interval of the number of perception frames in the perception device as the second trigger time interval, setting the trigger interval time of each perception device according to the minimum time multiple of the second trigger time interval, and outputting a trigger signal based on the second trigger time interval.

4. The data alignment method according to claim 1, characterized in that: The output trigger signal to the corresponding sensing device includes at least a first trigger mode and a second trigger mode; The first triggering mode specifically includes transmitting the trigger signal to each sensing device through a trigger interface of each sensing device, so as to control each sensing device to trigger a sensing operation at a preset time based on the trigger signal; The second triggering method specifically includes transmitting the trigger signal to each sensing device based on a time synchronization distribution method, so as to control each sensing device to trigger a sensing operation at a preset time based on the trigger signal.

5. The data alignment method according to claim 1, characterized in that: Each sensing device acquires sensing data based on the trigger signal, including: When the perception device receives the trigger signal, it obtains environmental data and records the corresponding perception frame number, and packages the environmental data and the perception frame number to obtain perception data.

6. The data alignment method according to claim 1, characterized in that: The alignment mode at least includes a frame-by-frame alignment mode and a minimum interval alignment mode; The frame-by-frame alignment method specifically includes, if the constraint method is the first constraint method, sorting the perception data acquired by each perception device according to the number of perception frames, and aligning the perception data through frame-by-frame alignment processing.

7. The data alignment method according to claim 6, characterized in that: The minimum interval alignment method specifically includes: if the constraint method is the second constraint method, calculating the number of perception frames with the smallest time interval among the perception devices, obtaining the number of alignment frames of the perception devices, and performing perception data alignment processing according to the number of alignment frames; The step of obtaining the number of aligned frames of the sensing device specifically includes calculating according to the number of sensed frames of the minimum time interval, multiples of the minimum time interval and a preset value, obtaining an integer quotient, and using the integer quotient as the number of aligned frames.

8. The data alignment method according to claim 6, characterized in that: The alignment processing of each sensing data further includes: Determine whether there are unaligned perception frames in the perception data after the alignment processing. If so, insert data frames into the perception data for alignment processing; otherwise, ignore them.

9. A system based on the data alignment method according to any one of claims 1 to 8, characterized in that: include: Time acquisition module, mode selection module, trigger module, data acquisition module and alignment module; The time acquisition module is used to acquire world time information; The mode selection module is used to select the constraint mode of the trigger signal; The trigger module is used to output a trigger signal to a corresponding sensing device according to the world time information and the constraint mode; The data acquisition module is used to acquire the sensing data based on the trigger signal through each sensing device; And, the alignment module is used to select a corresponding alignment method based on the constraint method to align each perception data.

10. A computer-readable storage medium storing computer-executable instructions, characterized in that: When the computer executable instructions are executed by the control processor, the data alignment method as described in any one of claims 1-8 is implemented.

Images