CN116156073A - Data synchronization device, method thereof and computer readable storage medium - Google Patents
Data synchronization device, method thereof and computer readable storage medium Download PDFInfo
- Publication number
- CN116156073A CN116156073A CN202111350965.XA CN202111350965A CN116156073A CN 116156073 A CN116156073 A CN 116156073A CN 202111350965 A CN202111350965 A CN 202111350965A CN 116156073 A CN116156073 A CN 116156073A
- Authority
- CN
- China
- Prior art keywords
- data
- sensor
- unit
- signal
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000001360 synchronised effect Effects 0.000 claims abstract description 103
- 238000012545 processing Methods 0.000 claims description 98
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 16
- 230000009977 dual effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Synchronisation In Digital Transmission Systems (AREA)
Abstract
The invention discloses a data synchronization device, a method thereof and a computer readable storage medium. Wherein, this synchronizer includes: the camera comprises a control unit and a camera, wherein an integrated component in the camera at least comprises: the synchronous switching unit and the sensing unit, wherein the sensing unit comprises a first sensor and a second sensor, the control unit sends a first control signal to the synchronous switching unit, the synchronous switching unit synchronously controls the first sensor to generate first sensing data and the second sensor to generate second sensing data according to the first control signal, a time stamp is arranged on the first sensing data, the control unit receives the first sensing data and the second sensing data, and the first sensing data and the second sensing data are synchronously aligned based on the time stamp. The invention solves the technical problem that the synchronization of a plurality of sensing data cannot be realized in the related art.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a data synchronization device, a method thereof, and a computer readable storage medium.
Background
With the development of intelligent automobiles, the automatic driving technology is widely applied to intelligent automobiles, and more automobiles are provided with automatic driving functions, and various states of the automobile and surrounding environment are sensed based on various vehicle-mounted sensors, so that driving strategies are made, synchronization is realized in data acquisition through the sensors, and the automatic driving functions of the intelligent automobiles are very important.
In the related art, a common data synchronization method is: the sensor synchronization only performs synchronization of the inertial sensor IMU and the camera, and the synchronization of the IMU and the camera is triggered by interruption of the IMU, but the synchronization mode has obvious defects: triggering synchronization by the IMU can cause disengagement from the control unit and the control unit cannot be synchronized with sensors other than the IMU and the camera; meanwhile, the synchronization mode cannot synchronize various sensing data and image data at the camera end, only can perform synchronization processing at the control unit end, synchronization error expansion is easy to cause, and user experience is reduced.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a data synchronization device, a data synchronization method and a computer readable storage medium, which at least solve the technical problem that synchronization of a plurality of sensing data cannot be realized in the related art.
According to an aspect of an embodiment of the present invention, there is provided a data synchronization apparatus including: the camera comprises a control unit and a camera, wherein an integrated component in the camera at least comprises: the device comprises a synchronous switching unit and a sensing unit, wherein the sensing unit comprises a first sensor and a second sensor, and the control unit sends a first control signal to the synchronous switching unit; the synchronous switching unit synchronously controls the first sensor to generate first sensing data and the second sensor to generate second sensing data according to the first control signal, and sets a time stamp on the first sensing data; the control unit receives the first and second sensed data and synchronously aligns the first and second sensed data based on the time stamp.
Optionally, before the control unit sends the first control signal to the synchronous switching unit, the method includes: the camera starts self-checking and initializing after receiving the initializing signal sent by the control unit, and sends an initializing success signal to the control unit after the self-checking has no fault and the initializing is completed; and the control unit sends a first control signal to the synchronous switching unit after receiving the initialization success signal.
Optionally, the control unit includes: the device comprises an initial signal unit, a processing unit and a deserializer, wherein the initial signal unit is used for sending an initial signal to the processing unit; the processing unit is used for carrying out frequency division processing on the initial signal and generating a frequency division signal; the deserializer is used for generating the first control signal according to the frequency division signal.
Optionally, the synchronous switching unit further includes: and the serializer is used for receiving the first control signal sent by the deserializer in the control unit and generating a synchronous signal to respectively control the first sensor and the second sensor.
Optionally, the synchronous switching unit further includes: and the microcontroller is used for receiving the synchronous signal sent by the serializer and generating a second control signal to synchronously control the first sensor and the second sensor.
Optionally, the serializer is connected with the first sensor by adopting a first bus under the condition that the microcontroller is not arranged in the synchronous switching unit; and under the condition that the microcontroller is arranged in the synchronous switching unit, the first sensor is connected with the microcontroller through a second bus.
Optionally, the data synchronization device further includes: and the second sensing unit is used for receiving the frequency division signal generated by the processing unit in the control unit and sending third sensing data to the control unit under the control of the frequency division signal so that the third sensing data are synchronously aligned with the data generated by the first sensing unit, wherein the second sensing unit comprises at least one of the following components: laser radar, millimeter wave radar, ultrasonic radar.
Optionally, the first sensor includes at least one of: the second sensor is an image sensor.
According to an aspect of the embodiment of the present invention, there is provided a data synchronization method applied to a camera of an in-vehicle device, where the camera and a control unit are pre-connected, and an integrated component in the camera at least includes: the data synchronization method comprises the steps of: the synchronous switching unit synchronously controls the first sensor to generate first sensing data and the second sensor to generate second sensing data according to the first control signal transmitted by the control unit; setting a time stamp on the first sensing data; and transmitting the first sensing data and the second sensing data which are provided with the time stamp to the control unit, wherein the control unit synchronously aligns the first sensing data and the second sensing data based on the time stamp.
Optionally, before the synchronous switching unit synchronously controls the first sensor to generate the first sensing data and the second sensor to generate the second sensing data according to the first control signal transmitted by the control unit, the data synchronization method further includes: receiving an initialization signal transmitted by the control unit; starting a self-checking operation and an initializing operation based on the initializing signal; and sending an initialization success signal to the control unit under the condition that the self-check is fault-free and the initialization is completed.
Optionally, the synchronous switching unit further includes: the serializer, the data synchronization method further includes: and sending the first sensing data and the second sensing data to the control unit through the serializer.
According to another aspect of the embodiment of the present invention, there is further provided a computer readable storage medium, where the computer readable storage medium includes a stored computer program, where the computer program when executed controls a device in which the computer readable storage medium is located to perform the data synchronization method according to any one of the above.
In the present disclosure, a data synchronization apparatus includes: the camera comprises a control unit and a camera, wherein an integrated component in the camera at least comprises: the synchronous switching unit and the sensing unit, wherein the sensing unit comprises a first sensor and a second sensor, the control unit sends a first control signal to the synchronous switching unit, the synchronous switching unit synchronously controls the first sensor to generate first sensing data and the second sensor to generate second sensing data according to the first control signal, a time stamp is arranged on the first sensing data, the control unit receives the first sensing data and the second sensing data, and the first sensing data and the second sensing data are synchronously aligned based on the time stamp. In this application, the synchronous switching unit in the accessible camera sets up the timestamp on first sensing data (for example, inertial sensing data), carries out synchronization with first sensing data and second sensing data (for example, image data), and the control unit can carry out synchronization alignment with two sensing data based on the timestamp, can reduce the error between a plurality of sensing data, improves user's experience sense, and then has solved the technical problem that can't realize the synchronization of a plurality of sensing data among the correlation technique.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of an alternative data synchronization device with a microcontroller according to an embodiment of the present invention;
FIG. 2 is a timing diagram of various signals in an alternative data synchronization device with a microcontroller according to an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative data synchronization method according to an embodiment of the invention;
FIG. 4 is a schematic diagram of another alternative data synchronization device that does not include a microcontroller according to an embodiment of the present invention;
FIG. 5 is an alternative signal timing diagram that does not include a microcontroller synchronization device, according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of another alternative data synchronization device with dual cameras according to an embodiment of the present invention;
FIG. 7 is a timing diagram of various signals in an alternative synchronization device with dual cameras according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of another alternative data synchronization device with radar in accordance with an embodiment of the present invention;
Fig. 9 is a timing diagram of various signals in an alternative synchronization device with radar in accordance with an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
To facilitate an understanding of the invention by those skilled in the art, some terms or nouns involved in the various embodiments of the invention are explained below:
IMU: inertial Measurement Unit an inertial measurement unit, mainly used for detecting and measuring acceleration and rotation motion sensors.
MCU: microcontroller Unit the micro control unit is to properly reduce the frequency and specification of the central processing unit (processing unit), integrate the peripheral interfaces such as memory, counter, USB, A/D conversion, UART, PLC, DMA, etc., and even the LCD driving circuit on a single chip to form a chip-level computer for different application occasions such as control of automobile electronics.
The following embodiments of the present invention are applicable to a variety of scenarios in which data needs to be synchronized, for example, in-vehicle devices configured on a variety of vehicles with multiple sensors, including but not limited to: automobiles, buses, motorcycles, airplanes, trains, and the like.
In an exemplary embodiment, the inertial sensor IMU and the image sensor can be arranged in the same camera, shake data of the camera are acquired in real time through the IMU, then the image data acquired by the image sensor and the shake data are synchronously aligned through the synchronous switching unit on the camera, and the synchronized image data and shake data are transmitted to the remote control unit, so that image shake prevention is realized.
Example 1
FIG. 1 is a schematic diagram of an alternative data synchronization device with a microcontroller, according to an embodiment of the invention, as shown in FIG. 1, the synchronization device comprising: the camera comprises a control unit and a camera, wherein an integrated component in the camera at least comprises: the synchronous switching unit and sensing unit, wherein, synchronous switching unit includes: the sensing unit comprises a first sensor and a second sensor; the control unit at least comprises: the device comprises an initial signal unit, a processing unit and a deserializer.
In the embodiment of the invention, a control unit sends a first control signal to a synchronous switching unit, and the synchronous switching unit synchronously controls a first sensor to generate first sensing data and a second sensor to generate second sensing data according to the first control signal, and sets a time stamp on the first sensing data; the control unit receives the first sensing data and the second sensing data, and synchronously aligns the first sensing data and the second sensing data based on the time stamp, wherein the first sensor may comprise an inertial sensor, a geomagnetic meter and the like, and the embodiment is described in detail taking the first sensor as an inertial sensor as an example.
In the embodiment of the invention, the synchronous switching unit receives the data of the sensing unit (i.e. the first sensing data and the second sensing data), synchronizes the image data with the IMU data (i.e. the first sensor and the second sensor are synchronously controlled according to the second control signal generated by the microcontroller), transmits the data to the control unit (i.e. the first sensor and the second sensor after synchronization are transmitted to the control unit) through the low-voltage differential signal LVDS, after the image is transmitted to the processing unit on the control unit, the image processing can be performed through an ISP module in the processing unit, or the image processing can be performed before the image data is transmitted to the processing unit on the control unit through adding the ISP module to the sensing unit on the camera, the control unit can generate a GPS reference clock signal (i.e. the initial signal) through the initial signal unit, the processing unit performs frequency division processing according to the GPS reference clock signal, the clock frequency division information (i.e. the frequency division signal) is obtained, and then the deserializer generates the first control signal according to the frequency division signal and transmits the first control signal to the serializer, the processing signal is generated by the processing unit and the synchronization signal according to the first control signal and the microcontroller, and the synchronization signal can be generated by the microcontroller.
In the embodiment of the present invention, after receiving the first sensing data and the second sensing data set with the time stamp, the control unit may align the first sensing data and the second sensing data synchronously based on the time stamp, where in the case where the second sensor is an image sensor, the time stamp is set according to the start exposure time of each frame of image in the second sensing data (i.e., image data).
The specific working procedure is as follows:
10. the control unit and the camera are powered on, and the control unit starts self-checking and initializes the camera.
20. After the camera receives the initialization signal of the processing unit, the camera starts self-checking and initializing, and after the initialization signal is finished, the Microcontroller (MCU) sends out an initialization success signal through the I2C bus and informs the remote processing unit through the serializer and the deserializer.
30. The processing unit receives an initialization success signal sent by the MCU, provides a GPS reference clock signal (namely an initial signal) through the initial signal unit, sends a first control signal through the deserializer after frequency division, and is connected to the MCU through the serializer.
And 40. After the MCU receives the first control signal and passes through the serializer, the first control signal is converted into a second control signal and is sent to a first sensor in the sensing unit, and simultaneously, the time stamp is started to be printed on IMU data (namely the first sensing data) and is transmitted back to the processing unit through the serializer and the deserializer.
50. After receiving the second control signal, the second sensor in the sensing unit starts to collect image data (namely second sensing data), the image data is transmitted to the processing unit through the serializer and the deserializer, the processing unit receives the frame of image data and also receives IMU data with a time stamp, and then synchronous alignment of the image data and the IMU data is carried out.
In an embodiment of the present invention, fig. 2 is a timing diagram of signals in an alternative data synchronization device with a microcontroller according to an embodiment of the present invention, including: the first sensor data (not synchronized), the first sensor data (processed by the synchronization alignment), and the second sensor data, by which the transmitted second sensor data is aligned with the first sensor data.
Optionally, before the control unit sends the first control signal to the synchronous switching unit, the method includes: after receiving the initialization signal sent by the control unit, the camera starts self-checking and initializing, and after the self-checking has no fault and the initializing is completed, sends an initialization success signal to the control unit; and the control unit sends a first control signal to the synchronous switching unit after receiving the initialization success signal.
In the embodiment of the invention, the control unit and the camera are required to be powered on first, then the control unit starts self-checking and initializes the camera (namely, after the control unit self-checks, an initialization signal is sent to the camera), the camera starts self-checking and initializing after receiving the initialization signal, after the self-checking of the camera is free from faults and the initialization is completed, if the synchronous switching unit comprises a micro controller MCU, the MCU can send an initialization success signal (namely, the self-checking of the camera is free from faults and the initialization is completed) through various buses (for example, an I2C bus), and the remote processing unit (namely, a processing unit positioned on the control unit) is informed through the serializer and the deserializer, and the processing unit sends a first control signal to the synchronous switching unit after receiving the initialization success signal sent by the MCU.
Optionally, the control unit includes: the device comprises an initial signal unit, a processing unit and a deserializer, wherein the initial signal unit is used for sending an initial signal to the processing unit; the processing unit is used for carrying out frequency division processing on the initial signal and generating a frequency division signal; the deserializer is used for generating a first control signal according to the frequency division signal.
In the embodiment of the invention, after the processing unit receives the initialization success signal sent by the MCU, the processing unit may perform frequency division processing (the processing unit is used for performing frequency division processing on the initial signal) through the GPS reference clock signal provided by the initial signal unit (i.e. the initial signal unit is used for sending the initial signal to the processing unit), so as to obtain clock frequency division information (i.e. a frequency division signal), and the deserializer is used for generating the first control signal according to the frequency division signal.
Optionally, the synchronous switching unit further includes: and the serializer is used for receiving a first control signal sent by the deserializer in the control unit and generating a synchronous signal to respectively control the first sensor and the second sensor.
In the embodiment of the invention, the control unit can send out the first control signal through the deserializer after the frequency division processing, and the serializer generates the synchronous signal according to the first control signal to respectively control the first sensor and the second sensor.
Optionally, the synchronous switching unit further includes: and the microcontroller is used for receiving the synchronous signal sent by the serializer and generating a second control signal to synchronously control the first sensor and the second sensor.
In the embodiment of the invention, the serializer generates a synchronous signal according to the first control signal, the synchronous signal is transmitted to the microcontroller, and the microcontroller generates a second control signal according to the synchronous signal to synchronously control the first sensor and the second sensor.
Optionally, under the condition that the synchronous switching unit is not provided with the microcontroller, the serializer is connected with the first sensor through a first bus; in the case of a microcontroller arranged in the synchronous switching unit, the first sensor is connected to the microcontroller by means of a second bus.
In the embodiment of the invention, under the condition that the synchronous switching unit is not provided with the microcontroller, the inertial sensor (i.e. the first sensor) is directly connected with the serializer through a first bus (i.e. an I2C bus), and if the component of the synchronous switching unit comprises the serializer and also comprises the micro control unit (i.e. the MCU), the inertial sensor is directly connected with the micro control unit through a second bus.
Optionally, the data synchronization device further includes: the second sensing unit is used for receiving the frequency division signal generated by the processing unit in the control unit and sending third sensing data to the control unit under the control of the frequency division signal so that the third sensing data are synchronously aligned with the data generated by the first sensing unit, wherein the second sensing unit comprises at least one of the following components: laser radar, millimeter wave radar, ultrasonic radar.
In the embodiment of the present invention, the data synchronization device includes a laser radar and/or a millimeter wave radar as an example: a radar module (i.e. a second sensing unit), wherein the radar module comprises at least: the laser radar and/or millimeter wave radar is connected with the control unit, after the control unit performs frequency division processing, the laser radar synchronous signal and/or millimeter wave synchronous signal can be sent out, the radar module can timestamp the laser radar data and/or millimeter wave radar data after receiving the laser radar synchronous signal and/or millimeter wave synchronous signal (namely after receiving the frequency division signal generated by the processing unit in the control unit), and transmit the timestamp back to the processing unit (namely, send third sensing data to the control unit under the control of the frequency division signal), the processing unit receives the image data, and also receives the IMU data with the timestamp (namely, the data generated by the first sensing unit comprises the image data and the sensing data) and the radar data with the timestamp (namely, the third sensing data, the laser radar data and/or millimeter wave radar data), and the image data, the IMU data and the radar data can be synchronously aligned.
Optionally, the first sensor includes an inertial sensor, a geomagnetic meter, and the second sensor is an image sensor, for example, a common RGB image sensor, a depth image sensor, a thermal imaging sensor, and the like.
In the embodiment of the invention, the inertial sensor and the image sensor can be configured in the same camera, the synchronization is initiated by the synchronization switching unit in the camera, the synchronization of the sensing data and the image data is performed at the camera head end, so that the synchronization time is accurate, the platform compatibility is strong, the MCU can be added to the camera to perform the synchronization of multiple sensors, the real-time performance of MCU control is strong, the error of the synchronization of the sensing data and the image data can be reduced, and the MCU is placed on the camera, so that the platform and the calculation force of the remote processing unit are not required, and the compatibility of multiple platforms is strong.
Example two
According to an embodiment of the present invention, there is provided a data synchronization method embodiment, it being noted that the steps shown in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order other than that shown or described herein.
FIG. 3 is a flow chart of an alternative data synchronization method according to an embodiment of the invention, as shown in FIG. 3, comprising the steps of:
in step S302, the synchronous switching unit synchronously controls the first sensor to generate the first sensing data and the second sensor to generate the second sensing data according to the first control signal transmitted by the control unit.
Step S304, a time stamp is set on the first sensing data.
Step S306, the first sensing data and the second sensing data set with the time stamp are transmitted to the control unit, wherein the control unit synchronously aligns the first sensing data and the second sensing data based on the time stamp.
Through the steps, the synchronous switching unit synchronously controls the first sensor to generate first sensing data and the second sensor to generate second sensing data according to the first control signal transmitted by the control unit; setting a time stamp on the first sensing data; the first and second sensor data provided with the time stamp are sent to the control unit, wherein the control unit aligns the first and second sensor data synchronously based on the time stamp. In the embodiment of the invention, the sensing data and the image data can be synchronously controlled through the synchronous switching unit in the camera, the time stamp is arranged on the sensing data, and the sensing data and the image data with the time stamp are sent to the control unit, so that the alignment processing between the sensing data and the image data can be realized, the error among a plurality of sensing data can be reduced, the experience of a user is improved, and the technical problem that the synchronization of a plurality of sensing data cannot be realized in the related technology is solved.
Embodiments of the present invention will be described in detail with reference to the following steps.
In the embodiment of the invention, the following steps are applied to cameras of vehicle-mounted devices configured on various vehicles with multiple sensors, the cameras are pre-connected with a control unit, and the components integrated in the cameras at least comprise: the synchronous switching unit and sensing unit, sensing unit contains first sensor and second sensor, and synchronous switching unit includes at least: serializer may further include: and the microcontroller comprises a control unit: the first sensor may include an inertial sensor, a geomagnetic meter, and the like, and the embodiment is described in detail taking the first sensor as an inertial sensor as an example.
In an embodiment of the present invention, before the synchronous switching unit synchronously controls the first sensor to generate the first sensing data and the second sensor to generate the second sensing data according to the first control signal transmitted by the control unit, the data synchronization method further includes: receiving an initialization signal transmitted by a control unit; starting a self-checking operation and an initializing operation based on the initializing signal; and sending an initialization success signal to the control unit under the condition that the self-check is fault-free and the initialization is completed.
In the embodiment of the invention, the control unit and the camera are required to be electrified, then the control unit starts self-checking and initializes the camera (namely, after the control unit self-checks, an initialization signal is sent to the camera), the camera starts self-checking and initializing after receiving the initialization signal, after the camera self-checking has no fault and initializing is finished, if the synchronous switching unit comprises an MCU, the MCU can send an initialization success signal through various buses (for example, an I2C bus) (namely, the camera self-checking has no fault and initializing is finished), and the remote processing unit is informed through the serializer and the deserializer (namely, the initialization success signal is sent to the control unit); if the synchronous switching unit does not include an MCU, the serializer can send out an initialization success signal through a certain type of bus (for example, an I2C bus) and inform a remote processing unit (send out the initialization success signal to the control unit).
In step S302, the synchronous switching unit synchronously controls the first sensor to generate the first sensing data and the second sensor to generate the second sensing data according to the first control signal transmitted by the control unit.
In the embodiment of the invention, the control unit can send out a first control signal through the deserializer after frequency division processing, if the synchronous switching unit comprises an MCU, the synchronous switching unit can be connected to the MCU through the serializer, the MCU receives the first control signal and generates a second control signal to synchronously control the first sensor to generate first sensing data and the second sensor to generate second sensing data; if the synchronous switching unit does not comprise the MCU, the synchronous switching unit can be connected to the sensing unit through the serializer, the sensing unit receives the first control signal and synchronously controls the first sensor to generate first sensing data and the second sensor to generate second sensing data.
Step S304, a time stamp is set on the first sensing data.
In the embodiment of the invention, when the synchronous switching unit comprises an MCU, the first sensor can be synchronously controlled to generate first sensing data and the second sensor can be synchronously controlled to generate second sensing data through a second control signal generated by the MCU, and simultaneously, the IMU data (namely, the first sensing data) is started to be time stamped; if the synchronous switching unit does not comprise the MCU, the first sensor can be synchronously controlled to generate first sensing data and the second sensor can be synchronously controlled to generate second sensing data through the first control signal, and meanwhile, the received IMU data is stamped with a time stamp.
Step S306, the first sensing data and the second sensing data set with the time stamp are transmitted to the control unit, wherein the control unit synchronously aligns the first sensing data and the second sensing data based on the time stamp.
In the embodiment of the invention, after the image data and the sensing data are synchronized (i.e. after the time stamp is set on the first sensing data), the first sensing data and the second sensing data with the time stamp can be transmitted to the control unit through the low-voltage differential signal LVDS, and after the first sensing data and the second sensing data are received by the control unit, the first sensing data and the second sensing data can be synchronously aligned based on the time stamp, wherein in the case that the second sensor is an image sensor, the time stamp is set according to the starting exposure time of each frame of image in the second sensing data (i.e. the image data).
Optionally, the synchronous switching unit further includes: the serializer, the data synchronization method further includes: the first sensing data and the second sensing data are transmitted to the control unit through the serializer.
In the embodiment of the invention, the aligned sensing data and the image data can be sent to the deserializer on the control unit of the vehicle-mounted equipment through the serializer on the synchronous switching unit, and then the sensing data and the image data are transmitted to the processing unit through the deserializer.
In the embodiment of the invention, the inertial sensor and the image sensor can be configured in the same camera, the synchronization is initiated by the synchronization switching unit in the camera, the sensing data and the image data are synchronized at the camera end, the shake data of the camera are collected in real time, and the camera can be used for image shake prevention.
Example III
Fig. 4 is a schematic diagram of an alternative data synchronization device not including a microcontroller according to an embodiment of the present invention, as shown in fig. 4, the synchronization device including: the camera comprises a control unit and a camera, wherein an integrated component in the camera at least comprises: the synchronous switching unit and sensing unit, wherein, synchronous switching unit includes at least: serializer, sensing unit includes: the first sensor and the second sensor, wherein the first sensor may include an inertial sensor, a geomagnetic meter, etc., and the embodiment is described in detail taking the first sensor as an inertial sensor as an example; the control unit at least comprises: the device comprises an initial signal unit, a processing unit and a deserializer.
In the embodiment of the invention, the sensing unit leads out a frame synchronization signal, a power supply and the like for transmitting image data signals, transmitting IMU data signals and starting exposure, the signals are connected to the synchronous switching unit through an FPC (flexible printed circuit) flat cable, the synchronous switching unit receives the image data and the IMU data, the image data are transmitted to the control unit through a low-voltage differential signal LVDS, the image data can be synchronized in the processing unit after being transmitted to the processing unit on the control unit, the image data can be processed through an ISP (Internet protocol) in the processing unit, the image data can be processed through adding the ISP to the sensing unit on the camera before the image data are transmitted to the processing unit on the control unit, and the control unit can generate a GPS reference clock signal through the initial signal unit to be provided for the processing unit, and the specific working procedures are as follows:
11. the control unit and the camera are powered on, and the control unit starts self-checking and initializes the camera.
21. After the camera receives the initialization signal of the processing unit, the camera starts self-checking and initializing, after the initialization signal is finished, the serializer sends an initialization success signal to inform the processing unit at the far end through the I2C bus, and meanwhile, the data of the Microcontroller (MCU) is transmitted to the processing unit through the I2C bus, the serializer and the deserializer.
31. The processing unit provides a GPS reference clock signal (namely an initial signal) through the initial signal unit, after frequency division, the processing unit sends a first control signal through the deserializer, converts the first control signal into a synchronous signal through the serializer, then receives the synchronous signal from the first sensor in the sensing unit, and simultaneously, the received IMU data (namely the first sensing data) is stamped with a time stamp.
41. After receiving the synchronizing signal from the serializer, the sensor unit starts to collect image data (i.e. the second sensing data), which is transmitted to the processing unit through the serializer and the deserializer, and the processing unit receives the frame of image data and stores the IMU data with the time stamp before, and then performs synchronous alignment of the image data and the IMU data.
In an embodiment of the present invention, fig. 5 is an alternative signal timing diagram not including a synchronization device of a microcontroller according to an embodiment of the present invention, including: the initial signal, the divided signal, the second sensor data, the first sensor data (not synchronized), after which the transmitted second sensor data is aligned with the first sensor data by these signals.
In the embodiment of the invention, the inertial sensor and the image sensor can be put together, the processing unit initiates synchronization, and the camera head performs multi-sensor data synchronization, so that the synchronization time is accurate, and the platform compatibility is strong.
Example IV
FIG. 6 is a schematic diagram of another alternative data synchronization device with dual cameras according to an embodiment of the present invention, as shown in FIG. 6, the synchronization device comprising: control unit, camera A and camera B, wherein, camera A includes: sensing unit A and synchronous switching unit A, camera B includes: the sensing unit B and synchronous switching unit B, the sensing unit includes first sensor and second sensor, synchronous switching unit includes: a microcontroller and serializer, the control unit comprising: the first sensor may include an inertial sensor, a geomagnetic meter, and the like, and the embodiment is described in detail taking the first sensor as an inertial sensor as an example.
In the embodiment of the invention, the sensing unit leads out a frame synchronization signal for transmitting image data signals, transmitting IMU data signals, starting exposure, a power supply and the like, and the signals are connected to the synchronous switching unit through the FPC flat cable. The synchronous switching unit receives image data and IMU data, the image data and IMU data are transmitted to the control unit through a low-voltage differential signal LVDS, after the image data are transmitted to the processing unit on the control unit, the image data and the IMU data GPS reference clock signal can be synchronized in the processing unit, the image data can be processed through an ISP (Internet protocol) in the processing unit, or the image data can be processed before the image data are transmitted to the processing unit on the control unit through adding the ISP to the sensing unit on the camera, and the GPS reference clock signal can be generated on the control unit through the initial signal unit and provided for the processing unit, so that the specific working procedures are as follows:
12. The control unit and the cameras A and B are electrified, and the control unit starts self-checking and initializes the cameras A and B.
22. After receiving the initialization signals of the processing units, the camera A and the camera B start self-checking and initializing, and after finishing, a Microcontroller (MCU) sends out an initialization success signal through an I2C bus and informs a remote processing unit through a serializer and a deserializer.
32. The processing unit receives an initialization success signal sent by the MCU, the processing unit provides a GPS reference clock signal (namely an initial signal) through the initial signal unit, after frequency division, the GPS reference clock signal is converted into a first control signal through the deserializer, and the first control signal is connected to the MCU of the camera A and the camera B through the serializer.
42. The two MCUs are connected to the first control signal and then converted into the second control signal after passing through the serializer, the second control signal is respectively sent to the first sensors in the two sensing units, and at the same time, time stamping is started on respective IMU data (namely the first sensing data) and the time stamping is transmitted back to the processing unit through the serializer and the deserializer.
52. After receiving the second control signal, the second sensor in the two sensing units starts to collect image data (second sensing data), the image data is transmitted to the processing unit through the serializer and the deserializer, the processing unit receives the image data of the two sensing units and also receives the IMU data with the respective time stamps, and then the image data of the camera A and the camera B and the IMU data are synchronously aligned.
In an embodiment of the present invention, fig. 7 is a timing diagram of signals in an alternative synchronization device with dual cameras according to an embodiment of the present invention, including: the first sensor data is aligned with the first sensor data by means of the initial signal, the frequency-divided signal, the first control signal (a), the first control signal (B), the second sensor data (a) (not synchronized), the second sensor data (B), the first sensor data (B) (not synchronized).
In the embodiment of the invention, the synchronization device can be provided with a plurality of cameras, and can realize the synchronization of multi-sensor data in the plurality of cameras, and only one control unit is needed. In the embodiment of the invention, two cameras are taken as an example, in each camera, an inertial sensor and an image sensor can be put together, a processing unit initiates synchronization, multi-sensor data synchronization is respectively carried out at the camera head end, so that the synchronization time is accurate, the platform compatibility is strong, an MCU can be added to the cameras to carry out multi-sensor synchronization, the real-time performance of MCU control is strong, the error of multi-sensor data synchronization can be reduced, moreover, the MCU is put on the cameras, the platform and the calculation force of a remote processing unit are not required, and the multi-platform compatibility is strong.
Example five
Fig. 8 is a schematic diagram of another alternative data synchronization device with radar according to an embodiment of the present invention, as shown in fig. 8, the synchronization device includes: control unit, second sensing unit and camera, wherein, the camera includes: the sensing unit and synchronous switching unit, the sensing unit includes: a first sensor and a second sensor, wherein the first sensor may include an inertial sensor, a geomagnetic meter, etc. (the embodiment is described in detail by taking the first sensor as the inertial sensor as an example), and the synchronous switching unit includes: a microcontroller and serializer, the control unit comprising: the deserializer, initial signal unit and processing unit, the second sensing unit includes at least: the laser radar and the millimeter wave radar (the second sensing unit may also include an ultrasonic radar or the like), and the data synchronizing device of this embodiment is described in detail by taking the laser radar and/or the millimeter wave radar as an example.
In the embodiment of the invention, the sensing unit leads out a frame synchronization signal, a power supply and the like for transmitting image data signals, transmitting IMU data signals and starting exposure, the signals are connected to the synchronization switching unit through an FPC (flexible printed circuit) flat cable, the synchronization switching unit receives images and IMU data and transmits the images and IMU data to the control unit through a low-voltage differential signal LVDS, after the images are transmitted to the processing unit on the control unit, the processing unit can synchronize the image data with GPS reference clock signals of the IMU data, the image data can be processed through an ISP (Internet protocol) in the processing unit, or can be processed before the image data is transmitted to the processing unit on the control unit through adding the ISP to the sensing unit on the camera, the control unit can generate GPS reference clock signals through the initial signal unit and provide the GPS reference clock signals to the processing unit, and the processing unit on the control unit leads out laser radar synchronization signals and millimeter wave synchronization signals to synchronize the laser radar and millimeter wave radar data, and the specific working procedures are as follows:
13. The control unit, the camera and the radar (namely the second sensing unit) are powered on, and the control unit starts self-checking and initializes the camera and the radar.
23. After the camera receives the initialization signal of the processing unit, the camera starts self-checking and initializing, and after the initialization signal is finished, the Microcontroller (MCU) sends out an initialization success signal through the I2C bus and informs the remote processing unit through the serializer and the deserializer.
33. The processing unit receives an initialization success signal sent by the MCU, provides a GPS reference clock signal (namely an initial signal) through the initial signal unit, converts the GPS reference clock signal into a first control signal through the deserializer after frequency division, is connected to the MCU of the camera through the serializer, and simultaneously sends out radar synchronous signals (comprising a laser radar synchronous signal and a millimeter wave synchronous signal).
And 43. After the MCU receives the first control signal and passes through the serializer, the first control signal is converted into a second control signal and is sent to a first sensor in the sensing unit, and simultaneously, the time stamp is started to be printed on IMU data (namely the first sensing data) and is transmitted back to the processing unit through the serializer and the deserializer.
53. After receiving the second control signal, the second sensor in the sensing unit transmits the data to the processing unit through the serializer and the deserializer, the processing unit receives the image data (second sensing data) of the sensing unit, receives the IMU data with the time stamp, simultaneously receives the laser radar and the millimeter wave radar data (third sensing data) with the time stamp, and finally performs synchronous alignment of the image data, the IMU data, the laser radar data and the millimeter wave radar data of the camera.
In an embodiment of the present invention, fig. 9 is a timing diagram of signals in an alternative synchronization device with radar according to an embodiment of the present invention, including an initial signal, a divided signal, a first control signal, a second sensor data, a first sensor data (not synchronized), a laser radar synchronization signal, a laser radar data, a millimeter wave synchronization signal, and a millimeter wave radar data, through which transmitted multi-sensor data (including image data, inertial sensor data, laser radar data, and millimeter wave radar data) are aligned.
In the embodiment of the invention, the inertial sensor and the inertial sensor can be put together, the processing unit initiates synchronization, the camera head end performs multi-sensor data synchronization, and can also support multi-type sensors such as laser radar, millimeter wave radar, ultrasonic radar and the like, so that the synchronization time is accurate, the platform compatibility is strong.
According to another aspect of the embodiment of the present invention, there is further provided a computer readable storage medium, wherein the computer readable storage medium includes a stored computer program, and the device in which the computer readable storage medium is located is controlled to execute the data synchronization method of the vehicle-mounted device of any one of the above items when the computer program runs.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (12)
1. A data synchronization device, comprising: the camera comprises a control unit and a camera, wherein an integrated component in the camera at least comprises: the synchronous switching unit and the sensing unit, wherein the sensing unit comprises a first sensor and a second sensor,
the control unit sends a first control signal to the synchronous switching unit;
the synchronous switching unit synchronously controls the first sensor to generate first sensing data and the second sensor to generate second sensing data according to the first control signal, and sets a time stamp on the first sensing data;
the control unit receives the first and second sensed data and synchronously aligns the first and second sensed data based on the time stamp.
2. The data synchronization device of claim 1, wherein before the control unit sends the first control signal to the synchronization switch unit, comprising:
The camera starts self-checking and initializing after receiving the initializing signal sent by the control unit, and sends an initializing success signal to the control unit after the self-checking has no fault and the initializing is completed;
and the control unit sends a first control signal to the synchronous switching unit after receiving the initialization success signal.
3. The data synchronization device according to claim 1, wherein the control unit comprises: an initial signal unit, a processing unit and a deserializer, wherein,
the initial signal unit is used for sending an initial signal to the processing unit;
the processing unit is used for carrying out frequency division processing on the initial signal and generating a frequency division signal;
the deserializer is used for generating the first control signal according to the frequency division signal.
4. The data synchronization device of claim 3, wherein the synchronization switching unit further comprises: and the serializer is used for receiving the first control signal sent by the deserializer in the control unit and generating a synchronous signal to respectively control the first sensor and the second sensor.
5. The data synchronization device of claim 4, wherein the synchronization switching unit further comprises: and the microcontroller is used for receiving the synchronous signal sent by the serializer and generating a second control signal to synchronously control the first sensor and the second sensor.
6. The data synchronization device of claim 5, wherein the serializer is connected to the first sensor using a first bus without the microcontroller being provided in the synchronization switch unit; and under the condition that the microcontroller is arranged in the synchronous switching unit, the first sensor is connected with the microcontroller through a second bus.
7. A data synchronization device according to claim 3, characterized in that the data synchronization device further comprises: and the second sensing unit is used for receiving the frequency division signal generated by the processing unit in the control unit and sending third sensing data to the control unit under the control of the frequency division signal so that the third sensing data are synchronously aligned with the data generated by the first sensing unit, wherein the second sensing unit comprises at least one of the following components: laser radar, millimeter wave radar, ultrasonic radar.
8. The data synchronization device of claim 1, wherein the first sensor comprises at least one of: the second sensor is an image sensor.
9. The data synchronization method is characterized by being applied to a camera of the vehicle-mounted equipment, wherein the camera is connected with a control unit in advance, and at least the components integrated in the camera comprise: the data synchronization method comprises the steps of:
The synchronous switching unit synchronously controls the first sensor to generate first sensing data and the second sensor to generate second sensing data according to the first control signal transmitted by the control unit;
setting a time stamp on the first sensing data;
and transmitting the first sensing data and the second sensing data which are provided with the time stamp to the control unit, wherein the control unit synchronously aligns the first sensing data and the second sensing data based on the time stamp.
10. The data synchronization method according to claim 9, wherein before the synchronization switching unit synchronously controls the first sensor to generate the first sensing data and the second sensor to generate the second sensing data according to the first control signal transmitted by the control unit, the data synchronization method further comprises:
receiving an initialization signal transmitted by the control unit;
starting a self-checking operation and an initializing operation based on the initializing signal;
and sending an initialization success signal to the control unit under the condition that the self-check is fault-free and the initialization is completed.
11. The data synchronization method according to claim 9, wherein the synchronization switching unit further comprises: the serializer, the data synchronization method further includes:
And sending the first sensing data and the second sensing data to the control unit through the serializer.
12. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the data synchronization method according to any one of claims 9 to 11.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350965.XA CN116156073B (en) | 2021-11-15 | 2021-11-15 | Data synchronization device, method thereof and computer readable storage medium |
| DE112022005489.1T DE112022005489T5 (en) | 2021-11-15 | 2022-11-10 | DATA SYNCHRONIZATION DEVICE AND ITS METHOD AND COMPUTER-READABLE STORAGE MEDIUM |
| PCT/CN2022/131201 WO2023083271A1 (en) | 2021-11-15 | 2022-11-10 | Data synchronization device and method, and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350965.XA CN116156073B (en) | 2021-11-15 | 2021-11-15 | Data synchronization device, method thereof and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116156073A true CN116156073A (en) | 2023-05-23 |
| CN116156073B CN116156073B (en) | 2024-08-27 |
Family
ID=86335118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111350965.XA Active CN116156073B (en) | 2021-11-15 | 2021-11-15 | Data synchronization device, method thereof and computer readable storage medium |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN116156073B (en) |
| DE (1) | DE112022005489T5 (en) |
| WO (1) | WO2023083271A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117611638B (en) * | 2023-12-07 | 2024-05-17 | 北京擎锋精密科技有限公司 | Multi-target tracking method for vehicles and pedestrians based on image processing |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103793353A (en) * | 2012-11-05 | 2014-05-14 | 张聪 | High-speed optical fiber data acquiring equipment of USB (universal serial bus) 3.0 |
| CN207399382U (en) * | 2017-10-31 | 2018-05-22 | 北京图森未来科技有限公司 | A kind of vehicle-mounted long range image delivering system |
| CN110329273A (en) * | 2019-06-18 | 2019-10-15 | 浙江大学 | A kind of method and device synchronous for unmanned acquisition data |
| US20200357205A1 (en) * | 2019-05-09 | 2020-11-12 | Argo AI, LLC | Time master and sensor data collection for robotic system |
| CN112179362A (en) * | 2019-07-03 | 2021-01-05 | 深动科技（北京）有限公司 | High-precision map data acquisition system and acquisition method |
| CN112348901A (en) * | 2020-11-27 | 2021-02-09 | 苏州感测通信息科技有限公司 | Vehicle-mounted sensor data processing system and method |
| CN112433859A (en) * | 2021-01-26 | 2021-03-02 | 国汽智控(北京)科技有限公司 | Data processing method and device, electronic equipment and computer storage medium |
| CN112532479A (en) * | 2020-11-24 | 2021-03-19 | 扬州航盛科技有限公司 | LVDS serial control link test system and test method thereof |
| CN112577517A (en) * | 2020-11-13 | 2021-03-30 | 上汽大众汽车有限公司 | Multi-element positioning sensor combined calibration method and system |
| CN214240693U (en) * | 2020-12-31 | 2021-09-21 | 上海商汤临港智能科技有限公司 | Intelligent driving equipment, intelligent driving system and driving equipment |
| WO2021204144A1 (en) * | 2020-04-08 | 2021-10-14 | 阿里巴巴集团控股有限公司 | Data processing system and method, sensor, mobile acquisition backpack, and device |
-
2021
- 2021-11-15 CN CN202111350965.XA patent/CN116156073B/en active Active
-
2022
- 2022-11-10 DE DE112022005489.1T patent/DE112022005489T5/en active Pending
- 2022-11-10 WO PCT/CN2022/131201 patent/WO2023083271A1/en unknown
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103793353A (en) * | 2012-11-05 | 2014-05-14 | 张聪 | High-speed optical fiber data acquiring equipment of USB (universal serial bus) 3.0 |
| CN207399382U (en) * | 2017-10-31 | 2018-05-22 | 北京图森未来科技有限公司 | A kind of vehicle-mounted long range image delivering system |
| US20200357205A1 (en) * | 2019-05-09 | 2020-11-12 | Argo AI, LLC | Time master and sensor data collection for robotic system |
| CN110329273A (en) * | 2019-06-18 | 2019-10-15 | 浙江大学 | A kind of method and device synchronous for unmanned acquisition data |
| CN112179362A (en) * | 2019-07-03 | 2021-01-05 | 深动科技（北京）有限公司 | High-precision map data acquisition system and acquisition method |
| WO2021204144A1 (en) * | 2020-04-08 | 2021-10-14 | 阿里巴巴集团控股有限公司 | Data processing system and method, sensor, mobile acquisition backpack, and device |
| CN112577517A (en) * | 2020-11-13 | 2021-03-30 | 上汽大众汽车有限公司 | Multi-element positioning sensor combined calibration method and system |
| CN112532479A (en) * | 2020-11-24 | 2021-03-19 | 扬州航盛科技有限公司 | LVDS serial control link test system and test method thereof |
| CN112348901A (en) * | 2020-11-27 | 2021-02-09 | 苏州感测通信息科技有限公司 | Vehicle-mounted sensor data processing system and method |
| CN214240693U (en) * | 2020-12-31 | 2021-09-21 | 上海商汤临港智能科技有限公司 | Intelligent driving equipment, intelligent driving system and driving equipment |
| CN112433859A (en) * | 2021-01-26 | 2021-03-02 | 国汽智控(北京)科技有限公司 | Data processing method and device, electronic equipment and computer storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| DE112022005489T5 (en) | 2024-09-12 |
| WO2023083271A1 (en) | 2023-05-19 |
| CN116156073B (en) | 2024-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110329273B (en) | Method and device for synchronizing data acquired by unmanned vehicle | |
| CN106414222B (en) | Parking aid for motor vehicles | |
| CN111736169B (en) | Data synchronization method, device and system | |
| CN116156073B (en) | Data synchronization device, method thereof and computer readable storage medium | |
| EP1139202A3 (en) | Apparatus, method and system for synchronizing slave system operations to master system clocking signals in a master-slave asynchronous communication system | |
| CN103778090A (en) | Serial communication circuit, integrated circuit device, physical quantity measuring device, and serial communication method | |
| CN211308445U (en) | Multi-sensor data synchronization system and automobile | |
| JP6952339B2 (en) | Video signal receiver and video signal transmission / reception system | |
| JP6816765B2 (en) | Vehicle display device | |
| CN108318489A (en) | A kind of system and method for the real-time storage of Tunnel testing data | |
| WO2019099991A1 (en) | Multi-camera synchronization through receiver hub back channel | |
| CN104837002A (en) | Shooting device, three-dimensional measuring system, and video intra-frame interpolation method and apparatus | |
| CN115396056B (en) | Data transmission method and device and related equipment | |
| CN111372111A (en) | Data determination method and device and vehicle-mounted terminal | |
| CN104639598B (en) | The synchronising apparatus and its method of vehicle AVN and digital table | |
| CN211656247U (en) | Multi-sensor data synchronization system | |
| CN111460032A (en) | Cross-platform data synchronization method for epidemic situation prevention and control device | |
| JP4578535B2 (en) | Drive recorder system and drive recorder | |
| CN117715168B (en) | Signal synchronization system and method | |
| CN117579877B (en) | Startup animation synchronization method and device and double-SoC cabin system | |
| JP2006203817A (en) | Multicamera system | |
| JP2007049297A (en) | Communication system and control method thereof | |
| CN112540364A (en) | Time delay measuring method, measuring device and measuring system of TOF depth camera | |
| CN117118554A (en) | Multi-mode sensor hardware time synchronization method | |
| CN115021851A (en) | Multi-sensor collaborative time information synchronization equipment based on automatic driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: 19th Floor, Hongruan Building, No. 392 Binxing Road, Changhe Street, Binjiang District, Hangzhou City, Zhejiang Province 310000 Applicant after: Rainbow Software Co.,Ltd. Address before: 310012 22nd and 23rd Floors of Building A, Paradise Software Park, No. 3 Xidoumen Road, Xihu District, Hangzhou City, Zhejiang Province Applicant before: Rainbow Software Co.,Ltd. Country or region before: China |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |