CN112859659B - Method, device and system for acquiring multi-sensor data - Google Patents
Method, device and system for acquiring multi-sensor data Download PDFInfo
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- CN112859659B CN112859659B CN201911189131.8A CN201911189131A CN112859659B CN 112859659 B CN112859659 B CN 112859659B CN 201911189131 A CN201911189131 A CN 201911189131A CN 112859659 B CN112859659 B CN 112859659B
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Abstract
The embodiment of the invention discloses a method, a device and a system for acquiring multi-sensor data, wherein the method comprises the following steps: after obtaining the current appointed time sequence pulse, the target processor obtains an image corresponding to the current appointed time sequence pulse from the image acquisition equipment as a current image; after a data acquisition instruction is obtained, acquiring target sensor data corresponding to a current image from a microcontroller, wherein the data acquisition instruction is as follows: the microcontroller obtains an instruction sent after the next pulse of the current specified time sequence pulse, or the target processor obtains an instruction generated by the target processor after the next pulse of the current specified time sequence pulse, and the target sensor data corresponding to the current image is as follows: sensor data acquired by the other sensors between the time corresponding to the next time sequence pulse of the current specified time sequence pulse and the time corresponding to the next time sequence pulse of the previous specified time sequence pulse is acquired by the microcontroller, so that the interruption times in the process of acquiring the multi-sensor data by the processor are reduced.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method, a device and a system for acquiring multi-sensor data.
Background
In the technical field of intelligent driving, a vehicle positioning technology is very important. In the related vehicle positioning technology, the vehicle positioning process generally includes: after a processor in a System on Chip (SoC) acquires an interrupt signal sent by a sensor such as an image acquisition unit, an Inertial Measurement Unit (IMU), a wheel speed sensor, an Inertial navigation unit and the like arranged in a target vehicle, an interrupt function is triggered to acquire sensor data acquired by the corresponding sensor, and then the acquired multi-sensor data is fused by using a preset vehicle positioning algorithm to determine a vehicle positioning result of the target vehicle.
In the process, after the sensor data acquired by each sensor is sent, an interrupt signal needs to be sent to the processor in the SoC, and after the processor in the SoC acquires the interrupt signal, an interrupt function is triggered to acquire the sensor data acquired by the corresponding sensor. Moreover, due to the characteristics of the operating system in the SoC, there is a delay between the time when the processor in the SoC obtains the interrupt signal and the time when the interrupt function is triggered, so that the sensor data obtained by the processor in the SoC is not timely enough.
It is then important how to provide a method of acquiring multi-sensor data that can reduce the number of interrupts to the processor.
Disclosure of Invention
The invention provides a method and a device for acquiring multi-sensor data, which are used for reducing the interruption times in the process of acquiring the multi-sensor data by a processor. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a method for acquiring multi-sensor data, where the method is applied to a target processor of a multi-sensor data acquisition system, and the multi-sensor data acquisition system further includes: the system comprises a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning; the method comprises the following steps:
after the current appointed time sequence pulse is obtained, obtaining an image corresponding to the current appointed time sequence pulse from image acquisition equipment as a current image;
after a data acquisition instruction is obtained, acquiring target sensor data corresponding to the current image from the microcontroller, wherein the data acquisition instruction is as follows: the microcontroller obtains an instruction sent after the next pulse of the current specified time sequence pulse, or a target processor obtains an instruction generated after the next pulse of the current specified time sequence pulse; the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current specified time sequence pulse and the time corresponding to the time sequence pulse after the previous specified time sequence pulse is acquired by the microcontroller.
Optionally, the other sensors include: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
Optionally, the currently-specified time sequence pulse is a time sequence pulse which is currently sent by the image acquisition device or the target processor and meets a preset image acquisition condition, where the preset image acquisition condition includes: the frame-by-frame image acquisition condition or the interval preset numerical value frame image acquisition condition.
Optionally, after obtaining the target sensor data corresponding to the current image acquired by the other sensors, the microcontroller packages the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image;
the step of obtaining target sensor data corresponding to the current image from the microcontroller comprises:
and acquiring a data packet containing target sensor data corresponding to the current image from the microcontroller.
Optionally, after the step of acquiring the target sensor data corresponding to the current image from the microcontroller, the method further includes:
acquiring pose information of the target vehicle at a moment corresponding to the previous appointed time sequence pulse as previous pose information;
and determining pose information of the target vehicle at the moment corresponding to the current appointed time sequence pulse as current pose information according to a preset vehicle positioning algorithm and based on the previous pose information, the current image and the target sensor data.
In a second aspect, an embodiment of the present invention provides an apparatus for acquiring multi-sensor data, where the apparatus is applied to a target processor of a multi-sensor data acquisition system, and the multi-sensor data acquisition system further includes: the system comprises a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning; the device comprises:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is configured to acquire an image corresponding to a current appointed time sequence pulse from image acquisition equipment as a current image after acquiring the current appointed time sequence pulse;
a second obtaining module configured to obtain target sensor data corresponding to the current image from the microcontroller after obtaining a data obtaining instruction, where the data obtaining instruction is: the microcontroller obtains an instruction sent after the next pulse of the current specified time sequence pulse, or a target processor obtains an instruction generated after the next pulse of the current specified time sequence pulse; the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current specified time sequence pulse and the time corresponding to the time sequence pulse after the previous specified time sequence pulse is acquired by the microcontroller.
Optionally, the other sensors include: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
Optionally, the currently-specified time sequence pulse is a time sequence pulse that is currently sent by the image acquisition device or the target processor and meets a preset image acquisition condition, where the preset image acquisition condition includes: the frame-by-frame image acquisition condition or the interval preset numerical value frame image acquisition condition.
Optionally, after obtaining the target sensor data corresponding to the current image acquired by the other sensors, the microcontroller packages the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image;
the second obtaining module is specifically configured to obtain, from the microcontroller, a data packet containing target sensor data corresponding to the current image.
Optionally, the apparatus further comprises:
an obtaining module configured to obtain pose information of the target vehicle at a time corresponding to the previous specified time-series pulse as previous pose information after the target sensor data corresponding to the current image is obtained from the microcontroller;
and the determining module is configured to determine pose information of the target vehicle at a moment corresponding to the currently specified time sequence pulse as current pose information according to a preset vehicle positioning algorithm and based on the previous pose information, the current image and the target sensor data.
In a third aspect, an embodiment of the present invention provides a system for acquiring multi-sensor data, where the system for acquiring multi-sensor data includes: the system comprises a target processor, a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning;
the image acquisition device is configured to generate a time-series pulse and acquire an image; sending timing pulses to the microcontroller and a target processor;
each other sensor configured to collect sensor data;
the target processor is configured to obtain an image corresponding to the current specified time sequence pulse from the image acquisition equipment as a current image after the current specified time sequence pulse is obtained;
the microcontroller configured to obtain sensor data collected by each other sensor; after obtaining a time sequence pulse next to the current appointed time sequence pulse, sending a data acquisition instruction to the target processor;
the target processor is further configured to, after obtaining the data obtaining instruction, obtain target sensor data corresponding to the current image from the microcontroller, where the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current specified time sequence pulse and the time corresponding to the time sequence pulse after the previous specified time sequence pulse is acquired by the microcontroller.
Optionally, the other sensors include: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
Optionally, the currently specified time sequence pulse is a time sequence pulse that is currently sent by the image acquisition device and meets a preset image acquisition condition, where the preset image acquisition condition includes: the frame-by-frame image acquisition condition or the interval preset numerical value frame image acquisition condition.
Optionally, after obtaining the target sensor data corresponding to the current image acquired by the other sensors, the microcontroller is configured to package the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image;
the target processor is specifically configured to obtain a data packet from the microcontroller containing target sensor data corresponding to the current image.
Optionally, the target processor is further configured to, after the target sensor data corresponding to the current image is acquired from the microcontroller, obtain pose information of the target vehicle at a time corresponding to the previous specified time-series pulse as previous pose information; and determining pose information of the target vehicle at the moment corresponding to the current appointed time sequence pulse as current pose information according to a preset vehicle positioning algorithm and based on the previous pose information, the current image and the target sensor data.
In a fourth aspect, an embodiment of the present invention provides a system for acquiring multi-sensor data, where the system for acquiring multi-sensor data includes: the system comprises a target processor, a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning;
the image acquisition equipment is configured to acquire an image after obtaining the time sequence pulse sent by the target processor;
each other sensor configured to collect sensor data;
the target processor is configured to send timing pulses to the image acquisition device and the microcontroller; after the current appointed time sequence pulse is determined to be obtained, obtaining an image corresponding to the current appointed time sequence pulse from image acquisition equipment as a current image;
the microcontroller configured to obtain sensor data collected by each other sensor; after obtaining a time sequence pulse next to the current appointed time sequence pulse, sending a data acquisition instruction to the target processor;
the target processor is further configured to, after obtaining the data obtaining instruction, obtain target sensor data corresponding to the current image from the microcontroller, where the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current specified time sequence pulse and the time corresponding to the time sequence pulse after the previous specified time sequence pulse is acquired by the microcontroller.
Optionally, the other sensors include: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
Optionally, the currently-specified time sequence pulse is a time sequence pulse that is currently sent by the target processor and meets a preset image acquisition condition, where the preset image acquisition condition includes: the frame-by-frame image acquisition condition or the interval preset numerical value frame image acquisition condition.
Optionally, after obtaining the target sensor data corresponding to the current image acquired by the other sensors, the microcontroller is configured to package the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image;
the target processor is specifically configured to obtain a data packet from the microcontroller containing target sensor data corresponding to the current image.
Optionally, the target processor is further configured to, after the target sensor data corresponding to the current image is acquired from the microcontroller, obtain pose information of the target vehicle at a time corresponding to the previous specified time-series pulse as previous pose information; and determining pose information of the target vehicle at the moment corresponding to the current appointed time sequence pulse as current pose information according to a preset vehicle positioning algorithm and based on the previous pose information, the current image and the target sensor data.
As can be seen from the above, the method, device and system for acquiring multi-sensor data provided in the embodiments of the present invention are applied to a target processor of a multi-sensor data acquisition system, where the multi-sensor data acquisition system further includes: the system comprises a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning; the target processor can acquire an image corresponding to the current specified time sequence pulse from the image acquisition equipment as a current image after acquiring the current specified time sequence pulse; after a data acquisition instruction is obtained, acquiring target sensor data corresponding to a current image from a microcontroller, wherein the data acquisition instruction is as follows: the microcontroller obtains an instruction sent after the next pulse of the current specified time sequence pulse, or the target processor obtains an instruction generated by the target processor after the next pulse of the current specified time sequence pulse, and the target sensor data corresponding to the current image is as follows: and sensor data acquired by the other sensors between the time corresponding to the next time sequence pulse of the current specified time sequence pulse and the time corresponding to the next time sequence pulse of the previous specified time sequence pulse is acquired by the microcontroller.
By applying the embodiment of the invention, the target processor can acquire the image corresponding to the current appointed time sequence pulse from the image acquisition equipment as the current image after acquiring the current appointed time sequence pulse, and acquire the target sensor data corresponding to the current image from the microcontroller after acquiring the data acquisition instruction. The target processor can acquire the current image and the target sensor data corresponding to the current image without depending on an interrupt signal, and the interrupt frequency in the process of acquiring the multi-sensor data by the processor is reduced. Further, the microcontroller obtains sensor data acquired by other sensors in real time, the target processor immediately acquires a current image from the image acquisition device when a current time sequence pulse arrives, and immediately acquires target sensor data corresponding to the current image from the microcontroller after acquiring a data acquisition instruction, namely the sensor data acquired by the other sensors between a time corresponding to a time subsequent to a current specified time sequence pulse and a time corresponding to a time subsequent to a previous specified time sequence pulse, which are acquired by the microcontroller. The sensor data which is more matched with the current image is acquired more timely to a certain extent, the acquisition instantaneity of the sensor data and the image is improved, and the subsequent instantaneity of an operation result based on the current image and the corresponding target sensor data is ensured. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
The innovation points of the embodiment of the invention comprise:
1. after the current specified time sequence pulse is obtained, an image corresponding to the current specified time sequence pulse is obtained from the image acquisition device to serve as a current image, and after a data obtaining instruction is obtained, target sensor data corresponding to the current image is obtained from the microcontroller. The target processor can acquire the current image and the target sensor data corresponding to the current image without depending on an interrupt signal, and the interrupt frequency in the process of acquiring the multi-sensor data by the processor is reduced. Further, the microcontroller obtains sensor data acquired by other sensors in real time, the target processor immediately acquires a current image from the image acquisition device when a current time sequence pulse arrives, and immediately acquires target sensor data corresponding to the current image from the microcontroller after acquiring a data acquisition instruction, namely the sensor data acquired by the other sensors between a time corresponding to a time subsequent to a current specified time sequence pulse and a time corresponding to a time subsequent to a previous specified time sequence pulse, which are acquired by the microcontroller. The sensor data which is more matched with the current image is acquired more timely to a certain extent, the acquisition instantaneity of the sensor data and the image is improved, and the subsequent instantaneity of an operation result based on the current image and the corresponding target sensor data is ensured.
2. By setting the preset image acquisition condition, the time for acquiring the image and the sensor data corresponding to the image can be controlled, and corresponding setting can be performed according to the hardware computing power of the equipment where the target processor is located to a certain extent, so that the method is suitable for different computing power environments, and the feasibility of the acquisition process of the multi-sensor data is ensured.
3. In order to facilitate the target processor to obtain the target sensor data corresponding to the current image, reduce the times of obtaining the sensor data by the target processor and ensure the integrity of the target sensor data corresponding to the current image, the microcontroller packages the target sensor data corresponding to the current image, and the target processor can obtain all the target sensor data corresponding to the current image at one time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be understood that the drawings in the following description are merely exemplary of some embodiments of the invention. For a person skilled in the art, without inventive effort, other figures can also be derived from these figures.
Fig. 1 is a schematic flow chart of a method for acquiring multi-sensor data according to an embodiment of the present invention;
fig. 2A and 2B are schematic diagrams of data acquisition logic for acquiring data based on frame-by-frame image acquisition conditions and acquiring data based on interval preset numerical value frame image acquisition conditions, respectively;
FIG. 3 is a schematic structural diagram of a multi-sensor data acquisition apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a multi-sensor data acquisition system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another multi-sensor data acquisition system according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The invention provides a method, a device and a system for acquiring multi-sensor data, which are used for reducing the interruption times in the process of acquiring the multi-sensor data by a processor. The following provides a detailed description of embodiments of the invention.
Fig. 1 is a schematic flowchart of a method for acquiring multi-sensor data according to an embodiment of the present invention. The method is applied to a target processor of a multi-sensor data acquisition system, and the multi-sensor data acquisition system can further comprise: the system comprises a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning; the method may comprise the steps of:
s101: and after the current appointed time sequence pulse is obtained, obtaining an image corresponding to the current appointed time sequence pulse from the image acquisition equipment as a current image.
In embodiments of the invention, the target processor may be a processor in an SOC (System on Chip) Chip, which in one case may be disposed within the target vehicle.
The current designated timing pulse can be automatically generated and obtained for the target processor and can be sent to the image acquisition device and the microcontroller, or the current designated timing pulse can be automatically generated by the image acquisition device and can be sent to the target processor and the microcontroller. Accordingly, in one case, the target processor or the image capturing device may periodically transmit the timing pulse, and after the target processor obtains the timing pulse and determines that the currently obtained timing pulse is the currently specified timing pulse, an image corresponding to the currently specified timing pulse may be obtained from the image capturing device as the current image. It will be appreciated that the image capture device may capture, i.e., expose, a frame of image for each acquisition of a time sequential pulse. The image corresponding to the current designated timing pulse is: the image acquisition device acquires, namely exposes, the generated image when the current specified time sequence pulse is obtained.
S102: and after the data acquisition instruction is obtained, acquiring target sensor data corresponding to the current image from the microcontroller.
Wherein, the data acquisition instruction is as follows: the microcontroller obtains an instruction sent after the next pulse of the current specified time sequence pulse, or the target processor obtains an instruction generated by the target processor after the next pulse of the current specified time sequence pulse; the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the next time sequence pulse of the current specified time sequence pulse and the time corresponding to the next time sequence pulse of the previous specified time sequence pulse is acquired by the microcontroller. The previous designated timing pulse is a previous designated timing pulse of the current designated timing pulse.
In one implementation, the Microcontroller is an MCU (micro controller Unit), and may be an arm (advanced RISC machines) based Cortex-M series single chip microcomputer.
In an embodiment of the present invention, the other sensors may include, but are not limited to: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
In one implementation, the time sequence pulse is generated by the image acquisition device and is sent to the microprocessor and the target processor, in one case, after the microcontroller obtains a time sequence pulse subsequent to the currently specified time sequence pulse, the microcontroller can send a data acquisition instruction to the target processor, and after the target processor obtains the data acquisition instruction, the target processor can directly acquire target sensor data corresponding to the current image from the microcontroller. In another case, after the target processor obtains a subsequent timing pulse of the currently specified timing pulse, a data acquisition instruction may be automatically generated, and target sensor data corresponding to the current image may be acquired from the microcontroller. The method comprises the steps that the time for reporting sensor data to a target processor by a microcontroller is agreed in advance between the microcontroller and the target processor, and a data acquisition instruction is sent to the target processor after the time arrives, namely the next time sequence pulse of the current specified time sequence pulse is obtained, and the target processor can directly obtain target sensor data corresponding to a current image from the microcontroller after the data acquisition instruction is obtained.
In another implementation manner, in a case where the timing pulse is generated by the target processor and sent to the microprocessor and the image acquisition device, in one case, after the target processor obtains a timing pulse subsequent to the currently specified timing pulse, a data acquisition instruction may be automatically generated, and target sensor data corresponding to the current image may be acquired from the microcontroller. In another case, after the microcontroller obtains a subsequent timing pulse of the currently specified timing pulse, the microcontroller may send a data acquisition instruction to the target processor, and after the target processor obtains the data acquisition instruction, the target processor may directly acquire target sensor data corresponding to the current image from the microcontroller.
The target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the next time sequence pulse of the current specified time sequence pulse and the time corresponding to the next time sequence pulse of the previous specified time sequence pulse is acquired by the microcontroller. Wherein, the sensor data of gathering between the moment that the next time sequence pulse of present appointed time sequence pulse corresponds with the moment that the next time sequence pulse of preceding appointed time sequence pulse corresponds includes: the sensor data is acquired at a time corresponding to a time sequence pulse next to the current designated time sequence pulse, and the sensor data is acquired between a time corresponding to a time sequence pulse next to the current designated time sequence pulse and a time corresponding to a time sequence pulse next to the previous designated time sequence pulse.
It is understood that, considering that the image capture device starts capturing, i.e., exposure generation image, after obtaining the time-series pulse, the exposure generation image requires time, and the target processor also needs time to obtain the image corresponding to the time-series pulse from the image capture device. In view of this, reference is made to image capturing devices of different exposure modes and a large number of image capturing devices of various types.
In one case, when the microcontroller obtains a time sequence pulse subsequent to the currently specified time sequence pulse, the target processor may be considered to have obtained a current image corresponding to the currently specified time sequence pulse, and at this time, a data obtaining instruction may be sent to the target processor, and the target processor subsequently obtains, from the microcontroller, sensor data obtained by the microcontroller and acquired by other sensors between a time corresponding to the time subsequent to the currently specified time sequence pulse and a time corresponding to a time subsequent to a time sequence pulse of a previous specified time sequence pulse, as target sensor data corresponding to the current image.
In another case, after the target processor obtains a subsequent timing pulse of the currently specified timing pulse, correspondingly, the target processor has already obtained a current image corresponding to the currently specified timing pulse, the target processor may directly generate a data obtaining instruction, and obtain, from the microcontroller, sensor data obtained by the microcontroller and acquired by other sensors between a time corresponding to the subsequent timing pulse of the currently specified timing pulse and a time corresponding to the subsequent timing pulse of the previously specified timing pulse, as target sensor data corresponding to the current image.
Among them, the target sensor data may include but is not limited to: sensor data collected by at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
In one implementation, the timing pulse sent by the image capture device or target processor may be a pulse of an image capture device hardware operating timing, such as: may be a VSYNC (vertical synchronization, or Frame synchronization) signal or an FSYNC (Frame synchronization signal) signal.
In an embodiment of the present invention, the currently specified time sequence pulse is a time sequence pulse currently sent by the image capturing device or the target processor and meeting a preset image obtaining condition, where the preset image obtaining condition includes: the frame-by-frame image acquisition condition or the interval preset numerical value frame image acquisition condition.
Correspondingly, if the preset image obtaining condition includes: and (3) acquiring the condition of the image frame by frame, and determining that the current time sequence pulse meets the preset image acquisition condition and is the current appointed time sequence pulse when the target processor and the microcontroller acquire the current time sequence pulse.
If the preset image acquisition condition comprises: the method comprises the steps that a preset value frame image acquisition condition is set, after a target processor and a microcontroller acquire a current time sequence pulse, whether the current time sequence pulse is an integral multiple of a preset value time sequence pulse or not is judged, or whether the number of time sequence pulses spaced between the current time sequence pulse and a previous time sequence pulse serving as a specified time sequence pulse is a preset value minus 1 or not is judged; if so, determining that the current time sequence pulse accords with the preset image acquisition condition, and determining that the current time sequence pulse is the current appointed time sequence pulse.
By setting the preset image acquisition condition, the opportunity of acquiring the image and the sensor data corresponding to the image by the target processor can be controlled, and corresponding setting can be performed according to the hardware computing power of the target processor and the equipment where the target processor is located to a certain extent, so that the method is suitable for different computing power environments, and the feasibility of the acquisition process of the multi-sensor data is ensured.
Fig. 2A is a schematic diagram of a data acquisition logic for acquiring data based on a frame-by-frame image acquisition condition, where when a target processor acquires a first time-series pulse, i.e., "pulse 1" in the figure, it determines that "pulse 1" is a currently specified time-series pulse, and starts to acquire an image acquired by an image acquisition device corresponding to "pulse 1", i.e., fig. 1, from the image acquisition device; the microcontroller sends a data acquisition instruction to the target processor after obtaining a second time sequence pulse, namely the next time sequence pulse of the current appointed time sequence pulse; or when the target processor obtains the second time sequence pulse, namely the pulse 2 in the figure, the second time sequence pulse is used as the next time sequence pulse of the current appointed time sequence pulse to generate a data acquisition instruction; further, sensor data collected between the time corresponding to "pulse 1" and the time corresponding to "pulse 2" is acquired from the microcontroller.
FIG. 2B is a schematic diagram of data acquisition logic for acquiring data based on an interval preset value frame image acquisition condition. As shown in fig. 2B, when the target processor obtains the third time-series pulse, i.e., "pulse 3" in the figure, it determines that "pulse 3" is the currently specified time-series pulse, and starts to obtain, from the image capturing device, the image captured by the image capturing device corresponding to "pulse 3", i.e., fig. 1; the microcontroller sends a data acquisition instruction to the target processor after acquiring a fourth time sequence pulse, namely a time sequence pulse after the current appointed time sequence pulse; or when the target processor obtains the fourth time sequence pulse, namely the pulse 4 in the figure, the fourth time sequence pulse is used as the next time sequence pulse of the current appointed time sequence pulse to generate a data acquisition instruction; further, sensor data collected between the time corresponding to "pulse 1" and the time corresponding to "pulse 4" is acquired from the microcontroller.
By applying the embodiment of the invention, the image corresponding to the current appointed time sequence pulse can be acquired from the image acquisition equipment as the current image after the current appointed time sequence pulse is acquired, and the target sensor data corresponding to the current image is acquired from the microcontroller after the data acquisition instruction is acquired. The target processor can acquire the current image and the target sensor data corresponding to the current image without depending on an interrupt signal, and the interrupt frequency in the process of acquiring the multi-sensor data by the processor is reduced. Further, the microcontroller obtains sensor data acquired by other sensors in real time, the target processor immediately acquires a current image from the image acquisition device when a current time sequence pulse arrives, and immediately acquires target sensor data corresponding to the current image from the microcontroller after acquiring a data acquisition instruction, namely the sensor data acquired by the other sensors between a time corresponding to a time subsequent to a current specified time sequence pulse and a time corresponding to a time subsequent to a previous specified time sequence pulse, which are acquired by the microcontroller. The sensor data which is more matched with the current image is acquired more timely to a certain extent, the acquisition instantaneity of the sensor data and the image is improved, and the subsequent instantaneity of an operation result based on the current image and the corresponding target sensor data is ensured.
In another embodiment of the present invention, after the microcontroller obtains target sensor data corresponding to a current image acquired by other sensors, the microcontroller packages the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image;
the S102 may include the steps of: a data packet containing target sensor data corresponding to the current image is obtained from the microcontroller.
In this implementation, in order to facilitate the target processor to obtain the target sensor data corresponding to the current image, reduce the number of times that the target processor obtains the sensor data, and ensure the integrity of the target sensor data corresponding to the current image, after the microcontroller obtains the target sensor data corresponding to the current image acquired by the other sensors, the microcontroller packages the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image. Correspondingly, the target processor can acquire the data packets of all the target sensor data corresponding to the current image, and all the target sensor data corresponding to the current image can be acquired at one time. In one case, the microcontroller packages the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image, and may add a timestamp information to the data packet, where the timestamp information may be set according to the acquisition time corresponding to the current image, for example, set as the occurrence time of the currently specified timing pulse corresponding to the current image.
The embodiment of the present invention does not limit the packaging manner of the sensor data by the microprocessor, and any manner that can realize the packaging of the data in the related art can be applied to the embodiment.
In one case, after the target processor obtains the current image and the target sensor data corresponding to the current image, the pose information of the target vehicle at the time corresponding to the currently specified time-series pulse may be determined based on the current image and the target sensor data corresponding to the current image. In another embodiment of the present invention, after the S102, the method may further include steps 01-02:
01: and acquiring the pose information of the target vehicle at the moment corresponding to the previous specified time sequence pulse as the previous pose information.
02: and determining pose information of the target vehicle at the moment corresponding to the current appointed time sequence pulse as the current pose information according to a preset vehicle positioning algorithm and based on the previous pose information, the current image and the target sensor data.
The preset vehicle positioning algorithm may be any type of preset vehicle positioning algorithm in the related art, and the embodiment of the present invention is not limited thereto.
Corresponding to the above method embodiment, an embodiment of the present invention provides an apparatus for acquiring multi-sensor data, where the apparatus is applied to a target processor of a multi-sensor data acquisition system, and the multi-sensor data acquisition system further includes: the system comprises a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning; as shown in fig. 3, may include:
a first obtaining module 310, configured to obtain, after obtaining a currently specified time-series pulse, an image corresponding to the currently specified time-series pulse from an image acquisition device as a current image;
a second obtaining module 320, configured to obtain target sensor data corresponding to the current image from the microcontroller after obtaining a data obtaining instruction, where the data obtaining instruction is: the microcontroller obtains an instruction sent after the next pulse of the current specified time sequence pulse, or a target processor obtains an instruction generated after the next pulse of the current specified time sequence pulse; the target sensor data corresponding to the current image is: and the sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current appointed time sequence pulse and the time corresponding to the time sequence pulse after the previous appointed time sequence pulse is acquired by the microcontroller.
By applying the embodiment of the invention, the image corresponding to the current appointed time sequence pulse can be acquired from the image acquisition equipment as the current image after the current appointed time sequence pulse is acquired, and the target sensor data corresponding to the current image is acquired from the microcontroller after the data acquisition instruction is acquired. The target processor can acquire the current image and the target sensor data corresponding to the current image without depending on an interrupt signal, and the interrupt frequency in the process of acquiring the multi-sensor data by the processor is reduced. Further, the microcontroller obtains sensor data acquired by other sensors in real time, the target processor immediately acquires a current image from the image acquisition device when a current time sequence pulse arrives, and immediately acquires target sensor data corresponding to the current image from the microcontroller after acquiring a data acquisition instruction, namely the sensor data acquired by the other sensors between a time corresponding to a time subsequent to a current specified time sequence pulse and a time corresponding to a time subsequent to a previous specified time sequence pulse, which are acquired by the microcontroller. The sensor data which is more matched with the current image is acquired more timely to a certain extent, the acquisition instantaneity of the sensor data and the image is improved, and the subsequent instantaneity of an operation result based on the current image and the corresponding target sensor data is ensured.
In another embodiment of the present invention, the other sensor includes: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
In another embodiment of the present invention, the currently specified time-series pulse is a time-series pulse which is currently sent by the image capturing device or the target processor and satisfies a preset image acquiring condition, where the preset image acquiring condition includes: the frame-by-frame image acquisition condition or the interval preset numerical value frame image acquisition condition.
In another embodiment of the present invention, after the microcontroller obtains the target sensor data corresponding to the current image acquired by the other sensors, the target sensor data corresponding to the current image is packed to obtain a data packet containing the target sensor data corresponding to the current image;
the second obtaining module 320 is specifically configured to obtain a data packet containing target sensor data corresponding to the current image from the microcontroller.
In another embodiment of the present invention, the apparatus further comprises:
an obtaining module (not shown in the figure) configured to obtain, as previous pose information, pose information of the target vehicle at a time corresponding to the previous specified time-series pulse after the target sensor data corresponding to the current image is obtained from the microcontroller;
a determining module (not shown in the figure) configured to determine pose information of the target vehicle at a time corresponding to the currently specified time-series pulse as current pose information based on the previous pose information, the current image and the target sensor data according to a preset vehicle positioning algorithm.
Corresponding to the above method embodiment, an embodiment of the present invention provides a system for acquiring multi-sensor data, and as shown in fig. 4, the system for acquiring multi-sensor data includes: a target processor 410, a microcontroller 420, and an image capture device 430 disposed on the target vehicle and other sensors 440 that capture sensor data for vehicle positioning;
the image capturing device 430 configured to generate a time-series pulse and capture an image; sending timing pulses to the microcontroller and a target processor;
each other sensor 440 configured to collect sensor data;
the target processor 410 is configured to, after obtaining the currently specified time sequence pulse, obtain an image corresponding to the currently specified time sequence pulse from the image acquisition device 330 as a current image;
the microcontroller 420 configured to obtain sensor data collected by each of the other sensors 440; and after obtaining a subsequent timing pulse of the currently specified timing pulse, sending a data acquisition instruction to the target processor 410;
the target processor 410 is further configured to, after obtaining the data obtaining instruction, obtain target sensor data corresponding to the current image from the microcontroller 420, where the target sensor data corresponding to the current image is: sensor data acquired by the other sensors 440 by the microcontroller 420 between a time corresponding to a time subsequent to the current designated timing pulse and a time corresponding to a time subsequent to the previous designated timing pulse.
By applying the embodiment of the invention, the image corresponding to the current appointed time sequence pulse can be acquired from the image acquisition equipment as the current image after the current appointed time sequence pulse is acquired, and the target sensor data corresponding to the current image is acquired from the microcontroller after the data acquisition instruction is acquired. The target processor can acquire the current image and the target sensor data corresponding to the current image without depending on an interrupt signal, and the interrupt frequency in the process of acquiring the multi-sensor data by the processor is reduced. Further, the microcontroller obtains sensor data acquired by other sensors in real time, the target processor immediately acquires a current image from the image acquisition device when a current time sequence pulse arrives, and immediately acquires target sensor data corresponding to the current image from the microcontroller after acquiring a data acquisition instruction, namely the sensor data acquired by the other sensors between a time corresponding to a time subsequent to a current specified time sequence pulse and a time corresponding to a time subsequent to a previous specified time sequence pulse, which are acquired by the microcontroller. The sensor data which is more matched with the current image is acquired more timely to a certain extent, the acquisition instantaneity of the sensor data and the image is improved, and the subsequent instantaneity of an operation result based on the current image and the corresponding target sensor data is ensured.
In another embodiment of the present invention, the other sensor includes: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
In another embodiment of the present invention, the currently specified time-series pulse is a time-series pulse currently sent by the image capturing apparatus 430 and satisfying a preset image acquiring condition, where the preset image acquiring condition includes: the frame-by-frame image acquisition condition or the interval preset numerical value frame image acquisition condition.
In another embodiment of the present invention, after obtaining the target sensor data corresponding to the current image acquired by the other sensors 440, the microcontroller 420 is configured to package the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image;
the target processor 410 is specifically configured to obtain a data packet from the microcontroller 420 containing target sensor data corresponding to the current image.
In another embodiment of the present invention, the object processor 410 is further configured to obtain the pose information of the object vehicle at the time corresponding to the previous specified time-series pulse as the previous pose information after the object sensor data corresponding to the current image is obtained from the microcontroller 420; and determining pose information of the target vehicle at the moment corresponding to the current appointed time sequence pulse as current pose information according to a preset vehicle positioning algorithm and based on the previous pose information, the current image and the target sensor data.
Corresponding to the above method embodiment, an embodiment of the present invention provides a system for acquiring multi-sensor data, and as shown in fig. 5, the system for acquiring multi-sensor data includes: a target processor 510, a microcontroller 520, and an image capture device 530 disposed on the target vehicle and other sensors 540 that capture sensor data for vehicle positioning;
the image acquisition device 530 is configured to acquire an image after obtaining the time-series pulse sent by the target processor 510;
each other sensor 540 configured to collect sensor data;
the target processor 510 configured to send timing pulses to the image capture device 530 and the microcontroller 520; after the current specified time sequence pulse is determined to be obtained, obtaining an image corresponding to the current specified time sequence pulse from the image acquisition equipment 530 as a current image;
the microcontroller 520 configured to obtain sensor data collected by each of the other sensors 540; and after obtaining a subsequent timing pulse of the currently specified timing pulse, sending a data acquisition instruction to the target processor 510;
the target processor 510 is further configured to, after obtaining the data obtaining instruction, obtain target sensor data corresponding to the current image from the microcontroller 520, where the target sensor data corresponding to the current image is: sensor data acquired by the other sensors 540 between a time corresponding to a time subsequent to the current designated timing pulse and a time corresponding to a time subsequent to the previous designated timing pulse, obtained by the microcontroller 520.
By applying the embodiment of the invention, the image corresponding to the current appointed time sequence pulse can be acquired from the image acquisition equipment as the current image after the current appointed time sequence pulse is acquired, and the target sensor data corresponding to the current image is acquired from the microcontroller after the data acquisition instruction is acquired. The target processor can acquire the current image and the target sensor data corresponding to the current image without depending on an interrupt signal, and the interrupt frequency in the process of acquiring the multi-sensor data by the processor is reduced. Further, the microcontroller obtains sensor data acquired by other sensors in real time, the target processor immediately acquires a current image from the image acquisition device when a current time sequence pulse arrives, and immediately acquires target sensor data corresponding to the current image from the microcontroller after acquiring a data acquisition instruction, namely the sensor data acquired by the other sensors between a time corresponding to a time subsequent to a current specified time sequence pulse and a time corresponding to a time subsequent to a previous specified time sequence pulse, which are acquired by the microcontroller. The sensor data which is more matched with the current image is acquired more timely to a certain extent, the acquisition instantaneity of the sensor data and the image is improved, and the subsequent instantaneity of an operation result based on the current image and the corresponding target sensor data is ensured.
In another embodiment of the present invention, the other sensor includes: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
In another embodiment of the present invention, the currently specified time sequence pulse is a time sequence pulse currently sent by the target processor 510 and satisfying a preset image capturing condition, where the preset image capturing condition includes: the frame-by-frame image acquisition condition or the interval preset numerical value frame image acquisition condition.
In another embodiment of the present invention, after obtaining the target sensor data corresponding to the current image acquired by the other sensors, the microcontroller 520 is configured to package the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image;
the target processor 510 is specifically configured to obtain a data packet from the microcontroller containing target sensor data corresponding to the current image.
In another embodiment of the present invention, the target processor 510 is further configured to obtain, as previous position information, position and attitude information of the target vehicle at a time corresponding to the previous specified time-series pulse after the target sensor data corresponding to the current image is obtained from the microcontroller; and determining pose information of the target vehicle at the moment corresponding to the current appointed time sequence pulse as current pose information according to a preset vehicle positioning algorithm and based on the previous pose information, the current image and the target sensor data.
The device and system embodiments correspond to the method embodiments, and have the same technical effects as the method embodiments, and specific descriptions refer to the method embodiments. The device embodiment is obtained based on the method embodiment, and for specific description, reference may be made to the method embodiment section, which is not described herein again.
Those of ordinary skill in the art will understand that: the figures are schematic representations of one embodiment, and the blocks or processes shown in the figures are not necessarily required to practice the present invention.
Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A method for acquiring multi-sensor data, the method being applied to a target processor of a multi-sensor data acquisition system, the multi-sensor data acquisition system further comprising: the system comprises a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning; the method comprises the following steps:
after the current appointed time sequence pulse is obtained, obtaining an image corresponding to the current appointed time sequence pulse from image acquisition equipment as a current image; the currently-specified time sequence pulse is a time sequence pulse which is currently sent by the image acquisition device or the target processor and meets a preset image acquisition condition, wherein the preset image acquisition condition comprises: presetting a numerical value frame image acquisition condition by a frame image acquisition condition or an interval;
after a data acquisition instruction is obtained, acquiring target sensor data corresponding to the current image from the microcontroller, wherein the data acquisition instruction is as follows: the microcontroller obtains an instruction sent after the next pulse of the current specified time sequence pulse, or a target processor obtains an instruction generated after the next pulse of the current specified time sequence pulse; the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current specified time sequence pulse and the time corresponding to the time sequence pulse after the previous specified time sequence pulse is acquired by the microcontroller.
2. The method of claim 1, wherein the other sensors comprise: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
3. The method of claim 1, wherein after the microcontroller obtains the target sensor data corresponding to the current image acquired by the other sensors, the microcontroller packages the target sensor data corresponding to the current image to obtain a data packet containing the target sensor data corresponding to the current image;
the step of obtaining target sensor data corresponding to the current image from the microcontroller comprises:
and acquiring a data packet containing target sensor data corresponding to the current image from the microcontroller.
4. The method of any of claims 1-3, wherein after the step of obtaining target sensor data corresponding to the current image from the microcontroller, the method further comprises:
acquiring pose information of the target vehicle at a moment corresponding to the previous appointed time sequence pulse as previous pose information;
and determining pose information of the target vehicle at the moment corresponding to the current appointed time sequence pulse as current pose information according to a preset vehicle positioning algorithm and based on the previous pose information, the current image and the target sensor data.
5. An apparatus for acquiring multi-sensor data, the apparatus being applied to a target processor of a multi-sensor data acquisition system, the multi-sensor data acquisition system further comprising: the system comprises a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning; the device comprises:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is configured to acquire an image corresponding to a current appointed time sequence pulse from image acquisition equipment as a current image after acquiring the current appointed time sequence pulse; the currently-specified time sequence pulse is a time sequence pulse which is currently sent by the image acquisition device or the target processor and meets a preset image acquisition condition, wherein the preset image acquisition condition comprises: presetting a numerical value frame image acquisition condition by a frame image acquisition condition or an interval;
a second obtaining module configured to obtain target sensor data corresponding to the current image from the microcontroller after obtaining a data obtaining instruction, where the data obtaining instruction is: the microcontroller obtains an instruction sent after the next pulse of the current specified time sequence pulse, or a target processor obtains an instruction generated after the next pulse of the current specified time sequence pulse; the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current specified time sequence pulse and the time corresponding to the time sequence pulse after the previous specified time sequence pulse is acquired by the microcontroller.
6. The apparatus of claim 5, wherein the other sensors comprise: at least one of a wheel speed sensor, an inertial measurement unit IMU, an ultrasonic radar, a millimeter radar, and an inertial navigation device.
7. A multi-sensor data acquisition system, comprising: the system comprises a target processor, a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning;
the image acquisition device is configured to generate a time-series pulse and acquire an image; sending timing pulses to the microcontroller and a target processor;
each other sensor configured to collect sensor data;
the target processor is configured to acquire an image corresponding to the current appointed time sequence pulse from the image acquisition equipment as a current image after acquiring the current appointed time sequence pulse; the current specified time sequence pulse is a time sequence pulse which is currently sent by the image acquisition equipment or the target processor and meets a preset image acquisition condition, wherein the preset image acquisition condition comprises: presetting a numerical value frame image acquisition condition by a frame image acquisition condition or an interval;
the microcontroller configured to obtain sensor data collected by each other sensor; after obtaining a time sequence pulse next to the current appointed time sequence pulse, sending a data acquisition instruction to the target processor;
the target processor is further configured to, after obtaining the data obtaining instruction, obtain target sensor data corresponding to the current image from the microcontroller, where the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current specified time sequence pulse and the time corresponding to the time sequence pulse after the previous specified time sequence pulse is acquired by the microcontroller.
8. A multi-sensor data acquisition system, comprising: the system comprises a target processor, a microcontroller, image acquisition equipment arranged on a target vehicle and other sensors for acquiring sensor data for vehicle positioning;
the image acquisition equipment is configured to acquire an image after obtaining the time sequence pulse sent by the target processor;
each other sensor configured to collect sensor data;
the target processor is configured to send timing pulses to the image acquisition device and the microcontroller; after the current appointed time sequence pulse is determined to be obtained, obtaining an image corresponding to the current appointed time sequence pulse from image acquisition equipment as a current image; the currently-specified time sequence pulse is a time sequence pulse which is currently sent by the image acquisition device or the target processor and meets a preset image acquisition condition, wherein the preset image acquisition condition comprises: presetting a numerical value frame image acquisition condition by a frame image acquisition condition or an interval;
the microcontroller configured to obtain sensor data collected by each other sensor; after obtaining a time sequence pulse next to the current appointed time sequence pulse, sending a data acquisition instruction to the target processor;
the target processor is further configured to, after obtaining the data obtaining instruction, obtain target sensor data corresponding to the current image from the microcontroller, where the target sensor data corresponding to the current image is: and sensor data acquired by the other sensors between the time corresponding to the time sequence pulse after the current specified time sequence pulse and the time corresponding to the time sequence pulse after the previous specified time sequence pulse is acquired by the microcontroller.
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