CN113890665A - Time synchronization method, system, storage medium and processor - Google Patents
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Abstract
The application provides a time synchronization method, a time synchronization system, a storage medium and a processor, belongs to the technical field of automatic driving, and is applied to unmanned equipment, wherein the method comprises the following steps: acquiring first time information of a first clock source and second time information of a second clock source; calculating a time difference between the first time information and the second time information; the sensor works based on the second time information and outputs a sensing signal; and transmitting the time difference to a calculation unit, and performing fusion calculation on the sensing signals based on the time difference to realize the time synchronization of the sensors. By the processing scheme, the algorithm difficulty can be effectively reduced.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a time synchronization method, a time synchronization system, a storage medium, and a processor.
Background
The current automatic driving system comprises modules of perception, positioning, decision planning, control and the like, and the modules need to be fused accurately according to various sensor data of different types when running normally. Due to the difference in the operating principle, the various sensors operate on different time references. The sensor clock sources have clock drifts, and each clock source clock drift is different, so even though the time stamps of the sensors are aligned at the initial moment, after a period of operation, the result of the previous alignment still deviates. Meanwhile, the acquisition time of each sensor is not the same, so time synchronization is required to calibrate the time of each sensor. In order to meet the requirement of accurate fusion of different types of sensors, the following three points need to be met: and establishing a high-precision time reference, a transmission time reference and controlling the sensor to trigger in a combined way.
The current time synchronization mode is that the controller takes the GPS time as the local time, and the mode has two defects: the GPS time can be obtained only after the GPS is connected with the satellite, and the GPS time can not be obtained in scenes such as a ground depot tunnel and the like; when the GPS time is out of the ground, the GPS time cannot be obtained at first to work with local time, after the GPS time can be obtained by the ground, if the local time is directly corrected, the whole system time is jumped, the triggering of the camera and the like are based on the local time, the local time is corrected, the triggering period of the camera sampling is also influenced, and therefore the difficulty of algorithm processing is increased.
Disclosure of Invention
Embodiments of the present application provide a time synchronization method, a time synchronization system, a storage medium, and a processor, which at least partially solve the time synchronization problem in the prior art.
In a first aspect, an embodiment of the present application provides a time synchronization method, which is applied to an unmanned device, and the method includes:
acquiring first time information of a first clock source and second time information of a second clock source;
calculating a time difference between the first time information and the second time information;
the sensor works based on the second time information and outputs a sensing signal;
and transmitting the time difference to a calculation unit, and performing fusion calculation on the sensing signals based on the time difference to realize the time synchronization of the sensors.
According to a specific implementation of the embodiments of the present application, the sensor includes one or more of a camera, a lidar, an ultrasonic sensor, and a navigation sensor.
According to a specific implementation manner of the embodiment of the application, the operating the sensor based on the second time information and outputting the sensing signal specifically includes:
the camera receives a trigger signal based on the second time information and outputs an image signal;
and the laser radar receives position information and time information based on the second time information and outputs a point cloud signal.
According to a specific implementation manner of the embodiment of the present application, the performing fusion calculation on the sensing signals based on the time difference specifically includes: and the computing unit receives the image signal and the point cloud signal, and performs fusion computation on the image signal and the point cloud signal based on a general precise time protocol and the time difference to realize time synchronization of the sensor.
According to a specific implementation manner of the embodiment of the application, the first clock source includes a global positioning system clock source and a network clock source connected with the internet, and the second clock source includes a clock source of a local computing device of the unmanned device.
According to a specific implementation manner of the embodiment of the present application, the second time information of the clock source of the local computing device is determined by at least one of the following manners:
extracting second time information of the local computing device from a file stored by the local computing device;
obtaining a clock signal from a third party platform associated with the local computing device as second time information for the local computing device;
accessing a corresponding clock device based on a trigger signal, and using clock information recorded by the clock device as second time information of the local computing device;
and reading second time information of the local computing equipment from the standby computing equipment, wherein the local computing equipment and the standby computing equipment are master-slave synchronous equipment.
In a second aspect, an embodiment of the present application further provides a time synchronization system, where the system includes:
the acquisition module is used for acquiring first time information of a first clock source and second time information of a second clock source;
a time difference calculation module for calculating a time difference between the first time information and the second time information;
the signal output module is used for enabling the sensor to work based on the second time information and outputting a sensing signal;
and the fusion calculation module is used for transmitting the time difference to a calculation unit, and performing fusion calculation on the sensing signals based on the time difference to realize the time synchronization of the sensors.
According to a specific implementation manner of the embodiment of the present application, the signal output module specifically includes:
an image signal output module for the camera to output an image signal based on the second time information receiving trigger signal;
and the point cloud signal output module is used for receiving the position information and the time information by the laser radar based on the second time information and outputting a point cloud signal.
In a third aspect, an embodiment of the present application further provides a storage medium, where the storage medium includes a stored program, and when the program runs, a device on which the storage medium is located is controlled to execute the time synchronization method described in any of the embodiments of the first aspect.
In a fourth aspect, an embodiment of the present application further provides a processor, where the processor is configured to execute a program, where the program executes the time synchronization method described in any of the embodiments of the first aspect.
Advantageous effects
According to the time synchronization method in the embodiment of the application, the time difference between the local time in the system and the received global positioning system time is obtained through calculation and is uploaded to an upper system, the sensor runs the local time, and the time difference obtained through calculation is considered during fusion calculation, so that system time jump caused by the fact that the GPS signal is received again after the GPS signal disappears for a certain time and local time correction is directly carried out can be avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for time synchronization according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a time synchronization method according to an embodiment of the present invention;
fig. 3 is a flowchart of a time synchronization method according to an embodiment of the invention.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
Conventional sensor hardware synchronization schemes include: on one hand, an industrial control computer is directly used or a single chip microcomputer is used as a main control chip to carry out synchronous time service, when multi-task processing operation is carried out, due to the fact that the working mode is multi-thread serial work, the time length required by task processing cannot be accurately estimated, and further the real-time performance of time service of each sensor cannot be guaranteed, and therefore the scheme is not suitable for high-precision time synchronous control. On the other hand, the existing part of sensors are integrated with a communication interface with the GPS, and can receive pps second pulses of the GPS and corresponding GPRMC data to realize self-timing. On one hand, different sensors have different relative time service errors in the process of reading and analyzing time data; on the other hand, the control of the main control chip to the sensor and the data acquisition are realized by different serial timing protocols, and even if the same reference time is used in the main program, the real-time performance of the data cannot be guaranteed by marking the acquired information.
In a first aspect, an embodiment of the present application provides a time synchronization method for an unmanned device. The drone may be a variety of devices capable of autonomous driving including, but not limited to, a drone automobile, a drone aircraft, a drone ship, an automatic distribution device, a robot, and the like.
The time synchronization system of the unmanned equipment can acquire first time information corresponding to a first clock source from a global navigation satellite system clock source or a network clock source through the first clock source module, acquire second time information corresponding to a second clock source from a local clock system of the unmanned equipment through the second clock source module, and calculate the time difference between the first time information and the second time information.
The specific time synchronization method is described with reference to fig. 1, and includes the following steps:
s101, acquiring first time information of a first clock source and second time information of a second clock source;
s102, calculating the time difference between the first time information and the second time information;
s103, the sensor works based on the second time information and outputs a sensing signal;
the sensor may include a camera, a laser radar, an ultrasonic sensor, a navigation sensor, etc., which is not limited in this respect by embodiments of the present invention.
And S104, transmitting the time difference to a calculation unit, and performing fusion calculation on the sensing signals based on the time difference to realize time synchronization of the sensors.
Specifically, the time synchronization system of the unmanned aerial vehicle may obtain corresponding first time information from a first clock source, and obtain corresponding second time information from a second clock source; after the first time information and the second time information are acquired, the time synchronization system calculates the time difference between the first time information and the second time information, the time difference is transmitted to the calculation unit, the sensor works based on the second time information to transmit the sensor signal to the calculation unit, the sensor signal is subjected to fusion calculation in the calculation unit, and the calculated time difference needs to be considered during calculation, so that the time synchronization of the system is realized.
In the above embodiment, the first clock source includes a global positioning system clock source and a network clock source connected to the internet, and the second clock source includes a clock source of a local computing device of the unmanned device.
The global positioning system clock source, namely global navigation satellite system (GNNS), is a general term, includes navigation satellite systems such as GPS, BDS, GLONASS, GALILEO, etc., can provide all-weather, high-precision position, speed and time information for global land, sea and air, is a simple and reliable time service system, and is the clock source with the highest priority in the embodiment of the present application. In the embodiment of the application, a receiver capable of simultaneously receiving GPS and Beidou is selected as hardware equipment for acquiring the GNNS signal, and the equipment transmits time information to the unmanned system through a serial port and a GPIO.
A network clock source connected to the internet: the unmanned system in the embodiment of the application is wirelessly connected to the internet through 4/5G equipment, and then the reliable time service center on the internet sends network time information to the unmanned system through a network time synchronization protocol.
The second Clock source may be a Clock source of a local computing device of the unmanned device, and specifically, may be a Real Time Clock (RTC) Clock source, where the Real Time Clock is an integrated circuit and is generally referred to as a Clock chip. The RTC is arranged on a computing device in the unmanned system and is independently powered by a battery, so that the clock logic circuit can still keep working normally and maintaining accurate time even if the whole system is powered off. However, the local RTC is typically unable to maintain stable time accuracy, limited by the error of the clock holding circuit and limited battery-powered life.
In one embodiment, the acquiring of the second time information of the second clock source in step S101 and step S102 are performed in a synchronous controller of a time synchronous system, referring to fig. 2, the synchronous controller generates an internal clock by means of a TCXO (temperature compensated crystal oscillator), and second pulse is generated in the whole second to form second time information, the controller is synchronized and the time difference between the first time information and the second time information is calculated, and transmits the time difference to the computing unit, in other words, the time synchronization method of the application utilizes the local time to run when the synchronization controller is started, does not modify the local time after acquiring the GPS time, but records the time difference between the GPS time and the local time, transmits the time difference to the upper layer software (the computing unit) for processing, when the sensor signal fusion processing is carried out, the time difference is calculated, so that the time alignment is realized; the local time of the whole system is not directly calibrated by using the time difference value, so that the local time is prevented from jumping, and the algorithm difficulty is reduced.
Further, a specific flow of the sensor operating based on the second time information and outputting the sensing signal refers to fig. 3, which specifically includes:
s1031, the camera receives a trigger signal based on the second time information and outputs an image signal;
s1302, the laser radar receives the position information and the time information based on the second time information and outputs a point cloud signal.
When the camera outputs the sensing signal, the moment when the camera actually acquires the image is different from the expected moment, mainly because the camera acquires a frame of image and is divided into an exposure stage and a reading stage, the camera needs to consume a certain time from the receiving of the trigger signal to the exposure stage and the reading stage of the image, and the exposure time is usually in the millisecond level according to experience. The delay existing from triggering to exposure of the camera causes the time for actually acquiring the camera image to be inconsistent with the expectation, so the triggering time of the camera needs to be adjusted according to the exposure time of the camera.
Therefore, in a specific fusion calculation, a special pulse with a longer period (for example, 1 second) is superimposed in a Trig (sensor trigger signal output after frequency multiplication with a GPS second pulse as a reference) with a fixed period, and points with uneven intervals in the Trig timestamp and points with uneven intervals in the time when the V4L2 reads an image are searched for to align the camera image with the timestamp.
Specifically, the fusion calculation of the sensing signals based on the time difference specifically includes: and the computing unit receives the image signal and the point cloud signal, and performs fusion computation on the image signal and the point cloud signal based on a general precise time protocol and the time difference to realize time synchronization of the sensor. The generic precise time protocol (gPTP) is a derivative of the high precision time synchronization protocol (PTP) and its purpose is to ensure that the time of all nodes in a local area network is perfectly uniform (ns-level error). Generally, clocks of all nodes in the onboard ethernet of the unmanned aerial device are operated independently of each other, and some applications require that all nodes are executed in lockstep, and therefore, the clocks of all nodes need to be synchronized.
In one embodiment, the second time information of the clock source of the local computing device is determined by at least one of: first, the second time information of the local computing device may be extracted from a file stored by the local computing device. In a second aspect, a clock signal may be obtained from a third party platform associated with the local computing device as second time information for the local computing device. For example, bluetooth, an instant messaging tool, music software and the like on the mobile phone can be synchronously connected to the unmanned automobile, and the information of the clock signal can be acquired through the instant messaging tool, the music and other software on the mobile phone, wherein the instant messaging tool and the music software are third-party platforms. In a third mode, the corresponding clock device can be accessed according to the trigger signal to determine that: firstly, which clock source is the local computing device clock source is found out, and the signal corresponding to the clock source is the second time information of the local clock source. In a fourth mode, the standby computing device and the local computing device are master-slave synchronization devices, and the clock signal read from the standby computing device can be used as the second time information of the local computing device.
In a second aspect, the embodiment of the present application further provides a time synchronization system, which may be a system capable of receiving an external time reference signal and outputting a time synchronization signal and time information to the outside according to a required time precision, and refer to fig. 3 specifically. The time synchronization system comprises an acquisition module, wherein the acquisition module comprises a first clock source module and a second clock source module. The first clock source module is used for acquiring first time information of a first clock source, and the second clock source module is used for acquiring second time information of a second clock source.
The time synchronization system further comprises a time difference calculation module, a signal output module and a fusion calculation module, wherein the time difference calculation module is used for calculating the time difference between the first time information and the second time information. And the signal output module is used for enabling the sensor to work based on the second time information and outputting a sensing signal. And the fusion calculation module is used for transmitting the time difference to a calculation unit, and performing fusion calculation on the sensing signals based on the time difference to realize the time synchronization of the sensors.
In this embodiment, the obtaining module and the time difference calculating module are disposed in the synchronous controller, the second clock source may be an RTC clock source, the synchronous controller is configured to receive a GPS second pulse and position (longitude and latitude) and time information output by the serial port, process the received information, calculate a time difference between the GPS time information and local RTC clock source time information, and transmit the time difference to the fusion calculating module. In the embodiment, the GPS satellite receiver and the high-stability quartz crystal are selected to generate the high-precision reference clock, and the advantages of high short-time stability and good long-term stability of the high-stability quartz crystal are fully utilized.
Further, the signal output module specifically includes:
and the image signal output module is used for receiving a trigger signal and outputting an image signal by the camera based on the second time information.
And the point cloud signal output module is used for receiving the position information and the time information by the laser radar based on the second time information and outputting a point cloud signal.
According to another aspect of the embodiments of the present application, there is provided a storage medium including a stored program, wherein when the program runs, a device on which the storage medium is located is controlled to execute the time synchronization method of the embodiment shown in fig. 1. The method comprises the following steps: acquiring first time information of a first clock source and second time information of a second clock source; calculating a time difference between the first time information and the second time information; triggering a synchronous controller according to the time difference; and the synchronous controller transmits the time difference to a calculation unit, and performs fusion calculation on the sensor based on the time difference to realize the time synchronization of the sensor.
According to another aspect of the embodiments of the present application, there is provided a processor configured to execute a program, where the program executes a time synchronization method of a device in which the processor is located. The method comprises the following steps: acquiring first time information of a first clock source and second time information of a second clock source; calculating a time difference between the first time information and the second time information; triggering a synchronous controller according to the time difference; and the synchronous controller transmits the time difference to a calculation unit, and performs fusion calculation on the sensor based on the time difference to realize the time synchronization of the sensor. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
For a preferred implementation in the foregoing embodiment, reference may be made to the related description of the time synchronization method of the first aspect, and details are not described here.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A time synchronization method applied to an unmanned device is characterized by comprising the following steps:
acquiring first time information of a first clock source and second time information of a second clock source;
calculating a time difference between the first time information and the second time information;
the sensor works based on the second time information and outputs a sensing signal;
and transmitting the time difference to a calculation unit, and performing fusion calculation on the sensing signals based on the time difference to realize the time synchronization of the sensors.
2. The method of time synchronization of claim 1, wherein the sensor comprises one or more of a camera, a lidar, an ultrasonic sensor, and a navigation sensor.
3. The time synchronization method according to claim 2, wherein the sensor operates based on the second time information and outputs the sensing signal specifically includes:
the camera receives a trigger signal based on the second time information and outputs an image signal;
and the laser radar receives position information and time information based on the second time information and outputs a point cloud signal.
4. The time synchronization method according to claim 3, wherein the performing the fusion calculation on the sensing signals based on the time difference specifically comprises: and the computing unit receives the image signal and the point cloud signal, and performs fusion computation on the image signal and the point cloud signal based on a general precise time protocol and the time difference to realize time synchronization of the sensor.
5. The time synchronization method according to claim 1, wherein the first clock source comprises a global positioning system clock source and a network clock source connected to the internet, and the second clock source comprises a clock source of a local computing device of the unmanned device.
6. The method of claim 5, wherein the second time information of the clock source of the local computing device is determined by at least one of:
extracting second time information of the local computing device from a file stored by the local computing device;
obtaining a clock signal from a third party platform associated with the local computing device as second time information for the local computing device;
accessing a corresponding clock device based on a trigger signal, and using clock information recorded by the clock device as second time information of the local computing device;
and reading second time information of the local computing equipment from the standby computing equipment, wherein the local computing equipment and the standby computing equipment are master-slave synchronous equipment.
7. A time synchronization system, the system comprising:
the acquisition module is used for acquiring first time information of a first clock source and second time information of a second clock source;
a time difference calculation module for calculating a time difference between the first time information and the second time information;
the signal output module is used for enabling the sensor to work based on the second time information and outputting a sensing signal;
and the fusion calculation module is used for transmitting the time difference to a calculation unit, and performing fusion calculation on the sensing signals based on the time difference to realize the time synchronization of the sensors.
8. The time synchronization system of claim 7, wherein the signal output module specifically comprises:
an image signal output module for the camera to output an image signal based on the second time information receiving trigger signal;
and the point cloud signal output module is used for receiving the position information and the time information by the laser radar based on the second time information and outputting a point cloud signal.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the time synchronization method according to any one of claims 1 to 6.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to perform the time synchronization method of any one of claims 1 to 6 when running.
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