Method for performing time synchronization among plurality of sensors, and control system

Abstract

The present invention relates to a method for performing time synchronization among a plurality of sensors, and a sensor time synchronization control system, a computer-readable storage medium, an autonomous driving system and a vehicle. A plurality of sensors correspond to a plurality of synchronization signal generators on a one-to-one basis, the plurality of synchronization signal generators are connected to a common trigger source, and the plurality of sensors have the same data sensing frequency. The method comprises the following steps: S1: a common trigger source providing a unified trigger signal for a plurality of synchronization signal generators; and S2: on the basis of the unified trigger signal, and according to a calibrated delay amount for each sensor among a plurality of sensors and a synchronization reference point of a data unit sensed by the sensor, generating a plurality of synchronization signals respectively corresponding to the plurality of sensors on a one-to-one basis, such that the data units of the plurality of sensors are aligned in terms of time.

Description

Method and control system for time synchronization between multiple sensors Technical Field

[0001] The present invention relates to the field of system control, and in particular to a method for time synchronization between multiple sensors, a sensor time synchronization control system, a computer-readable storage medium, an automatic driving system, and a vehicle. Background Art

[0002] In some scenarios, multiple sensors are needed to sense and obtain sensing data, and the sensing data between multiple sensors needs to be aligned, that is, time-synchronized. However, due to the different types, properties, usage scenarios, and processing solutions of sensors, even sensors of the same type cannot guarantee the synchronization of sensing data between multiple sensors. For example, for the arrangement of multiple cameras used to perceive the surrounding environment of vehicle driving, the frames collected by each camera need to be processed synchronously. However, due to the limitations of different camera manufacturers, different usage scenarios, different software control solutions, etc., it is impossible to achieve time synchronization of frame reception or sensing.

[0003] Summary of the Invention

[0004] In view of the above problems, the present invention aims to provide a method for time synchronization between multiple sensors, a sensor time synchronization control system, a computer-readable storage medium, an automatic driving system and a vehicle.

[0005] A first aspect of the present invention provides a method for time synchronization between multiple sensors. The multiple sensors correspond one-to-one to multiple synchronization signal generators, which are connected to a common trigger source. The multiple sensors have the same data sensing frequency. The method comprises the following steps: S1: providing a unified trigger signal from the common trigger source to the multiple synchronization signal generators; and S2: generating, based on the unified trigger signal and according to the calibrated delay of each of the multiple sensors and the synchronization reference point of the data units sensed by the sensors, multiple synchronization signals corresponding one-to-one to each of the multiple sensors, so as to align the data units of each of the multiple sensors in time.

[0006] According to some embodiments of the present invention, optionally, the synchronization reference point of the data unit is a point where the data unit is divided equally into 1 / a, where a is greater than 1.

[0007] According to some embodiments of the present invention, optionally, assuming that the time length of the first data unit sensed by the sensor is L1, and the time length of the second data unit subsequent to the first data unit is L2, the compensation delay for the second data unit is (L1-L2) / a, wherein step S2 further includes: based on a unified trigger signal, for each sensor among the multiple sensors, according to the calibrated delay amount and the compensation delay of each sensor among the multiple sensors, generating a synchronization signal for the second data unit, so that the second data unit of each sensor among the multiple sensors is aligned on the synchronization reference point.

[0008] According to some embodiments of the present invention, optionally, the above-mentioned a may be equal to 2.

[0009] According to some embodiments of the present invention, optionally, the synchronization reference point of the data unit is a starting time point of the data unit.

[0010] According to some embodiments of the present invention, optionally, the synchronization reference point of the data unit is an end time point of the data unit.

[0011] According to some embodiments of the present invention, optionally, the data unit includes a frame of video data, and the synchronization reference points of the frame include an exposure center point moment, an exposure center line start readout moment, and a frame start readout moment.

[0012] According to some embodiments of the present invention, optionally, the plurality of sensors include sensors of different types.

[0013] According to some embodiments of the present invention, optionally, the sensor comprises a camera.

[0014] According to some embodiments of the present invention, optionally, the synchronization signal generator includes an fsync signal generator.

[0015] According to some embodiments of the present invention, optionally, the multiple sensors include multiple sensor groups, each sensor group includes one or more sensors, the same synchronization reference point applies to each sensor group, and the multiple sensor groups include multiple sensor groups applying different types of synchronization reference points.

[0016] A second aspect of the present invention provides a sensor time synchronization control system. The synchronization control system includes: a common trigger source; multiple synchronization signal generators that receive a unified trigger signal from the common trigger source; a memory storing instructions; and a processor configured to, when executing the instructions, implement the method for time synchronization between multiple sensors described in any of the aforementioned embodiments.

[0017] A computer-readable storage medium according to a third aspect of the present invention stores instructions, which, when executed, execute the method for time synchronization between multiple sensors according to any one of the foregoing items.

[0018] The fourth aspect of the present invention is an automatic driving system, comprising a sensor time synchronization control system according to any one of the aforementioned embodiments.

[0019] The vehicle of the fifth aspect of the present invention includes a sensor time synchronization control system according to any of the foregoing embodiments, or includes an automatic driving system according to any of the foregoing embodiments.

[0020] As described above, the method for time synchronization between multiple sensors according to the present invention considers the internal delays of different sensors caused by individual differences in sensors (such as factory settings, manufacturers, usage, adaptation software solutions, models, production batches, application scenario requirements, etc.), and performs time synchronization processing for real-time data reception, sensing, and transmission by multiple sensors through a unified trigger signal. This advantageously solves or largely alleviates the shortcomings of only applying a back-end synchronization algorithm to compensate for the lack of synchronization, improves the accuracy of time synchronization, and can dynamically adjust the generation time of the synchronization signal in certain scenarios, making it more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG. 1 is a flow chart of a method 100 for time synchronization between multiple sensors according to some embodiments of the present invention.

[0022] FIG. 2 shows a schematic diagram 200 of related hardware and a sensing data synchronization process for implementing the method 100 of FIG. 1 according to some embodiments.

[0023] FIG3 shows a schematic diagram of three exemplary data unit alignment methods according to some embodiments.

[0024] FIG4 shows a schematic diagram of three example synchronization reference points of a video data frame according to some embodiments. DETAILED DESCRIPTION

[0025] The following describes some of the various embodiments of the present invention, which are intended to provide a basic understanding of the present invention, but are not intended to identify the key or decisive elements of the present invention or to limit the scope of protection.

[0026] For the purpose of brevity and illustration, the principles of the present invention are described herein primarily with reference to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equally applicable to and can be implemented in all types of methods for time synchronization between multiple sensors, sensor time synchronization control systems, computer-readable storage media, autonomous driving systems, and vehicles, and that any such changes do not depart from the true spirit and scope of the present patent application.

[0027] Moreover, in the following description, reference is made to the accompanying drawings, which illustrate specific exemplary embodiments. Electrical, mechanical, logical, and structural changes may be made to these embodiments without departing from the spirit and scope of the present invention. In addition, although a feature of the present invention is disclosed in conjunction with only one of several embodiments, it may be desirable and / or advantageous to combine this feature with one or more other features of other embodiments as may be desired and / or advantageous for any given or identifiable function. Therefore, the following description should not be regarded in a limiting sense, and the scope of the present invention is defined by the appended claims and their equivalents.

[0028] Terms such as “having” and “including” indicate that in addition to the units (modules) and steps directly and clearly stated in the specification and claims, the technical solution of the present invention does not exclude the situation where it has other units (modules) and steps that are not directly or clearly stated.

[0029] Figure 1 is a flow chart of a method 100 for time synchronization between multiple sensors according to some embodiments of the present invention. The multiple sensors correspond one-to-one to multiple synchronization signal generators, the multiple synchronization signal generators are connected to a common trigger source, and the multiple sensors have the same data sensing frequency. Method 100 may include the following steps.

[0030] In step S1, a common trigger source provides a unified trigger signal to multiple synchronization signal generators. The common trigger source is configured to issue trigger signals at a specified period and time. The common trigger source provides trigger signals to each synchronization signal generator, which in turn performs timing / counting based on its specific sensor before issuing timing control signals. This ensures synchronization of the timing control of these multiple sensors.

[0031] In step S2, based on a unified trigger signal, multiple synchronization signals corresponding to each of the multiple sensors are generated according to the calibrated delay of each sensor and the synchronization reference point of the data unit sensed by the sensor, so as to align the data units of each sensor in time. For each of the multiple sensors, the internal delay can be determined based on information such as its type, factory settings, parameters, and manufacturer, thereby determining the calibrated delay applicable to the synchronization signal generator for that sensor. Then, when it is necessary to align a data unit sensed by multiple sensors (e.g., a frame of sensed video data) with a synchronization reference point of that data unit as a reference, the basic parameters required are the timing of the trigger signal, the timing of the synchronization reference point, and the size of the calibrated delay.

[0032] For example, even if they are from the same supplier, different models of sensors may support different synchronization modes based on external signal lines (i.e., the response steps, behaviors, internal line delays, etc. to the external signal lines). For another example, for a certain sensor, let the trigger signal time be T1, the internal delay of the sensor be ΔT, and if the sensor needs to be aligned with other sensors, the desired alignment time (synchronization reference point) is set to T2. At this time, the calibrated delay amount applied by the synchronization signal generator is T2-T1, where it can be understood that since the synchronization reference point used for alignment is not necessarily the starting point of the first received or sensed data unit (data part), T2-T1 is greater than or equal to ΔT. Of course, in this example, only the internal delay ΔT of the sensor and the synchronization reference point time T2 are considered, but it can be understood that other delays may also exist, such as the delay on the line from the common trigger source to each synchronization signal generator may have slight differences, and this difference can also be included in the calculation.

[0033] This allows for flexible adjustment of the calibration delays required or applied to each synchronization signal generator based on different synchronization reference points, aligning data units received or sensed by multiple sensors targeting the same object or at the same time. This proactive, dynamically adjustable alignment and synchronization approach at the sensor front end can avoid or significantly reduce the complexity and processing pressure of synchronization algorithms in back-end data processing.

[0034] FIG2 illustrates a schematic diagram 200 of the hardware and sensing data synchronization process for implementing the method 100 of FIG1 according to some embodiments. In FIG2 , a common trigger source 210 is connected to N synchronization signal generators 220 (N is a positive integer greater than or equal to 2), and each synchronization signal generator 220 is connected to a sensor 230. Each sensor 230 senses an object (e.g., the environment surrounding a vehicle) to obtain sensing data. The sensing data can be received or sensed in multiple parts (multiple data units), such as a camera capturing an image of the environment and sending multiple consecutive frames to the system. The goal is to synchronize and align the data units of each sensor at the same time or in the same order, wherein each sensor has the same data sensing frequency (e.g., video acquisition frame rate) for the data units, and the interval (period) is Δt. For example, in FIG2 , the first data unit D1 of the first sensor 230 needs to be aligned with the first data unit D1 of the second sensor 230, the first data unit D1 of the third sensor 230, ..., and the first data unit D1 of the Nth sensor 230, all based on a certain synchronization reference point (for example, alignment of the starting point (starting time) of each data unit is predefined). The data unit D1 sensed or received by each sensor has, for example, a different length (duration). Similarly, the second data unit D2 of the first sensor 230 needs to be aligned with the second data unit D2 of the second sensor 230, the second data unit D2 of the third sensor 230, ..., and the first data unit D2 of the Nth sensor 230, all based on the same synchronization reference point. The data unit D2 sensed or received by each sensor has, for example, a different length (duration). The same applies to data unit D3. Similarly, since the data sensing frequency of each sensor is consistent, if the starting point (synchronization reference point) of each data unit D1 is aligned, the subsequent D2, D3... will also be aligned, regardless of the different lengths of each data unit (for example, the duration of D2 is different from that of D1).

[0035] Therefore, in some embodiments, the synchronization reference point of the data unit can be at 1 / a of the data unit, where a is greater than 1. This means that the synchronization reference point can actually be located at any time within the duration of the data unit. The position of the synchronization reference point can be adjusted as needed. For example, if a=3 and the duration of the data unit is T D , then the synchronization reference point can be located at T D / 3 position (time).

[0036] Furthermore, assuming that the time length of a first data unit sensed by a sensor is L1 and the time length of a second data unit subsequent to the first data unit is L2, the compensation delay for the second data unit is (L1-L2) / a. Step S2 further includes: generating a synchronization signal for the second data unit for each of the multiple sensors based on a unified trigger signal and the calibrated delay and the compensation delay of each of the multiple sensors, so that the second data units of each of the multiple sensors are aligned at a synchronization reference point. In some embodiments, the synchronization reference point may not be directly the start point (time) or end point (time) of the data unit, but rather a point / time within the duration of the entire data unit. Since data units received or sensed sequentially by the same sensor may have different durations, if compensation delays are not applied to account for these differences in duration, the first received or sensed data unit may be time-aligned relative to the synchronization reference point across all sensors, but subsequent received or sensed data units may no longer be time-synchronized when their durations change. Therefore, assuming the length of the previously received or sensed data unit that has been time-aligned (e.g., the frame exposure time) is L1, and the length of the immediately following data unit that has not yet been time-aligned is L2, then the synchronization signal generator corresponding to the sensor for these two data units still needs to apply a compensation delay of (L1-L2) / a. It should be noted that the first data unit refers to the data unit sensed / collected first, while the second data unit is the data unit sensed / collected immediately after the first data unit, and it does not necessarily mean that the first data unit is the first sensed / collected data unit and the second data unit is the second sensed / collected data unit.

[0037] In some embodiments, a is equal to 2. That is, the center point of each data unit is used as a synchronization reference point for time alignment, and the alignment of the center points is more conducive to the synchronization effect of different data unit lengths of different sensors.

[0038] 3 , a schematic diagram of data unit alignment in three exemplary ways according to some embodiments is shown. A schematic diagram of data unit alignment is shown using the starting point, end point, and center point (i.e., a=2) of a data unit as an example, and for convenience, only the alignment of two sensors is shown. The same applies to any other number of sensors. Furthermore, in FIG2 , the period length (interval time) corresponding to the data sensing frequency is Δt. When the starting point (starting moment) is used as the synchronization reference point (upper portion of FIG3 ), the common trigger source provides a unified trigger signal to the synchronization signal generators G1 and G2. The synchronization signal generators G1 and G2 typically consider the calibrated delays Δ1 and Δ2 of the corresponding sensors 1 and 2. Therefore, for example, only the time of the unified trigger signal and the calibrated delays Δ1 and Δ2 can be considered to align the data units of sensors 1 and 2. Afterwards, each subsequent data unit still maintains a fixed interval size with the previous data unit (i.e., maintains a fixed data sensing frequency). When the end point (end time point) is used as the synchronization reference point (middle of Figure 3), similar to using the starting point as the synchronization reference point, it is usually sufficient to only consider the calibrated delays Δ1 and Δ2 of sensors 1 and 2. Each subsequent data unit can still maintain a fixed interval size with the previous data unit.

[0039] When using the center point as the synchronization reference point (lower portion of Figure 3), some delay compensation may need to be considered. As shown in the figure, after the first data unit is aligned with respect to the center point, further delay adjustment may be required to maintain a fixed data sensing frequency. Referring to the upper portion of Figure 3, the first data unit in the lower portion of Figure 3 is shifted left by L1 / 2 (i.e., L1 / a). If delay compensation is not applied, the subsequent second data unit is also shifted left by L1 / 2, resulting in the second data unit being unable to align with respect to the center point between sensors 1 and 2. What is needed is to shift the second data unit left by L2 / 2, rather than L1 / 2. Therefore, based on the L1 / 2 shift, only L1 / 2-L2 / 2 (i.e., (L1-L2) / a, where a=2) needs to be shifted. If L1 / 2-L2 / 2 is positive (i.e., L1>L2), a right shift is required; if L1 / 2-L2 / 2 is negative (i.e., L1<L2), a left shift is required. Therefore, the compensation delay required is (L1-L2) / 2, and the total delay of the sensor is Δ2+(L1-L2) / 2 (wherein the positive or negative value of (L1-L2) / 2 can indicate whether the compensation delay is shifted left or right, or whether it needs to be delayed or advanced). Next, for data unit D3 (assuming the length is L3), since D3 also moves when D2 moves, the relative relationship between D2 and D3 is not affected by the movement of D2. Therefore, the compensation delay of D3 relative to D2 can refer to the compensation delay of D2 relative to D1 mentioned above, that is, the delay of D3 relative to the delay that needs to be compensated is (L2-L3) / 2. It can be understood that if the length of subsequent data units is different, compensation delays will need to be performed and aligned each time, and the compensation delay applicable to D1-D3 will also apply.

[0040] In an embodiment where the sensor is an image acquisition device such as a camera, the data unit includes a frame of video data, and the synchronization reference points of the frame include the exposure center point moment, the exposure center line start readout moment, and the frame start readout moment. That is, in order to enable multiple synchronization signal generators to synchronously receive or sense frames that are continuously sensed and transmitted back to the system, the present method 100 is employed. FIG4 shows a schematic diagram of three exemplary synchronization reference points for a video data frame according to some embodiments. The duration of a frame can be, for example, the exposure time. In FIG4 , point A is the exposure start readout moment (e.g., corresponding to the start time point mentioned above), point B is the exposure center point moment (e.g., corresponding to the center point in the upper position), and point C is the exposure center line start readout moment (e.g., corresponding to the end time point in the upper position). It will be appreciated that the synchronization reference points are not limited to these three types, but rather any moment in the exposure time can be used as a synchronization reference point. Based on the position of the synchronization reference point, represented by a, the magnitude of the supplementary delay applied to the subsequent frame can be determined.

[0041] It will be appreciated that in some embodiments, the multiple sensors include different types of sensors. For example, sensors of the same type from different brands, sensors of the same brand from different batches, or sensors of different types. For example, in the case of a camera and a sound sensing device, if the frame rate (data sensing frequency) of the camera is f, and the frequency of the audio data units continuously sensed by the sound sensing device is f or an integer multiple of f, or vice versa. When f is, for example, received or sensed once every 10 ms (i.e., the interval between each frame is 10 ms), and the sound sensing device receives or senses once every 10 ms, then the frame and the audio data unit can be aligned. Alternatively, if the sound sensing device receives or senses once every 100 ms, then every 10 frames can be aligned with one audio data unit. Alternatively, if the sound sensing device receives or senses once every 1 ms, then every 10 audio data units can be aligned with one frame. This allows the present method to be used for alignment between different sensors of a wider variety and properties, expanding its use cases.

[0042] In some embodiments, the sensor described above includes a camera. This is particularly useful for synchronizing frame data when capturing images from multiple cameras. For example, in high-speed driving scenarios, this eliminates the need to rely solely on back-end synchronization algorithms to synchronize frame data reception or sensing. Instead, a certain degree of data reception or sensing synchronization can be achieved across multiple front-end cameras, significantly improving the speed and accuracy of synchronization processing.

[0043] In some embodiments, the synchronization signal generator includes an fsync signal generator. In particular, for the timing synchronization of multiple cameras, the fsync signal generator can be used to time / count the trigger signal of a common trigger source to apply a calibrated delay for a specific camera to achieve external synchronization control. Therefore, in an embodiment using a start time point or an end time point as a synchronization reference point, although the cameras may come from different suppliers, all sensors (such as cameras) can use a single fsync line for external synchronization control; or several cameras can be grouped together and share a single fsync line for external synchronization control, thereby reducing the hardware cost of implementing the various embodiments of the present disclosure.

[0044] In some embodiments, the multiple sensors include multiple sensor groups, each of which includes one or more sensors. The same synchronization reference point is applied to each sensor group, and the multiple sensor groups include multiple sensor groups that apply different types of synchronization reference points. For example, for 20 sensors (which may be of different types), five may use the center point as the synchronization reference point, two may use the starting time point as the synchronization reference point, and four may use the ending time point as the synchronization reference point. Others may use time points at other locations (equally divided by 1 / a, where a is greater than 1). In this way, different synchronization reference points can be applied to different sensor groups based on different sensor types or different sensing solution requirements, allowing the present method 100 to be applied in more complex sensing systems.

[0045] The description of different or same types of sensors in this article may also include, for example, the following: sensors of the same type (e.g., various cameras) may have different attributes such as brands, suppliers, and production batches, so the calibration delays of sensors of the same type may be different. Different types of sensors (e.g., cameras and lidars) also have different calibration delays. Therefore, the calibration delay may refer to the delay time / timing / counting length or the applied phase difference that needs to be considered for the sensor when synchronizing the timing with other sensors, taking into account the different types or different attributes of the sensors. The calibration delay may be provided by the supplier, or may be measured in advance by the staff according to the circumstances.

[0046] According to another aspect of the present application, a sensor time synchronization control system is provided. The synchronization control system includes: a common trigger source; multiple synchronization signal generators that receive a unified trigger signal from the common trigger source; a memory storing instructions; and a processor configured to perform method 100 according to any of the aforementioned embodiments when executing the instructions. For example, referring to FIG. 2 , block 240 may represent the present sensor time synchronization control system or a control module (e.g., a system-on-chip (SOC)) that includes the present sensor time synchronization control system.

[0047] According to another aspect of the present invention, a computer-readable storage medium storing instructions is further provided. When the instructions are executed, the method 100 according to any embodiment of the present invention is executed.

[0048] The computer-readable storage medium, memory, storage unit, etc. referred to in this application include various types of computer-readable storage media, which can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, computer-readable media can include RAM, ROM, EPROM, E 2PROM, register, hard disk, removable disk, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage device, or any other temporary or non-temporary medium that can be used to carry or store desired program code units in the form of instructions or data structures and can be accessed by a general or special-purpose computer, or a general or special-purpose processor. The above combination should also be included in the protection scope of computer-readable media. Exemplary storage media are coupled to the processor so that the processor can read and write information from / to the storage medium. In an alternative solution, the storage medium can be integrated into the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In an alternative solution, the processor and storage medium can reside in a user terminal as discrete components.

[0049] According to another aspect of the present invention, an autonomous driving system is provided. The autonomous driving system includes a sensor time synchronization control system according to any of the aforementioned embodiments. The autonomous driving system may, for example, include an Advanced Driving Assistance System (ADAS) or other driving systems designed to achieve high-level functional safety requirements for fail-operation.

[0050] According to yet another aspect of the present invention, a vehicle is provided that includes an autonomous driving system according to any embodiment of the present invention or a sensor time synchronization control system according to any embodiment of the present invention. The term "vehicle" as used herein is intended to refer to any suitable vehicle having a drive system, such as a gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a plug-in hybrid electric vehicle, and the like.

[0051] The above mainly describes the method for time synchronization between multiple sensors, the sensor time synchronization control system, the computer-readable storage medium, the autonomous driving system, and the vehicle of the present invention. Although only some specific embodiments of the present invention have been described, it should be understood by those skilled in the art that the present invention can be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and embodiments shown are to be regarded as illustrative rather than restrictive, and the present invention may encompass various modifications and substitutions without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A method for time synchronization between multiple sensors, characterized in that: The multiple sensors correspond to multiple synchronization signal generators one by one, the multiple synchronization signal generators are connected to a common trigger source, the multiple sensors have the same data sensing frequency, and the method comprises the following steps: S1: The common trigger source provides a unified trigger signal to the multiple synchronization signal generators; and S2: Based on the unified trigger signal, multiple synchronization signals corresponding to each of the multiple sensors are generated according to the calibrated delay amount of each sensor in the multiple sensors and the synchronization reference point of the data unit sensed by the sensor, so that the data unit of each of the multiple sensors is aligned in time.

2. The method according to claim 1, characterized in that The synchronization reference point of the data unit is a 1 / a division of the data unit, where a is greater than 1.

3. The method according to claim 2, characterized in that Assuming that the time length of the first data unit sensed by the sensor is L1, and the time length of the second data unit subsequent to the first data unit is L2, the compensation delay for the second data unit is (L1-L2) / a, wherein the step S2 further includes: Based on the unified trigger signal, for each of the multiple sensors, a synchronization signal for the second data unit is generated according to the calibrated delay amount and the compensation delay, so that the second data unit of each of the multiple sensors is aligned on the synchronization reference point.

4. The method according to claim 2 or 3, characterized in that: The a is equal to 2.

5. The method according to claim 1, characterized in that The synchronization signal generator includes an fsync signal generator.

6. The method according to claim 1, characterized in that The multiple sensors include multiple sensor groups, each sensor group includes one or more sensors, the same synchronization reference point is applied to each of the sensor groups, and the multiple sensor groups include multiple sensor groups that apply different types of synchronization reference points.

7. A sensor time synchronization control system, characterized in that: The synchronous control system comprises: Public trigger source; a plurality of synchronization signal generators, which receive a unified trigger signal from the common trigger source; a memory storing instructions; and A processor configured to carry out the method according to any one of claims 1-6 when executing the instructions.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed by a processor, implement the method according to any one of claims 1 to 6.

9. An automatic driving system, characterized in that: The autonomous driving system includes the sensor time synchronization control system according to claim 7.

10. A vehicle, characterized in that: The vehicle comprises the sensor time synchronization control system according to claim 7, or comprises the automatic driving system according to claim 9.

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