CN109729278A - The synchronous reception device of long-range multisensor of each channel transfer rate can be set - Google Patents
The synchronous reception device of long-range multisensor of each channel transfer rate can be set Download PDFInfo
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Abstract
The present invention, which discloses one kind, can set the synchronous reception device of long-range multisensor of each channel transfer rate, applied to computing platform end, it include: sensing data receiving module, it is configured as receiving the image data that transducing signal obtains integrated end transmission by first passage, the transducing signal is received by second channel and obtains other sensing datas and corresponding timestamp in the corresponding timestamp of described image data, multiple sensing datas that integrated end sends in addition to described image data, wherein the transmission rate of the first passage is greater than the transmission rate of the second channel；Timestamp respective modules, are configured as according to the transmission map relationship between the described image data timestamp corresponding with described image data that obtains in advance, determine the corresponding timestamp of each frame image in described image data；Timestamp correction module is configured as being corrected its corresponding timestamp according to the exposure center point of frame image each in described image data.
Description
Technical field
The present invention relates to intelligent driving fields, in particular to a kind of adjustable long-range more sensing letters of transmission rate
Number reception device.
Background technique
Do SLAM (Simultaneous Localization and Mapping, instant positioning and map both at home and abroad at present
Building) and inertial navigation acquisition equipment be mostly based on Global Shutter (global shutter) binocular camera+IMU (inertia survey
Measure unit) rather than Rolling Shutter (Rolling shutter), this is because the exposure of all pixels of the acquired image of global shutter
It is identical between light time, and roller shutter is fast) time for exposure of the pixel of not going together of acquired image is different；For using the field of Rolling shutter
For scape, how are carried out to multiple transducing signals collected timestamp synchronous the problem of becoming industry urgent need to resolve.
Summary of the invention
The present invention provides a kind of remotely more transducing signal synchronous acquisitions, method of reseptance and device, to overcome the prior art
Present at least one problem.
According to the first aspect of the invention, a kind of long-range more transducing signal synchronous collection methods are provided, sensing letter is applied to
Number obtain integrated end, comprising the following steps:
Obtain multiple sensing datas and time service information, wherein the multiple sensing data include Rolling shutter image data,
IMU data, position data and wheel speed data；
Timestamp is carried out to the multiple sensing data according to the time service information to synchronize, and obtains the multiple sensing data
Corresponding timestamp；
Described image data are sent to computing platform by first passage, by the corresponding timestamp of described image data,
Other sensing datas and corresponding timestamp in the multiple sensing data in addition to described image data pass through second channel
It is sent to the computing platform, wherein the transmission rate of the first passage is greater than the transmission rate of the second channel.
Optionally, described when being carried out according to the time service information to the multiple sensing data for described image data
Between stab synchronize, obtaining the corresponding timestamp of the multiple sensing data includes:
At the time of reading sensitive chip the first row according to acquired first time and the time service information obtains described image
The corresponding timestamp of data.
Optionally, described that the time is carried out to the multiple sensing data according to the time service information for the IMU data
Stamp synchronizes, and obtaining the corresponding timestamp of the multiple sensing data includes:
The IMU data pair are obtained according to the time of the accessed IMU interrupt signal uploaded and the time service information
The timestamp answered, wherein IMU is pre-configured with interruption, and IMU generates interrupt signal while generating the IMU data.
Optionally, described when being carried out according to the time service information to the multiple sensing data for the wheel speed data
Between stab synchronize, obtaining the corresponding timestamp of the multiple sensing data includes:
According at the time of accessed UART data and the time service information obtains the wheel speed data corresponding time
Stamp.
Optionally, the time service information is obtained by GPS module.
Optionally, the transducing signal obtains integrated end and use the multiple sensing data of MCU acquisition and to be described more
A sensing data is synchronous respectively to add corresponding timestamp.
Optionally, the first passage is the channel GMSL, and the second channel is the channel I2C.
According to the second aspect of the invention, a kind of long-range more transducing signal method of reseptances are provided, computing platform end is applied to,
The following steps are included:
Receive transducing signal by first passage and obtain the image data that integrated end is sent, received by second channel described in
Described image data are removed in the integrated corresponding timestamp of described image data for holding transmission of transducing signal acquisition, multiple sensing datas
Except other sensing datas and corresponding timestamp, wherein the transmission rate of the first passage is greater than the second channel
Transmission rate；
It is closed according to the transmission map between the described image data obtained in advance timestamp corresponding with described image data
System determines the corresponding timestamp of each frame image in described image data；
Its corresponding timestamp is corrected according to the exposure center point of frame image each in described image data.
Optionally, the above method is further comprising the steps of:
It receives and is obtained with the transducing signal when integrating the corresponding time service information in end with system to the computing platform end
Between be corrected.
Optionally, the transmission map relationship obtains in the following manner:
First rate is set by the transmission frame per second of the first passage, and passes through described first according to the first rate
Channel obtains integrated end from transducing signal and sends image data to the computing platform end；
After the first passage is stablized according to first transmission rate transmission image data, by the first passage
Transmission frame per second is updated to the second rate, wherein second rate is less than first rate；
Integrated end and the computing platform end is obtained in the transducing signal to detect respectively two in transmission frame per second change procedure
Corresponding timestamp variation relation between frame image data, obtains the transmission map relationship.
According to the third aspect of the invention we, a kind of long-range more transducing signal synchronous acquisition devices are provided, sensing letter is applied to
Number obtain integrated end, comprising:
Sensing data obtains module, is configured as obtaining multiple sensing datas and time service information, wherein the multiple sensing
Device includes Rolling shutter image data, IMU data, position data and wheel speed data；
Timestamp synchronization module is configured as same to the multiple sensing data progress timestamp according to the time service information
Step, obtains the corresponding timestamp of the multiple sensing data；
Transmission module is configured as described image data being sent to computing platform by first passage, by described image
Other sensing datas in the corresponding timestamp of data, the multiple sensing data in addition to described image data and it is corresponding when
Between stamp the computing platform is sent to by second channel, wherein the transmission rate of the first passage is greater than the second channel
Transmission rate.
Optionally, the timestamp synchronization module includes image temporal stamp unit, and described image timestamp unit includes:
Absolute time for exposure computation subunit is configured as according to the image output the first row got from field sync signal
The single line of data read access time of data, the current exposure time got from image processing unit and by effective line number and picture
The absolute time for exposure of current frame image is calculated in the time interval that all single line of data that plain clock calculation goes out are read；
Timestamp computation subunit, be configured as the single line of data read access time according to the first row data, it is described absolutely
The corresponding timestamp of the current frame image is obtained to time for exposure and the time service information.
Optionally, the timestamp synchronization module includes:
IMU timestamp unit is configured as time and the time service according to the accessed IMU interrupt signal uploaded
Information obtains the corresponding timestamp of the IMU data, and wherein IMU is pre-configured with interruption, while IMU generates the IMU data
Generate interrupt signal.
Optionally, the timestamp synchronization module includes:
Wheel speed timestamp unit is configured as obtaining according at the time of accessed UART data with the time service information
The corresponding timestamp of the wheel speed data.
According to the fourth aspect of the invention, a kind of long-range more transducing signal reception devices are provided, computing platform end is applied to,
Include:
Sensing data receiving module is configured as receiving the image that transducing signal obtains integrated end transmission by first passage
Data receive the transducing signal by second channel and obtain the corresponding timestamp of described image data that integrated end sends, more
Other sensing datas and corresponding timestamp in a sensing data in addition to described image data, wherein the first passage
Transmission rate is greater than the transmission rate of the second channel；
Timestamp respective modules are configured as corresponding with described image data according to the described image data obtained in advance
Transmission map relationship between timestamp determines the corresponding timestamp of each frame image in described image data；
Timestamp correction module is configured as corresponding to it according to the exposure center point of frame image each in described image data
Timestamp be corrected.
Optionally, above-mentioned apparatus further include:
System time correction module, be configured as receiving obtained with the transducing signal integrate the corresponding time service information in end with
The system time at the computing platform end is corrected.
Optionally, above-mentioned apparatus further includes transmission map Relation acquisition module, the transmission map Relation acquisition module packet
It includes:
First rate setting unit is configured as setting first rate for the transmission frame per second of the first passage, and presses
Integrated end is obtained from transducing signal by the first passage according to the first rate and sends picture number to the computing platform end
According to；
Second rate setting unit is configured as sending picture number according to first transmission rate in the first passage
After stabilization, the transmission frame per second of the first passage is updated to the second rate, wherein second rate is less than first rate；
Mapping relations detection unit is configured as obtaining integrated end and computing platform end difference in the transducing signal
Corresponding timestamp variation relation between two field pictures data, obtains the transmission map and closes in detection transmission frame per second change procedure
System.
The present invention realize it is following the utility model has the advantages that
The embodiment of the present invention is obtained based on the transducing signal as distal end and integrates the logical of the computing platform held and as proximal end
Letter scheme, using Rolling Shutter (Rolling shutter) camera obtain image data, by by transducing signal functional module with
Rolling Shutter camera is integrated, acquires image data, IMU data, wheel speed data and position data, while by obtaining
It takes time service information to carry out time service to equipment, realizes image data, IMU data, wheel speed data and position data in the same time
Data precise acquisition under dimension, improves the precision of the timestamp of each sensing data, achieves preferable technical effect.
Inventive point of the invention includes:
1, image data is obtained using Rolling Shutter (Rolling shutter) imaging sensor, but due to Rolling
The time for exposure of Shutter is not fixed, and calculates the dynamic of acquired image data correspondent time, including each channel transfer speed
The setting of rate is one of inventive point of the invention；
2, multiple sensing datas such as image data, IMU data, wheel speed data and position data are acquired, while by obtaining
It takes time service information to carry out time service to equipment, realizes image data, IMU data, wheel speed data and position data in the same time
Timestamp under dimension is synchronous, is one of inventive point of the invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is long-range more transducing signal synchronous collection method flow charts of one embodiment of the invention；
Fig. 2 is the long-range more transducing signal method of reseptance flow charts implemented of the invention；
Fig. 3 is the hardware elementary diagram of one embodiment of the invention；
Fig. 4 is the method flow frame diagram for acquiring sensing data with receiving processing of one embodiment of the invention；
Fig. 5 is the exposure schematic diagram that Rolling shutter imaging sensor OV2718 is used in one embodiment of the invention；
Fig. 6 is long-range more transducing signal synchronous acquisition device module maps of one embodiment of the invention；
Fig. 7 is more transducing signal reception device module maps of one embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is long-range more transducing signal synchronous collection method flow charts of one embodiment of the invention, as shown in Figure 1, should
Method is applied to transducing signal and obtains integrated end, comprising the following steps:
S110 obtains multiple sensing datas and time service information, wherein the multiple sensor includes Rolling shutter picture number
According to, IMU data, position data and wheel speed data.
In a kind of specific implementation, the time service information passes through GPS module and obtains.
In a kind of specific implementation, the transducing signal obtains integrated end and obtains the multiple sensing data using MCU
And corresponding timestamp is added for the multiple sensing data is synchronous respectively.
S120 carries out timestamp to the multiple sensing data according to the time service information and synchronizes, obtains the multiple biography
Feel the corresponding timestamp of data.
In a kind of specific implementation, for described image data, it is described according to the time service information to the multiple biography
Feel data progress timestamp to synchronize, obtaining the corresponding timestamp of the multiple sensing data includes:
At the time of reading sensitive chip the first row according to acquired first time and the time service information obtains described image
The corresponding timestamp of data.
Correspondingly, being corrected to the corresponding timestamp of image data includes: to believe according to from field synchronization at computing platform end
The single line of data read access time of number image got output the first row data, the current exposure got from image processing unit
It is calculated currently between light time and by the time interval that the calculated all single line of data of effective line number and pixel clock are read
The absolute time for exposure of frame image；
According to the single line of data read access time of the first row data, the absolute time for exposure to the current frame image
Corresponding timestamp is corrected.
In a kind of specific implementation, for the IMU data, it is described according to the time service information to the multiple sensing
Data carry out timestamp and synchronize, and obtaining the corresponding timestamp of the multiple sensing data includes:
The IMU data pair are obtained according to the time of the accessed IMU interrupt signal uploaded and the time service information
The timestamp answered, wherein IMU is pre-configured with interruption, and IMU generates interrupt signal while generating the IMU data.
In a kind of specific implementation, for the wheel speed data, it is described according to the time service information to the multiple biography
Feel data progress timestamp to synchronize, obtaining the corresponding timestamp of the multiple sensing data includes:
According at the time of accessed UART data and the time service information obtains the wheel speed data corresponding time
Stamp.
Described image data are sent to computing platform by first passage by S130, by described image data X and corresponding
Timestamp is sent to the computing platform by second channel, leads to wherein the transmission rate of the first passage is greater than described second
The transmission rate in road.
In a kind of specific implementation, the first passage is the channel GMSL, and the second channel is the channel I2C.
Fig. 2 is the long-range more transducing signal method of reseptance flow charts implemented of the invention；As shown, this method is answered
For computing platform end, comprising the following steps:
S210 receives transducing signal by first passage and obtains the image data that integrated end is sent, connect by second channel
The transducing signal is received to obtain in the corresponding timestamp of described image data, multiple sensing datas that integrated end sends except the figure
As other sensing datas and corresponding timestamp except data, wherein the transmission rate of the first passage is greater than described second
The transmission rate in channel.
S220 is reflected according to the transmission between the described image data obtained in advance timestamp corresponding with described image data
Relationship is penetrated, determines the corresponding timestamp of each frame image in described image data.
S230 is corrected its corresponding timestamp according to the exposure center point of frame image each in described image data.
In a kind of specific implementation, in order to guarantee that computing platform end and transducing signal obtain integrated end in same time dimension
Under degree, the above method is further comprising the steps of:
It receives and is obtained with the transducing signal when integrating the corresponding time service information in end with system to the computing platform end
Between be corrected.
In a kind of specific implementation, the transmission map relationship obtains in the following manner:
First rate is set by the transmission frame per second of the first passage, and passes through described first according to the first rate
Channel obtains integrated end from transducing signal and sends image data to the computing platform end；By the transmission rate of the second channel
It is set as third speed, and integrated end is obtained to the meter from transducing signal by the second channel according to the third speed
It calculates platform end and sends the corresponding timestamp of image data；
After the first passage is stablized according to first transmission rate transmission image data, by the first passage
Transmission frame per second is updated to the second rate, and the transmission rate of the second channel is updated to fourth rate, wherein second speed
Rate is different from first rate, and the fourth rate is different from the third speed, and preferably described second rate is less than the first speed
Rate, the fourth rate are less than third speed；
Integrated end and the computing platform end is obtained in the transducing signal to detect respectively two in transmission frame per second change procedure
Corresponding timestamp variation relation between frame image data, obtains the transmission map relationship.
It, will during the transmission rate of first passage is updated to the second rate from first rate in above-described embodiment
It is corresponding with first image temporal stamp in the first frame image data that first passage receives, and so on, according to two frames
Timestamp variation relation between image, when obtaining the image data transmitted in first passage and the image transmitted in second channel
Between mapping relations between stamp, thus it is convenient computing platform end according to the mapping relations by image data and image temporal stab into
Row corresponds to.
In a preferred embodiment of the invention, transducing signal obtains integration module and (is based on ARM using MCU
The single-chip microcontroller of Comtex-M series), computing platform is using a kind of NVIIDA PX2 (artificial intelligence based on the production of NVIDIA company
Computing platform), transducing signal obtain between integration module and computing platform using GMSL (kilomegabit multimedia string transmission technology,
Suitable for remote multi-channel transmitting media flow data, there is the I2C of the image data transmission and low pass road of high channel in transport protocol
Agreement transmission) agreement communicated.
Fig. 3 is the hardware elementary diagram of one embodiment of the invention；As shown in figure 3, including the end NVIDIA PX2 and GMSL mould
The integrated end two parts of block.Wherein the end NVIDIA PX2 major function is each hardware adaptor of driving, manages hardware adaptor；By certainly
It defines transport protocol to be communicated at the end NVIDIA PX2 and GMSL module end, obtains image data, IMU data, CAN wheel speed number
According to and timestamp；By USB turn UART (Universal Asynchronous Receiver/Transmitter, it is universal asynchronous
Receiving-transmitting transmitter) equipment reception GPS data.GMSL module end is responsible for including GPS time service, handles the work of timestamp synchronization aspects
Make, receives IMU data, CAN wheel speed data and external all interruptions.
The present embodiment is based on NVIDIA PX2 platform and uses Rolling Shutter (roller shutter using GMSL communication plan
Shutter) camera, it is integrated by MCU the and Rolling Shutter camera for increasing high-performance, low cost, image data is acquired,
400Hz IMU data, 100Hz wheel speed data, 10hz GPS data, while passing through the PPS of GPS (pulse per second, arteries and veins
Rush per second) time service is carried out to equipment, image data is realized, IMU data, wheel speed data, GPS data is under same time dimension
Data precise acquisition, the timestamp of each sensing data reaches 100us class precision, achieves preferable technical effect, is this
Where the inventive point of invention.
Fig. 4 is the method flow frame diagram for acquiring sensing data with receiving processing of one embodiment of the invention；Below
It is illustrated in conjunction with Fig. 4 principle demarcated to timestamp of the present invention:
Image temporal stabs calibration principle:
For Rolling Shutter camera, image exposuring time stamp is determined according to three time tags
:
(1) the first row is exported from Vsync (field sync signal) signal acquisition that ISP (image processing unit) exports to image
The time of data Readout (single line of data reading)；
(2) current exposure time is got from ISP by I2C；
(3) Readout time interval in total is calculated by effective line number and PCLK (pixel clock)；
The absolute time for exposure of present frame can be calculated according to above data.
Fig. 5 is the exposure schematic diagram that Rolling shutter imaging sensor OV2718 is used in one embodiment of the invention, wherein
Horizontal axis t is time shaft, and longitudinal axis ra is row address axis, and A-B is uniline time for exposure t1, and B is that first time Readout (is read photosensitive
Chip the first row) at the time of t0, B-C be all Readout (reading all sensitive chips) time t2.
T2 indicates the time that image All Datarows are read, such as 1280*720 resolution ratio, as reads all 720 line numbers
According to time.T3 is the blanking time (Tv-blanking) of Vsync signal in Fig. 5, for a frame image, in beginning
When have an of short duration high level, be Vsync signal, data representing image starts to transmit, later transmit during the letter
Number it is always maintained at low level, i.e. blanking time.This time will not use in the calculating of timestamp.
The timestamp for the image data that integrated end (distal end) sends is acquired (i.e. to transducing signal in computing platform end (proximal end)
At the time of t0 in Fig. 5) it is corrected, the correction calculation formula of exposure center point Tn is as follows:
Tn=B+ (CB-BA)/2=t0+ (t2-t1)/2.
Illustrate about exposure center point and time for exposure:
Exposure center point be a frame image since exposure to end exposure, the position at moment locating for exposure center exposes
Light center point is a frame image since exposure to the center time point of end exposure.Time for exposure is for Rolling
It is a size constant time for Shutter, it is incremented by successively that every a line starts exposure position, for Global
For Shutter (global shutter), the time for exposure is that a size is constant, and every a line starts all the same concept of exposure position.
Above-described embodiment for the timestamp of the image data obtained by Rolling shutter imaging sensor, it is flat calculating
End carries out dynamic calibration to acquired image data correspondent time according to the deviation at row time for exposure center, improves and is adopted
The precision for collecting the exposure center point of image, is one of inventive point of the invention
Since image and image temporal stamp are by two channels (GMSL (gigabit multimedia serial link) high-speed channel
With I2C slow channels) end NVIDIA PX2 is arrived, it needs the data to two channels to do and maps.First set frame per second to
30fps, modification frame per second is 25Hz after stablizing, and detects the variation of this frame per second respectively at the end MCU and the end PX2, testing principle is two frames
Between timestamp by 33ms to 40ms change.For OV2718, frame per second meeting gradual change, 30fps- > 27fps- > 25fps,
It can be confirmed by oscilloscope measurement in specific implementation.
IMU timestamp calibration principle:
For IMU, configuration IMU renewal frequency is demand frequency；After configuring IMU interruption, when IMU data generate
Interruption can be generated, MCU is captured after IMU is interrupted and demarcated to timestamp, then reads data, is carried out data encapsulation, is reported.
CAN wheel speed calibration principle:
CAN wheel speed turns UART equipment by CAN, exports 100hz data, and MCU is demarcated after receiving UART data by DMA
Then timestamp information is packaged wheel speed data, reports.
GPS time stabs calibration principle:
UM4B0-BOX2 can be used in GPS module, and it comprises the calibrations of itself differential signal and data output, exports 3 tunnels
UART interface, UARTA and UARTB are serial data output, and UARTC is PPS signal output, and the present embodiment is exported by UARTB
Data and UARTC export PPS to MCU, carry out time service and time calibration to the end MCU, by UARTA that the data of algorithm requirements are straight
It connects and imports the end PX2, reading data and encapsulation are carried out by PX2.
The date that MCU includes by GPRMC data in parsing UARTB data, Hour Minute Second information；It translates the information into
The number of seconds of 1970-01-01 00:00:00 till now；Then it is interrupted according to PPS and the second is updated, while to MCU timer reset,
The ns timing in the second is done, this ensure that the time that the end MCU generates is absolute time, is exported with UARTA opposite to the time of PX2
It answers.
In specific implementation, in the side MCU in order to realize high requirement in real time, all affairs of MCU processing require real-time
Height cannot have delay, this is just determined cannot handle event in principal function, and, by interrupting, table 1 shows one embodiment for all
Break list, Event Priority is defined, to guarantee that data response is timely.
Table 1MCU interrupt priority level list
I2C is communicated as from equipment response NVIDIA PX2, and priority must be provided with highest, guarantee stabilized communication.
The so multiple interrupt of the side MCU guarantees shared data FIFO protection in the following manner: for IMU, data renewal frequency
Highest can call merge (merging) method to update data into FIFO.Image temporal stabs data, CAN data in order to prevent
Merge method is frequently called, image temporal stamp data, CAN data are made marks, image temporal is stabbed into number when IMU updates
It is added to merge in the buffer (caching) of oneself according to, CAN data, reduces by merge number.It is logical that I2C and IMU, which shares FIFO,
It crosses double-FIFO mechanism and saves data, if I2C occupies merge method under extreme case, when IMU more new data, then it is single
It solely opens a Cache (fast cache storage area) and saves data, data are updated into double-FIFO again later, guarantee shared data
FIFO protection.
Fig. 6 is the long-range more transducing signal synchronous acquisition device module maps implemented of the invention；As shown, the dress
It sets 600 and is applied to the integrated end of transducing signal acquisition, comprising:
Sensing data obtains module 610, is configured as obtaining multiple sensing datas and time service information, wherein the multiple biography
Sensor includes Rolling shutter image data, IMU data, position data and wheel speed data；
Timestamp synchronization module 620 is configured as carrying out the time to the multiple sensing data according to the time service information
Stamp synchronizes, and obtains the corresponding timestamp of the multiple sensing data；
Transmission module 630 is configured as described image data being sent to computing platform by first passage, by the figure
As other sensing datas in the corresponding timestamp of data, the multiple sensing data in addition to described image data and corresponding
Timestamp is sent to the computing platform by second channel, leads to wherein the transmission rate of the first passage is greater than described second
The transmission rate in road.
In a kind of specific implementation, the timestamp synchronization module includes image temporal stamp unit, described image time
Stabbing unit includes:
Absolute time for exposure computation subunit is configured as according to the image output the first row got from field sync signal
The single line of data read access time of data, the current exposure time got from image processing unit and by effective line number and picture
The absolute time for exposure of current frame image is calculated in the time interval that all single line of data that plain clock calculation goes out are read；
Timestamp computation subunit, be configured as the single line of data read access time according to the first row data, it is described absolutely
The corresponding timestamp of the current frame image is obtained to time for exposure and the time service information.
In a kind of specific implementation, the timestamp synchronization module includes:
IMU timestamp unit is configured as time and the time service according to the accessed IMU interrupt signal uploaded
Information obtains the corresponding timestamp of the IMU data, and wherein IMU is pre-configured with interruption, while IMU generates the IMU data
Generate interrupt signal.
In a kind of specific implementation, the timestamp synchronization module includes:
Wheel speed timestamp unit is configured as obtaining according at the time of accessed UART data with the time service information
The corresponding timestamp of the wheel speed data.
Fig. 7 is the more transducing signal reception device module maps implemented of the invention.As shown, the device 700 is answered
For computing platform end, comprising:
Sensing data receiving module 710 is configured as receiving what the integrated end of transducing signal acquisition was sent by first passage
Image data receives the transducing signal by second channel and obtains the described image data corresponding time that integrated end is sent
Other sensing datas and corresponding timestamp in stamp, multiple sensing datas in addition to described image data, wherein described first
The transmission rate in channel is greater than the transmission rate of the second channel；
Timestamp respective modules 720 are configured as according to the described image data and described image data pair obtained in advance
Transmission map relationship between the timestamp answered determines the corresponding timestamp of each frame image in described image data；
Timestamp correction module 730 is configured as the exposure center point according to frame image each in described image data to it
Corresponding timestamp is corrected.
In a kind of specific implementation, above-mentioned apparatus further include:
System time correction module, be configured as receiving obtained with the transducing signal integrate the corresponding time service information in end with
The system time at the computing platform end is corrected.
Optionally, above-mentioned apparatus further includes transmission map Relation acquisition module, the transmission map Relation acquisition module packet
It includes:
First rate setting unit is configured as setting first rate for the transmission frame per second of the first passage, and presses
Integrated end is obtained from transducing signal by the first passage according to the first rate and sends picture number to the computing platform end
According to；
Second rate setting unit is configured as sending picture number according to first transmission rate in the first passage
After stabilization, the transmission frame per second of the first passage is updated to the second rate, wherein second rate is less than first rate；
Mapping relations detection unit is configured as obtaining integrated end and computing platform end difference in the transducing signal
Corresponding timestamp variation relation between two field pictures data, obtains the transmission map and closes in detection transmission frame per second change procedure
System.
Described above to be merely exemplary for the purpose of the present invention, and not restrictive, those of ordinary skill in the art understand,
In the case where not departing from spirit and scope defined by claims appended below, many modifications, variation or equivalent can be made,
But it falls in protection scope of the present invention.
Claims (10)
1. a kind of long-range more transducing signal reception devices, are applied to computing platform end characterized by comprising
Sensing data receiving module is configured as receiving the picture number that transducing signal obtains integrated end transmission by first passage
According to receiving the transducing signal by second channel and obtain the corresponding timestamp of described image data that integrated end sends, multiple
Other sensing datas and corresponding timestamp in sensing data in addition to described image data, wherein the biography of the first passage
Defeated rate is greater than the transmission rate of the second channel；
Timestamp respective modules were configured as according to the described image data time corresponding with described image data obtained in advance
Transmission map relationship between stamp determines the corresponding timestamp of each frame image in described image data；
Timestamp correction module, when being configured as corresponding to its according to the exposure center point of frame image each in described image data
Between stab and be corrected.
2. long-range more transducing signal reception devices according to claim 1, which is characterized in that further include:
System time correction module is configured as receiving time service information corresponding with the integrated end of transducing signal acquisition to institute
The system time for stating computing platform end is corrected.
3. long-range more transducing signal reception devices described in any one of -2 according to claim 1, which is characterized in that further include passing
Defeated mapping relations obtain module, and the transmission map Relation acquisition module includes:
First rate setting unit is configured as setting first rate for the transmission frame per second of the first passage, and according to institute
It states first rate and integrated end is obtained to computing platform end transmission image data from transducing signal by the first passage；
Second rate setting unit is configured as steady according to first transmission rate transmission image data in the first passage
After fixed, the transmission frame per second of the first passage is updated to the second rate, wherein second rate is less than first rate；
Mapping relations detection unit is configured as obtaining integrated end in the transducing signal and the computing platform end is detected respectively
Corresponding timestamp variation relation between two field pictures data, obtains the transmission map relationship in transmission frame per second change procedure.
4. long-range more transducing signal reception devices according to any one of claim 1-3, which is characterized in that described second
Rate is less than the first rate.
5. long-range more transducing signal reception devices described in any one of -4 according to claim 1, which is characterized in that the time service
Information is obtained by GPS module.
6. long-range more transducing signal reception devices according to any one of claims 1-5, which is characterized in that described first
Channel is the channel GMSL, and the second channel is the channel I2C.
7. long-range more transducing signal reception devices according to claim 1 to 6, which is characterized in that in the biography
Feel the integrated end of signal acquisition and the computing platform end and two field pictures in transmission frame per second change procedure are detected by oscillograph respectively
Corresponding timestamp variation relation between data.
8. long-range more transducing signal reception devices described in any one of -7 according to claim 1, which is characterized in that the IMU
Data are 400HzIMU data.
9. long-range more transducing signal reception devices according to claim 1 to 8, which is characterized in that the wheel speed
Data are 100Hz wheel speed data.
10. long-range more transducing signals according to claim 1 to 8 acquire reception device, which is characterized in that institute
Stating position data is 10hz GPS data.
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