CN114500766A - GMSL camera time synchronization control method for automatic driving - Google Patents
GMSL camera time synchronization control method for automatic driving Download PDFInfo
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- CN114500766A CN114500766A CN202111667860.7A CN202111667860A CN114500766A CN 114500766 A CN114500766 A CN 114500766A CN 202111667860 A CN202111667860 A CN 202111667860A CN 114500766 A CN114500766 A CN 114500766A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000008054 signal transmission Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0644—External master-clock
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention provides a GMSL camera time synchronization control method for automatic driving, which comprises a hardware architecture part and a control method part, and enables a plurality of GMSL cameras to receive signal information from the same clock input source through an embedded chip, a GMSL deserializer, a serial-parallel connection mode among the GMSL cameras and the improvement of the control method, and can output pictures at the same or different frequencies and phases, thereby realizing the cooperative synchronization work of a plurality of GMSL cameras.
Description
Technical Field
The invention belongs to the field of cooperative automatic driving of a vehicle and a road, and particularly relates to a GMSL camera time synchronization control method for automatic driving.
Background
The intelligent driving or the auxiliary driving of the automobile is an important component in a driving system of the automobile in the future. At present, for the real-time driving of the intelligent automobile, the real-time scene condition shooting is carried out through the camera, and the method is common and practical.
However, since the vehicle itself or the obstacle has a certain moving speed, even a small time difference may cause a great influence if a certain time difference exists between the cameras, and even a small difference between the trigger times of the two cameras may cause a great driving hazard in a driving state at a speed of 100 km per hour.
For the above problems, existing research and development personnel have proposed various solutions, wherein the problem of image transmission can be effectively solved by using a GMSL synchronization method, but the existing solutions are often complex in structure, poor in universality, and have a situation of signal loss to a greater extent, and mutual interference and synchronous cooperation of a plurality of cameras cannot be achieved at a lower cost.
Disclosure of Invention
In order to solve the defects of the prior art, a GMSL camera time synchronization control method for automatic driving is provided.
A control method for GMSL camera time synchronization for automatic driving relies on the following architecture:
a user side: the clock configuration module is used for sending a clock pulse signal to the embedded chip and providing clock configuration information through a data bus;
embedded chip end: the system comprises a client, a server and a server, wherein the client is used for receiving and processing information from the client and transmitting the information;
the GMSL deserializer is connected with the GMSL camera through a coaxial cable and controls the picture output of the GMSL camera.
Gigabit Multimedia Serial Links (GMSL) is a high-speed Serial interface introduced by Maxim corporation that is suitable for the transmission of video, audio, and control signals, and the distance can reach 15m or more when using 50 Ω coaxial cables or 100 Ω Shielded Twisted Pair (STP) cables.
The GMSL camera transmits relevant data information to the processing module through the interface module respectively, image information and other information in the GMSL camera are transmitted to the analysis module, the intelligent driving module can be helped to better control the running state of a vehicle, besides, the relevant data information is transmitted to the main processing module and the backup processing module through the millimeter wave radar and the interface module sequentially through the control module and the exchange module respectively, and the GPS sensor transmits the relevant data information to the main processing module and the backup processing module sequentially through the control module and the exchange module through the interface module respectively.
The specific control method comprises the following steps:
s1, connecting a plurality of GMSL cameras into the embedded chip in parallel, wherein the GMSL cameras are connected into the embedded chip through a GMSL deserializer;
s2, the embedded chip receives a clock input signal, namely a clock pulse, from a user;
s3, after receiving the clock pulse, the embedded chip sends out a sync signal and control timing information to the GMSL deserializer;
s4, the GMSL deserializer controls the picture output frequency and the output time of the GMSL camera through the coaxial cable;
and S5, transmitting the pictures to an image processing chip by the multiple GMSL cameras through respective GMSL deserializers.
In use, in order to better transmit signals to the GMSL deserializer in a single direction, the embedded chip sends a sync synchronization signal to the GMSL deserializer in a single direction through the GPIO signal.
The embedded chip is a programmable circuit structure, and can be selected to be a single chip microcomputer, an FPGA chip or an embedded processor in practical use.
Further, the user terminal provides the clock configuration information to the embedded chip through a data bus, and in practical use, the bus may be selected from a group including, but not limited to, I2C, UART, or SPI.
Further, the embedded chip issues control timing to the GMSL deserializer through I2C.
Further, the clock pulse signal sent by the user side is a PWM signal or a PPS signal.
Further, in S4, the picture output frequency and the output timing of the multiple GMSL cameras are set to different phases and different frequencies.
Has the advantages that:
the system method can control the multiple GMSL cameras in parallel and can control the multiple GMSL cameras to output pictures, wherein the evaluation rate and the phases of the picture output can be controlled by self, and the system can realize the cooperative and synchronous work of the multiple GMSL cameras because the trigger signals of all the output behaviors are the same clock input source.
Compared with the existing control mode, the system can achieve effective time offset and can be synchronous with an external GPS clock.
Drawings
FIG. 1 is a hardware architecture of a time synchronization method according to an embodiment;
FIG. 2 is a hardware architecture of a time synchronization method according to a second embodiment;
fig. 3 is a main flowchart of a time synchronization method.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the multiple GMSL cameras are connected to the GMSL deserializer through coaxial cables, the GMSL deserializer is connected to the single chip through an I2C bus, and the embedded chip can unidirectionally send a sync synchronization signal to the GMSL deserializer through a GPIO signal to ensure accurate time synchronization.
When synchronization is needed, a user can input clock pulses to the embedded chip to provide reference synchronization signals, meanwhile, clock configuration information is provided for the embedded chip through the I2C data bus, and the embedded chip can control the GPIO to send a sync signal to the GMSL deserializer and send a control timing sequence to the deserializer through the I2C through the clock configuration information.
And then the picture output frequency and the output time of the GMSL camera are controlled through the coaxial cable, and finally the synchronization of the picture output time and frequency of the camera and the height of the reference clock is achieved. At this time, both the output frequency and the phase of the GMSL camera can be customized according to requirements.
When multiple cameras are accessed, the cameras are not interfered with each other, and simultaneously, because the synchronous reference of each camera is from the same clock input source, the cameras can achieve good synchronous effect.
And signal transmission and data transmission are arranged between the GMSL deserializer and the GMSL camera, wherein the signal transmission is used for starting the GMSL camera to shoot pictures, and the data transmission is used for information transmission between the GMSL deserializer and the GMSL camera.
The GMSL camera transmits relevant data information to the processing module through the interface module for processing, image information and other information in the GMSL camera are transmitted to the analysis module to help the intelligent driving module to better control the running state of a vehicle, besides, the relevant data information is transmitted to the main processing module and the backup processing module through the millimeter wave radar and the interface module sequentially through the control module and the exchange module, and the GPS sensor transmits the relevant data information to the main processing module and the backup processing module sequentially through the control module and the exchange module through the interface module.
The main processing module and the backup processing module both comprise system level chips, the system level chips comprise a CPU and a GPU, the system level chips in the main processing module and the backup processing module are mutually backed up, and different algorithms are respectively operated to obtain the same decision. The backup processing module can be arranged into a plurality of modules according to the requirement, and is used for backup and replacement when one of the modules fails.
Example two:
as shown in fig. 2, the clock configuration information is provided to the embedded chip through the UART data bus, and the rest is the same as the first embodiment.
As a further improvement, the above-mentioned is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A GMSL camera time synchronization control method for automatic driving is characterized by comprising the following steps:
s1, connecting a plurality of GMSL cameras into the embedded chip in parallel, wherein the GMSL cameras are connected into the embedded chip through a GMSL deserializer;
s2, the embedded chip receives a clock input signal, namely a clock pulse, from a user;
s3, after receiving the clock pulse, the embedded chip sends out a sync signal and control timing information to the GMSL deserializer;
s4, the GMSL deserializer controls the picture output frequency and the output time of the GMSL camera through the coaxial cable;
and S5, outputting pictures outwards by the multiple GMSL cameras through the respective GMSL deserializers.
2. The GMSL camera time synchronization control method for automatic driving according to claim 1, wherein the embedded chip unidirectionally sends a sync synchronization signal to the GMSL deserializer through a GPIO signal.
3. The GMSL camera time synchronization control method for automatic driving according to claim 1, wherein the embedded chip is a single chip microcomputer, an FPGA chip or an embedded processor.
4. The GMSL camera time synchronization control method for automatic driving according to claim 1, wherein the user side provides the clock configuration information to the embedded chip through a data bus.
5. The GMSL camera time synchronization control method for automatic driving according to claim 4, wherein the data bus is in the form of I2C, UART or SPI.
6. The GMSL camera time synchronization control method for automatic driving according to claim 1, wherein the embedded chip issues control timing to the GMSL deserializer through I2C.
7. The GMSL camera time synchronization control method for automatic driving according to claim 1, wherein the clock pulse signal sent by the user side is a PWM signal or a PPS signal.
8. The GMSL camera time synchronization control method for automatic driving according to claim 1, wherein in S4, picture output frequencies and output timings of the multiple GMSL cameras are set to different phases and different frequencies.
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| CN202111667860.7A CN114500766A (en) | 2021-12-30 | 2021-12-30 | GMSL camera time synchronization control method for automatic driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116743937A (en) * | 2023-08-14 | 2023-09-12 | 禾昆科技(北京)有限公司 | Domain controller and vehicle running control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116743937A (en) * | 2023-08-14 | 2023-09-12 | 禾昆科技(北京)有限公司 | Domain controller and vehicle running control method |
| CN116743937B (en) * | 2023-08-14 | 2023-10-27 | 禾昆科技(北京)有限公司 | Domain controller and vehicle running control method |
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Effective date of registration: 20230323 Address after: 1 / F, building 28, 6055 Jinhai highway, Fengxian District, Shanghai 201400 Applicant after: Zhongzhixing (Shanghai) Transportation Technology Co.,Ltd. Applicant after: Tianyi Transportation Technology Co.,Ltd. Address before: 1 / F, building 28, 6055 Jinhai highway, Fengxian District, Shanghai 201400 Applicant before: Zhongzhixing (Shanghai) Transportation Technology Co.,Ltd. |