CN109450582A - Sensor time stabs synchronous detecting method, device, equipment, medium and vehicle - Google Patents
Sensor time stabs synchronous detecting method, device, equipment, medium and vehicle Download PDFInfo
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- CN109450582A CN109450582A CN201811295605.2A CN201811295605A CN109450582A CN 109450582 A CN109450582 A CN 109450582A CN 201811295605 A CN201811295605 A CN 201811295605A CN 109450582 A CN109450582 A CN 109450582A
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- sensor
- sensor time
- time stamp
- data
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- 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
- H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/50—Testing arrangements
Abstract
The embodiment of the invention discloses a kind of sensor time stamp synchronous detecting method, device, equipment, medium and vehicles, this method comprises: receiving the collected data of each sensor, wherein corresponding sensor time stamp when data acquisition is carried in the data；Corresponding system timestamp is compared when the sensor time being stabbed with the data for receiving each sensor respectively, and the synchronism of each sensor time stamp is determined according to comparison result.The embodiment of the present invention can be realized the purpose tested automatically, and be suitable for real-time perfoming test and verification when real vehicles operation, can be further improved the safety of vehicle operation.
Description
Technical field
The present embodiments relate to unmanned vehicle technology field more particularly to a kind of sensor time stamp synchronous detecting method,
Device, equipment, medium and vehicle.
Background technique
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent automobile of predeterminated target.It is vehicle-periphery to be perceived using onboard sensor, and obtained according to perception
Road, vehicle location and obstacle information, the steering and speed of vehicle are controlled, to enable the vehicle to reliably and securely exist
It is travelled on road.
Therefore, for automatic driving vehicle, timestamp problem is the problem of being related to entire vehicle grade, if when sensor
Between stab asynchronous, influence the detectivity to ambient enviroment, will affect the safety of the operating condition of vehicle, especially vehicle
Performance.
Summary of the invention
The embodiment of the present invention provides a kind of sensor time stamp synchronous detecting method, device, equipment, medium and vehicle, reaches
The effect whether synchronized is stabbed to automatic test sensor time, and is suitable for real-time perfoming test when real vehicles are run and tests
Card.
In a first aspect, the embodiment of the invention provides a kind of sensor times to stab synchronous detecting method, comprising:
Receive the collected data of each sensor, wherein corresponding sensor when data acquisition is carried in the data
Timestamp；
Corresponding system timestamp is compared when the sensor time being stabbed with the data for receiving each sensor respectively,
The synchronism of each sensor time stamp is determined according to comparison result.
Second aspect, the embodiment of the invention also provides a kind of sensor times to stab synchronous testing device, comprising:
Data reception module, for receiving the collected data of each sensor, wherein carry data in the data and adopt
Corresponding sensor time stamp when collection；
Synchronism determining module, it is corresponding when for respectively stabbing the sensor time with the data for receiving each sensor
System timestamp is compared, and the synchronism of each sensor time stamp is determined according to comparison result.
The third aspect, the embodiment of the invention also provides a kind of electronic equipment, the electronic equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes that a kind of sensor time as described in any embodiment of that present invention stabs synchronous detecting method.
Fourth aspect, it is described the embodiment of the invention also provides a kind of storage medium comprising computer executable instructions
Computer executable instructions as computer processor when being executed for executing a kind of biography as described in any embodiment of that present invention
Sensor timestamp synchronous detecting method.
5th aspect further includes such as any implementation of the invention the embodiment of the invention also provides a kind of vehicle, including car body
Electronic equipment described in example.
The embodiment of the present invention is by receiving each collected data of sensor, wherein carries data in the data and adopts
Corresponding sensor time stamp when collection；Corresponding system when the sensor time being stabbed with the data for receiving each sensor respectively
Timestamp is compared, and the synchronism of each sensor time stamp is determined according to comparison result, thus achieve the purpose that test automatically,
And it is suitable for real-time perfoming test and verification when real vehicles operation, can be further improved the safety of vehicle operation.
Detailed description of the invention
Fig. 1 is the flow chart of one of the embodiment of the present invention one sensor time stamp synchronous detecting method；
Fig. 2 is the flow chart of one of the embodiment of the present invention two sensor time stamp synchronous detecting method；
Fig. 3 is the structural schematic diagram of one of the embodiment of the present invention three sensor time stamp synchronous testing device；
Fig. 4 is the structural schematic diagram of one of the embodiment of the present invention four electronic equipment.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the flow chart that a kind of sensor time that the embodiment of the present invention one provides stabs synchronous detecting method, this implementation
Example is applicable to test sensor time stabs situation about whether synchronizing, and this method can stab device by test sensor time to hold
Row, the device can use hardware and/or software realization, which can be configured in electronic equipment, which can be with
Configuration is on vehicle, such as the unmanned vehicle etc. with control and computing capability, and this method specifically includes:
S110, each collected data of sensor are received, wherein corresponding biography when data acquisition is carried in the data
Sensor timestamp.
In automated driving system, the operation of whole system and need of work receive and handle multiple sensor acquisitions simultaneously
The data arrived, including velocity sensor and imaging sensor etc., such as camera, radar.For example, the job family of unmanned vehicle or unmanned plane
System needs the data by acquiring each sensor to analyze ambient conditions, to formulate traveling strategy.In system work process
In, each sensor can acquire corresponding data, for example the camera in imaging sensor can take a certain moment ambient enviroment
Image data.The data of sensor acquisition can carry corresponding sensor time when data acquisition in transmission process
Stamp.Timestamp (timestamp) can be a character string, and for uniquely identifying the time at certain a moment, system can be right
Timestamp is handled it, and timestamp is converted to the time format of standard.Optionally, sensing data is in addition to including generating data
When timestamp, also with include: the precision of data, the sensor for generating data and/or sensor record data etc..
S120, corresponding system timestamp progress when respectively stabbing the sensor time with the data for receiving each sensor
Compare, the synchronism of each sensor time stamp is determined according to comparison result.
The distribution of each sensor can be independent in systems, and it is only that timestamp label function is also possible to each sensor
It is vertical to possess.Due to the deviation of different sensors clock itself or source is different and temperature, voltage, electromagnetic wave or other
The influence and interference of some factors, it may appear that clock is inconsistent, inconsistent so as to cause timestamp, once and timestamp is different
It causes, will affect subsequent operation of the system to the precision of analysis and whole system of the collected data of each sensor.Therefore, it needs
Verify the synchronism of each sensor time stamp.
Specifically, data can be acquired to moment corresponding sensor time stamp and system and receive corresponding system when data
System timestamp is compared.Wherein, the time that can be corresponding current system when receiving data of system timestamp record.Show
Example property, the system time in system timestamp can be compared with the acquisition time in sensor time stamp, if one
It causes, it can be said that bright sensor time stamp is consistent with system timestamp.Similarly, when can verify different sensors one by one
Between stamp it is whether consistent with system timestamp.If each sensor time stamp is inconsistent with system time, setting can be passed through
The mode of tolerance section judges that each sensor time stabs the difference with system time whether in the range of the tolerance section,
If, it may be considered that there is no problem for the synchronism of each sensor time stamp, it is on the contrary, then it is assumed that it is asynchronous that there are timestamps
The problem of.
The technical solution of the present embodiment, by receiving the collected data for carrying sensor time stamp of each sensor,
Corresponding system timestamp is compared when by respectively stabbing the sensor time with the data for receiving each sensor, and root
The synchronism that each sensor time stamp is determined according to comparison result, to achieve the purpose that test automatically, and is suitable for true vehicle
Real-time perfoming test and verification when operation, to facilitate subsequent system operatio, such as under data processing module or other perception
Module application is swum, can be further improved the safety of vehicle operation.
Embodiment two
Fig. 2 is a kind of flow chart of sensor time stamp synchronous detecting method provided by Embodiment 2 of the present invention, above-mentioned
On the basis of embodiment, optionally, further optimization is done to step S120, as shown in Fig. 2, this method specifically includes:
S210, each collected data of sensor are received, wherein corresponding biography when data acquisition is carried in the data
Sensor timestamp.
S220, when system time corresponding when receiving each sensing data being subtracted the processing module of respective sensor respectively
Prolong, obtains the corresponding goal systems timestamp of each sensor.
During different sensors acquire data and send data to the downstream module in system, it can consume certain
Time, specifically can be data delay on the transmit path and/or cause in transmission node because of pretreatment, and different
Sensor consumption time it is different, the referred to as corresponding processing module time delay of sensor in the present embodiment.
Therefore, in the present embodiment, corresponding system time subtracts respective sensor when will receive each sensing data
After processing module time delay, the corresponding goal systems timestamp of each sensor is obtained, using the goal systems timestamp as inspection
It tests each sensor time stabs the reference whether synchronized, then can more accurately obtain comparison result.
S230, each sensor time stamp and the difference of corresponding goal systems timestamp are calculated separately, according to described
Difference determines the synchronism of each sensor time stamp.
It calculates corresponding to each sensor time stamp with the difference of corresponding goal systems timestamp can be calculating timestamp
Difference between time.Further, it is possible to judge according to the difference synchronism of each sensor time stamp.For example, if
The difference of all the sensors timestamp and goal systems timestamp all in the range of a pre-set tolerance section, then may be used
To think that each sensor time stamp synchronizes.
Optionally, the synchronism of each sensor time stamp is determined according to the difference, comprising:
If the difference exceeds preset threshold, it is determined that each sensor time stamp is asynchronous.Wherein preset threshold
It can be a value pre-set according to tolerance of the system to sensor time stamp synchronous situation, can judge accordingly each
Sensor time stabs synchronism.Illustratively, exceed default threshold with system timestamp difference if there is a sensor time stamp
Value, it may be considered that sensor time stamp is asynchronous with other sensors, i.e., each sensor time stamp is asynchronous.
The technical solution of the present embodiment, corresponding system time is subtracted to inductive sensing when by that will receive each sensing data
The processing module time delay of device obtains the corresponding goal systems timestamp of each sensor, calculates separately each sensor time stamp
With the difference of corresponding goal systems timestamp, the synchronism of each sensor time stamp is determined according to the difference.Due to considering
The time delay problem of the corresponding processing module of each sensor, so that the ratio of goal systems timestamp and sensor time stamp
More rationally, accurate, available more accurately each sensor time stabs the verifying situation whether synchronized, after guarantee system
The safety and reasonability of continuous operation.
Embodiment three
Fig. 3 is the structural schematic diagram that a kind of sensor time that the embodiment of the present invention three provides stabs synchronous testing device, such as
Shown in Fig. 3, described device includes:
Data reception module 310, for receiving the collected data of each sensor, wherein carry number in the data
Corresponding sensor time stamp when according to acquisition；
Synchronism determining module 320, for respectively by when the data of sensor time stamp and each sensor of reception pairs
The system timestamp answered is compared, and the synchronism of each sensor time stamp is determined according to comparison result
Optionally, the synchronism determining module 320, comprising:
System timestamp computing unit, corresponding system time subtracts correspondence when for will receive each sensing data respectively
The processing module time delay of sensor obtains the corresponding goal systems timestamp of each sensor；
Timestamp synchronization determination unit, for calculating separately each sensor time stamp and corresponding goal systems time
The difference of stamp determines the synchronism of each sensor time stamp according to the difference.
Optionally, the timestamp synchronization determination unit, if being also used to the difference beyond preset threshold, it is determined that institute
It is asynchronous to state each sensor time stamp.
Sensor time provided by the embodiment of the present invention stabs synchronous testing device, and any embodiment of that present invention institute can be performed
The sensor time of offer stabs synchronous detecting method, has the corresponding functional module of execution method and beneficial effect.Not in this reality
The technical detail of detailed description in example is applied, reference can be made to a kind of sensor time that any embodiment of that present invention provides stabs synchronism detection
Method.
Example IV
Referring to fig. 4, a kind of electronic equipment 400 is present embodiments provided comprising: one or more processors 420；Storage
Device 410, for storing one or more programs, when one or more of programs are by one or more of processors 420
It executes, so that one or more of processors 420 realize a kind of sensor time stamp synchronization provided by the embodiment of the present invention
Test method, comprising:
Receive the collected data of each sensor, wherein corresponding sensor when data acquisition is carried in the data
Timestamp；
Corresponding system timestamp is compared when the sensor time being stabbed with the data for receiving each sensor respectively,
The synchronism of each sensor time stamp is determined according to comparison result.
Certainly, it will be understood by those skilled in the art that processor 420 can also realize that any embodiment of that present invention is provided
A kind of sensor time stamp synchronous detecting method technical solution.
The electronic equipment 400 that Fig. 4 is shown is only an example, should not function and use scope to the embodiment of the present invention
Bring any restrictions.
As shown in figure 4, electronic equipment 400 is showed in the form of universal computing device.The component of electronic equipment 400 can wrap
Include but be not limited to: one or more processor 420, storage device 410 connect different system components (including storage device 410
With processor 420) bus 450.
Bus 450 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Electronic equipment 400 typically comprises a variety of computer system readable media.These media can be it is any can be by
The usable medium that electronic equipment 400 accesses, including volatile and non-volatile media, moveable and immovable medium.
Storage device 410 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 411 and/or cache memory 412.Electronic equipment 400 may further include it is other it is removable/can not
Mobile, volatile/non-volatile computer system storage medium.Only as an example, storage system 413 can be used for reading and writing not
Movably, non-volatile magnetic media (Fig. 4 do not show, commonly referred to as " hard disk drive ").It although not shown in fig 4, can be with
The disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") is provided, and non-volatile to moving
The CD drive of CD (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 450.Storage device 410 may include at least one journey
Sequence product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform this hair
The function of bright each embodiment.
Program/utility 414 with one group of (at least one) program module 415 can store in such as storage dress
It sets in 410, such program module 415 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
415 usually execute function and/or method in any embodiment described in the invention.
Electronic equipment 400 can also be with one or more external equipments 460 (such as keyboard, sensing equipment, display 40
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 400 communicate, and/or with make
Any equipment (such as network interface card, the modem that the electronic equipment 400 can be communicated with one or more of the other calculating equipment
Etc.) communication.This communication can be carried out by input/output (I/O) interface 430.Also, electronic equipment 400 can also lead to
Cross network adapter 440 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, example
Such as internet) communication.As shown in figure 4, network adapter 440 is communicated by bus 450 with other modules of electronic equipment 400.
It should be understood that although not shown in the drawings, other hardware and/or software module can not used in conjunction with electronic equipment 400, including but not
Be limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and
Data backup storage system etc..
The program that processor 420 is stored in storage device 410 by operation, thereby executing various function application and number
According to processing, such as realize a kind of sensor time stamp synchronous detecting method provided by the embodiment of the present invention.
Embodiment five
The embodiment of the present invention five provides a kind of storage medium comprising computer executable instructions, and the computer is executable
Instruction is used to execute when being executed a kind of sensor time stamp synchronous detecting method by computer processor, this method comprises:
Receive the collected data of each sensor, wherein corresponding sensor when data acquisition is carried in the data
Timestamp；
Corresponding system timestamp is compared when the sensor time being stabbed with the data for receiving each sensor respectively,
The synchronism of each sensor time stamp is determined according to comparison result.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed a kind of sensing provided by any embodiment of the invention
Relevant operation in device timestamp synchronous detecting method.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Embodiment six
The embodiment of the present invention six provides a kind of vehicle, including car body, further includes electronics described in any embodiment of that present invention
Equipment.
Specifically, the vehicle can be unmanned vehicle, the electronic equipment being mounted on unmanned vehicle can execute of the invention any
A kind of relevant operation of sensor time stamp synchronous detecting method described in embodiment.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
1. a kind of sensor time stabs synchronous detecting method, which is characterized in that the described method includes:
Receive the collected data of each sensor, wherein corresponding sensor time when data acquisition is carried in the data
Stamp；
Corresponding system timestamp is compared when the sensor time being stabbed with the data for receiving each sensor respectively, according to
Comparison result determines the synchronism of each sensor time stamp.
2. the method according to claim 1, wherein stabbing by the sensor time respectively and receiving each sensor
Data when corresponding system timestamp be compared, the synchronism of each sensor time stamp is determined according to comparison result, comprising:
The processing module time delay that system time corresponding when receiving each sensing data is subtracted to respective sensor respectively obtains each
The corresponding goal systems timestamp of sensor；
Each sensor time stamp and the difference of corresponding goal systems timestamp are calculated separately, is determined according to the difference each
The synchronism of sensor time stamp.
3. according to the method described in claim 2, it is characterized in that, determining the synchronization of each sensor time stamp according to the difference
Property, comprising:
If the difference exceeds preset threshold, it is determined that each sensor time stamp is asynchronous.
4. a kind of sensor time stabs synchronous testing device, which is characterized in that described device includes:
Data reception module, for receiving the collected data of each sensor, wherein when carrying data acquisition in the data
Corresponding sensor time stamp；
Synchronism determining module, corresponding system when for respectively stabbing the sensor time with the data for receiving each sensor
Timestamp is compared, and the synchronism of each sensor time stamp is determined according to comparison result.
5. device according to claim 4, which is characterized in that the synchronism determining module, comprising:
System timestamp computing unit, corresponding system time is subtracted to inductive sensing when for will receive each sensing data respectively
The processing module time delay of device obtains the corresponding goal systems timestamp of each sensor；
Timestamp synchronization determination unit, for calculating separately each sensor time stamp and corresponding goal systems timestamp
Difference determines the synchronism of each sensor time stamp according to the difference.
6. device according to claim 5, which is characterized in that the timestamp synchronization determination unit, if being also used to institute
Difference is stated beyond preset threshold, it is determined that each sensor time stamp is asynchronous.
7. a kind of electronic equipment, which is characterized in that the electronic equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as a kind of sensor time stamp synchronous detecting method as claimed in any one of claims 1-3.
8. a kind of storage medium comprising computer executable instructions, the computer executable instructions are by computer processor
For executing such as a kind of sensor time stamp synchronous detecting method as claimed in any one of claims 1-3 when execution.
9. a kind of vehicle, including car body, which is characterized in that further include electronic equipment as described in claim 7.
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| CN110217178A (en) * | 2019-06-18 | 2019-09-10 | 浙江大学 | A kind of unmanned sensory perceptual system and its working method based on hardware synchronization |
| CN110569602A (en) * | 2019-09-10 | 2019-12-13 | 中国科学技术大学 | Data acquisition method and system for unmanned vehicle |
| CN110809041A (en) * | 2019-10-30 | 2020-02-18 | 北京百度网讯科技有限公司 | Data synchronization method and device, electronic equipment and storage medium |
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| CN110933652A (en) * | 2019-12-16 | 2020-03-27 | 杭州和利时自动化有限公司 | NBIOT sensing equipment and periodic synchronous acquisition method, device and medium thereof |
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| CN113836199A (en) * | 2021-09-22 | 2021-12-24 | 芜湖雄狮汽车科技有限公司 | Vehicle sensing data processing method and device, electronic equipment and storage medium |
| CN114124282A (en) * | 2021-12-01 | 2022-03-01 | 国网新疆电力有限公司电力科学研究院 | Synchronization method and device between asynchronous heterogeneous sensor data acquisition systems |
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