CN114759999A - Multi-sensor time service synchronization method and system for automatic driving vehicle - Google Patents
Multi-sensor time service synchronization method and system for automatic driving vehicle Download PDFInfo
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- H04J3/06—Synchronising arrangements
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Abstract
The invention discloses a multi-sensor time service synchronization method and a multi-sensor time service synchronization system for an automatic driving vehicle, which specifically comprise the following steps: electrifying and initializing the main control chip, and setting the triggering time parameters of each sensor; capturing a pulse signal and a clock signal sent by a time service server, aligning an internal clock of a main control chip with a time service server clock, receiving the pulse signal and the clock signal of the time service server, and judging whether the pulse signal and the clock signal are normal or not; and judging whether the pulse signal and the clock signal are normal signals, and switching the working modes of a trigger source and a time service source of the main control chip. The output signal of the time service server is connected with the receiving end of the main control chip through a hard connection and interruption mechanism, so that the highest-level quick response is ensured, and the time error caused by an internal serial task hardly exists; when the satellite signals are stable, the synchronous sampling precision of the multiple sensors is ensured; when the satellite signal is lost, the synchronous time service work of the time service server is replaced.
Description
Technical Field
The invention relates to a multi-sensor time service synchronization method and a multi-sensor time service synchronization system, in particular to a multi-sensor time service synchronization method and a multi-sensor time service synchronization system for an automatic driving vehicle.
Background
In the automatic driving system, data of sensing, planning and decision are derived from sensors, and the multi-source data of each sensor can be highly synchronized in time and space based on the automatic driving multi-sensor data synchronization method, so that accurate attitude determination and positioning of the automatic driving vehicle can be more effectively and accurately realized.
At present, a sensor data synchronization scheme at a data acquisition end mainly comprises the following steps:
1. the system directly uses an industrial control computer or adopts a singlechip as a main control chip to carry out synchronous time service. When the multi-task processing operation is performed, the working mode is multi-thread serial working, the time required by task processing cannot be accurately estimated, and further the real-time performance of time service of each sensor cannot be ensured, so that the scheme still has room for improvement.
2. And a GPS communication receiving module is integrated in part of the sensors, and can receive pulse signals and clock signals of a GPS to realize self time service. The scheme has the following defects: 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 time sequence protocols, and even if the same reference time is used in the main program, the real-time performance of the data cannot be ensured by marking the acquired information.
In the prior art, the spatial synchronization can obtain the relative position relationship of each sensor through a calibration technology, and further, the exact position of the sensor in a specific coordinate system is calculated. And the time synchronization is to ensure that the time precision can synchronously acquire the data of the multiple sensors in an ultra-low delay within a very small error range. High synchronization of time is a difficulty that needs to be overcome at present because the operating clock source and sampling frequency of each sensor in an autopilot system are independent. The above technical problems have not been solved effectively, and have not been able to satisfy the requirements of people.
Disclosure of Invention
The invention aims to provide a multi-sensor time service synchronization method and a multi-sensor time service synchronization system for an automatic driving vehicle, which solve the defects in the prior art.
The invention provides the following scheme:
a multi-sensor time service synchronization method for an automatic driving vehicle specifically comprises the following steps:
according to the type and the actual installation condition of the connected sensors, electrifying and initializing the main control chip, and setting the triggering time parameters of each sensor;
capturing a pulse signal and a clock signal sent by a time service server, aligning an internal clock of a main control chip with a time service server clock, and entering a normal working state;
Receiving a pulse signal and a clock signal of a time service server under a normal working state, and judging whether the pulse signal and the clock signal are normal or not;
if the pulse signal and the clock signal are normal signals, operating the main control chip to receive the pulse signal and the clock signal of the time service server;
if the pulse signals and the clock signals are abnormal signals, operating the master control chip to replace a time service server as a time service source, generating normal pulse signals and clock signals and sending the normal pulse signals and the clock signals to each sensor;
and judging whether the pulse signals and the clock signals of the time service server are normal or not in real time, if the time service server is normal, operating the main control chip to switch from the time service source working mode to the trigger source working mode, receiving the pulse signals and the clock signals of the time service server and forwarding the pulse signals and the clock signals.
Further, the main control chip is an industrial control computer.
Furthermore, the main control chip is a single chip microcomputer.
Furthermore, a pulse signal and a clock signal sent by the time service server are captured through a hard interrupt mechanism.
Further, if the pulse signal and the clock signal are normal signals, the main control chip is operated to receive the pulse signal and the clock signal of the time service server, and forwarding is completed at the corresponding node according to the set time parameter.
A multi-sensor time service synchronization system for an autonomous vehicle specifically comprises:
the master control PC is used for completing self time correction through the time service server, receiving the clock information of the time service and the clock information and data of each sensor and fusing the synchronously acquired data;
the time service server is connected with the master control PC, is used as a time calibration standard source of the master control PC, is used as a hard synchronous time service clock source to generate a pulse signal and a clock signal, and sends the pulse signal and the clock signal to the master control chip in real time;
the trigger source receives a pulse signal and a clock signal of the time service server under a normal working state and judges whether the pulse signal and the clock signal are normal or not;
if the pulse signal and the clock signal are normal signals, operating the main control chip to receive the pulse signal and the clock signal of the time service server, generating corresponding trigger pulse signals according to different types of sensors, triggering each sensor to acquire data, and forwarding the clock signal to each sensor;
if the pulse signals and the clock signals are abnormal signals, operating the master control chip to replace a time service server as a time service source, generating normal pulse signals and clock signals and sending the normal pulse signals and the clock signals to each sensor;
judging whether the pulse signals and the clock signals of the time service server are normal or not in real time, if the time service server is normal, operating the main control chip to switch from the time service source working mode to the trigger source working mode, receiving the pulse signals and the clock signals of the time service server and forwarding the pulse signals and the clock signals;
And the sensor receives the pulse signal and the clock signal of the trigger source, acquires data and feeds back the data to the master control PC.
Furthermore, the time service server is connected with the master control PC through the Ethernet, the time service server is connected with the trigger source through a serial interface, and the sensor is connected with the master control PC through a USB interface or the Ethernet.
Furthermore, the main control chip comprises an industrial computer and a single chip microcomputer.
An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory has stored therein a computer program which, when executed by the processor, causes the processor to carry out the steps of the method.
A computer-readable storage medium storing a computer program executable by an electronic device, the computer program, when run on the electronic device, causing the electronic device to perform the steps of the method.
Compared with the prior art, the invention has the following advantages: the output signal of the time service server is connected with the receiving end of the single chip microcomputer/industrial computer through a hard connection and interruption mechanism, so that the highest-level quick response is ensured, and compared with the existing scheme, the time error caused by an internal serial task hardly exists; when satellite signals are stable, the synchronous sampling precision of the multiple sensors is ensured through pulse signals and clock signals generated by a time service server; when the satellite signal is lost, the internal clock of the singlechip can be switched to replace the synchronous time service work of the time service server.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a multi-sensor time service synchronization method for an autonomous vehicle according to the present invention.
FIG. 2 is an architecture diagram of a multi-sensor time service synchronization system for an autonomous vehicle in accordance with the present invention.
Fig. 3 is a schematic view of the overall structure in one embodiment.
Figure 4 is a flow diagram of the operation in one embodiment.
Fig. 5 is an architecture diagram of an electronic device.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The central idea of the invention is to use the method of combining the single chip microcomputer/industrial computer and the time service server as the synchronous clock source of each sensor, thereby ensuring that each sensor works at the same clock source under any condition. The single chip microcomputer adopts a hard interrupt mechanism to respond to the pulse and the clock signal of the time service server, the time error of forwarding is within 5 mu s, and compared with the time delay error caused by the fact that no serial task exists in a non-real-time system, the time delay error is avoided. When the satellite signal is stable, the clock source of the whole system comes from the time service server, and the high-precision guarantee of the time service clock source can be obtained. According to the actual environment and the installation condition, relative trigger sampling time is set for each sensor, so that the synchronous sampling precision of the data of the multiple sensors is improved to the maximum extent.
The multi-sensor time service synchronization method for the automatic driving vehicle as shown in FIG. 1 specifically comprises the following steps:
according to the type of the connected sensor and the actual installation condition, carrying out electrifying and initialization operation on the main control chip, and setting the triggering time parameter of each sensor;
capturing a pulse signal and a clock signal sent by a time service server, aligning an internal clock of a main control chip with a clock of the time service server, and entering a normal working state;
Receiving a pulse signal and a clock signal of a time service server under a normal working state, and judging whether the pulse signal and the clock signal are normal or not;
if the pulse signal and the clock signal are normal signals, operating the main control chip to receive the pulse signal and the clock signal of the time service server;
if the pulse signals and the clock signals are abnormal signals, operating the master control chip to replace a time service server as a time service source, generating normal pulse signals and clock signals and sending the normal pulse signals and the clock signals to each sensor;
and judging whether the pulse signals and the clock signals of the time service server are normal or not in real time, if the time service server is normal, operating the main control chip to switch from the time service source working mode to the trigger source working mode, receiving the pulse signals and the clock signals of the time service server and forwarding the pulse signals and the clock signals.
Preferably, the main control chip is an industrial control computer or a single chip microcomputer.
Preferably, the pulse signal and the clock signal sent by the time service server are captured through a hard interrupt mechanism.
Preferably, if the pulse signal and the clock signal are normal signals, the main control chip is operated to receive the pulse signal and the clock signal of the time service server, and the forwarding is completed at the corresponding node according to the set time parameter.
The embodiment can be applied to multi-task processing operation, the working mode is multi-thread serial working, the time required by task processing can be accurately estimated, the time service real-time performance of each sensor is further ensured, relative time service errors existing in the process of reading and analyzing time data of different sensors are eliminated, and the data real-time performance can also be ensured by identifying acquired information.
As shown in fig. 2, the system corresponds to a multi-sensor time service synchronization method for an autonomous vehicle, and is a system and a device for realizing the multi-sensor time service synchronization method, and specifically includes:
the master control PC is used for completing self time correction through the time service server, receiving the clock information of the time service and the clock information and data of each sensor and fusing the synchronously acquired data;
the time service server is connected with the master control PC, is used as a time calibration standard source of the master control PC, is used as a hard synchronous time service clock source to generate a pulse signal and a clock signal, and sends the pulse signal and the clock signal to the master control chip in real time;
the trigger source receives a pulse signal and a clock signal of the time service server under a normal working state and judges whether the pulse signal and the clock signal are normal or not;
If the pulse signal and the clock signal are normal signals, operating the main control chip to receive the pulse signal and the clock signal of the time service server, generating corresponding trigger pulse signals according to different types of sensors, triggering each sensor to acquire data, and forwarding the clock signal to each sensor;
if the pulse signals and the clock signals are abnormal signals, operating the main control chip to replace a time service server as a time service source, generating normal pulse signals and clock signals and sending the normal pulse signals and clock signals to each sensor;
judging whether the pulse signal and the clock signal of the time service server are recovered to be normal in real time, if the time service server is recovered to be normal, operating the main control chip to switch from the time service source working mode to the trigger source working mode, receiving the pulse signal and the clock signal of the time service server and forwarding the pulse signal and the clock signal;
and the sensor receives the pulse signal and the clock signal of the trigger source, acquires data and feeds back the data to the master control PC.
It should be noted that, although only the basic functional modules such as the main control PC, the time service server, the trigger source, the sensor, etc. are disclosed in the specification, the system is not limited to the above modules, but rather, the present invention is intended to mean: on the basis of the above modules, a person skilled in the art can add one or more functional modules arbitrarily in combination with the prior art to form an infinite number of embodiments or technical solutions, that is, the present system is open rather than closed, and the protection scope of the present invention claims should not be considered to be limited to the disclosed basic functional modules because the present embodiment discloses only individual basic functional modules.
Preferably, the time service server is connected with the master control PC through an Ethernet, the time service server is connected with the trigger source through a serial interface, the sensor is connected with the master control PC through a USB interface or the Ethernet, and the master control chip comprises an industrial computer and a single chip microcomputer.
Another implementation of the invention as shown in fig. 3 and 4: in this embodiment, the overall structure of the autopilot multi-sensor synchronization method includes a host PC, a time service server, a hard trigger source, and various sensors connected thereto, and the connection relationship and manner of each structural module are as follows:
the time service server: when the satellite signal is stable, the time service server is connected with the master control PC through a network cable and serves as a time correction standard source of the master control PC. Meanwhile, the clock source is used as a hard synchronous time service clock source to generate pulses and clock signals, and the pulses and the clock signals are sent to the single chip microcomputer in real time through a serial port.
A trigger source: when satellite signals are stable, the single chip microcomputer serves as a trigger source to receive pulse signals and clock signals of the time service server through a hard interrupt mechanism, corresponding trigger pulse signals are generated according to different types of sensors, the sensors are triggered to acquire data, and clock signals are forwarded to the sensors.
When the satellite signal is lost, the singlechip replaces a time service server to be used as a synchronous time service clock source to generate pulse and clock signals, and the pulse and the clock signals are forwarded to each sensor.
The master control PC: the master control PC finishes self timing through the time service server, and receives clock information fed back by the single chip microcomputer, data of each sensor and the clock information in multi-sensor data synchronization. And fusing the synchronously acquired data according to the clock information.
The sensor: the system comprises a camera, a laser radar and sensors commonly used in other automatic driving systems, receives pulse signals and clock signals of a trigger source, acquires data and feeds the data back to a master control PC.
The workflow of this embodiment is:
initialization: the method comprises the steps that a single chip microcomputer is electrified and initialized, and triggering time parameters of all sensors are set according to the types of connected sensors and actual installation conditions;
waiting for receiving a time service server signal:
the single chip microcomputer captures a pulse signal and a clock signal sent by the time service server through a hard interrupt mechanism, initializes the internal clock of the single chip microcomputer to be aligned with the clock of the time service server, and enters a normal working state.
And receiving a pulse signal and a clock signal of the time service server in a normal working state, and judging whether the signals are normal or not.
If the signal is a normal signal, the singlechip receives the pulse and the clock signal of the time service server and completes forwarding at the corresponding node according to the set time parameter.
If the signal is not normal, the singlechip replaces a time service server to be used as a time service clock source, and generates pulse and clock signals to each sensor.
And judging whether the signal of the time service server is recovered to be normal in real time, switching the single chip microcomputer back to the trigger source to work again after the signal of the time service server is recovered to be normal, receiving the signal of the time service server and forwarding the signal.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The above-described embodiments of the apparatus are merely illustrative, and 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 position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment. One of ordinary skill in the art can understand and implement without inventive effort.
The invention is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
As shown in fig. 5, the invention discloses an electronic device and a storage medium corresponding to the method and the system on the basis of the multi-sensor time service synchronization method and the system for the automatic driving vehicle,
The present invention provides an electronic device, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; the memory has stored therein a computer program that, when executed by the processor, causes the processor to perform any of the steps of any of the above-described multi-sensor timing synchronization methods for an autonomous vehicle.
The invention provides a computer-readable storage medium storing a computer program executable by an electronic device, the computer program causing the electronic device to perform any of the steps of the multi-sensor timing synchronization method for an autonomous vehicle when the computer program runs on the electronic device.
The electronic device includes a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system. The hardware layer includes hardware such as a Central Processing Unit (CPU), a Memory Management Unit (MMU), and a Memory. The operating system may be any one or more computer operating systems that implement control of an electronic device through a Process (Process), such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. In the embodiment of the present invention, the electronic device may be a handheld device such as a smart phone and a tablet computer, or may also be an electronic device such as a desktop computer and a portable computer, which is not particularly limited in the embodiment of the present invention. The execution main body of the electronic device control in the embodiment of the present invention may be an electronic device, or a functional module capable of calling a program and executing the program in the electronic device.
The electronic device may acquire the firmware corresponding to the storage medium, the firmware corresponding to the storage medium is provided by a vendor, and the firmware corresponding to different storage media may be the same or different, which is not limited herein. After the electronic device acquires the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium is burned into the storage medium. The process of burning the firmware into the storage medium can be implemented by adopting the prior art, and is not described in the embodiment of the present invention. The electronic device may further acquire a reset command corresponding to the storage medium, where the reset command corresponding to the storage medium is provided by a vendor, and the reset commands corresponding to different storage media may be the same or different, which is not limited herein.
At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device may respond to the reset command corresponding to the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command may be implemented in the prior art, and is not described in detail in the embodiment of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A multi-sensor time service synchronization method for an automatic driving vehicle is characterized by specifically comprising the following steps:
electrifying and initializing the main control chip, and setting triggering time parameters of each sensor;
capturing a pulse signal and a clock signal sent by a time service server, aligning an internal clock of a main control chip with a time service server clock, and entering a normal working state;
receiving a pulse signal and a clock signal of a time service server under a normal working state, and judging whether the pulse signal and the clock signal are normal or not;
if the pulse signal and the clock signal are normal signals, operating the main control chip to receive the pulse signal and the clock signal of the time service server;
If the pulse signals and the clock signals are abnormal signals, operating the master control chip to replace a time service server as a time service source, generating normal pulse signals and clock signals and sending the normal pulse signals and the clock signals to each sensor;
and judging whether the pulse signals and the clock signals of the time service server are normal or not in real time, if the time service server is normal, operating the main control chip to switch from the time service source working mode to the trigger source working mode, receiving the pulse signals and the clock signals of the time service server and forwarding the pulse signals and the clock signals.
2. The multi-sensor time service synchronization method for the autonomous vehicle of claim 1, wherein the master control chip is an industrial control computer.
3. The multi-sensor time service synchronization method for the autonomous vehicle of claim 1, wherein the master control chip is a single chip microcomputer.
4. The multi-sensor time service synchronization method for the autonomous vehicle as claimed in claim 1, characterized in that the pulse signal and the clock signal sent by the time service server are captured by a hard interrupt mechanism.
5. The multi-sensor time service synchronization method for the autonomous vehicle according to claim 1, wherein if the pulse signal and the clock signal are normal signals, the main control chip is operated to receive the pulse signal and the clock signal of the time service server and to perform forwarding at a corresponding node according to the set time parameter.
6. A multi-sensor time service synchronization system for an autonomous vehicle, comprising:
the master control PC is used for completing self time correction through the time service server, receiving the clock information of the time service and the clock information and data of each sensor and fusing the synchronously acquired data;
the time service server is connected with the master control PC, is used as a time calibration standard source of the master control PC, is used as a hard synchronous time service clock source to generate a pulse signal and a clock signal, and sends the pulse signal and the clock signal to the master control chip in real time;
the trigger source receives a pulse signal and a clock signal of the time service server under a normal working state and judges whether the pulse signal and the clock signal are normal or not;
if the pulse signal and the clock signal are normal signals, operating the main control chip to receive the pulse signal and the clock signal of the time service server, generating corresponding trigger pulse signals according to different types of sensors, triggering each sensor to acquire data, and forwarding the clock signal to each sensor;
if the pulse signals and the clock signals are abnormal signals, operating the master control chip to replace a time service server as a time service source, generating normal pulse signals and clock signals and sending the normal pulse signals and the clock signals to each sensor;
Judging whether the pulse signals and the clock signals of the time service server are normal or not in real time, if the time service server is normal, operating the main control chip to switch from the time service source working mode to the trigger source working mode, receiving the pulse signals and the clock signals of the time service server and forwarding the pulse signals and the clock signals;
and the sensor receives the pulse signal and the clock signal of the trigger source, acquires data and feeds back the data to the master control PC.
7. The multi-sensor time service synchronization system for the autonomous vehicle as claimed in claim 6, wherein the time service server is connected to the master PC through Ethernet, the time service server is connected to the trigger source through a serial interface, and the sensor is connected to the master PC through a USB interface or Ethernet.
8. The multi-sensor time service synchronization system for the autonomous vehicle of claim 6, wherein the master control chip comprises an industrial computer and a single chip microcomputer.
9. An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; the memory has stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the method of any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that it stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method of any one of claims 1 to 5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115603849A (en) * | 2022-11-24 | 2023-01-13 | 北京理工大学深圳汽车研究院（电动车辆国家工程实验室深圳研究院）（Cn） | Multi-sensor trigger control method, device, equipment and storage medium |
| CN115842599A (en) * | 2022-11-30 | 2023-03-24 | 重庆长安汽车股份有限公司 | Redundant time synchronization method, device, system vehicle and medium for automatic driving |
| CN116015524A (en) * | 2022-12-30 | 2023-04-25 | 清智汽车科技(苏州)有限公司 | Clock synchronization method, device and system and intelligent vehicle |
| CN117111058A (en) * | 2023-10-24 | 2023-11-24 | 青岛慧拓智能机器有限公司 | Unmanned perception system and method for mining truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115603849A (en) * | 2022-11-24 | 2023-01-13 | 北京理工大学深圳汽车研究院（电动车辆国家工程实验室深圳研究院）（Cn） | Multi-sensor trigger control method, device, equipment and storage medium |
| CN115603849B (en) * | 2022-11-24 | 2023-04-07 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Multi-sensor trigger control method, device, equipment and storage medium |
| WO2024109696A1 (en) * | 2022-11-24 | 2024-05-30 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Multi-sensor trigger control method, apparatus and device, and storage medium |
| CN115842599A (en) * | 2022-11-30 | 2023-03-24 | 重庆长安汽车股份有限公司 | Redundant time synchronization method, device, system vehicle and medium for automatic driving |
| CN116015524A (en) * | 2022-12-30 | 2023-04-25 | 清智汽车科技(苏州)有限公司 | Clock synchronization method, device and system and intelligent vehicle |
| CN117111058A (en) * | 2023-10-24 | 2023-11-24 | 青岛慧拓智能机器有限公司 | Unmanned perception system and method for mining truck |
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