CN110971327A - Time synchronization method and device for environment target - Google Patents
Time synchronization method and device for environment target Download PDFInfo
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- CN110971327A CN110971327A CN201811154308.6A CN201811154308A CN110971327A CN 110971327 A CN110971327 A CN 110971327A CN 201811154308 A CN201811154308 A CN 201811154308A CN 110971327 A CN110971327 A CN 110971327A
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- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
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Abstract
The embodiment of the invention provides a time synchronization method and device for an environment target, and belongs to the field of automatic driving. The method comprises the following steps: each time a parameter attribute set of an environment target sent by a sensor is received, giving the received environment target time stamp information of a receiving moment, wherein the parameter attribute set at least comprises one or more of the following attributes: longitudinal speed and longitudinal distance; and performing time synchronization of the parameter attribute set of each environment target based on the time stamp information of the reception time of the each environment target and the time stamp information of the predetermined time. The method and the device enable the parameter attribute sets of each environment target to be synchronized to the same time, and therefore accuracy of data processing of the sensor data is promoted.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a time synchronization method and device for an environment target.
Background
The automatic driving vehicle needs to acquire the information of the surrounding environment target by using a sensor installed on a vehicle body in the driving process, so that the control of the vehicle and the planning of a path are realized according to the information of the surrounding environment target.
When the data of the environmental target detected by different sensors are utilized, the time for outputting the data of the detected environmental target by different sensors is asynchronous, so that further calculation or decision is inaccurate, and the safe driving of the automatic driving vehicle is not facilitated.
Disclosure of Invention
In view of the above, the present invention is directed to a time synchronization method for an environmental target, which is used to solve at least the technical problem of time asynchronization of environmental target data output by different sensors.
In order to achieve the purpose, the technical scheme of the invention is realized as follows: a method of time synchronization for environmental targets, the method comprising: each time a parameter attribute set of an environment target sent by a sensor is received, giving the received environment target time stamp information of a receiving moment, wherein the parameter attribute set at least comprises one or more of the following attributes: longitudinal speed and longitudinal distance; and performing time synchronization of the parameter attribute set of each environment target based on the time stamp information of the reception time of the each environment target and the time stamp information of the predetermined time.
Further, the performing time synchronization of the set of parameter attributes of each environment target based on the time stamp information of the reception time of each environment target and the time stamp information of the predetermined time comprises: calculating a specific attribute of each environment target at a predetermined time based on the time stamp information of the reception time of each environment target and the time stamp information of the predetermined time; and updating the respective parameter attribute set of each environmental target with the specific attribute of each environmental target at the predetermined time.
Further, the method further comprises: and giving the updated parameter attribute set of each environment target with the timestamp information of the preset time.
Further, the specific attribute is a longitudinal distance, and/or the timestamp information of the receiving time and the timestamp information of the predetermined time are both GPS timestamp information.
Further, for each environmental target, calculating a longitudinal distance of the environmental target at the predetermined time instant according to the following formula:
d2＝d1+v*(t2-t1)
where d2 is the environmental target longitudinal distance at the predetermined time, d1 is the environmental target longitudinal distance at the time of reception, v is the environmental target longitudinal velocity at the time of reception, t2 is the time stamp information at the predetermined time, and t1 is the time stamp information assigned to the environmental target at the time of reception.
Further, the predetermined time is a time when the sensor data fusion is performed.
Compared with the prior art, the time synchronization method for the environment target has the following advantages:
when the parameter attribute set of the environment target sent by the sensor is received, the time stamp information of the receiving time is given to the environment target, and then the time synchronization of the parameter attribute set of the environment target is realized based on the time stamp information of the receiving time and the time stamp information of the preset time, so that the parameter attribute set of each environment target can be synchronized to the same time, and the accuracy of data processing of each sensor data is promoted.
Another object of the present invention is to provide a time synchronization apparatus for environmental targets, which is used to solve at least the technical problem of time asynchronization of environmental target data output by different sensors.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a time synchronization apparatus for environmental targets, the apparatus comprising: the first time stamp giving module is used for giving time stamp information of a receiving time to the received environment target every time a parameter attribute set of the environment target sent by a sensor is received, wherein the parameter attribute set at least comprises one or more of the following attributes: longitudinal speed and longitudinal distance; and a time synchronization module for performing time synchronization of the parameter attribute set of each environment target based on the time stamp information of the reception time of each environment target and the time stamp information of a predetermined time.
Further, the time synchronization module includes: a calculation unit configured to calculate a specific attribute of each environment target at a predetermined time based on time stamp information of a reception time of each environment target and time stamp information of the predetermined time; and the updating unit is used for updating the parameter attribute set of each environment target by using the specific attribute of each environment target at the preset time.
Further, the apparatus further comprises: and the second time stamp giving module is used for giving the updated parameter attribute set of each environment target the time stamp information of the preset time.
The time synchronization device for the environment target and the time synchronization method for the environment target have the same advantages compared with the prior art, and are not described herein again.
Accordingly, the embodiment of the present invention also provides a machine-readable storage medium, which stores instructions for enabling a machine to execute the above time synchronization method for environmental targets.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 shows a flow diagram of a method for time synchronization of environmental targets, according to an embodiment of the invention; and
fig. 2 is a block diagram illustrating a time synchronizer for environmental targets according to an embodiment of the present invention.
Description of the reference numerals
210 first time stamping module 220 time synchronization module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The "sensor" mentioned in the embodiment of the present invention may refer to any type of device arranged on the vehicle for detecting an object, and may be, for example, a camera, a laser radar, a millimeter wave radar, or the like. An "environmental target" referred to in embodiments of the present invention may refer to any object, moving or stationary, in front of, behind, or to the side of a vehicle, such as a vehicle, a person, a building, or the like.
Fig. 1 shows a flow diagram of a method for time synchronization of environmental targets according to an embodiment of the invention. As shown in fig. 1, an embodiment of the present invention provides a time synchronization method for an environmental target detected by a sensor, which may be suitable for an autonomous vehicle. The method may include step S110 and step S120.
In step S110, each time a parameter attribute set of an environment target sent by a sensor is received, timestamp information of a receiving time is added for the received environment target.
The sensor may detect one or more targets and, for each target, the sensor may determine a set of parameter attributes for each target, including multiple types of parameter attributes, e.g., regarding speed, distance, etc. The set of parameter attributes read in step S110 may include one or more of: longitudinal speed, longitudinal distance. The longitudinal speed in the embodiment of the present invention may refer to a speed of the detected object in a driving direction of the vehicle, and the longitudinal distance may refer to a longitudinal distance of the detected object with respect to the vehicle, wherein the longitudinal speed and the longitudinal distance may be determined in a vehicle coordinate system. It will be appreciated that the set of parametric attributes of the target may include other parametric attributes such as lateral distance, lateral velocity, target longitudinal acceleration, target lateral acceleration, target length and/or target width, etc.
The sensor may periodically output a set of parameter attributes for all environmental targets detected during the period. The period of data output from each sensor may be different, for example, the period of data output from the lidar is typically 40ms, the period of data output from the millimeter wave radar is typically 50ms, the period of data output from the camera is typically 50ms, and the period of data output from some sensors is typically 100 ms. In step S110, the times of receiving the parameter attribute sets of the environment targets transmitted by different sensors are different from each other, and therefore, it is necessary to record the reception times of receiving the parameter attribute sets by giving time stamp information to the parameter attribute sets of the environment targets transmitted by the sensors.
In step S120, time synchronization of the parameter attribute set of each environment target is performed based on the time stamp information of the reception time of the each environment target and the time stamp information of the predetermined time.
Time synchronization of each environmental target is performed using the time stamp information of the reception time of each environmental target and the time stamp information of the predetermined time recorded in step S110, so that the parameter attribute set of each environmental target can be synchronized to the same time, thereby promoting accuracy of subsequent data processing on each sensor data.
Specifically, each received environment target may be given time stamp information of a reception time each time a parameter attribute set of the environment target transmitted by one sensor is received, wherein the types of the given time stamp information of the environment targets transmitted by different sensors should be the same. The timestamp information may be any type of timestamp information, for example, the same type of timestamp information as within any of the sensors, or the same type of timestamp information as the data fusion system. Alternatively, the time stamp information of the reception time given to each environmental target may be GPS time stamp information.
In performing the time synchronization, the specific attribute of each environment target at a predetermined time may be first calculated based on the time stamp information of the reception time of each environment target and the time stamp information of the predetermined time. The type of the time stamp information of the predetermined time may be the same as the type of the time stamp information of the reception time given to each environmental target, for example, both may be GPS time stamp information.
The longitudinal velocity of the environmental target may be considered to be substantially constant, since the time difference between receipt of the set of parameter attributes transmitted by the sensor and the predetermined time is short. That is, the longitudinal speed of the environment target may not be updated when the time synchronization is performed. And further the specific property may be a longitudinal distance, for example, the longitudinal distance of any environmental target at a predetermined time may be calculated according to the following formula:
d2＝d1+v*(t2-t1) (1)
where d2 is the environmental target longitudinal distance at the predetermined time, d1 is the environmental target longitudinal distance at the time of reception, v is the environmental target longitudinal velocity at the time of reception, t2 is the time stamp information at the predetermined time, and t1 is the time stamp information assigned to the environmental target at the time of reception.
After calculating the longitudinal distance of each environmental target at a predetermined time instant according to equation (1), the respective set of parameter attributes of the environmental targets may be updated using the calculated longitudinal distances. At update, the longitudinal distance in the parameter attribute set may be replaced with the longitudinal distance calculated according to equation (1). It will be appreciated that the above-described longitudinal distance is merely exemplary, and that the value of any other attribute in the set of parameter attributes at the predetermined time of the data may also be calculated. For example, similarly to the formula (1), the lateral distance of the target at the data scheduled time and the like may also be calculated from the lateral velocity of the target. By updating the values of the specific attributes in the parameter attribute sets of the environment targets at the preset time, the time synchronization of the attributes of the parameter attribute sets of each environment target can be realized during data fusion, and more accurate vehicle control can be realized.
The method provided by the embodiment of the invention can also comprise the step of endowing the updated parameter attribute set of each environment target with the timestamp information at the preset moment, which is equivalent to endowing the updated parameter attribute of each environment target with the updated timestamp information, so that the time information of the attributes in the parameter attribute set can be conveniently known when the parameter attribute set of the environment target is used subsequently.
Based on any of the above embodiments, the predetermined time in the embodiments of the present invention may be referred to as a data fusion time. The data fusion here refers to performing data fusion on the parameter attribute sets of the environmental targets output by the sensors to obtain all the parameter attribute sets for the same target. The execution of data fusion can also be set to be periodic, and then the data fusion time refers to the nearest next data fusion time.
The following describes a time synchronization method for an environmental target detected by a sensor according to an embodiment of the present invention, taking three sensors as an example. The first sensor A outputs a set of parameter attributes for each of the environmental targets it detects at time ta, the second sensor B outputs a set of parameter attributes for each of the environmental targets it detects at time tb, and the third sensor C outputs a set of parameter attributes for each of the environmental targets it detects at time tc, wherein ta, tb, and tc are based on the GPS timestamp information. When receiving the parameter attribute sets of the environment targets sent by the first sensor a, the timestamp information ta is given to the parameter attribute sets of all the environment targets sent by the first sensor a. When the parameter attribute sets of the environmental targets sent by the second sensor B are received, timestamp information tb is assigned to all the parameter attribute sets of the environmental targets sent by the second sensor B. And when the parameter attribute sets of all the environment targets sent by the third sensor C are received, giving the timestamp information tc to the parameter attribute sets of all the environment targets sent by the third sensor C. If the GPS timestamp information at the fusion time is td, the value of the longitudinal distance of each environmental target at the fusion time td may be calculated based on formula (1), and then the parameter attribute set of each environmental target is updated by using the calculated value of the longitudinal distance of each environmental target at the fusion time td, so as to obtain an updated parameter attribute set of each environmental target. And then, time stamp information of the fusion time td can be given to the updated parameter attribute set, so that the parameter attribute set of each environment target can be known to be time-synchronized, and the parameter attribute set can be directly used subsequently.
Accordingly, the embodiment of the present invention further provides a machine-readable storage medium, which stores instructions for enabling a machine to execute the time synchronization method for an environment target according to any embodiment of the present invention. The machine-readable medium may include any one or more of the following: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
Fig. 2 is a block diagram illustrating a time synchronizer for environmental targets according to an embodiment of the present invention. As shown in fig. 2, an embodiment of the present invention further provides a time synchronization apparatus for an environment target, which may include: a first time stamp assigning module 210, configured to assign, to each received parameter attribute set of an environmental target sent by a sensor, time stamp information of a receiving time for the received environmental target, where the parameter attribute set at least includes one or more of the following attributes: longitudinal speed and longitudinal distance; and a time synchronization module 220 for performing time synchronization of the parameter attribute set of each environment target based on the time stamp information of the reception time of said each environment target and the time stamp information of the predetermined time. The predetermined time may be, for example, a data fusion time. The device can enable the parameter attribute set of each environment target to be synchronized to the same time, so that accuracy of data processing of the sensor data is promoted.
Further, the time synchronization module 220 may include a calculation unit and an update unit. The calculation unit is used for calculating a specific attribute of each environment target at a predetermined moment based on the timestamp information of the receiving moment of each environment target and the timestamp information of the predetermined moment, wherein the specific attribute can be a longitudinal distance, and the longitudinal distance of any environment target at the predetermined moment can be calculated according to the following formula: d2 ═ d1+ v ═ t2-t1, where d2 is the longitudinal distance of the environment target at the predetermined time, d1 is the longitudinal distance of the environment target at the time of reception, v is the longitudinal velocity of the environment target at the time of reception, t2 is the time stamp information at the predetermined time, and t1 is the time stamp information assigned to the environment target at the time of reception. The updating unit may be configured to update the respective parameter attribute set of each environment target with the specific attribute of said each environment target at said predetermined time.
Further, the apparatus may further include a second time stamp assigning module, configured to assign the updated parameter attribute set of each environment target with the time stamp information at the predetermined time. The updated time stamp information is given to the parameter attribute of each environment target, which is equivalent to that when the parameter attribute set of the environment target is used subsequently, the time information of the attribute in the parameter attribute set is known conveniently.
The specific working principle and benefits of the time synchronization apparatus for environmental targets provided by the embodiment of the present invention are similar to those of the time synchronization method for environmental targets provided by the above embodiment of the present invention, and will not be described herein again. It should be noted that each module, unit, etc. of the time synchronizer for environment target can be stored in the memory as a program unit, and the processor executes the program unit stored in the memory to realize the corresponding functions. The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A method for time synchronization of environmental targets, the method comprising:
each time a parameter attribute set of an environment target sent by a sensor is received, giving the received environment target time stamp information of a receiving moment, wherein the parameter attribute set at least comprises one or more of the following attributes: longitudinal speed and longitudinal distance; and
performing time synchronization of the parameter attribute set of each environment target based on the time stamp information of the reception time of said each environment target and the time stamp information of the predetermined time.
2. The method of claim 1, wherein performing time synchronization of the set of parameter attributes of each environmental target based on timestamp information of a reception time of the each environmental target and timestamp information of a predetermined time comprises:
calculating a specific attribute of each environment target at a predetermined time based on the time stamp information of the reception time of each environment target and the time stamp information of the predetermined time; and
updating the respective parameter attribute set of each environmental target with the specific attribute of each environmental target at the predetermined time.
3. The method of claim 2, further comprising:
and giving the updated parameter attribute set of each environment target with the timestamp information of the preset time.
4. The method according to claim 2 or 3,
the specific attribute is a longitudinal distance, and/or
The timestamp information of the receiving time and the timestamp information of the preset time are both GPS timestamp information.
5. Method according to any one of claims 2 to 4, characterized in that, for each environmental target, the longitudinal distance of the environmental target at the predetermined instant is calculated according to the following formula:
d2＝d1+v*(t2-t1)
where d2 is the environmental target longitudinal distance at the predetermined time, d1 is the environmental target longitudinal distance at the time of reception, v is the environmental target longitudinal velocity at the time of reception, t2 is the time stamp information at the predetermined time, and t1 is the time stamp information assigned to the environmental target at the time of reception.
6. The method according to any one of claims 1 to 5, wherein the predetermined time is a time at which sensor data fusion is performed.
7. A time synchronization apparatus for environmental targets, the apparatus comprising:
the first time stamp giving module is used for giving time stamp information of a receiving time to the received environment target every time a parameter attribute set of the environment target sent by a sensor is received, wherein the parameter attribute set at least comprises one or more of the following attributes: longitudinal speed and longitudinal distance; and
a time synchronization module for performing time synchronization of the parameter attribute set of each environment target based on the time stamp information of the reception time of each environment target and the time stamp information of the predetermined time.
8. The apparatus of claim 7, wherein the time synchronization module comprises:
a calculation unit configured to calculate a specific attribute of each environment target at a predetermined time based on time stamp information of a reception time of each environment target and time stamp information of the predetermined time; and
and the updating unit is used for updating the parameter attribute set of each environment target by using the specific attribute of each environment target at the preset time.
9. The apparatus of claim 8, further comprising:
and the second time stamp giving module is used for giving the updated parameter attribute set of each environment target the time stamp information of the preset time.
10. A machine-readable storage medium having stored thereon instructions for enabling a machine to perform the method for time synchronization of environmental targets according to any one of claims 1 to 6.
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| CN201811154308.6A CN110971327A (en) | 2018-09-30 | 2018-09-30 | Time synchronization method and device for environment target |
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| CN201811154308.6A CN110971327A (en) | 2018-09-30 | 2018-09-30 | Time synchronization method and device for environment target |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113992469A (en) * | 2021-10-09 | 2022-01-28 | 禾多科技（北京）有限公司 | Data fusion method and device, electronic equipment and computer readable medium |
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| CN106255899A (en) * | 2014-04-30 | 2016-12-21 | 雷诺股份公司 | For object being signaled to the device of the navigation module of the vehicle equipped with this device |
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