CN117318862A - Time data synchronization system and method of vehicle and vehicle - Google Patents
Time data synchronization system and method of vehicle and vehicle Download PDFInfo
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- CN117318862A CN117318862A CN202210723588.8A CN202210723588A CN117318862A CN 117318862 A CN117318862 A CN 117318862A CN 202210723588 A CN202210723588 A CN 202210723588A CN 117318862 A CN117318862 A CN 117318862A
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- 238000012545 processing Methods 0.000 claims abstract description 89
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- 238000004891 communication Methods 0.000 description 11
- 238000004590 computer program Methods 0.000 description 5
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
- H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/35—Switches specially adapted for specific applications
- H04L49/351—Switches specially adapted for specific applications for local area network [LAN], e.g. Ethernet switches
Abstract
The invention provides a time data synchronization system, a method and a system of a vehicle, wherein the system comprises the following components: the system comprises a video data acquisition front end, a video data processing chip, a switch, a fusion decision chip and a distance data acquisition front end; the video data acquisition front end is connected with the video data processing chip; the switch is connected with the video data processing chip and the fusion decision chip through the Ethernet; the distance data acquisition front end is communicated with the fusion decision chip; the video data processing chip, the switch and the fusion decision chip support a time sensitive network protocol. The video data acquisition time and the distance data acquisition time can be accurately synchronized, the time delay between the data is effectively reduced, corresponding decision instructions can be accurately generated, and further the vehicle operation is controlled. The embodiment of the invention solves the problem that the prior art cannot meet the requirement of accurate data synchronization in data fusion of intelligent driving of the automobile.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a time data synchronization system and method of a vehicle and the vehicle.
Background
With the rapid development of the intellectualization of electric automobiles, intelligent driving has become a trend of future development.
At present, intelligent driving needs to rely on a large number of cameras to acquire multiple paths of images, and the images are transmitted to an intelligent driving chip by means of Ethernet, and then the environment information around the vehicle is sensed in an omnibearing manner by combining various sensors. Therefore, the pixels of the cameras and the time delay condition of the video data and the sensor data acquired by each camera directly influence the control precision of intelligent driving of a user.
However, in the existing vehicle-mounted ethernet, a mode of separating data communication and data processing by using an ethernet front-end controller or a back-end controller is generally adopted, and the system has increased complexity and functions without centralization although the function of the area controller is played, so that information between the controllers cannot be effectively synchronized, time delay between sensor data is relatively large, and misjudgment of an intelligent driving system is easily caused.
Disclosure of Invention
The embodiment of the invention provides a time data synchronization system and method of a vehicle and the vehicle, and aims to solve the problem that the prior art cannot meet the accurate data synchronization requirement in data fusion of intelligent driving of the vehicle.
In a first aspect, an embodiment of the present invention provides a time data synchronization system for a vehicle, the system including:
the system comprises a video data acquisition front end, a video data processing chip, a switch, a fusion decision chip and a distance data acquisition front end;
the video data acquisition front end is communicated with the video data processing chip;
the switch is connected with the video data processing chip and the fusion decision chip through an Ethernet;
the distance data acquisition front end is communicated with the fusion decision chip;
the video data processing chip, the switch and the fusion decision chip support a time-sensitive network protocol, and the time stamp information of each Ethernet port is synchronized through the time-sensitive network protocol; the Ethernet ports comprise the Ethernet port of the video data processing chip, the Ethernet port of the switch and the Ethernet port of the fusion decision chip;
the time information of the video data acquisition front end is synchronized with the first time stamp information of the Ethernet port of the video data processing chip;
the time information of the distance data acquisition front end is synchronized with the second time stamp information of the Ethernet port of the fusion decision chip;
the fusion decision chip is used for receiving video data which is output by the video processing chip and forwarded by the switch, receiving distance data which is acquired by the distance data acquisition front end, and generating a decision instruction according to the video data and the distance data so as to control the running of the vehicle.
Optionally, in the time data synchronization system, the time sensitive network protocol uses a universal time synchronization network to periodically perform time synchronization on a local area network bridged by the switch.
Optionally, in the time data synchronization system, the time stamp information of the ethernet ports of the video data processing chip, the switch and the converged decision chip is synchronized with the clock of the video data processing chip or the converged decision chip through the time sensitive network protocol.
Optionally, in the time data synchronization system, the video data acquisition front end is connected with the video data processing chip through a gigabit multimedia serial link;
the video data acquisition front end is used for acquiring video data by using each camera of the gigabit multimedia serial link series flow according to the time information synchronized with the first time stamp information and transmitting the acquired video data to the video data processing chip;
the video data processing chip is specifically configured to receive video data, extract feature data from the video data, output the feature data to the switch through an ethernet, and output the feature data to the fusion decision chip through the switch;
the fusion decision chip is used for receiving the characteristic data forwarded by the switch and the distance data acquired by the distance data acquisition front end, and generating a decision instruction according to the characteristic data and the distance data so as to control the running of the vehicle.
Optionally, in the time data synchronization system, the distance data acquisition front end communicates with the fusion decision chip through a controller local area network;
the fusion decision chip is also used for providing a reference clock of the controller area network and broadcasting the reference clock in the controller area network bus through the transceiver of the controller area network so that the distance data acquisition front end can perform time synchronization according to the monitored time information.
In a second aspect, an embodiment of the present invention provides a method for synchronizing time data of a vehicle, where the vehicle includes a video data acquisition front end, a video data processing chip, a switch, a fusion decision chip, and a distance data acquisition front end; the video data acquisition front end is communicated with the video data processing chip; the switch is connected with the video data processing chip and the fusion decision chip through an Ethernet; the distance data acquisition front end is communicated with the fusion decision chip;
the method comprises the following steps:
synchronizing time stamp information of each Ethernet port through a time sensitive network protocol; the Ethernet ports comprise the Ethernet port of the video data processing chip, the Ethernet port of the switch and the Ethernet port of the fusion decision chip;
synchronizing time information of the video data acquisition front end according to first time stamp information of an Ethernet port of the video data processing chip;
and synchronizing the time information of the distance data acquisition front end according to the second time stamp information of the Ethernet port of the fusion decision chip.
Optionally, in the method, the timestamp information of each ethernet port is synchronized through a time sensitive network protocol, including:
the time sensitive network protocol uses a universal time synchronization network to periodically perform time synchronization on the local area network bridged by the switch.
Optionally, in the method, the timestamp information of each ethernet port is synchronized by a time sensitive network protocol, including:
and the time stamp information of each Ethernet port is synchronized with the clock of the video data processing chip or the fusion decision chip through the time sensitive network protocol.
Optionally, in the method, before synchronizing the time information of the distance data acquisition front end according to the first time stamp information of the ethernet port of the converged decision chip, the method further includes:
and the fusion decision chip provides a reference clock of the controller area network and broadcasts the reference clock on a bus of the controller area network through a transceiver of the controller area network so that the distance data acquisition front end can perform time synchronization according to the monitored time information.
In a third aspect, an embodiment of the present invention provides a vehicle, including a time data synchronization system of the vehicle according to the first aspect.
Aiming at the prior art, the invention has the following advantages:
in the embodiment of the invention, a video data processing chip, a switch and a fusion decision chip support a time-sensitive network protocol; synchronizing time stamp information of each Ethernet port through the time sensitive network protocol; each Ethernet port comprises an Ethernet port of the video data processing chip, an Ethernet port of the switch and an Ethernet port of the fusion decision chip; the time information of the video data acquisition front end is synchronized with the first time stamp information of the Ethernet port of the video data processing chip; and synchronizing the time information of the distance data acquisition front end with the first time stamp information of the Ethernet port of the fusion decision chip. Because the local area network bridged by the switch is time-synchronized through the time-sensitive network protocol, the first time stamp information of the video data processing chip end and the second time stamp information of the fusion decision chip end can be synchronized, the time information of the video data acquisition front end and the first time stamp information are synchronized, the time information of the distance data acquisition front end and the second time stamp information are synchronized, the time information of the video data acquisition front end and the time information of the distance data acquisition front end are synchronized, so that the acquisition time of the video data and the acquisition time of the distance data can be accurately synchronized, the delay between the data is effectively reduced, and the fusion decision chip can generate corresponding decision instructions more accurately according to the received video data and the distance data, and further the vehicle operation is controlled. The embodiment of the invention solves the problem that the prior art cannot meet the requirement of accurate data synchronization in data fusion of intelligent driving of the automobile.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
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 will be briefly described below.
Fig. 1 is a network topology diagram of a time data synchronization system of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for synchronizing time data of a vehicle according to an embodiment of the present invention;
fig. 3 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 is a network topology diagram of a time data synchronization system of a vehicle according to an embodiment of the present invention. As shown in fig. 1, a time data synchronization system for a vehicle according to an embodiment of the present invention includes:
the video data acquisition front end 11, the video data processing chip 12, the switch 13, the fusion decision chip 14 and the distance data acquisition front end 15;
a video data acquisition front end 11 which communicates with the video data processing chip 12;
the switch 13 is connected with the video data processing chip 12 and the fusion decision chip 14 through the Ethernet;
the distance data acquisition front end 15 is communicated with the fusion decision chip 14;
the video data processing chip 12, the switch 13 and the convergence decision chip 14 support a time-sensitive network protocol, and the time stamp information of each ethernet port is synchronized by the time-sensitive network protocol; the ethernet ports include an ethernet port of the video data processing chip 12, an ethernet port of the switch 13, and an ethernet port of the convergence decision chip 14;
the time information of the video data acquisition front end 11 is synchronized with the first time stamp information of the ethernet port of the video data processing chip 12;
the time information of the distance data acquisition front end 15 is synchronized with the first time stamp information of the Ethernet port of the fusion decision chip 14;
the fusion decision chip 14 is configured to receive the video feature data forwarded by the switch 13, and the distance data acquired by the distance data acquisition front end 15, and generate a decision instruction according to the video data and the distance data, so as to control the vehicle to run.
In the embodiment of the present invention, the video data acquisition front end 11 is configured to continuously acquire video data outside the vehicle; the video data processing chip 12 is used for performing image information processing on video data, and the AI model analyzes video feature data to the switch 13. Because of the connection with the video data processing chip 12, the collected video data can be sent to the video data processing chip 12, and then, after being processed by the video data processing chip 12, forwarded to the fusion decision chip 14 through the switch 13 by the ethernet.
The time-sensitive network protocol exchange module of the exchanger can also share the received information in real time, so that the information synchronization between the front-end controller and the rear-end controller is realized, and the time delay of the fusion decision module for calculating the video data is reduced.
The data size of the video feature data processed by the video data processing chip 12 is far smaller than that of the original video data, which is convenient for supporting the ethernet, can reduce the time of data transmission to the fusion decision chip 14, and also reduces the operation amount of the fusion decision chip 14.
Optionally, the video data acquisition front end 11 may acquire multiple paths of video data, which respectively correspond to multiple cameras installed around the vehicle body. For example, the video data acquisition front end 11 includes 10 cameras, and may acquire 10 paths of video data, and specifically includes 1 front camera, 4 around-view cameras, and 1 back-view camera.
In the embodiment of the present invention, the distance data acquisition front end 15 is used for acquiring distance data between the vehicle and the surrounding objects; because it communicates with the fusion decision chip 14, the collected distance data can be transmitted to the fusion decision chip 14 in real time; the above-mentioned fusion decision chip 14 is used for completing the multiple data fusion and driving decision processing and executing of the video data and the distance data from the video data processing chip 12, i.e. the fusion decision chip 14 generates a decision instruction according to the video data and the distance data to control the vehicle to run, thereby achieving the purpose of intelligent driving. Optionally, the distance data acquisition front end 15 includes a radar; the radar includes one or more of an ultrasonic radar, a millimeter wave radar, and a lidar.
In the embodiment of the invention, the video data processing chip 12, the switch 13 and the fusion decision chip 14 all support a time-sensitive network protocol, so that after a reference clock is designated, the time stamp information of the Ethernet port of the video data processing chip 12, the Ethernet port of the switch 13 and the Ethernet port of the fusion decision chip 14can be synchronized through the time-sensitive network protocol, that is, the first time stamp information of the video data processing chip 12 end and the second time stamp information of the fusion decision chip 14 end can be synchronized; the time information of the video data acquisition front end 11 is synchronized with the first time stamp information, the time information of the distance data acquisition front end 15 is synchronized with the second time stamp information, so that the time information of the video data acquisition front end 11 is synchronized with the time information of the distance data acquisition front end 15, the acquisition time of the video data and the acquisition time of the distance data can be accurately synchronized, the time delay between the data is effectively reduced, and the fusion decision chip 14can generate corresponding decision instructions more accurately according to the received video data and the distance data, so that the vehicle operation is controlled. The embodiment of the invention solves the problem that the prior art cannot meet the requirement of accurate data synchronization in data fusion of intelligent driving of the automobile.
Alternatively, the image information processing of the video data by the video data processing chip 12 may include extracting, classifying and identifying image class information in the video data by using the AI model, so as to extract key video feature data, where the data is communicated with the switch 13 through the ethernet and output to the switch 13 using the time-sensitive network protocol.
Alternatively, in one embodiment, the fusion decision chip 14 is a heterogeneous chip composed of two chips, namely a high performance processing capability a core chip and a real-time capability M core chip.
In the architecture provided by the embodiment of the invention, each ethernet port of the switch 13 has timestamp information, and the sending and receiving of data on each ethernet interface of the switch 13 has timestamps.
The fusion decision chip 14can send the video data with the time stamp from the front end and the distance data with the time stamp from the distance data acquisition front end 15 into a data fusion model according to a pre-trained model, and then send the video data with the time stamp and the distance data with the time stamp into the data fusion model for fusion analysis, so as to trigger a corresponding decision event.
Optionally, in an embodiment of the present invention, the time-sensitive network protocol uses a universal time synchronization network to periodically perform time synchronization on the lan bridged by the switch 13, that is, periodically synchronize the time stamp information at the ethernet port of the video data processing chip 12, the ethernet port of the switch 13, and the ethernet end of the convergence decision chip 14, so that each time stamp information is guaranteed to be synchronized at all times.
Optionally, in one embodiment, the timestamp information of the ethernet port of the video data processing chip 12, the timestamp information of the ethernet port of the switch 13, and the timestamp information of the ethernet port of the convergence decision chip 14 are synchronized with the clock of the video data processing chip 12 or the convergence decision chip 14 by a time-sensitive network protocol. The clock of the video data processing chip 12 or the clock of the fusion decision chip 14 is used as a reference clock to control the synchronization of the time stamp information of each ethernet port, so that the time information of the video data acquisition front end 11 and the time information of the distance data acquisition front end 15 are synchronized with the reference clock.
For example, if the clock of the video data processing chip 12 is used as a reference clock, the synchronization between the first time stamp information of the video data processing chip 12 and the reference clock is realized through a time sensitive network protocol, and then the video data acquisition front end 11 performs synchronization verification on the own time information according to the first time stamp information; meanwhile, the timestamp information of the ethernet port of the switch 13 is synchronized with the first timestamp information through the time-sensitive network protocol, and then the second timestamp information of the ethernet port of the convergence decision chip 14 is synchronized with the timestamp information of the switch 13 through the time-sensitive network protocol, so that the timestamp information of each ethernet port is synchronized with the clock of the video data processing chip 12.
Optionally, in one embodiment, the video data acquisition front end 11 is connected to the video data processing chip 12 via a gigabit multimedia serial link (Gigabit Multimedia Serial Links, GMSL);
a video data acquisition front end 11, configured to acquire video data using each camera in a gigabit multimedia serial link stream according to the time information synchronized with the first time stamp information, and transmit the acquired video data to the video data processing chip 12;
the video data processing chip 12 is specifically configured to receive video data and extract video feature data from the video data, output the video feature data to the switch 13 through Ethernet (Eth), and output the video feature data to the fusion decision chip 14 through the switch 13;
the fusion decision chip 14 is configured to receive the video feature data forwarded by the switch 13, and receive the distance data acquired by the distance data acquisition front end 15, and generate a decision instruction according to the video feature data and the distance data, so as to control the vehicle to run.
In the above embodiment, the video data acquisition front end 11 is connected to the video data processing chip 12 by means of stream transmission of the gigabit multimedia serial link, so that the video data acquisition front end 11 can acquire the video data of high pixels by streaming each high-pixel camera based on the time information synchronized with the first time stamp information, then transmit the video data to the video data processing chip 12, extract the video feature data with smaller data bandwidth from the video data processing chip 12, and then transmit the video feature data to the fusion decision chip 14 for fusion processing through the switch 13 via the ethernet. The method has the advantages that the synchronous management of the multipath video data and the distance data is realized, the time synchronization precision can reach 100ns, the bandwidth requirement of the high-pixel camera is met, the accurate data synchronization requirement in data fusion brought by intelligent driving of the automobile can be effectively met, and therefore the performance of the whole automobile is improved.
The camera in the embodiment of the invention can be an ethernet camera supporting a time-sensitive network.
In the embodiment of the invention, the provided time data synchronization system supports the synchronous transmission of the data of a plurality of sensors, the exchanger can also realize the real-time sharing of the information received by the exchanger, the information synchronization between the front-end controller and the back-end controller is realized, the synchronization action is periodically performed, and the time delay of the fusion decision chip for calculating the video stream data is reduced; meanwhile, the Ethernet cameras supporting the time-sensitive network are adopted, so that the openness of a communication protocol can be realized, and synchronous shooting of a plurality of Ethernet cameras can be realized, and the time delay of the fusion decision chip for calculating video stream data is further reduced.
Optionally, in one embodiment, the distance data acquisition front end 15 communicates with the fusion decision chip 14 through a controller area network;
the above-mentioned fusion decision chip 14 is further configured to provide a reference clock of the controller area network, and broadcast the reference clock on the controller area network bus through the transceiver of the controller area network, so that the distance data acquisition front end 15 performs time synchronization according to the monitored time information.
In the above embodiment, the millimeter wave radar equidistant data acquisition front end 15 is hung under the fusion decision chip 14 through a controller area network (Controller Area Network, CAN) interface, and the time reference standard and the time stamp thereof are distributed and set by the fusion decision chip 14, that is, the fusion decision chip 14 provides the CAN reference clock, and then broadcast on the CAN bus through the CAN transceiver, so as to realize time synchronization distribution of CAN peripherals such as millimeter wave radar and the like, thereby synchronizing the time information thereof with the time stamp information of the fusion decision chip 14.
Optionally, the time data synchronization system further includes an electronic control unit 16, where the electronic control unit 16 is connected to the fusion decision chip 14CAN/LIN, and is configured to receive the decision instruction, and execute the decision instruction to control the vehicle running. Namely, the electronic control unit is externally hung on the fusion decision chip 14 through a controller local area network or a local interconnection network (Local Interconnect Network, LIN), and the decision instruction is executed by receiving the video feature data and the distance data decision instruction which are accurately synchronized by the fusion decision chip 14, so that the executor executes corresponding actions, thereby realizing the running control of the vehicle and achieving the effect of accurate intelligent driving.
Fig. 2 is a schematic diagram of a method for synchronizing time data of a vehicle according to an embodiment of the present invention, where the vehicle includes a video data acquisition front end, a video data processing chip, a switch, a fusion decision chip, and a distance data acquisition front end; the video data acquisition front end is communicated with the video data processing chip; the switch is connected with the video data processing chip and the fusion decision chip through an Ethernet; the distance data acquisition front end is communicated with the fusion decision chip; the method comprises the steps of 201 to 203:
step 201, synchronizing time stamp information of each Ethernet port through a time sensitive network protocol; the Ethernet ports comprise the Ethernet port of the video data processing chip, the Ethernet port of the switch and the Ethernet port of the fusion decision chip;
step 202, synchronizing time information of the video data acquisition front end according to first time stamp information of an Ethernet port of the video data processing chip;
step 203, synchronizing the time information of the distance data acquisition front end according to the second time stamp information of the Ethernet port of the fusion decision chip.
Optionally, in the method, step 201 includes:
the time sensitive network protocol uses a universal time synchronization network to periodically perform time synchronization on the local area network bridged by the switch.
Optionally, in the method, step 201 includes:
and the time stamp information of each Ethernet port is synchronized with the clock of the video data processing chip or the fusion decision chip through the time sensitive network protocol.
Optionally, the distance data acquisition front end is communicated with the fusion decision chip through a controller local area network; prior to step 203, the method further comprises:
and the fusion decision chip provides a reference clock of the controller area network and broadcasts the reference clock on a bus of the controller area network through a transceiver of the controller area network so that the distance data acquisition front end can perform time synchronization according to the monitored time information.
The embodiment of the invention also provides a vehicle, comprising the time data synchronization system of the vehicle.
For the method and vehicle embodiments described above, reference is made to the description of the architectural embodiments for the relevant points, as they are substantially similar to the vehicle's time data synchronization system embodiments.
According to the time data synchronization method of the vehicle and the vehicle, provided by the embodiment of the invention, the Ethernet port of the video data processing chip, the Ethernet port of the switch and the time stamp information of the Ethernet port of the fusion decision chip are synchronized through the time sensitive network protocol, namely, the first time stamp information of the video data processing chip end and the second time stamp information of the fusion decision chip end can be synchronized; the time information of the video data acquisition front end is synchronous with the first time stamp information, the time information of the distance data acquisition front end is synchronous with the second time stamp information, so that the time information of the video data acquisition front end is synchronous with the time information of the distance data acquisition front end, the acquisition time of the video data and the acquisition time of the distance data can be accurately synchronous, the time delay between the data is effectively reduced, and the fusion decision chip can generate corresponding decision instructions more accurately according to the received video data and the distance data, and further control the vehicle to run. The embodiment of the invention solves the problem that the prior art cannot meet the requirement of accurate data synchronization in data fusion of intelligent driving of the automobile.
The embodiment of the invention also provides an electronic device, as shown in fig. 3, which comprises a processor 301, a communication interface 302, a memory 303 and a communication bus 304, wherein the processor 301, the communication interface 302 and the memory 303 complete communication with each other through the communication bus 304.
A memory 303 for storing a computer program.
The processor 301 is configured to execute the program stored in the memory 303, and implement the following steps:
synchronizing time stamp information of each Ethernet port through a time sensitive network protocol; the Ethernet ports comprise the Ethernet port of the video data processing chip, the Ethernet port of the switch and the Ethernet port of the fusion decision chip;
synchronizing time information of the video data acquisition front end according to first time stamp information of an Ethernet port of the video data processing chip;
and synchronizing the time information of the distance data acquisition front end according to the second time stamp information of the Ethernet port of the fusion decision chip.
The processor 301 may also implement other steps in the above-mentioned method for synchronizing time data of a vehicle, which will not be described herein.
The communication bus mentioned by the above electronic device may be a peripheral component interconnect standard (Peripheral Component Interconnect, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The memory may include random access memory (Random Access Memory, RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In yet another embodiment of the present invention, a computer readable storage medium is provided, in which instructions are stored, which when run on a computer, cause the computer to perform the method for time data synchronization of a vehicle described in the above embodiment.
In yet another embodiment of the present invention, a computer program product containing instructions that, when run on a computer, cause the computer to perform the method of time data synchronization of a vehicle described in the above embodiments is also provided.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. For embodiments of an apparatus, an electronic device, a computer-readable storage medium, and a computer program product containing instructions, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The time data synchronization system of the vehicle is characterized by comprising a video data acquisition front end, a video data processing chip, a switch, a fusion decision chip and a distance data acquisition front end;
the video data acquisition front end is communicated with the video data processing chip;
the switch is connected with the video data processing chip and the fusion decision chip through an Ethernet;
the distance data acquisition front end is communicated with the fusion decision chip;
the video data processing chip, the switch and the fusion decision chip support a time-sensitive network protocol, and the time stamp information of each Ethernet port is synchronized through the time-sensitive network protocol; the Ethernet ports comprise the Ethernet port of the video data processing chip, the Ethernet port of the switch and the Ethernet port of the fusion decision chip;
the time information of the video data acquisition front end is synchronized with the first time stamp information of the Ethernet port of the video data processing chip;
the time information of the distance data acquisition front end is synchronized with the second time stamp information of the Ethernet port of the fusion decision chip;
the fusion decision chip is used for receiving video data which is output by the video processing chip and forwarded by the switch, receiving distance data which is acquired by the distance data acquisition front end, and generating a decision instruction according to the video data and the distance data so as to control the running of the vehicle.
2. The time data synchronization system of claim 1, wherein the time sensitive network protocol periodically time synchronizes a local area network bridged by the switch using a universal time synchronization network.
3. The system according to claim 1, wherein the time stamp information of the ethernet ports of the video data processing chip, the switch and the converged decision chip is synchronized with the clock of the video data processing chip or the converged decision chip by the time sensitive network protocol.
4. The time data synchronization system of claim 1, wherein the video data acquisition front end is connected to the video data processing chip via a gigabit multimedia serial link;
the video data acquisition front end is used for acquiring video data by using each camera of the gigabit multimedia serial link series flow according to the time information synchronized with the first time stamp information and transmitting the acquired video data to the video data processing chip;
the video data processing chip is specifically configured to receive video data, extract video feature data from the video data, output the video feature data to the switch through an ethernet, and output the video feature data to the fusion decision chip through the switch;
the fusion decision chip is used for receiving the video feature data forwarded by the switch and the distance data acquired by the distance data acquisition front end, and generating a decision instruction according to the video feature data and the distance data so as to control the running of the vehicle.
5. The time data synchronization system of claim 1, wherein the distance data acquisition front end communicates with the fusion decision chip through a controller area network;
the fusion decision chip is also used for providing a reference clock of the controller area network and broadcasting the reference clock in the controller area network bus through the transceiver of the controller area network so that the distance data acquisition front end can perform time synchronization according to the monitored time information.
6. The time data synchronization method of the vehicle is characterized in that the vehicle comprises a video data acquisition front end, a video data processing chip, a switch, a fusion decision chip and a distance data acquisition front end; the video data acquisition front end is communicated with the video data processing chip; the switch is connected with the video data processing chip and the fusion decision chip through an Ethernet; the distance data acquisition front end is communicated with the fusion decision chip;
the method comprises the following steps:
synchronizing time stamp information of each Ethernet port through a time sensitive network protocol; the Ethernet ports comprise the Ethernet port of the video data processing chip, the Ethernet port of the switch and the Ethernet port of the fusion decision chip;
synchronizing time information of the video data acquisition front end according to first time stamp information of an Ethernet port of the video data processing chip;
and synchronizing the time information of the distance data acquisition front end according to the second time stamp information of the Ethernet port of the fusion decision chip.
7. The method for synchronizing time data according to claim 6, wherein the time stamp information of each ethernet port is synchronized by a time sensitive network protocol, comprising:
the time sensitive network protocol uses a universal time synchronization network to periodically perform time synchronization on the local area network bridged by the switch.
8. The method of claim 6, wherein the time stamp information of each ethernet port is synchronized by a time sensitive network protocol, comprising:
and the time stamp information of each Ethernet port is synchronized with the clock of the video data processing chip or the fusion decision chip through the time sensitive network protocol.
9. The method of claim 6, wherein prior to synchronizing the time information of the distance data acquisition front end based on the first time stamp information of the ethernet port of the converged decision chip, the method further comprises:
and the fusion decision chip provides a reference clock of the controller area network and broadcasts the reference clock on a bus of the controller area network through a transceiver of the controller area network so that the distance data acquisition front end can perform time synchronization according to the monitored time information.
10. A vehicle comprising a time data synchronization system of a vehicle according to any one of claims 1 to 5.
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