Autonomous Vehicle Sensor Timing Synchronization for Object Correlation
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Solution Overview
Problem
Autonomous driving vehicles face challenges in correlating sensor data from multiple sensors due to asynchronous data acquisition, making it difficult to determine if detected objects are the same across different sensors, which affects navigation accuracy and efficiency.
Innovation Solution
A method for synchronizing the data acquisition times of sensors in autonomous driving vehicles by determining the data acquisition characteristics of each sensor and adjusting their acquisition times to ensure simultaneous data capture, using a high precision time generation unit and synchronization module to align sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors operate independently with their own data acquisition timing, then each sensor can capture data according to its own characteristics, but the data from different sensors cannot be accurately correlated to determine if detected objects are the same
Solution Approach 1:
The system performs preliminary actions by determining data acquisition characteristics (such as acquisition time, frequency, and synchronization status) of each sensor before data processing. This preliminary characterization enables the system to later accurately correlate data from different sensors by compensating for their temporal differences, thus resolving the contradiction between independent sensor operation and accurate object correlation.
2Measurement precision
If multiple sensors are used to detect objects in the environment, then the detection capability and coverage are improved, but the complexity of correlating data from these sensors increases
Solution Approach 1:
The system changes parameters by transforming sensor data into a unified reference frame using determined acquisition characteristics. By applying temporal and spatial transformation parameters, the system simplifies the correlation process while maintaining high detection accuracy from multiple sensors, thus resolving the contradiction between enhanced detection capability and increased data processing complexity.
3Adaptability or versatility
If sensors have different data acquisition characteristics, then each sensor can optimize for its specific function, but synchronizing their data acquisition requires additional processing
Solution Approach 1:
The system performs preliminary determination of data acquisition characteristics for each sensor, storing this information for later use. This preliminary action allows the system to efficiently synchronize and correlate data from sensors with different acquisition characteristics without requiring real-time complex processing, thus resolving the contradiction between sensor optimization and synchronization time overhead.
Data Source
AI summary
In some implementations, a method is provided. The method includes determining a first set of data acquisition characteristics of a first sensor of an autonomous driving vehicle. The method also includes determining a second set of data acquisition characteristics of a second sensor of the autonomous driving vehicle. The method further includes synchronizing a first data acquisition time of the first sensor and a second data acquisition time of the second sensor, based on the first set of data acquisition characteristics and the second set of data acquisition characteristics. The first sensor obtains first sensor data at the first data acquisition time. The second sensor obtains second sensor data at the second data acquisition time.