CN112154614B - Sensing system, sensing apparatus, control method thereof, movable platform, and storage medium - Google Patents

Sensing system, sensing apparatus, control method thereof, movable platform, and storage medium Download PDF

Info

Publication number
CN112154614B
CN112154614B CN201980033841.3A CN201980033841A CN112154614B CN 112154614 B CN112154614 B CN 112154614B CN 201980033841 A CN201980033841 A CN 201980033841A CN 112154614 B CN112154614 B CN 112154614B
Authority
CN
China
Prior art keywords
time
sensing system
sensing
local
time axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201980033841.3A
Other languages
Chinese (zh)
Other versions
CN112154614A (en
Inventor
郑伟宏
陈庙红
雷云飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Feilai Information Technology Co ltd
Original Assignee
Shanghai Feilai Information Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Feilai Information Technology Co ltd filed Critical Shanghai Feilai Information Technology Co ltd
Publication of CN112154614A publication Critical patent/CN112154614A/en
Application granted granted Critical
Publication of CN112154614B publication Critical patent/CN112154614B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H04J3/0658—Clock or time synchronisation among packet nodes
    • H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
    • H04J3/0664—Clock or time synchronisation among packet nodes using timestamps unidirectional timestamps
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

Abstract

A sensing system, a sensing apparatus, a control method thereof, a movable platform, and a storage medium, the control method including receiving an interrupt request transmitted by a second sensing system (700) and determining an interrupt timing at which the interrupt request is received (S110); receiving a synchronization timestamp sent by a second sensing system (700), wherein the synchronization timestamp is a time recorded according to a second local time axis when the interrupt request is sent (S120); a time offset value is determined based on the interrupt time and the synchronization timestamp (S130).

Description

Sensing system, sensing apparatus, control method thereof, movable platform, and storage medium
Technical Field
The present disclosure relates to the field of sensor technologies, and in particular, to a sensing system, a sensing device, a control method thereof, a movable platform, and a storage medium.
Background
At present, embedded systems are more and more complex, and a plurality of control chips, a plurality of different operating systems (such as linux and RTOS), and sensors with multiple functions may be included in the same embedded system. Different systems acquire environment perception data through sensors and transmit the data to different upper-layer applications. Meanwhile, due to different applications, the link delay of sensor data reaching different applications cannot be estimated, and in an application scene with high precision and high stability requirements like an unmanned aerial vehicle, strict synchronization of data is very important.
For example, in an embedded system such as an aerial photography aircraft, due to the fact that a large number of safety related functions are involved, the requirement for the time synchronization precision of multi-sensor data is higher and higher, the synchronization precision cannot be strictly guaranteed, and unpredictable serious consequences can be caused.
Disclosure of Invention
Based on this, the present specification provides a sensing system, a sensing device, a control method thereof, a movable platform and a storage medium, and aims to solve the technical problems that the link delay of different applications of the existing embedded system cannot be estimated, the synchronization accuracy cannot be strictly guaranteed, and the like.
In a first aspect, the present specification provides a control method for a first sensing system comprising a first sensor for acquiring first sensing data, the method comprising:
receiving an interrupt request sent by a second sensing system, and determining interrupt time when the interrupt request is received, wherein the interrupt time is recorded according to a first local time axis, and the first local time axis is the local time axis of the first sensing system;
receiving a synchronous timestamp sent by the second sensing system, wherein the second sensing system comprises a second sensor for acquiring second sensing data, the synchronous timestamp is a time recorded according to a second local time axis when the interrupt request is sent, and the second local time axis is the local time axis of the second sensing system;
and determining a time offset value according to the interruption time and the synchronization timestamp, wherein the time offset value is used for performing time synchronization on the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
In a second aspect, the present specification provides a control method for a sensing apparatus comprising a first sensing system comprising a first sensor for acquiring first sensing data and a second sensing system comprising a second sensor for acquiring second sensing data;
the method comprises the following steps:
the method comprises the steps that a first sensing system receives an interrupt request sent by a second sensing system and determines interrupt time when the interrupt request is received, wherein the interrupt time is recorded according to a first local time axis, and the first local time axis is the local time axis of the first sensing system;
the first sensing system receives a synchronous timestamp sent by the second sensing system, wherein the synchronous timestamp is a time recorded according to a second local time axis when the interrupt request is sent, and the second local time axis is the local time axis of the second sensing system;
and the first sensing system determines a time deviation value according to the interruption time and the synchronization timestamp, wherein the time deviation value is used for performing time synchronization on the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
In a third aspect, the present specification provides a first sensing system comprising a first sensor for acquiring first sensing data and a processor;
wherein the processor is configured to:
receiving an interrupt request sent by a second sensing system, and determining interrupt time when the interrupt request is received, wherein the interrupt time is recorded according to a first local time axis, and the first local time axis is the local time axis of the first sensing system;
receiving a synchronous timestamp sent by the second sensing system, wherein the second sensing system comprises a second sensor for acquiring second sensing data, the synchronous timestamp is a time recorded according to a second local time axis when the interrupt request is sent, and the second local time axis is the local time axis of the second sensing system;
and determining a time offset value according to the interruption time and the synchronization timestamp, wherein the time offset value is used for performing time synchronization on the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
In a fourth aspect, the present specification provides a sensing apparatus comprising the aforementioned first sensing system, and a second sensing system comprising a second sensor for acquiring second sensing data.
In a fifth aspect, the present specification provides a moveable platform comprising the aforementioned first sensing system, and a second sensing system comprising a second sensor for acquiring second sensing data.
In a sixth aspect, the present specification provides a computer readable storage medium having stored thereon a computer program which can be processed by a processor to implement the method described above.
Embodiments of the present specification provide a sensing system, a sensing apparatus, a control method thereof, a movable platform, and a storage medium, where an interrupt time is determined by receiving an interrupt request sent by a second sensing system, and a synchronization timestamp is received from the second sensing system when the interrupt request is sent, so as to determine a time offset value according to the interrupt time and the synchronization timestamp. Because the sensing system has higher response speed to the interrupt request and the time delay of the interrupt request transmission is lower and more fixed, more accurate synchronization of data among the sensing systems can be realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present specification, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a control method for a sensing system provided in one embodiment of the present disclosure;
FIG. 2 is a schematic block diagram of a sensing device including a first sensing system and a second sensing system;
FIG. 3 is a timing diagram of one embodiment of receiving an interrupt request and synchronizing timestamps;
FIG. 4 is a timing diagram of another embodiment of receiving an interrupt request and synchronizing timestamps;
fig. 5 is a schematic flowchart of a control method for a sensing device according to an embodiment of the present disclosure;
FIG. 6 is a schematic block diagram of a first sensing system provided by an embodiment of the present description;
FIG. 7 is a schematic block diagram of a sensing device provided in one embodiment of the present description;
FIG. 8 is a schematic block diagram of a movable platform provided by an embodiment of the present description.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Some embodiments of the present description will be described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a control method for a sensing system according to an embodiment of the present disclosure. The control method can be applied to sensing equipment comprising the sensor and is used for realizing the processes of time synchronization and the like of sensing data among different sensing systems.
Illustratively, a certain sensing device includes at least one time-coincident sensing system, which can perform time synchronization of sensing data with a sensing system of another sensing device according to the control method of the present specification.
Illustratively, a sensing device includes at least two sensing systems that are not coincident in time, wherein a sensing system can perform time synchronization of sensing data with at least one other sensing system in the sensing device according to the control method of the present specification.
Illustratively, FIG. 2 is a schematic block diagram of a sensing device. The sensing device comprises at least a first sensing system and a second sensing system.
The first sensing system comprises a first sensor A1, a first sensor B1 and a first sensor C1, and first sensing data of the first sensor in the first sensing system is printed with a synchronization timestamp corresponding to a first local time axis and then stored in a first cache; the first sensing data in the first cache can be sent to the second sensing system after data analysis, and the second sensing system stores the first sensing data sent by the first sensing system in the second cache.
The second sensing system comprises a second sensor A2, a second sensor B2 and a second sensor C2, and second sensing data of the second sensor in the second sensing system is printed with a synchronization timestamp corresponding to a second local time axis and then stored in a second cache; the second sensing data in the second cache can be sent to the first sensing system after data analysis, and the first sensing system stores the second sensing data sent by the second sensing system in the first cache.
The application A1 and the application B1 in the first sensing system can search the first sensing data and/or the second sensing data in the first cache according to the synchronous timestamp of the sensing data; the application A2 and the application B2 in the second sensing system may look up the first sensing data and/or the second sensing data in the second cache according to the synchronization timestamp of the sensing data.
Exemplary sensors in the sensing system include at least one of resistive sensors, capacitive sensors, inductive sensors, piezoelectric sensors, pyroelectric sensors, impedance sensors, magnetoelectric sensors, piezoelectric sensors, photoelectric sensors, resonant sensors, hall sensors, ultrasonic sensors, isotopic sensors, electrochemical sensors, microwave sensors, ultrasonic sensors, temperature sensors, humidity sensors, gas sensors, pressure sensors, acceleration sensors, ultraviolet sensors, magnetosensitive sensors, magnetoresistive sensors, image sensors, electrical quantity sensors, displacement sensors, pressure sensors, PH sensors, flow sensors, liquid level sensors, immersion sensors, illumination sensors, differential pressure transmitters, acceleration sensors, displacement sensors, weighing sensors, and distance measuring sensors.
In some embodiments, the sensing device is a movable platform. Illustratively, the movable platform includes at least one of: unmanned vehicles, handheld cloud platform, cloud platform truck.
Further, unmanned vehicles can be rotor-type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, and octa-rotor unmanned aerial vehicles, and also can be fixed-wing unmanned aerial vehicles.
As shown in fig. 1, the control method provided in the embodiment of the present specification includes steps S110 to S130.
The present embodiment is described with the control method applied to the first sensing system. The first sensing system includes a first sensor for acquiring first sensing data.
It is to be understood that the terms "first" and "second" in the description and the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated.
S110, receiving an interrupt request sent by a second sensing system, and determining the interrupt time when the interrupt request is received.
The interruption time is recorded according to a first local time axis, and the first local time axis is a local time axis of the first sensing system.
Illustratively, as shown in fig. 3, the local time axis of the first sensing system is a first local time axis, and the first sensing system transmits and/or receives data according to the first local time axis; the local time axis of the second sensing system is a second local time axis, and the second sensing system transmits and/or receives data according to the second local time axis.
As shown in fig. 3, the second sensing system sends an interrupt request to the first sensing system at time Local _ timeB of the second Local time axis. And if the first sensing system receives an interrupt request sent by the second sensing system at the Local _ timeA of the first Local time axis, determining that the interrupt time of the interrupt request is Local _ timeA.
Because the sensing system has a fast response speed to the interrupt request and a low and fixed time delay of the interrupt request transmission, the time of the interrupt request transmission and the time of the interrupt response have little influence on the time synchronization among different sensing systems, and can even be ignored.
In some embodiments, the first sensing system triggers an interrupt when receiving an interrupt request sent by the second sensing system, and determines an interrupt time when the interrupt request is received.
Illustratively, the Interrupt (Interrupt) includes a hardware Interrupt and/or a soft Interrupt.
The hardware interrupt is triggered by an interrupt signal from a peripheral hardware device, such as an interrupt request, to process the interrupt immediately or after the current instruction is processed by the processor of the first sensing system. A soft interrupt is an interrupt process initiated by an interrupt request instruction that includes, for example, an interrupt number or an interrupt type code.
In some embodiments, an interrupt link is included between the first sensing system and the second sensing system. Signals in the broken link are responded to in time between different systems.
Illustratively, the first sensing system receives an interrupt request sent by the second sensing system through an interrupt link with the second sensing system.
Illustratively, the first sensing system triggers an interrupt when detecting an interrupt signal in the interrupt link, and determines a local time on the first local time axis at the time of triggering the interrupt as an interrupt time at which the interrupt request is received.
Illustratively, the processor of the first sensing system includes an interrupt pin through which an interrupt link with the second sensing system is determined. The first sensing system triggers an interrupt when detecting an interrupt request sent by the second sensing system through an interrupt pin connected to the second sensing system. I/O interruption can be responded in time among different systems, and the response time can reach nanosecond (ns) level.
And S120, receiving a synchronous time stamp sent by the second sensing system, wherein the synchronous time stamp is the time recorded according to a second local time axis when the interrupt request is sent.
The second sensing system comprises a second sensor used for collecting second sensing data, and the second local time axis is the local time axis of the second sensing system.
In some embodiments, as shown in FIG. 3, the second sensing system sends an interrupt request to the first sensing system at time Local _ timeB of the second Local timeline. The synchronization timestamp Local _ timeB is sent to the first sensing system some time after sending the interrupt request. The synchronization timestamp Local _ timeB is a time recorded according to the second Local time axis when the interrupt request is transmitted.
Illustratively, a time interval between a time of sending the interrupt request and a time of sending the synchronization timestamp is less than an interval threshold.
For example, if the synchronization timestamp is not sent beyond the interval threshold after the interrupt request is sent for a certain time, the sensing system resends the interrupt request.
In some embodiments, as shown in FIG. 4, the second sensing system sends a synchronization timestamp Local _ timeB to the first sensing system at the same time that Local _ timeB of the second Local timeline sends an interrupt request to the first sensing system. The synchronization timestamp Local _ timeB is a time recorded according to the second Local time axis when the interrupt request is transmitted.
Illustratively, as shown in fig. 3 and 4, the synchronization timestamp Local _ timer b sent by the second sensing system is received by the first sensing system at the time Cur _ timer a of the first Local time axis after a certain link delay.
Illustratively, as shown in fig. 2, a data transmission link is included between the first sensing system and the second sensing system. The data transmission link and the interrupt link are independent of each other so that interrupt requests can be transmitted in a timely manner.
Illustratively, the first sensing system receives the synchronous time stamp sent by the second sensing system through a data transmission link with the second sensing system. The transmission of data such as synchronous time stamps is prevented from influencing the timely transmission of the interrupt request.
And S130, determining a time deviation value according to the interruption time and the synchronous timestamp.
In some embodiments, the time offset value offset between the first sensing system and the second sensing system is the difference between the interrupt time and the synchronization timestamp.
Illustratively, as shown in fig. 3 and 4, the time offset value time _ offset between the first sensing system and the second sensing system is equal to the interrupt time Local _ timeA minus the synchronization time stamp Local _ timeB, or the time offset value time _ offset is equal to the synchronization time stamp Local _ timeB minus the interrupt time Local _ timeA.
In some embodiments, the first sensing system collects first sensing data through the first sensor, and the collection time of the first sensing data is recorded according to a first local time axis; and the second sensing system acquires second sensing data through a second sensor, and the acquisition time of the second sensing data is recorded according to a second local time axis.
The time deviation value is used for time synchronization of the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
For example, when the first sensing system uses the second sensing data, the acquisition time corresponding to the second sensing data may be synchronized to the first local time axis; when the second sensing system uses the first sensing data, the acquisition time corresponding to the first sensing data may be synchronized to the second local time axis.
For example, when the first sensing system uses the first sensing data and the second sensing data, the acquisition time corresponding to the first sensing data may be synchronized to the second local time axis; when the second sensing system uses the first sensing data and the second sensing data, the acquisition time corresponding to the second sensing data may be synchronized to the first local time axis.
In some embodiments, the control method of the sensing system further comprises: determining whether the time offset value is a valid offset value.
Since the link delay of transmitting the synchronization timestamp cannot be strictly guaranteed, when the link delay of transmitting the synchronization timestamp at a certain time is too large, the time deviation value determined according to the synchronization timestamp can be determined as an abnormal value, and therefore the determined time deviation value is invalid.
By judging whether the time deviation value is an effective deviation value or not, the abnormal time deviation value can be discarded, and the accuracy of time synchronization is ensured.
Illustratively, if the time offset value is determined not to be a valid offset value, time synchronization continues using the previously determined valid offset value.
And when the time offset value is an effective offset value, the time offset value is used for performing time synchronization on the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
Illustratively, the determining whether the time deviation value is a valid deviation value includes: determining an arrival time of receiving the synchronization timestamp, wherein the arrival time is recorded according to the first local time axis; determining a time difference between the interruption time and the arrival time; determining whether the time difference is less than a preset time threshold; and when the time difference is smaller than a preset time threshold value, determining the time deviation value as an effective deviation value.
The transmission time of the synchronization timestamp on the data transmission link is determined according to the arrival time of the received synchronization timestamp, and whether the time deviation value is an effective deviation value is judged according to whether the transmission time delay of the synchronization timestamp is abnormal or not.
As shown in fig. 4, the second sensing system sends an interrupt request and a synchronization timestamp Local _ timeB1 to the first sensing system at a time Local _ timeB1 of the second Local time axis. The first sensing system receives the interrupt request sent by the second sensing system at the Local _ timeA1 of the first Local time axis, and determines that the interrupt time when the interrupt request is received is Local _ timeA1.
The second sensing system sends an interrupt request and a synchronization timestamp to the first sensing system at time Local _ timeB2 of the second Local timeline. The first sensing system receives the interrupt request sent by the second sensing system at the Local _ timeA2 of the first Local time axis, and determines that the interrupt time when the interrupt request is received is the Local _ timeA2.
And then the first sensing system receives a synchronization timestamp Local _ timeB1 sent by the second sensing system at the time Local _ timeB1 of the second Local time axis at the time Cur _ timeA1 of the first Local time axis, and the arrival time of receiving the synchronization timestamp is determined to be Cur _ timeA1.
The time difference between the interruption time Local _ timeA1 and the arrival time Cur _ timeA1 is determined, as Cur _ timeA1 minus Local _ timeA1. Determining whether the time difference is less than a preset time threshold; and when the time difference is smaller than a preset time threshold value, determining the time deviation value as an effective deviation value. And if the time difference is larger than a preset time threshold, determining the time deviation value as an invalid time difference.
In some embodiments, the second sensing system periodically sends interrupt requests to the first sensing system and sends a synchronization timestamp corresponding to each interrupt request.
Illustratively, the preset time threshold is determined according to a period of sending the interrupt request by the second sensing system.
As shown in fig. 4, the broken line indicates a dividing line of the cycle in which the second sensing system sends the interrupt request. The second sensing system periodically sends interrupt requests, such as Local _ timer b, local _ timer b1, and Local _ timer b2 at the time of the second Local timeline, respectively.
And if the time difference between the interrupt time Local _ timer A and the arrival time Cur _ timer A of the corresponding period of the Local _ timer B is smaller than the period of sending the interrupt request by the second sensing system, determining a time offset value time _ offset, namely the difference value between the synchronous timestamp Local _ timer B and the interrupt time Local _ timer A is a valid offset value.
And if the time difference between the interruption time Local _ timeA1 and the arrival time Cur _ timeA1 of the corresponding cycle of the Local _ timeB1 is larger than the cycle of sending the interruption request by the second sensing system, judging that the time deviation value determined according to the difference value of the synchronous timestamp Local _ timeB1 and the interruption time Local _ timeA1 is an invalid deviation value.
It will be appreciated that the preset time threshold may be equal to the period of time during which the second sensing system sends the interrupt request.
In some embodiments, the time offset value is used to determine a time at which the first sensory data was acquired on the second local timeline.
For example, when the first sensing system collects the first sensing data S1 at the time a1 of the first local time axis, the time b1 of the collection time a1 of the first sensing data S1 on the second local time axis of the second sensing system can be determined according to the valid time offset value time _ offset.
According to the time deviation value, the time of the acquisition moment of the first sensing data on the second local time axis is determined.
For example, the time offset value time _ offset between the first sensing system and the second sensing system is equal to the interrupt time Local _ timeA minus the synchronization timestamp Local _ timeB. Then time b1 is equal to time a1 minus the time offset value time _ offset.
For example, the time offset value time _ offset between the first sensing system and the second sensing system is equal to the synchronization timestamp Local _ timeB minus the interrupt time Local _ timeA. Then time b1 is equal to time a1 plus the time offset value time _ offset.
In some embodiments, the control method of the sensing system further comprises: and sending the first sensing data and the determined time on the second local time axis to a second sensing system.
Illustratively, the first sensor system transmits the first sensor data S1 and the time b1 to the second sensor system. So that the second sensing system can look up the corresponding first sensed data according to the desired moment on the second local time axis.
In some embodiments, the control method of the sensing system further comprises: storing the first sensory data and the determined time on the second local timeline in a storage device; first sensory data is retrieved from the storage device according to a desired time on the second local timeline.
For example, the first sensing system and/or the second sensing system each include a respective storage device, or the sensing device includes a storage device, and the first sensing system and the second sensing system may share data stored on the storage device.
Illustratively, the first sensing system stores the first sensing data S1 and the time b1 in the storage device. The first sensing system and/or the second sensing system may then retrieve corresponding first sensing data from the storage device according to the desired time of day on the second local time axis.
Specifically, the first sensing data is stored in a storage device according to the sequence of the acquisition time of the first sensing data on the second local time axis; and searching first sensing data of which the acquisition time on the second local time axis is matched with the expected time on the second local time axis from the storage device based on a binary search algorithm.
In some embodiments, the control method of the sensing system further comprises: and sending the time deviation value to the second sensing system, so that the second sensing system determines the time of the acquisition time of the first sensing data on the second local time axis according to the time deviation value.
Illustratively, after the first sensing system determines the time offset value time _ offset, the time offset value time _ offset is sent to the second sensing system. The first sensing system collects first sensing data S1 at a time a1 of a first local time axis, and sends the first sensing data S1 and the time a1 to the second sensing system. The second sensor system can determine, from the valid time offset value time _ offset, the time b1 of the acquisition time a1 of the first sensor data S1 on the second local time axis of the second sensor system.
In other embodiments, the time offset value is used to determine the time of the acquisition of the second sensor data on the first local time axis.
Illustratively, the second sensing system acquires the second sensing data S2 at a time b2 of the second local time axis, and transmits the second sensing data S2 and the acquisition time b2 to the first sensing system. The first sensing system can determine the time instant a2 of the acquisition time instant b2 of the second sensed data S2 on the first local time axis of the first sensing system from the valid time offset value time _ offset.
In an exemplary embodiment, the control method of the sensing system further includes: the first sensing system acquires second sensing data sent by the second sensing system and acquisition time of the second sensing data recorded according to the second local time axis; and determining the time of the acquisition time of the second sensing data on the first local time axis according to the time deviation value.
The second sensing system sends the second sensing data S2 acquired at the time b2 and the acquisition time b2 to the first sensing system. The first sensing system determines the time a2 of the acquisition time b2 of the second sensing data S2 on the first local time axis from the time offset value time _ offset. So that the first sensing system can look up the corresponding second sensing data according to the desired moment on the first local time axis.
In some embodiments, the control method of the sensing system further comprises: and sending the time deviation value to the second sensing system, so that the second sensing system determines the time of the acquisition time of the second sensing data on the first local time axis according to the time deviation value.
Illustratively, after the first sensing system determines the time offset value time _ offset, the time offset value time _ offset is sent to the second sensing system. The second sensing system collects the second sensing data S2 at the time b2 of the second local time axis, and the time a2 of the first local time axis of the first sensing system can be determined according to the time offset value time _ offset and the collection time b2 of the second sensing data S2. Therefore, the first sensing system can acquire the second sensing data S2 from the second sensing system and the acquisition time of the second sensing data is on the first local time axis.
For example, the time offset value time _ offset between the first sensing system and the second sensing system is equal to the interrupt time Local _ timeA minus the synchronization timestamp Local _ timeB. Then time a2 is equal to time b2 plus the time offset value time _ offset.
For example, the time offset value time _ offset between the first sensing system and the second sensing system is equal to the synchronization timestamp Local _ timeB minus the time of interruption Local _ timeA. Then time a2 is equal to time b2 minus the time offset value time _ offset.
In some embodiments, the control method of the sensing system further comprises: the first sensing system stores the second sensing data and the determined time on the first local time axis in a storage device; second sensing data is retrieved from the storage device according to a desired time on the first local time axis.
For example, the first sensing system and/or the second sensing system each include a respective storage device, or the sensing device includes a storage device, and the first sensing system and the second sensing system may share data stored on the storage device.
Illustratively, after the first sensing system acquires the second sensing data S2 and the determined time a2, the second sensing data S2 and the determined time a2 are stored in the storage device. So that the second sensing data can be retrieved from the storage device according to the desired moment in the first local time axis.
Specifically, the second sensing data is stored in a storage device according to the sequence of the acquisition time of the second sensing data on the first local time axis; and searching second sensing data of which the acquisition time on the first local time axis is matched with the expected time on the first local time axis from the storage device based on a binary search algorithm.
The control method for the sensing system provided by the embodiment of the specification determines the interrupt time by receiving the interrupt request sent by the second sensing system, and receives the synchronization timestamp when the interrupt request is sent from the second sensing system, so as to determine the time deviation value according to the interrupt time and the synchronization timestamp. Because the sensing system has higher response speed to the interrupt request and the time delay of the interrupt request transmission is lower and more fixed, more accurate synchronization of data between the sensing systems can be realized.
Illustratively, by the control method, it is not necessary to care what system the sensor operates in, nor the delay of the data link of the sensor, but only the data of the sensor is printed at the time corresponding to the time axes of different systems at the sampling time, so that the time synchronization of different systems, different sensor data and nanosecond level in various applications can be realized.
When the upper-layer application uses the sensor data, the synchronous data can be acquired by searching in the cache at an expected time, the accuracy and the stability of the system data are improved, and the safety and the reliability of the embedded system are ensured.
Referring to fig. 5 in conjunction with the above embodiments, fig. 5 is a schematic flowchart of a control method for a sensing device according to an embodiment of the present disclosure. The control method can be applied to sensing equipment comprising the sensors and is used for realizing the processes of time synchronization and the like of sensing data among different sensing systems.
For example, a certain sensing device includes at least two sensing systems that are not consistent in time, and the sensing device may implement time synchronization of sensing data between different sensing systems according to the control method of the present specification.
Illustratively, fig. 2 is a schematic block diagram of a sensing device. The sensing equipment comprises a first sensing system and a second sensing system, wherein the first sensing system comprises a first sensor used for collecting first sensing data, and the second sensing system comprises a second sensor used for collecting second sensing data.
As shown in fig. 5, the control method for the sensing apparatus includes steps S310 to S330.
S310, the first sensing system receives an interrupt request sent by a second sensing system and determines interrupt time when the interrupt request is received, wherein the interrupt time is recorded according to a first local time axis, and the first local time axis is the local time axis of the first sensing system.
And S320, the first sensing system receives a synchronization timestamp sent by the second sensing system, the synchronization timestamp is a time recorded according to a second local time axis when the interrupt request is sent, and the second local time axis is the local time axis of the second sensing system.
And S330, the first sensing system determines a time offset value according to the interruption time and the synchronization timestamp, wherein the time offset value is used for time synchronization of the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
The specific principle and implementation manner of the control method for the sensing device provided in the embodiment of the present specification are similar to those of the control method for the sensing system in the foregoing embodiment, and are not described here again.
Referring to fig. 6 in conjunction with the above embodiments, fig. 6 is a schematic block diagram of a first sensing system 600 provided in an embodiment of the present disclosure. The first sensing system 600 comprises a processor 601 and a sensor 604 for collecting sensing data.
Specifically, the Processor 601 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the first sensing system 600 further includes a memory 602. The memory 602 is used for storing computer programs, which the processor 601 is used for executing.
Illustratively, the processor 601 and the memory 602 are coupled by a bus 603, such as an I2C (Inter-integrated Circuit) bus.
The Memory 602 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.
Wherein the processor 601 is configured to implement the aforementioned control method for the first sensing system. In particular, the processor 601 runs a computer program stored in the memory 602 and implements the aforementioned control method for the first sensing system when executing the computer program.
Illustratively, the processor 601 is configured to:
receiving an interrupt request sent by a second sensing system, and determining interrupt time when the interrupt request is received, wherein the interrupt time is recorded according to a first local time axis, and the first local time axis is the local time axis of the first sensing system;
receiving a synchronous timestamp sent by the second sensing system, wherein the second sensing system comprises a second sensor for acquiring second sensing data, the synchronous timestamp is a time recorded according to a second local time axis when the interrupt request is sent, and the second local time axis is the local time axis of the second sensing system;
and determining a time offset value according to the interruption time and the synchronization timestamp, wherein the time offset value is used for time synchronization of the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
The specific principle and implementation manner of the first sensing system provided in the embodiment of this specification are similar to the control method of the sensing system of the foregoing embodiment, and are not described here again.
Referring to fig. 7 in conjunction with the above embodiments, fig. 7 is a schematic block diagram of a sensing device 10 provided in an embodiment of the present disclosure. The sensing device comprises the aforementioned first sensing system 600 and second sensing system 700, said second sensing system 700 comprising a sensor 704 for acquiring second sensing data.
The specific principle and implementation of the sensing device provided in the embodiments of this specification are similar to the control method of the sensing system of the foregoing embodiments, and are not described here again.
Referring to fig. 8 in conjunction with the above embodiments, fig. 8 is a schematic block diagram of the movable platform 20 provided in an embodiment of the present disclosure. The sensing device comprises the aforementioned first sensing system 600 and the second sensing system 700, and the second sensing system 700 comprises a sensor 704 for acquiring second sensing data.
In some embodiments, the movable platform comprises at least one of: unmanned vehicles, handheld cloud platform, cloud platform truck.
The specific principle and implementation manner of the movable platform provided in the embodiments of this specification are similar to the control method of the sensing system of the foregoing embodiments, and are not described here again.
Embodiments of the present specification further provide a computer-readable storage medium, which stores a computer program, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the control method for the first sensing system and/or the control method for the sensing device provided in the foregoing embodiments.
The computer readable storage medium may be the sensing system, the sensing device or an internal storage unit of the removable platform, such as a hard disk or a memory of the removable platform, according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the sensing system, sensing device or removable platform, such as a plug-in hard drive provided on the removable platform, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like.
The sensing system, the sensing device, the control method thereof, the movable platform and the storage medium provided by the above embodiments of the present specification determine an interrupt time by receiving an interrupt request sent by the second sensing system, and receive a synchronization timestamp from the second sensing system when the interrupt request is sent, so as to determine a time offset value according to the interrupt time and the synchronization timestamp. Because the sensing system has higher response speed to the interrupt request and the time delay of the interrupt request transmission is lower and more fixed, more accurate synchronization of data between the sensing systems can be realized.
It is to be understood that the terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of the equivalent modifications or substitutions within the technical scope of the present disclosure, and these modifications or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present specification shall be subject to the protection scope of the claims.

Claims (29)

1. A control method for a first sensing system including a first sensor for acquiring first sensing data, the method comprising:
receiving an interrupt request sent by a second sensing system, and determining interrupt time when the interrupt request is received, wherein the interrupt time is recorded according to a first local time axis, and the first local time axis is the local time axis of the first sensing system;
receiving a synchronous timestamp sent by the second sensing system, wherein the second sensing system comprises a second sensor used for collecting second sensing data, the synchronous timestamp is a time recorded according to a second local time axis when the interrupt request is sent, and the second local time axis is a local time axis of the second sensing system;
and determining a time offset value according to the interruption time and the synchronization timestamp, wherein the time offset value is used for time synchronization of the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
2. The method of claim 1, wherein the time offset value is used to determine a time at which the first sensory data was acquired on the second local time axis; alternatively, the first and second liquid crystal display panels may be,
the time deviation value is used for determining the time of the acquisition time of the second sensing data on the first local time axis.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
and determining the time of the acquisition time of the first sensing data on the second local time axis according to the time deviation value.
4. The method of claim 3, further comprising:
and sending the first sensing data and the determined time on the second local time axis to a second sensing system.
5. The method of claim 3, further comprising:
storing the first sensory data and the determined time on the second local timeline in a storage device;
first sensory data is retrieved from the storage device according to a desired time on the second local timeline.
6. The method according to claim 1 or 2, characterized in that the method further comprises:
acquiring second sensing data sent by a second sensing system and acquisition time of the second sensing data recorded according to the second local time axis;
and determining the time of the acquisition time of the second sensing data on the first local time axis according to the time deviation value.
7. The method of claim 6, further comprising:
storing the second sensory data and the determined time on the first local timeline in a storage device;
second sensing data is retrieved from the storage device according to a desired time on the first local timeline.
8. The method of claim 1, wherein receiving an interrupt request sent by the second sensing system comprises:
receiving an interrupt request sent by the second sensing system through an interrupt link between the second sensing system and the second sensing system;
the receiving of the synchronization timestamp sent by the second sensing system includes:
and receiving the synchronous time stamp sent by the second sensing system through a data transmission link with the second sensing system.
9. The method of any one of claims 1, 2 or 8, further comprising:
and sending the time deviation value to the second sensing system, so that the second sensing system determines the time of the acquisition time of the first sensing data on the second local time axis or the time of the acquisition time of the second sensing data on the first local time axis according to the time deviation value.
10. The method of any one of claims 1, 2 or 8, further comprising:
determining whether the time offset value is a valid offset value;
and if so, the time deviation value is used for carrying out time synchronization on the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
11. The method of claim 10, wherein determining whether the time offset value is a valid offset value comprises:
determining an arrival time of receiving the synchronization timestamp, wherein the arrival time is recorded according to the first local time axis;
determining a time difference between the interruption time and the arrival time;
determining whether the time difference is less than a preset time threshold;
when so, the time offset value is determined to be a valid offset value.
12. The method of claim 11, wherein the predetermined time threshold is determined based on a period of time during which the second sensing system sends the interrupt request.
13. A control method is characterized by being used for a sensing device, wherein the sensing device comprises a first sensing system and a second sensing system, the first sensing system comprises a first sensor used for collecting first sensing data, and the second sensing system comprises a second sensor used for collecting second sensing data;
the method comprises the following steps:
the method comprises the steps that a first sensing system receives an interrupt request sent by a second sensing system and determines interrupt time when the interrupt request is received, wherein the interrupt time is recorded according to a first local time axis, and the first local time axis is the local time axis of the first sensing system;
the first sensing system receives a synchronous timestamp sent by the second sensing system, wherein the synchronous timestamp is a moment recorded according to a second local time axis when the interrupt request is sent, and the second local time axis is the local time axis of the second sensing system;
and the first sensing system determines a time deviation value according to the interruption time and the synchronization timestamp, wherein the time deviation value is used for performing time synchronization on the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
14. A first sensing system, comprising a first sensor for collecting first sensed data and a processor;
wherein the processor is configured to:
receiving an interrupt request sent by a second sensing system, and determining interrupt time when the interrupt request is received, wherein the interrupt time is recorded according to a first local time axis, and the first local time axis is the local time axis of the first sensing system;
receiving a synchronous timestamp sent by the second sensing system, wherein the second sensing system comprises a second sensor for acquiring second sensing data, the synchronous timestamp is a time recorded according to a second local time axis when the interrupt request is sent, and the second local time axis is the local time axis of the second sensing system;
and determining a time offset value according to the interruption time and the synchronization timestamp, wherein the time offset value is used for time synchronization of the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
15. The system of claim 14, wherein the time offset value is used to determine a time at which the first sensory data was acquired on the second local time axis; alternatively, the first and second electrodes may be,
the time deviation value is used for determining the time of the acquisition time of the second sensing data on the first local time axis.
16. The system of claim 14 or 15, wherein the processor further implements:
and determining the time of the acquisition time of the first sensing data on the second local time axis according to the time deviation value.
17. The system of claim 16, wherein the processor further implements:
and sending the first sensing data and the determined time on the second local time axis to a second sensing system.
18. The system of claim 16, wherein the processor further implements:
storing the first sensory data and the determined time on the second local timeline in a storage device;
first sensory data is retrieved from the storage device according to a desired time on the second local timeline.
19. The system of claim 14 or 15, wherein the processor further implements:
acquiring second sensing data sent by a second sensing system and acquisition time of the second sensing data recorded according to the second local time axis;
and determining the time of the acquisition time of the second sensing data on the first local time axis according to the time deviation value.
20. The system of claim 19, wherein the processor further implements:
storing the second sensory data and the determined time on the first local timeline in a storage device;
second sensing data is retrieved from the storage device according to a desired time on the first local time axis.
21. The system of claim 14, wherein the processor, when executing receiving the interrupt request sent by the second sensor system, executes:
receiving an interrupt request sent by the second sensing system through an interrupt link between the second sensing system and the second sensing system;
when the processor receives the synchronous timestamp sent by the second sensing system, the processor realizes that:
and receiving the synchronous time stamp sent by the second sensing system through a data transmission link with the second sensing system.
22. The system of any one of claims 14, 15 or 21, wherein the processor further implements:
and sending the time deviation value to the second sensing system, so that the second sensing system determines the time of the acquisition time of the first sensing data on the second local time axis or the time of the acquisition time of the second sensing data on the first local time axis according to the time deviation value.
23. The system of any one of claims 14, 15 or 21, wherein the processor further implements:
determining whether the time offset value is a valid offset value;
and if so, the time deviation value is used for carrying out time synchronization on the acquisition time of the first sensing data recorded according to the first local time axis and the acquisition time of the second sensing data recorded according to the second local time axis.
24. The system of claim 23, wherein the processor, in performing the determining whether the time offset value is a valid offset value, performs:
determining an arrival time of receiving the synchronization timestamp, wherein the arrival time is recorded according to the first local time axis;
determining a time difference between the interruption time and the arrival time;
determining whether the time difference is less than a preset time threshold;
when so, determining the time offset value as a valid offset value.
25. The system of claim 24, wherein the predetermined time threshold is determined based on a period of time that the second sensing system sends the interrupt request.
26. A sensing apparatus comprising a first sensing system according to any one of claims 14 to 25, and a second sensing system comprising a second sensor for acquiring second sensing data.
27. A movable platform comprising a first sensing system according to any one of claims 14-25, and a second sensing system comprising a second sensor for acquiring second sensing data.
28. The movable platform of claim 27, wherein the movable platform comprises at least one of: unmanned vehicles, handheld cloud platform, cloud platform truck.
29. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement:
a control method of a first sensing system of any one of claims 1-12; and/or
The control method of the sensor device according to claim 13.
CN201980033841.3A 2019-08-29 2019-08-29 Sensing system, sensing apparatus, control method thereof, movable platform, and storage medium Active CN112154614B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/103438 WO2021035645A1 (en) 2019-08-29 2019-08-29 Sensing system, sensing device and control method therefor, movable platform, and storage medium

Publications (2)

Publication Number Publication Date
CN112154614A CN112154614A (en) 2020-12-29
CN112154614B true CN112154614B (en) 2023-02-21

Family

ID=73891979

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980033841.3A Active CN112154614B (en) 2019-08-29 2019-08-29 Sensing system, sensing apparatus, control method thereof, movable platform, and storage medium

Country Status (2)

Country Link
CN (1) CN112154614B (en)
WO (1) WO2021035645A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022226978A1 (en) * 2021-04-30 2022-11-03 深圳市大疆创新科技有限公司 Data processing method and device
CN113572556A (en) * 2021-06-18 2021-10-29 深圳市道通智能汽车有限公司 Time synchronization method, sensor and system
CN113687590B (en) 2021-08-10 2023-03-10 青岛小鸟看看科技有限公司 Time synchronization method and system for head and handle in VR system
CN114115444A (en) * 2021-11-30 2022-03-01 上海有个机器人有限公司 Robot time axis alignment method and related product

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7447931B1 (en) * 2005-12-09 2008-11-04 Rockwell Automation Technologies, Inc. Step time change compensation in an industrial automation network
CN101400018A (en) * 2007-09-30 2009-04-01 中兴通讯股份有限公司 Broadcast data synchronization layer implementing method
CN105915308A (en) * 2016-07-08 2016-08-31 腾讯科技（深圳）有限公司 Time synchronization method, device and system
CN108923876A (en) * 2018-06-27 2018-11-30 北京艾瑞思机器人技术有限公司 Method for synchronizing time, apparatus and system

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8102787B2 (en) * 2008-06-17 2012-01-24 Samsung Electronics Co., Ltd. MAC layer timestamping approach for emerging wireless sensor platform and communication architecture
US20100014460A1 (en) * 2008-07-11 2010-01-21 Electronics And Telecommunications Research Institute Sensor network mac system for multihop communication
CN109983414A (en) * 2016-12-07 2019-07-05 深圳市大疆创新科技有限公司 System and method for supporting to synchronize in moveable platform
CN109099920B (en) * 2018-07-20 2021-10-12 重庆长安汽车股份有限公司 Sensor target accurate positioning method based on multi-sensor association
CN109257132B (en) * 2018-09-04 2020-02-11 武汉乐庭软件技术有限公司 Multi-sensor data sensing method and system based on time synchronization
CN109450582A (en) * 2018-11-01 2019-03-08 百度在线网络技术（北京）有限公司 Sensor time stabs synchronous detecting method, device, equipment, medium and vehicle
CN109729277B (en) * 2018-11-19 2021-10-01 魔门塔(苏州)科技有限公司 Multi-sensor acquisition timestamp synchronization device
CN109819512B (en) * 2019-03-18 2020-12-08 云南航天工程物探检测股份有限公司 Engineering CT wireless distributed multi-path ADC high-precision synchronization system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7447931B1 (en) * 2005-12-09 2008-11-04 Rockwell Automation Technologies, Inc. Step time change compensation in an industrial automation network
CN101400018A (en) * 2007-09-30 2009-04-01 中兴通讯股份有限公司 Broadcast data synchronization layer implementing method
CN105915308A (en) * 2016-07-08 2016-08-31 腾讯科技（深圳）有限公司 Time synchronization method, device and system
CN108923876A (en) * 2018-06-27 2018-11-30 北京艾瑞思机器人技术有限公司 Method for synchronizing time, apparatus and system

Also Published As

Publication number Publication date
CN112154614A (en) 2020-12-29
WO2021035645A1 (en) 2021-03-04

Similar Documents

Publication Publication Date Title
CN112154614B (en) Sensing system, sensing apparatus, control method thereof, movable platform, and storage medium
CN109743128B (en) Vehicle-mounted multi-information synchronous control system and method
EP2999276A1 (en) Method and terminal for reporting sensor data
EP2222003B1 (en) Field control system
CN107707626B (en) Data acquisition card, data acquisition system and data acquisition method based on FPGA
EP3217249B1 (en) Method and structure for determining inter-system global clock
CN107014381B (en) PLD, DSP, integrated navigation system, data processing method and device
CN109936420B (en) Method and apparatus for synchronizing data collected by multiple sensors
CN111585682A (en) Sensor time synchronization method and device and terminal equipment
CN109725572A (en) A kind of multisensor accurate clock synchronization system and method
CN109005002B (en) Sensor data processing device, sensor system and method for determining a conversion parameter using a sensor system
CN101228724A (en) Time synchronization in serial communications
US20190329408A1 (en) Robot, method for controlling motion of a robot and non-transitory readable medium
US11231700B2 (en) Communication system, communication method, and information storage medium
JP2017102658A (en) Data processing device, device, data processing method, and data processing program
KR101619628B1 (en) Method for synchronizing data inter-electronic device in vehicle
CN111860551B (en) Multi-sensor data fusion method and device and vehicle-mounted terminal
CN107943736A (en) Time-triggered protocol equipment and the data handling system for including time-triggered protocol equipment
CN111008239A (en) Data synchronization method and system of asynchronous system and terminal equipment
CN109933418B (en) Timestamp synchronization method, electronic equipment and heterogeneous equipment
US10416945B2 (en) Vehicle display device
CN115866154A (en) Time delay measuring method, device and system of vehicle-mounted multi-camera system and automobile
US7802150B2 (en) Ensuring maximum reaction times in complex or distributed safe and/or nonsafe systems
US11640150B2 (en) Communication system, communication method, and information storage medium
CN114545762A (en) Time data synchronization method and system based on inertial measurement unit

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant