CN109743128A - A kind of vehicle-mounted multi information synchronous control system and method - Google Patents
A kind of vehicle-mounted multi information synchronous control system and method Download PDFInfo
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- CN109743128A CN109743128A CN201910083739.6A CN201910083739A CN109743128A CN 109743128 A CN109743128 A CN 109743128A CN 201910083739 A CN201910083739 A CN 201910083739A CN 109743128 A CN109743128 A CN 109743128A
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Abstract
This disclosure relates to a kind of vehicle-mounted multi information synchronous control system and method, system includes: main control module and multiple response assemblies, and main control module realizes the connection with response assemblies using communication or direct-connected mode；Wherein, main control module, for recording the event-triggered times of each response assemblies, there are time delays for each response assemblies, obtain synchronous location information according to time delay, send synchronous location information；Response assemblies are used for the reported event triggered time, synchronize location information based on the received and carry out local clock calibration, realize synchronizing information.Method includes: to record each response assemblies there are the event-triggered times of time delay；According to time delay, synchronous location information is obtained；According to synchronous location information, controls and realize synchronizing information between different response assemblies.By obtaining and sending the synchronization location information of each response assemblies, using the vehicle-mounted multi information synchronous control system and method for the embodiment of the present disclosure, the synchronizing information of high-precision and highly compatible between each response assemblies can be realized.
Description
Technical field
This disclosure relates to it is digital control with communication protocol field more particularly to a kind of vehicle-mounted multi information synchronous control system and
Method.
Background technique
High-grade intelligent driving platform generally require the information that vehicle accurately obtains different sensors carry out fusion with it is same
Step, therefore multisensor simultaneous techniques is extremely important for automatic Pilot.
At present since intelligent driving grade is not high, be limited to conventional processors micro-control unit (MCU,
Microcontroller Unit) the method for operation and communication modes, existing multisensor syste synchronize usually in tens of millis
Second-time.
Newest markers Ethernet can make timing tracking accuracy can achieve sub-micro second-time as network synchronization protocols.
However it only addresses only the transmission that multi-sensor information is collected into fusion and synchronizes.In intelligent driving application, multisensor
Some responses operation can all cause the time mismatch of information.
Therefore, even if using markers Ethernet, final system time is adapted to still in several milliseconds or more magnitudes.Meanwhile
Since markers Ethernet requires interface, special interface and IP are needed, there is certain requirement to processor running environment, because
There is compatibility limitation to the kernel and interface of multi-core heterogeneous system in this.
Summary of the invention
In view of this, can be realized intelligence the present disclosure proposes a kind of vehicle-mounted multi information synchronous control system and method and drive
Sail platform interior, the synchronizing information of high-precision and highly compatible between each response assemblies.
According to the disclosure in a first aspect, provide a kind of vehicle-mounted multi information synchronous control system, the system comprises: position
In the main control module of central processing platform, and multiple response assemblies of multiple driving platforms are located at, the main control module is adopted
The connection with response assemblies is realized with communication or direct-connected mode；Wherein, the main control module, for recording each response assemblies
There are time delays when event-triggered times, each response assemblies carry out event triggering, obtain synchronous location information according to the time delay,
Send the synchronous location information；The response assemblies, for reporting the event-triggered times, the synchronization based on the received
Location information carries out local clock calibration, realizes synchronizing information.
In one possible implementation, the main control module includes: counting unit, for recording each response assemblies
Event-triggered times, and synchronous location information is obtained according to the time delay of each response assemblies；Synchronous acquisition control unit, is used for
According to the synchronous location information, the synchronous acquisition that different response assemblies realize information is controlled；Information fusion unit, for sending out
The synchronous location information is sent, the synchronous fusion that different response assemblies realize information is controlled.
In one possible implementation, the synchronous acquisition control unit is used for: setting synchronous acquisition clocked flip
Point；Determine the synchronization location information of each response assemblies；According to the synchronous location information, respectively in different times to
Each response assemblies send synchronous acquisition instruction, it is ensured that the response assemblies for receiving the synchronous acquisition instruction, in the synchronization
Acquisition clocked flip point acquires information simultaneously.
In one possible implementation, the information fusion unit is used for: the synchronous location information is sent to
Corresponding response assemblies；Receive timestamp of the response assemblies based on the time delay feedback；According to the timestamp, control is each
A response assemblies realize the synchronous fusion of information.
In one possible implementation, the response assemblies include: the fixing response component with fixed delay；Or
Person, the on-fixed response assemblies with delay variation.
In one possible implementation, the counting unit is used for: Xiang Suoshu fixing response component sends test letter
Number；Receive the first feedback signal of the fixing response component；According to first feedback signal, the fixing response group is determined
First time delay of part obtains the synchronization location information of the fixing response component.
In one possible implementation, the on-fixed response assemblies include multicore real-time response component or non real-time
Response assemblies.
In one possible implementation, the counting unit is used for: the synchronization of Xiang Suoshu multicore real-time response component
It calibrates core and sends test signal；Receive the second feedback signal of the synchronous calibration core；According to second feedback signal, determine
Second time delay of the multicore real-time response component obtains the synchronization location information of the multicore real-time response component.
In one possible implementation, the counting unit is used for: sending test to the non real-time response assemblies
Signal；The third feedback signal of the non real-time response assemblies is received, the third feedback signal includes the non real-time response
Software responses time delay inside physical delays that component is fed back to the main control module and the non real-time response assemblies；According to
The third feedback signal determines the third time delay of the non real-time response assemblies, obtains the same of the non real-time response assemblies
Walk location information.
In one possible implementation, the response assemblies include sensing unit or processing unit；The sensing is single
Member reports the event-triggered times for acquiring the event-triggered times；The processing unit, for based on the received
The synchronous location information carries out local clock calibration, realizes synchronizing information.
In one possible implementation, the processing unit is also used to: receiving the synchronization that the main control module is sent
Location information；According to the synchronous location information, information exchange is synchronized with other processing units.
In one possible implementation, the main control module is also used to: in each timing cycle, updating all responses
The synchronization location information of component.
In one possible implementation, the main control module is also used to: when increasing response assemblies, registering the increasing
The information of the response assemblies added, and determine the synchronization location information of the increased response assemblies.
According to the second aspect of the disclosure, a kind of vehicle-mounted multi information synchronisation control means is provided, which comprises note
Record the event-triggered times of each response assemblies, there are time delays when each response assemblies carry out event triggering；According to the time delay,
Obtain synchronous location information；According to the synchronous location information, controls and realize synchronizing information between different response assemblies.
In one possible implementation, it according to the synchronous location information, controls real between different response assemblies
Existing synchronizing information, comprising: according to the synchronous location information, control the synchronous acquisition that different response assemblies realize information；Or
The synchronous location information is sent to different response assemblies by person, is controlled different response assemblies and is realized that synchronizing for information is melted
It closes.
In one possible implementation, according to the synchronous location information, different response assemblies is controlled and realize letter
The synchronous acquisition of breath, comprising: setting synchronous acquisition clocked flip point；Determine the synchronization location information of each response assemblies；
According to the synchronous location information, synchronous acquisition instruction is sent to each response assemblies in different times respectively, it is ensured that receive
The response assemblies instructed to the synchronous acquisition acquire information in the synchronous acquisition clocked flip point simultaneously.
In one possible implementation, the synchronous location information is sent to different response assemblies, control is not
Same response assemblies realize the synchronous fusion of information, comprising: the synchronous location information is sent to corresponding response assemblies；It connects
Receive timestamp of the response assemblies based on the time delay feedback；According to the timestamp, controls each response assemblies and realize letter
The synchronous fusion of breath.
In one possible implementation, the response assemblies include: the fixing response component with fixed delay；Or
Person, the on-fixed response assemblies with delay variation.
In one possible implementation, according to the time delay, synchronous location information is obtained, comprising: to the fixation
Response assemblies send test signal；Receive the first feedback signal of the fixing response component；According to first feedback signal,
The first time delay for determining the fixing response component obtains the synchronization location information of the fixing response component.
In one possible implementation, the on-fixed response assemblies include multicore real-time response component or non real-time
Response assemblies.
In one possible implementation, according to the time delay, synchronous location information is obtained, comprising: Xiang Suoshu multicore
The synchronous calibration core of real-time response component sends test signal；Receive the second feedback signal of the synchronous calibration core；According to institute
The second feedback signal is stated, determines the second time delay of the multicore real-time response component, obtains the multicore real-time response component
Synchronous location information.
In one possible implementation, according to the time delay, synchronous location information is obtained, comprising: to the non-reality
When response assemblies send test signal；Receive the third feedback signal of the non real-time response assemblies, the third feedback signal
Inside the physical delays fed back including the non real-time response assemblies to the main control module and the non real-time response assemblies
Software responses time delay；According to the third feedback signal, the third time delay of the non real-time response assemblies is determined, obtain described non-
The synchronization location information of real-time response component.
In one possible implementation, the response assemblies include sensing unit or processing unit；The sensing is single
Member reports the event-triggered times for acquiring the event-triggered times；The processing unit, for based on the received
The synchronous location information carries out local clock calibration, realizes synchronizing information.
In one possible implementation, the processing unit is also used to: receiving the synchronous location information；According to institute
Synchronous location information is stated, synchronizes information exchange with other processing units.
In one possible implementation, the method also includes: in each timing cycle, update all response assemblies
Synchronization location information.
In one possible implementation, the method also includes: when increasing response assemblies, register it is described increased
The information of response assemblies, and determine the synchronization location information of the increased response assemblies.
By recording the event-triggered times of each response assemblies in main control module, exist according in event trigger process
Time delay be sent to each response assemblies to obtain synchronizing location information accordingly, then by synchronous location information, come so that each sound
It answers component to calibrate local clock according to synchronous location information, is controlled according to the vehicle-mounted multi information of all aspects of this disclosure embodiment is synchronous
System and method processed, can the high-precision synchronizing information realized between different response assemblies, while being used without response assemblies
Special interface improves the compatibility of whole system.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, the other feature and aspect of the disclosure will become
It is clear.
Detailed description of the invention
Comprising in the description and constituting the attached drawing of part of specification and specification together illustrates the disclosure
Exemplary embodiment, feature and aspect, and for explaining the principles of this disclosure.
Fig. 1 shows the block diagram of the vehicle-mounted multi information synchronous control system according to one embodiment of the disclosure.
Fig. 2 shows the block diagrams according to the vehicle-mounted multi information synchronous control system of one embodiment of the disclosure.
Fig. 3 shows the block diagram of the vehicle-mounted multi information synchronous control system according to one embodiment of the disclosure.
Fig. 4 shows the calculating process figure of the optional non real-time response assemblies time delay according to one embodiment of the disclosure.
Fig. 5 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure.
Fig. 6 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure.
Fig. 7 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure.
Fig. 8 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure.
Fig. 9 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure.
Figure 10 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure.
Figure 11 shows the disclosure one and applies exemplary schematic diagram.
Figure 12 is shown system group network is established between main control module and response assemblies after mutual interactive process figure.
Figure 13 shows interactive process figure of the main control module respectively with fixing response component and on-fixed response assemblies.
Figure 14 shows the synchronizing information procedure chart according to one embodiment of the disclosure.
Specific embodiment
Various exemplary embodiments, feature and the aspect of the disclosure are described in detail below with reference to attached drawing.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, giving numerous details in specific embodiment below to better illustrate the disclosure.
It will be appreciated by those skilled in the art that without certain details, the disclosure equally be can be implemented.In some instances, for
Method, means, element and circuit well known to those skilled in the art are not described in detail, in order to highlight the purport of the disclosure.
In view of automatic Pilot safety, the high-grade intelligent driving platform for carrying different sensors generally requires vehicle simultaneously
The information controlled ambient enviroment, and accurately different sensors are obtained merged with it is synchronous, it is ensured that the environment that parses is believed
Breath can be accurate.The frame per second of different sensors and transmission delay difference, are likely to result in collected multi-sensor information and arrive
Time up to central processing platform is variant, if will appear offset deviation without precise synchronization in Multi-sensor Fusion, making
Mistake is calculated at target position or even target verification is caused to fail.For example the acquisition frame rate of image/video is in 30fps or so, and
Capable or high-speed serial data transmission delay is still up to several ms；And laser radar scanning rate is generally in 10Hz or so, number
Strong point cloud can be transmitted more continuously by Ethernet；Millimetre-wave radar sweep speed is then in 20Hz or so, target that treated letter
Breath is transferred to the delay of platform up to several ms by CAN bus.By taking highway automatic Pilot as an example, if when accumulative synchronous
Between error in 100ms magnitude, then subject fusion error is up to several meters, or even occurs causing to drive automatically because of object matching failure
Platform false dismissal is sailed, not can guarantee traffic safety.
Therefore multisensor precise synchronization technology is extremely important for automatic Pilot, and especially highway is driven automatically
It sails.Wherein first step of the sensing terminal as automatic Pilot process needs to guarantee that its synchronization accuracy is far beyond system final
Precision.If can be by sensor accuracy synchronization timing in musec order, the final precision of such guarantee system can achieve sub- millisecond
Magnitude, subject fusion error also can be controlled in insignificant millimeter error magnitude, it is ensured that normal target fusion will not be because of synchronization
Error and mismatch.
Automatic Pilot field sensor is main to cope with low speed road conditions based on independent process at present, and sensor merges also only
Target level fusion is carried out, the time trigger or communication timing for relying on tradition MCU carry out coarse synchronization, and fusion accuracy is also in number
Ten milliseconds to hundred milliseconds magnitudes；On application in highways still based on single-sensor such as laser radar, the fusion of target is still
It so can not accurately match, still not satisfy to criticize and originate from dynamic driving demand.
Since intelligent driving grade is not high, relevant multisensor precise synchronization technology is restricted by two aspects: conventional process
The device MCU method of operation and communication modes.On the one hand tradition MCU does not have accurate timing, and circular treatment and operation can only provide thick
Slightly temporal information；On the other hand, traditional CAN bus communication speed is low and does not have precise synchronization mechanism.In addition, adding current vehicle
It still is not exclusively the electric line control used, response speed is therefore, existing usually in hundred milliseconds to hundreds of milliseconds ranks
Multisensor syste synchronizes usually in several ms magnitude.
Newest markers Ethernet can make up in network transmission process as network synchronization protocols, due to network transmission road
Time synchronization problem between multiple terminals caused by diameter or physics delay and clock skew, synchronization accuracy can achieve submicrosecond amount
Grade.However it only addresses only the transmission that multi-sensor information is collected into fusion and synchronizes.It is sense in intelligent driving application more
The acquisition of device data, pretreatment, transmission, operating system response etc. can all cause the time mismatch of information.Therefore, time-sensitive network
(TSN, Time Sensitive Networking) markers Ethernet still not can solve data and collect inhomogeneity in sensor
Delay variation response problem between type processor, final system time are adapted to still in several milliseconds or more magnitudes.
For the above reasons, main problem existing for multisensor precise synchronization in the related technology are as follows:
Precision is lower: conventional synchronization accuracy is in several ms；Even if controlling data transmission channel using markers Ethernet
Synchronization, final data collects the precision of processor response also more than several milliseconds of magnitudes, cannot reach nanosecond of the invention
(ns) timing accuracy is synchronous with microsecond (us) magnitude multisensor/multiprocessor.
Poor compatibility: the newest TSN markers Ethernet with timing synchronization characteristic requires interface, and it is special to need
Interface and Internet protocol address (IP, Internet Protocol Address), have certain want to processor running environment
It asks, the kernel and interface to multi-core heterogeneous system have compatibility limitation.
To solve the above-mentioned problems, present embodiment discloses a kind of application example of vehicle-mounted multi information synchronous control system,
In this example, vehicle-mounted multi information synchronous control system is mainly made of main control module and response assemblies two parts, main control module
A built-in high-precision counting unit, as the clock reference of main control module, while timing be sent to by communication it is all
Response assemblies, local clock calibration is carried out to all response assemblies.The quantity of response assemblies is no less than 2, Ke Yiyou
Sensing unit is constituted, and can also be made of, can also be collectively formed by the two processing unit.Main control module and response assemblies into
During row mutually communication, main control module sends test signal to response assemblies, and response assemblies are after receiving test signal
Feedback signal is issued to main control module, this is counted main control module in the process to feedback signal is received according to test signal is issued
The count value of unit can determine time delay of corresponding response assemblies in the presence of carrying out event trigger process.Main control module
According to the time delay of each response assemblies, it can control and realize synchronizing information between response assemblies, for example main control module can be set
Synchronous acquisition clocked flip point is set, according to the corresponding time delay of each sensing unit, is sent out at different times to these sensing units
Synchronous acquisition is sent to instruct, so that these synchronous acquisitions instruct after reaching respective sensing unit, in synchronous acquisition
Clocked flip this moment of point starts to trigger the acquisition of corresponding sensing unit progress heat transfer agent, to realize that different sensings are single
Member is mutually acquiring information in the same time.
Fig. 1 shows the block diagram of the vehicle-mounted multi information synchronous control system according to one embodiment of the disclosure.The system includes: position
In the main control module 11 of central processing platform, and it is located at multiple response assemblies 12 of multiple driving platforms, main control module 11
Connection with response assemblies 12 is realized using communication or direct-connected mode；Wherein, main control module 11, for recording each response assemblies
12 event-triggered times, there are time delays when each 12 carry out event triggering of response assemblies, obtain synchronous positioning letter according to time delay
Breath sends synchronous location information；Response assemblies 12, be used for the reported event triggered time, based on the received synchronize location information into
The calibration of row local clock, realizes synchronizing information.
The implementation of the main control module of centrally located processing platform is not specifically limited, and can be independent processor,
It is also possible to the processing platform of multicore isomery, the either processing platform of processor or multicore isomery, specific constituted mode
Also it is not limited, can be field programmable gate array (FPGA, Field-Programmable Gate Array), can be
MCU is also possible to arm processor etc..Main control module can recorde the event-triggered times of each response assemblies, and response assemblies
Quantity be not particularly limited, in one possible implementation, the quantity of response assemblies is no less than 2, specific to need to set
Fixed how many response assemblies can be specifically chosen according to the actual situation.The implementation of response assemblies is not also unique, can be
Sensing unit is also possible to processing unit, and sensing unit is also possible to either individual sensor by sensor and processing
The sensing platform that device collectively forms, between the selection type of sensor, the selection type of processor and sensor and processor
Combination be not limited, sensor can be image acquiring sensor, is also possible to sound collection sensor, is also possible to
Radar etc.；Processing unit is also possible to the processing platform collectively formed by multiple processors either individual processor, place
The selection type and combination for managing device are equally not limited.Different response assemblies are mutual and response assemblies and master
It controls between module, mutual connection relationship is not limited: main control module can be connected with whole response assemblies in direct-connected mode
It connects, can also be connect in a communication manner with whole response assemblies, can also be connected with part response assemblies in direct-connected mode
It connects, is connect in a communication manner with other part response assemblies.Meanwhile either between response assemblies or response assemblies with
Between main control module, respectively between source signal can be mutually indepedent, can not also be mutually indepedent: power supply, clock and communication etc.
It can be connected for homologous signal, or independent source connection；Interconnection can be independent power supply, signal or when
Clock, or integrated mono signal connection, or be wirelessly connected.
In one example, Fig. 2 shows the block diagram according to the vehicle-mounted multi information synchronous control system of one embodiment of the disclosure,
It can be seen from the figure that the vehicle-mounted multi information synchronous control system is collectively formed by a main control module and multiple response assemblies,
Main control module is a processing platform, is collectively formed by FPGA and processor Processor1, and inside includes an accurate counting
Device Precise Counter can recorde the event-triggered times of each response assemblies, while the system by precision counter
There are many response assemblies types for including, such as multiple processing platform Processor2~ProcessorN, these processing platforms were both
It can be directly constituted, can also be collectively formed by multiple processors, the quantity of N is not limited, according to reality by individual processor
Border situation is selected, and in addition to this, the response assemblies in this example can also be by sensor Sensor#1 and pre-
Sensing platform or the sensor Sensor#N and preprocessor Pre-Process for managing the compound composition of device Pre-Process are compound
The sensor that the sensing platform or separated sensor Sensor#2 of composition are constituted, equally, the quantity of N is not specifically limited.?
It can also be seen that main control module and response assemblies are in addition to being all connected to independent power supply Pwr, clock Clk and signal in figure
For there may be the connection types of homologous signal between main control module and response assemblies, specifically on the interconnection of Comm
Connection type is not limited, and is the optional signal connection type that possible occur, according to reality such as the dotted line connection type in Fig. 2
The selection of border situation.
Since main control module can recorde the event-triggered times that each response assemblies report, according to each response assemblies
Time delay obtains synchronous location information and is sent, and response assemblies can carry out local clock school according to synchronous location information
The mode of standard, calibration is not specifically limited, and in one example, main control module can be by way of timing, with each response
Component is timed calibration.The period of timing is not also specifically limited, and can be specifically arranged according to the actual situation, at one
In example, the every 1ms of main control module sends a global clock calibration information as calibration.By synchronous location information in master control mould
The synchronizing information of internal system may be implemented in transmitting between block and response assemblies, this synchronizing information can be different responses
The synchronous acquisition that information is carried out between component is also possible to the synchronous fusion of the information in main control module to response assemblies transmission,
It is also possible to the synchronous interaction of the information between different response assemblies.
Main control module control needed during each response assemblies realize synchronizing information it is continuous between each response assemblies into
Row information interaction, wherein the main object of information exchange can obtain synchronous location information for synchronous location information, main control module
Mode be not specifically limited, can for main control module actively go obtain response assemblies synchronization location information, be also possible to ring
Component is answered actively to report synchronous location information to main control module.In one example, synchronous location information is mainly according to each
Response assemblies carry out time delay present in event trigger process to determine, therefore the main information for including in synchronous location information
It can be the Delay of each response assemblies.The mode that obtains of Delay is not also specifically limited, in one example, main
The mode for the time delay that control module obtains each response assemblies can be, and main control module repeatedly tests each response assemblies,
And response assemblies is required to respond returned data at once, the time of component returned data seeks multiple averaging value according to response, obtains
Corresponding Delay.It is directed to different response assemblies, Delay obtains that mode is not also identical, in example below
It can illustrate, just not be unfolded first herein.In synchronous location information other than comprising Delay, it also may include other letters
Breath, in one example, synchronous location information can also include each response other than the time delay comprising each response assemblies
For component when being linked into internal system, the relevant information registered to main control module, this relevant information can be response assemblies
The communication speed of type, the communication modes of response assemblies or response assemblies.
Fig. 3 shows the block diagram of the vehicle-mounted multi information synchronous control system according to one embodiment of the disclosure, a kind of possible
In implementation, main control module includes: counting unit 111, for recording the event-triggered times of each response assemblies, and according to
The time delay of each response assemblies obtains synchronous location information；Synchronous acquisition control unit 112 is used for according to synchronous location information,
Control the synchronous acquisition that different response assemblies realize information；Information fusion unit 113 is controlled for sending synchronous location information
Make the synchronous fusion that different response assemblies realize information.
The hardware combinations mode of counting unit 111, synchronous acquisition control unit 112 and information fusion unit 113 is not had
Body limits.In one example, these three units can be realized all by a processing platform.In one example, it counts single
Member, synchronous acquisition control unit and information fusion unit can realize all by a processor, the realization side of this processor
Formula is equally also not limited, and signal of having illustrated in above content, details are not described herein, while in this example, counting unit
It can be the clock built in processor, Lai Shixian tally function, to record the event-triggered times of each response assemblies.One
In a example, synchronous acquisition control unit and information fusion unit can be by two different processing in a processing platform
Device realizes that the selection and combination mode of processor is not limited, in this example, counting unit can be synchronous acquisition respectively
The onboard clock of processor where control unit, or the onboard clock of processor where information fusion unit, it can also be with
Except independently of two processors, the onboard clock of processing platform.In one example, counting unit, synchronous acquisition control
Unit and information fusion unit can be realized that mutual hardware connection mode is also unrestricted by independent processing platform respectively
It is fixed, it can be specifically chosen according to the actual situation.In one example, comprising synchronous acquisition when main control module can also be different
Control unit and information fusion unit.In one example, main control module may include counting unit and synchronous acquisition control is single
Member, the function that main control module is realized at this time, which can be, controls the synchronous acquisition that different response assemblies realize information.Show at one
In example, main control module may include counting unit and information fusion unit, and the function that main control module is realized at this time can be control
The information realization synchronous fusion of different response assemblies transmission.The specific implementation of counting unit is not limited, and is shown at one
In example, counting unit can be counter.The precision of counter and period are equally not limited, and can carry out according to the actual situation
Specific setting, in one example, counting unit will each given clock cycle count, clock cycle can be 100MHz or
Higher, counter resolution ratio can be for less than 10ns, which can be used as the clock reference of central processing unit, timing
All response assemblies are sent to by communication.In one example, in order to improve the same of vehicle-mounted multi information synchronous control system
Precision is walked, can be set as ensuring at least meeting the three times of most slow sensing and process cycle or more for maximum duration is counted, to keep away
Exempt to overflow because counting and cause timing slip.In one example, counting unit can be 100MHz reference clock, response group
Part can manage rate 5fps for lowest part, then require counter maximum count value not less than 3* (1/5fps)/(1/100MHz)
=60,000,000=0x3938700, at this time if counter is binary counter, binary counter is not less than 26
Position.In one example, 32 digit counters be can choose as counting unit.In one example, counting unit can be fast
Fast set and reset, while count value can be read and be updated in real time.
In one possible implementation, synchronous acquisition control unit can be used for: setting synchronous acquisition clocked flip
Point；Determine the synchronization location information of each response assemblies；According to synchronous location information, respectively in different times to each response
Component sends synchronous acquisition instruction, it is ensured that the response assemblies of synchronous acquisition instruction are received, it is same in synchronous acquisition clocked flip point
When acquire information.
The major function that synchronous acquisition control unit is realized is that controlling different response assemblies acquires phase in synchronization
The information answered, to guarantee the consistency of information, the type of information is not limited, and is selected according to system requirements.?
In one example, synchronous acquisition control unit realizes that mainly comprising the processes of for function sets each response group in this unit first
Part synchronize start acquire information at the time of, this moment is named as synchronous acquisition clocked flip point in this example, due to meter
The synchronization location information of each response assemblies is had recorded in counting unit, this synchronization location information be according to each response assemblies into
Act what the time delay that part triggers obtained, therefore, synchronous acquisition control unit can be basic to judge according to this synchronization location information
Out synchronous acquisition control unit from issue synchronous acquisition instruction, to each response assemblies receive consumption required for the instruction when
Between；And each response assemblies from receive synchronous acquisition instruction, to start carry out information collection between, need to undergo when
Between；According to the two times, synchronous acquisition control unit can be calculated, in order to allow response assemblies to touch in synchronous acquisition timing
Hair point starts execution information and acquires this order, needs to issue synchronous acquisition instruction to the response assemblies at which moment at, therefore
Synchronous acquisition control unit can issue same according to calculated result for different response assemblies in different start time points
Acquisition instructions are walked, are come so that each response assemblies carry out information collection in synchronization.In one example, synchronous acquisition instructs
In will be started counting that is, since the instruction is issued ing comprising clock information, count reach trigger value when, control correspondence
Response assemblies start acquire information, in this example, in order to avoid count reach trigger value when response assemblies do not receive yet together
Acquisition instructions are walked, therefore instruction can be set and issue between time and synchronous acquisition clocked flip point there are sufficiently long interval,
Come ensure synchronous acquisition clocked flip count before, each response assemblies all had received synchronous acquisition instruction.Synchronous acquisition
Control unit sends the mode that synchronous acquisition instructs to response assemblies and is not specifically limited, in one example, synchronous acquisition control
Unit processed sends synchronous acquisition instruction to response assemblies by the PORT COM of each response assemblies.
In one possible implementation, information fusion unit can be used for: synchronous location information is sent to correspondence
Response assemblies；Receive timestamp of the response assemblies based on time delay feedback；According to timestamp, controls each response assemblies and realize letter
The synchronous fusion of breath.
In one example, when each response assemblies are when each response assemblies need to send data, Jiang Qiguan is required
The timestamp of key is packed into data packet to be sent, therefore information fusion unit can be according to the data packet of each response assemblies
The timestamp for inside including carries out information fusion and verifying to different response assemblies, thus guarantee each response assemblies transmitting,
Need to carry out the data of information fusion, the time point obtained meets fusion and requires.In one example, response assemblies can be
When sending the data packet merged to information fusion unit, active reporting timestamp.In one example, response group
Part is also possible to the synchronization location information sent according to information fusion unit, carries out more to the timestamp of response assemblies internal data
Newly, then by updated timestamp it feeds back in information fusion unit.The information that timestamp specifically includes is not limited, at one
In example, may include in timestamp in have: the corresponding count value of the data acquisition time of the response assemblies, the response group
Time count value or the response assemblies information that part pretreatment terminates send count value etc., can be above content or other in
Any combination of appearance.As preceding sections, the type of response assemblies is equally not limited, in one example, the response group
Part can be visual sensor, and in one example, which can be millimeter wave sensor.
In one possible implementation, response assemblies may include the fixing response component with fixed delay；Or
Person is the on-fixed response assemblies with delay variation.
Fixing response component can refer to the group in communication or information interactive process independent of uncertain software responses time delay
Part, in one example, fixing response component and main control module can pass through the corresponding data interaction of physical layer real-time perfoming.Gu
The specific implementation of provisioning response component is not limited, and in one example, fixing response component can be using FPGA as core
Component；In one example, fixing response component can be processing unit, such as processor or processing platform；Show at one
In example, fixing response unit can be sensing unit, such as external sensor.On-fixed response assemblies, which can refer to, has complicated scheduling
Or processing component or sensing equipment comprising operating system, the difference of it and fixing response component, which can embody, is main control module
After issuing information, on-fixed response assemblies not can determine that and be rung within the set time due to scheduling or operating system response etc.
Answer detection calibration information.The specific implementation of on-fixed response assemblies is equally not limited, and in one example, on-fixed is rung
Component is answered to can be processing unit, such as processor or processing platform；In one example, on-fixed response assemblies can be biography
Unit is felt, such as the sensor of embedded software processing system.Since response assemblies can be fixing response component, it is also possible to non-solid
Provisioning response component is also possible to any form of combination of the two, therefore main control module is in the synchronous positioning for obtaining response assemblies
When information, the type of component is different according to response, and the mode for obtaining synchronous location information is also likely to be present difference.
In one possible implementation, counting unit can be used for: send test signal to fixing response component；It connects
Receive the first feedback signal of fixing response component；According to the first feedback signal, determines the first time delay of fixing response component, obtain
The synchronization location information of fixing response component.
It is delayed in communication or information interactive process independent of uncertain software responses due to fixing response component
Component, therefore main control module can not consider software responses time delay when obtaining the synchronization location information of fixing response component
It influences.Therefore main control module can accurately obtain the time delay of the component according to the feedback signal of fixing response component.It is main
The opportunity for the synchronization location information that control module obtains fixing response component is not specifically limited, in one example, main control module
After fixing response component is added to system, the synchronization location information for obtaining the fixing response component is just gone.Main control module obtains
Fixing response component when be delayed, be not limited with the communication modes of fixing response component, in one example, main control module can
To send test message reference fixing response component by I/O port；In one example, main control module can pass through communication terminal
Mouth sends test message reference fixing response component.The concrete form of test signal is equally not limited, and in one example, is surveyed
Trial signal, which can be, tests signal determined by component type according to response；In one example, test signal can be fixation
The pulse signal of length.The detailed process that main control module obtains the synchronization location information of fixing response component is also not limited,
In one example, this process can be with are as follows: main control module sends test signal to fixing response component and accesses, and records simultaneously
The central count value of main control module when issuing test signal；Fixing response component, can be when specific after receiving test signal
It carves and signal is returned into main control module, this particular moment can be manually set, and in one example, this particular moment can be with
It is next clock edge of the fixing response component after receiving test signal；Main control module receives the letter of response assemblies return
After number, the time delay of the response assemblies can be calculated, to obtain the time delay of the fixing response component, it is solid then to obtain this
The synchronization location information of provisioning response component.In order to guarantee the accuracy of synchronous location information, main control module can be to fixing response
Component sends repeatedly test signal, to carry out average counter to obtained time delay, to guarantee the consistency of delay.Show at one
In example, main control module, can also be by the synchronization location information again after having obtained the synchronization location information of the fixing response component
It is sent to the fixing response component by forms such as PORT COMs, fixing response component can be according to the synchronization location information, base
Believe in frequency of the current count value for including in the frequency of main control module, synchronizing information and the fixing response component itself etc.
Breath starts the system counts synchronized prediction with main control module, to realize system in fixing response component and main control module
The synchronous calibration of master clock realizes system counts estimation.In order to guarantee that the clock in the fixing response component and main control module can
With continued synchronization, at regular intervals, main control module can be repeated the above process, to retransmit primary current timing to each sound
It answers component to carry out calibration count information to update.This frequency updated can specifically be set according to the actual situation, at one
In example, it can be updated every 1ms.Meanwhile the test signal that main control module is sent to each response assemblies, it can be according to sound
The difference of component is answered, to select different test signal types, distinguishes the response that different response assemblies are fed back to facilitate.
In one possible implementation, on-fixed response assemblies may include multicore real-time response component or non-reality
When response assemblies.For different types of on-fixed response assemblies, obtain the modes of the on-fixed response assemblies there may also be
Corresponding difference.
In one possible implementation, for multicore real-time response component, counting unit is used for: being rung in real time to multicore
The synchronous calibration core of component is answered to send test signal；Receive the second feedback signal of synchronous calibration core；According to the second feedback signal,
The second time delay for determining multicore real-time response component obtains the synchronization location information of multicore real-time response component.
In one example, multicore real-time response component may be considered common by the fixing response component institute of multiple monokaryons
The integrated response assemblies constituted for the response assemblies with multiple nucleus system, can use the side of multicore isomery in this example
Formula chooses one of kernel as synchronous calibration core, and can set the kernel using bare nucleus or real time operating system
Mode is run, in order to which the signal for issuing the multicore real-time response component to main control module in time responds, while
Synchronous calibration core can be set as to have high-priority interrupt in communication or I/O interface, receive master control mould in synchronous calibration core
After the calibration information of block, feedback information can be sent back into main control module in time.Setting in this way, the multicore real-time response
Component may be considered the fixing response component using the synchronous calibration core as central processing unit, at this time multicore real-time response component
Workflow can consider as fixing response component with the information exchange of main control module and synchronizing information process, can wrap
Containing all processes in above content, details are not described herein.In one example, in order to guarantee that multicore real-time response component can be with
The test signal issued in time to main control module timely feedbacks, and can control the synchronization school of multicore real-time response component internal
The delay time error of quasi- core is within microsecond.
In one possible implementation, for non real-time response assemblies, counting unit is used for: to non real-time response group
Part sends test signal；The third feedback signal of non real-time response assemblies is received, third feedback signal includes non real-time response group
Software responses time delay inside physical delays that part is fed back to the main control module and non real-time response assemblies；It is anti-according to third
Feedback signal determines the third time delay of non real-time response assemblies, obtains the synchronization location information of non real-time response assemblies.
Non real-time response assemblies concrete implementation mode is not limited, and in one example, non real-time response assemblies can be with
It is monokaryon response assemblies, there is complicated scheduling mode inside the monokaryon response assemblies, in the letter for receiving main control module sending
After breath, due to scheduling mode complexity, which can not respond main control module sending within the determining set time
Information；In one example, non real-time response assemblies can be the response assemblies using non-real time operating system, due to the response
The operating system of component be it is non real-time, the response assemblies are in the information for receiving main control module, it is also possible to can not fix again
Time makes a response in time.Therefore main control module needs to consider non-when obtaining the synchronization location information of non real-time response assemblies
The delay difference that real-time response component is likely to occur in the process of running.In one example, main control module obtains non real-time sound
Answer the process of the synchronization location information of component can be with are as follows: main control module is non-after issuing test signal to non real-time response assemblies
Real-time response component can be divided into the operation of two steps for the response of the test signal, first is that the physics of the non real-time response assemblies passes
Defeated time delay, physical transfer time delay by calculated cases such as in house softwares due to not influenced, the calculating of physical transfer time delay
It can be completed by main control module, second is that non real-time response assemblies are when receiving test signal, inside is likely to occur different soft
Part response delay, this software responses time delay can be the unpredictable time-delay occurred when in house software is calculated, be also possible to
The communication response delay offset for considering third party's monitoring, is also possible to unpredictable time-delay caused by other situations etc..In order to count
In addition calculate software responses time delay, it may be considered that, can also be in the inside of non real-time response assemblies other than terminal PRI is set
Independent monitoring module is matched, the implementation of monitoring module is not specifically limited, and is specifically chosen according to the actual situation i.e.
Can, in one example, monitoring module can be considered through programmable logic device (PLD, Programmable Logic
Device) Lai Shixian.The mode of non real-time response assemblies software for calculation response delay is also not limited, according to software responses time delay
Concrete reason carry out adaptive computation.
Fig. 4 shows the calculation method of the optional non real-time response assemblies time delay according to one embodiment of the disclosure, one
In a example, calculation can be with are as follows: non real-time response assemblies when main control module issues test signal, answer by domestic os
Enter interruption with program to count, to obtain fixed transmission physics when main control module is communicated with the non real-time response assemblies
Time delay t1, monitoring module can be forwarded and supervise to communication network data in the internal processor attachment of non real-time response assemblies
When control, when monitoring calibration information frame, the time started is counted, and the operating system application program of non real-time response assemblies is entering
When reading interrupting information, while the count value of access monitoring module is gone, so that it is determined that main control module and the non real-time response assemblies
Software when being communicated sends response count cnt1, non real-time response assemblies by the information package of cnt1 into feedback signal,
It sends back to main control module to be calibrated, while monitoring obtains software and returns to delay counter cnt2, cnt2 can receive master control mould
When the test signal that block is sent next time, it is packed into feedback signal as additional information, is also fed back to main control module.Pass through this
The operation of sample, main control module can accurately calculate the physical delays with non real-time response assemblies, complete in the calibration of monitoring module
Cheng Hou, main control module not only will be updated the synchronometer of whole system in each progress synchronizing information with non real-time response assemblies
Numerical value can also increase in the counting of the non real-time response assemblies using cnt1 as offset, realize non real-time response assemblies
With the clock alignment of main control module and synchronous.
In one possible implementation, response assemblies may include sensing unit or processing unit；Sensing unit is used
In acquiring the event-triggered times, the event-triggered times are reported；Processing unit, for synchronous positioning letter based on the received
Breath carries out local clock calibration, realizes synchronizing information.Sensing unit and processing unit can exist simultaneously, and can also only exist it
The quantity of middle one kind, sensing unit and processing unit is not specifically limited, is selected according to the actual situation.Sensing unit and
The implementation of processing unit is not equally unique, has illustrated, has repeated no more in the above content.
In one possible implementation, processing unit can be also used for: receive the synchronous positioning that main control module is sent
Information；According to synchronous location information, information exchange is synchronized with other processing units.Processing unit can be into due to inside
The processing of row relevant information, except through realized with the interaction of main control module synchronizing information acquisition or synchronizing information merge with
Outside, the synchronous interaction of information also may be implemented in processing unit between each other.In one example, between different processing units
When carrying out data interaction, synchronous location information can also be packed into data packet, the content that synchronous location information may include
It is not specifically limited as described above, in one example, the synchronization location information of different processing units interaction can wrap containing number
According to generating time, data processing time and synchronization process planning time point etc., by synchronous location information, multiplied unit it
Between, interacting for data can be synchronized.
In one possible implementation, main control module is also used to: in each timing cycle, updating all response assemblies
Synchronization location information.It is had been proposed that in above content, main control module can be by way of timing, with each response assemblies
It is timed calibration, equally, main control module can be during each response assemblies be timed calibration, by appointing among the above
A kind of mode of anticipating guarantees the accuracy and real-time of synchronizing information to update the synchronization location information of each response assemblies.Periodically
The specific time in period is not limited, and is specifically chosen according to the case where main control module and response assemblies, is shown at one
In example, timing cycle can be 1ms.
In one possible implementation, main control module is also used to: when increasing response assemblies, registering increased response
The information of component, and determine the synchronization location information of increased response assemblies.In one example, vehicle-mounted multi information synchronously control
Internal system is carved at the beginning, may not be that all response assemblies are communicated all in state of activation with main control module,
There may be part response assemblies to be in the case where not establishing the link with main control module, during systems stay work, this
Do not set up a bit link response assemblies may be activated after, then with main control module establish it is new link, main control module can be at this time
When detecting the response assemblies being newly added, the information of the response assemblies is registered, and by any one mode among the above, is come
Determine the new synchronization location information that response assemblies are added, and the operation such as synchronous with response assemblies progress clock alignment, it is subsequent
Operating process is as described above, details are not described herein.
In this way, main control module passes through the local clock for calibrating each response assemblies, and by synchronous location information and each
Information exchange is carried out between response assemblies, so as to control the synchronous acquisition that different response assemblies carry out information, Yi Jixin
The synchronous fusion of breath, to realize the synchronization of Global Information inside whole system, can to data sampling and processing, transmission and
Node realizes comprehensive calibration, it is ensured that the synchronizing information of whole system is accurate.During realizing the synchronizing information of whole system,
Without establishing additional signal interconnection, the adaptive networking collectively formed completely by internal system main control module and response assemblies
The automatic calibration for realizing synchronizing information using homologous clock or is synchronized without each response assemblies of control with main control module
Set-reset, between response assemblies and main control module processor and communication modes also without limitation so that whole system
Constraint requirements are small, strong flexibility.The system proposed by practical proof, the present embodiment, the synchronization accuracy of multisensor can reach
To musec order, then make the driving platform using system in this present embodiment, carries out the precision of Multi-Sensor Target positioning
Reach a millisecond magnitude, to guarantee the accuracy of automatic Pilot environmental goals verifying, improves the vehicle platform using this system
Traffic safety.
Fig. 5 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure, as shown in figure 5,
This method may include steps of:
S21: recording the event-triggered times of each response assemblies, when each response assemblies carry out event triggering in the presence of
Prolong.
S22: according to the time delay, synchronous location information is obtained.
S23: it according to the synchronous location information, controls and realizes synchronizing information between different response assemblies.
In one possible implementation, step S23 can be with are as follows:
S231: according to synchronous location information, the synchronous acquisition that different response assemblies realize information is controlled；Alternatively, can also
Think
S232: synchronous location information is sent to different response assemblies, different response assemblies is controlled and realizes information
Synchronous fusion.
Fig. 6 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure, as shown in fig. 6,
In one possible implementation, step S231 may include steps of:
S2311: setting synchronous acquisition clocked flip point.
S2312: the synchronization location information of each response assemblies is determined.
S2313: according to synchronous location information, synchronous acquisition is sent to each response assemblies in different times respectively and is referred to
It enables, it is ensured that the response assemblies for receiving synchronous acquisition instruction acquire information in synchronous acquisition clocked flip point simultaneously.
Fig. 7 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure, as shown in fig. 7,
In one possible implementation, step S232 may include steps of:
S2321: synchronous location information is sent to corresponding response assemblies.
S2322: timestamp of the response assemblies based on time delay feedback is received.
S2323: according to timestamp, the synchronous fusion that each response assemblies realize information is controlled.
In one possible implementation, response assemblies may include: the fixing response component with fixed delay；Or
Person, the on-fixed response assemblies with delay variation.
Fig. 8 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure, as shown in figure 8,
In one possible implementation, step S21 may include steps of:
S2111: fixing response component sends test signal.
S2112: the first feedback signal of fixing response component is received.
S2113: it according to the first feedback signal, determines the first time delay of fixing response component, obtains fixing response component
Synchronous location information.
In one possible implementation, on-fixed response assemblies include multicore real-time response component or non real-time response
Component.
Fig. 9 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure, as shown in figure 9,
In one possible implementation, step S21 may include steps of:
The synchronous calibration core of S2121: Xiang Duohe real-time response component sends test signal.
S2122: the second feedback signal of synchronous calibration core is received.
S2123: it according to the second feedback signal, determines the second time delay of multicore real-time response component, obtains multicore and ring in real time
Answer the synchronization location information of component.
Figure 10 shows the flow chart of the vehicle-mounted multi information synchronisation control means according to one embodiment of the disclosure, such as Figure 10 institute
Show, in one possible implementation, step S21 may include steps of:
S2131: test signal is sent to non real-time response assemblies.
S2132: receiving the third feedback signal of non real-time response assemblies, and third feedback signal includes non real-time response assemblies
Software responses time delay inside the physical delays fed back to main control module and non real-time response assemblies.
S2133: it according to third feedback signal, determines the third time delay of non real-time response assemblies, obtains non real-time response group
The synchronization location information of part.
In one possible implementation, response assemblies include sensing unit or processing unit；Sensing unit, for adopting
Collect event-triggered times, reported event triggered time；Processing unit, when carrying out local for synchronizing location information based on the received
Clock calibration, realizes synchronizing information.
In one possible implementation, processing unit is also used to: receiving synchronous location information；According to synchronous positioning letter
Breath, synchronizes information exchange with other processing units.
In one possible implementation, vehicle-mounted multi information synchronisation control means further include: in each timing cycle, more
The synchronization location information of new all response assemblies.
In one possible implementation, vehicle-mounted multi information synchronisation control means further include: when increasing response assemblies,
The information of increased response assemblies is registered, and determines the synchronization location information of increased response assemblies.
Figure 11 shows the disclosure one and applies exemplary schematic diagram, this is only implemented to facilitate the understanding of the present disclosure using example
Example, does not limit the embodiment of the present disclosure.
As shown in figure 11, automobile in the process of moving, by be located at driving platform on multiple response assemblies, before perceiving
The pedestrian information of side, Cong Tuzhong, it can be seen that these response assemblies can be the component for realizing sensing function, such as visual sensing
Collected information is sent to the main control module on centrally located processing platform by device, millimetre-wave radar etc., these sensing units,
Main control module merges these heat transfer agents, is calculated according to fusion results, to judge whether vehicle front has pedestrian
Or situations such as barrier, carry out another automobile and grasps front road conditions environment in real time.
There may be temporal differences for the information acquired due to different sensors, if the Time Inconsistency of acquisition, that
Obtained road conditions environment is also just inaccurate, if the information being fused is different moments when these same sensor information fusions
Acquisition information, then being equally also unable to get accurate road conditions environment.In this example, in order to guarantee that each response assemblies are adopted
The information integrated is synchronizing information, and the information merged is also synchronizing information, it is therefore desirable to which main control module and response assemblies cooperate, and come
Realize the synchronization of information.
In this example, the counter that main control module is counted by built-in one accurate center, and it is based on this counter, with
A complete system group network, Lai Jinhang synchronizing information are established between response assemblies.One extremely in this example, built in main control module
It is few to be controlled more than the period in 3 systems, and precision reaches the counter of ns magnitude, counts to carry out accurate center, the counter
Can be by fast setting and reset, and count value can be real time updated and read.Figure 12 shows main control module and response group
Mutual interactive process after system group network is established between part, as shown in figure 12, system is realized by the way of real-time networking
The adaptive synchronicity of multiple response component.Each response assemblies require to lead when passing through certain communication modes access system networking
Main control module locating for trend counter is registered, including response assemblies type, communication modes, communication speed etc.；Counter
Locating main control module then repeatedly tests the new component that is added, and response assemblies is required to respond returned data at once, with
It determines that the average physical of response assemblies is delayed and records into nodal information, while this information being fed back to the response group being newly added
Part.Meanwhile central counting module is by the way of timing, for example every 1ms sends a global clock information as calibration, and it is each
Response assemblies are timed calibration.When system electrification starts or has new response assemblies to be added, system is true in system group network
After recognizing or next timing cycle starts global count update, guarantees that enumeration data is all updated to by all active response assemblies
It is newest.As shown in figure 12, new system networking is established by physical connection and is triggered, either special hardware connection triggering or
Person is that triggering etc. is established in master-slave communication connection.
After system group network starting, the counter in main control module starts to start, it, which can be located at, carries out information fusion
In FPGA.Except non-artificial resetting, counting can will be 100MHz or higher in each given clock cycle count, this period,
Resolution ratio < 10ns, and the clock reference as main control module, while timing is sent to all response assemblies by communication.It should
It counts maximum duration and is necessary to ensure that the three times at least meeting most slow sensing and process cycle or more, avoid overflowing and making because counting
At timing slip.By taking 100MHz reference clock as an example, minimum processing speed 5fps then requires the counter most matter of fundamental importance of main control module
Numerical value be not less than 3* (1/5fps)/(1/100MHz)=60,000,000=0x3938700, that is to say, that the two of main control module into
Counter processed is not less than 26.In this example, 32 digit counter of main control module final choice.
Response assemblies are divided into fixing response component and on-fixed response assemblies according to the difference of its response condition.Master control mould
Block is directed to different types of response assemblies, carries out information exchange in different ways, Figure 13 show main control module respectively with
The interactive process of fixing response component and on-fixed response assemblies.As shown in figure 13, in this example, fixing response component refers to communication
Or the component in information interactive process independent of the delay of uncertain software responses, it and main control module can pass through physical layer reality
Shi Jinhang accordingly and data interaction, such as using FPGA as the component of core；They can be other processing groups of non-main control module
Part, or it is also possible to external sensor.For fixing response component, main control module is established in system starting and system group network
Afterwards, test signal is sent to the new component that network is added by I/O port or PORT COM, for example, according to the equipment class from component
Type selects the pulse signal of regular length to access, while recording the count value of main control module counter when issuing signal；Gu
Provisioning response component, which receives to test after signal, returns to main control module for signal in its next clock edge；Main control module, which receives, to be returned
After the signal returned, delay is calculated, and then may be selected to send repeatedly test signal be delayed it is average, it is ensured that synchronize and prolong
When consistency；After the completion of test, in the starting of next timing update cycle, main control module is by the additional mould of current timer counter
The delayed data that block receives is sent to fixing response component, frequency of the fixing response component based on main control module by PORT COM
The information such as the frequency of rate, current count, component itself, it is synchronous to start system counts prediction, to realize that system counts are estimated.Often
Every a period of time, such as 1ms, main control module can retransmit primary current timing to respectively carrying out calibration count information more from component
Newly.According to different component serial numbers, the optional different type of test signal type of transmission, to be distinguished in signal network different
Component responds.
Processing component or sensing equipment of the on-fixed response assemblies mainly for having complicated scheduling or comprising operating system,
After the difference of it and fixing response component is that main control module issues information, on-fixed response assemblies are due to scheduling or operating system
The reasons such as response, not can determine that the response test calibration information within the set time.The synchronous calibration process of on-fixed response assemblies
Essentially identical with fixing response component, all average repeatedly to calibrate, difference is that on-fixed response assemblies in the process of running may be used
Delay difference can be will appear.For the delay difference being likely to occur in this example, counted by following methods:
For the on-fixed response assemblies with multiple nucleus system, multicore isomery mode can be used, is chosen in one of them
Core is run as synchronous calibration core, the kernel using bare nucleus or real time operating system mode, and communication or IO have high priority
It interrupts, by delay time error control within us.After receiving calibration information, feedback information is sent back into main control module in time.
For monokaryon or non real-time response group must be properly termed as using the on-fixed response assemblies of non-real time operating system
Part needs to carry out two step operations, first is that physical transfer delay is calculated by main control module, second is that when updating synchronizing information every time, it is non-
Real-time response component needs to consider after receiving update synchronizing information the communication response delay offset that third party monitors.Cause
In addition this matches independent monitoring module other than interrupt priority level is arranged, such as a piece of small PLD device, in non real-time response
Component processor attachment is forwarded and monitors to communication network data, and when monitoring calibration information frame, the time started is counted,
When operating system application program enters and reads interrupting information, while the count value of access monitoring module is gone, determined as shown in Fig. 4
Cnt1 out；Cnt1 information package sends back to middle main control module into return information and calibrated by software, while monitoring obtains
Information returns to delay counter cnt2 and additional be packaged in next round calibration information is also sent back to main control module.In this way, master control mould
Block can accurately calculate it and the physics of on-fixed response assemblies is delayed.After the completion of calibration information, each main control module updates
When, it not only will be updated the synchronometer numerical value of system, while can also increase in the counting of component using cnt1 value as offset, it is real
Existing non real-time response assemblies are synchronous with main control module.
By the above process, response assemblies can keep getting well and a upper main control module phase in timing synchronization update mechanism
Same or similar counting, is based on this, the synchronizing information of system may be implemented.Figure 14 shows the letter according to one embodiment of the disclosure
Synchronizing process figure is ceased, as shown in figure 14, in this example, synchronizing information can be embodied in following aspect:
Each response assemblies require its crucial timestamp being packed into data to be sent when needing to send data
Bao Zhong.For example, multiple visual sensors and multiple millimeter wave sensors tie the corresponding count value of data acquisition time, pretreatment
Beam time count value, information transmission count value are packed into respective data packet and send back main control module by respective communication bus
Interior information fusion unit；Information fusion unit compares its timestamp and carries out information fusion after the information for obtaining each sensor
And verifying, it is ensured that the information time point that different sensors obtain meets system globe area requirement.
When system needs to execute synchronous acquisition instruction to multiple sensors, main control module can be sent out by respective PORT COM
It send instruction to needing the response assemblies of synchronous acquisition, and the synchronous acquisition clocked flip point is set.The clocked flip point and current
Instruction issues the time and should ensure that sufficiently long delay, it is ensured that all response assemblies are before synchronous acquisition clocked flip is count down to
Synchronous acquisition instruction is all had received.
Synchronous location information is also packed into data by the data interaction between multiple response assemblies being made up of processor
Bao Zhong, such as data generation time, data processing time, synchronization process planning time point are realized same between multiple response component
Step data interaction.
The flow chart and block diagram in the drawings show system, method and the computer journeys according to multiple embodiments of the disclosure
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
One module of table, program segment or a part of instruction, the module, program segment or a part of instruction include one or more use
The executable instruction of the logic function as defined in realizing.In some implementations as replacements, function marked in the box
It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be held substantially in parallel
Row, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or
The combination of each box in flow chart and the box in block diagram and or flow chart, can the function as defined in executing or dynamic
The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.
The presently disclosed embodiments is described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In principle, the practical application or to the technological improvement in market for best explaining each embodiment, or make the art its
Its those of ordinary skill can understand each embodiment disclosed herein.
The presently disclosed embodiments is described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In principle, the practical application or to the technological improvement in market for best explaining each embodiment, or make the art its
Its those of ordinary skill can understand each embodiment disclosed herein.
Claims (26)
1. a kind of vehicle-mounted multi information synchronous control system, which is characterized in that the system comprises: the master of centrally located processing platform
Module is controlled, and is located at multiple response assemblies of multiple driving platforms, the main control module is real using communication or direct-connected mode
Now with the connection of response assemblies；Wherein,
The main control module, for recording the event-triggered times of each response assemblies, each response assemblies carry out event triggering
When there are time delay, synchronous location information is obtained according to the time delay, sends the synchronous location information；
The response assemblies, for reporting the event-triggered times, the synchronous location information is carried out local based on the received
Clock alignment realizes synchronizing information.
2. vehicle-mounted multi information synchronous control system according to claim 1, which is characterized in that the main control module includes:
Counting unit is obtained for recording the event-triggered times of each response assemblies, and according to the time delay of each response assemblies
Synchronous location information；
Synchronous acquisition control unit, for controlling different response assemblies and realizing the same of information according to the synchronous location information
Step acquisition；
Information fusion unit controls different response assemblies and realizes that synchronizing for information is melted for sending the synchronous location information
It closes.
3. vehicle-mounted multi information synchronous control system according to claim 2, which is characterized in that the synchronous acquisition control is single
Member is used for:
Synchronous acquisition clocked flip point is set；
Determine the synchronization location information of each response assemblies；
According to the synchronous location information, synchronous acquisition instruction is sent to each response assemblies in different times respectively, it is ensured that
The response assemblies for receiving the synchronous acquisition instruction acquire information in the synchronous acquisition clocked flip point simultaneously.
4. vehicle-mounted multi information synchronous control system according to claim 2, which is characterized in that the information fusion unit is used
In:
The synchronous location information is sent to corresponding response assemblies；
Receive timestamp of the response assemblies based on the time delay feedback；
According to the timestamp, the synchronous fusion that each response assemblies realize information is controlled.
5. vehicle-mounted multi information synchronous control system according to any one of claim 1 to 4, which is characterized in that the sound
The component is answered to include:
Fixing response component with fixed delay；Alternatively,
On-fixed response assemblies with delay variation.
6. vehicle-mounted multi information synchronous control system according to claim 5, which is characterized in that the counting unit is used for:
Test signal is sent to the fixing response component；
Receive the first feedback signal of the fixing response component；
According to first feedback signal, the first time delay of the fixing response component is determined, obtain the fixing response component
Synchronization location information.
7. vehicle-mounted multi information synchronous control system according to claim 5, which is characterized in that the on-fixed response assemblies
Including multicore real-time response component or non real-time response assemblies.
8. vehicle-mounted multi information synchronous control system according to claim 7, which is characterized in that the counting unit is used for:
Test signal is sent to the synchronous calibration core of the multicore real-time response component；
Receive the second feedback signal of the synchronous calibration core；
According to second feedback signal, determines the second time delay of the multicore real-time response component, it is real-time to obtain the multicore
The synchronization location information of response assemblies.
9. vehicle-mounted multi information synchronous control system according to claim 7, which is characterized in that the counting unit is used for:
Test signal is sent to the non real-time response assemblies；
The third feedback signal of the non real-time response assemblies is received, the third feedback signal includes the non real-time response group
Software responses time delay inside physical delays that part is fed back to the main control module and the non real-time response assemblies；
According to the third feedback signal, the third time delay of the non real-time response assemblies is determined, obtain the non real-time response
The synchronization location information of component.
10. vehicle-mounted multi information synchronous control system according to claim 1, which is characterized in that the response assemblies include
Sensing unit or processing unit；
The sensing unit reports the event-triggered times for acquiring the event-triggered times；
The processing unit carries out local clock calibration for the synchronous location information based on the received, realizes synchronizing information.
11. vehicle-mounted multi information synchronous control system according to claim 10, which is characterized in that the processing unit is also used
In:
Receive the synchronization location information that the main control module is sent；
According to the synchronous location information, information exchange is synchronized with other processing units.
12. vehicle-mounted multi information synchronous control system according to claim 1, which is characterized in that the main control module is also used
In: in each timing cycle, update the synchronization location information of all response assemblies.
13. vehicle-mounted multi information synchronous control system according to claim 1, which is characterized in that the main control module is also used
In: when increasing response assemblies, the information of the increased response assemblies is registered, and determine the same of the increased response assemblies
Walk location information.
14. a kind of vehicle-mounted multi information synchronisation control means, which is characterized in that the described method includes:
Record the event-triggered times of each response assemblies, there are time delays when each response assemblies carry out event triggering；
According to the time delay, synchronous location information is obtained；
According to the synchronous location information, controls and realize synchronizing information between different response assemblies.
15. vehicle-mounted multi information synchronisation control means according to claim 14, which is characterized in that according to the synchronous positioning
Information controls and realizes synchronizing information between different response assemblies, comprising:
According to the synchronous location information, the synchronous acquisition that different response assemblies realize information is controlled；Alternatively,
The synchronous location information is sent to different response assemblies, different response assemblies is controlled and realizes that synchronizing for information is melted
It closes.
16. vehicle-mounted multi information synchronisation control means according to claim 15, which is characterized in that according to the synchronous positioning
Information controls the synchronous acquisition that different response assemblies realize information, comprising:
Synchronous acquisition clocked flip point is set；
Determine the synchronization location information of each response assemblies；
According to the synchronous location information, synchronous acquisition instruction is sent to each response assemblies in different times respectively, it is ensured that
The response assemblies for receiving the synchronous acquisition instruction acquire information in the synchronous acquisition clocked flip point simultaneously.
17. vehicle-mounted multi information synchronisation control means according to claim 15, which is characterized in that by the synchronous positioning letter
Breath is sent to different response assemblies, controls the synchronous fusion that different response assemblies realize information, comprising:
The synchronous location information is sent to corresponding response assemblies；
Receive timestamp of the response assemblies based on the time delay feedback；
According to the timestamp, the synchronous fusion that each response assemblies realize information is controlled.
18. vehicle-mounted multi information synchronisation control means described in any one of 4 to 17 according to claim 1, which is characterized in that described
Response assemblies include:
Fixing response component with fixed delay；Alternatively,
On-fixed response assemblies with delay variation.
19. vehicle-mounted multi information synchronisation control means according to claim 18, which is characterized in that according to the time delay, obtain
To synchronous location information, comprising:
Test signal is sent to the fixing response component；
Receive the first feedback signal of the fixing response component；
According to first feedback signal, the first time delay of the fixing response component is determined, obtain the fixing response component
Synchronization location information.
20. vehicle-mounted multi information synchronisation control means according to claim 18, which is characterized in that the on-fixed response group
Part includes multicore real-time response component or non real-time response assemblies.
21. vehicle-mounted multi information synchronisation control means according to claim 20, which is characterized in that according to the time delay, obtain
To synchronous location information, comprising:
Test signal is sent to the synchronous calibration core of the multicore real-time response component；
Receive the second feedback signal of the synchronous calibration core；
According to second feedback signal, determines the second time delay of the multicore real-time response component, it is real-time to obtain the multicore
The synchronization location information of response assemblies.
22. vehicle-mounted multi information synchronisation control means according to claim 20, which is characterized in that according to the time delay, obtain
To synchronous location information, comprising:
Test signal is sent to the non real-time response assemblies；
The third feedback signal of the non real-time response assemblies is received, the third feedback signal includes the non real-time response group
Software responses time delay inside physical delays that part is fed back to the main control module and the non real-time response assemblies；
According to the third feedback signal, the third time delay of the non real-time response assemblies is determined, obtain the non real-time response
The synchronization location information of component.
23. vehicle-mounted multi information synchronisation control means according to claim 14, which is characterized in that the response assemblies include
Sensing unit or processing unit；
The sensing unit reports the event-triggered times for acquiring the event-triggered times；
The processing unit carries out local clock calibration for the synchronous location information based on the received, realizes synchronizing information.
24. vehicle-mounted multi information synchronisation control means according to claim 23, which is characterized in that the processing unit is also used
In:
Receive the synchronous location information；
According to the synchronous location information, information exchange is synchronized with other processing units.
25. vehicle-mounted multi information synchronisation control means according to claim 14, which is characterized in that the method also includes:
In each timing cycle, the synchronization location information of all response assemblies is updated.
26. vehicle-mounted multi information synchronisation control means according to claim 14, which is characterized in that the method also includes:
When increasing response assemblies, the information of the increased response assemblies is registered, and determine the increased response assemblies
Synchronous location information.
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