CN220935270U

CN220935270U - Camera real-time triggering system applied to automatic driving automobile

Info

Publication number: CN220935270U
Application number: CN202322612030.5U
Authority: CN
Inventors: 迟亮; 张宇; 陈亮; 李凤致
Original assignee: Jilin Venus Intelligent Technology Co ltd
Current assignee: Jilin Venus Intelligent Technology Co ltd
Priority date: 2023-09-26
Filing date: 2023-09-26
Publication date: 2024-05-10
Anticipated expiration: 2033-09-26

Abstract

The utility model discloses a camera real-time triggering system applied to an automatic driving automobile, which is characterized in that: the system comprises a satellite navigation module, a network data protocol time synchronization module, a laser radar module, a camera trigger acquisition module and a camera, wherein the satellite navigation module receives a basic synchronization trigger signal component and a received time synchronization source, and the receiving basic synchronization trigger signal component is respectively connected with a signal processing component and an external time synchronization source and mainly used for receiving an external time synchronization pulse synchronization signal, filtering the pulse synchronization signal and sending the pulse synchronization signal to the signal processing component.

Description

Camera real-time triggering system applied to automatic driving automobile

Technical Field

The utility model relates to the field of automatic control, in particular to a camera real-time triggering system applied to an automatic driving automobile.

Background

In the form process of the automatic driving system vehicle, the external environment needs to be perceived in real time, and the driving route is planned according to the perception result. Among the perception sensors, the camera is a very important perception sensor, and the data of the fusion of multiple cameras and the lidar is the most important information as the perception environment.

The prior camera real-time triggering system has the defects that the synchronization precision is poor, the triggering parameters of the camera cannot be corrected on line in real time, the matching between the camera and the laser radar point cloud is poor, and the triggering exposure moment of the camera cannot be dynamically adjusted under the bright and dark environment of the camera.

Disclosure of Invention

The utility model aims to solve the defects in the prior art, and provides a camera real-time triggering system applied to an automatic driving automobile, which is characterized in that: the system comprises a satellite navigation module, a network data protocol time synchronization module, a laser radar module, a camera trigger acquisition module and a camera, wherein the satellite navigation module receives a basic synchronization trigger signal component and a received time synchronization source, and the basic synchronization trigger signal component is respectively connected with a signal processing component and an external time synchronization source and is mainly used for receiving an external time synchronization pulse synchronization signal, filtering the pulse synchronization signal and sending the pulse synchronization signal to the signal processing component;

The signal processing component is connected with the basic synchronous trigger signal receiving component and the trigger logic editing component and is mainly used for processing the received pulse synchronous signal and carrying out phase locking and multi-pulse comparison and processing on the pulse synchronous signal;

The trigger logic editing component is respectively connected with the signal processing component and the multi-trigger signal output component and is mainly used for carrying out frequency division and time delay processing on the trigger signals;

the multi-trigger signal output assembly is respectively connected with the trigger logic editing assembly and the camera data de-concatenation receiving assembly and is mainly used for distributing channels of multi-output trigger signals, camera trigger signals are distributed according to the preset edited logic channels, and the multi-trigger signal output assembly is used for brushing the trigger rules to flash under the condition that the trigger rules are not modified, so that the trigger state can be kept unchanged;

The camera data de-serial receiving component is respectively connected with the multi-trigger signal output component and the camera, and is mainly used for collecting camera image information and sending trigger signals to the camera module unit.

Preferably, the network data protocol time synchronization module converts the time information data output by the satellite navigation module into a network data synchronization packet, the time information data and other time synchronization information, and can also convert PPS and GPRMC signals.

The beneficial effects of the utility model are as follows: the camera data decoupling and receiving assembly automatically drives the camera real-time triggering device and system of the automobile, can integrate by receiving an external time synchronizing signal and a triggering signal sent by the laser radar, not only can carry out independent camera triggering on a plurality of cameras, but also can indirectly monitor the time correctness of the time synchronizing device and the laser radar device and simply judge whether the time synchronizing box and the laser radar are in a correct working state; the camera which is triggered independently can be triggered and regulated in real time according to the phase triggering mode matched with the laser radar point cloud, so that the center of a camera image is perfectly overlapped with the laser radar point cloud, and therefore, through the system, the camera image is better matched with the laser radar point cloud, the follow-up automatic driving planning is facilitated, the consumption of automatic driving resources is reduced, and the system execution efficiency is improved.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1, the present utility model provides a technical solution:

A camera real-time triggering system applied to an automatic driving automobile comprises a satellite navigation module, a network data protocol time synchronization module, a laser radar module, a camera triggering acquisition module and a camera, wherein a receiving base synchronous triggering signal component is used for receiving a base synchronous triggering signal component, the received time synchronous sources are all from the satellite navigation module or a combined navigation system with an IMU module, in the automatic driving system, all time source bases are all from the real-time positioning system, the network data protocol time synchronization module converts time information data output by a guard into a network data synchronization packet, the time information data and other time synchronous information, meanwhile, signals such as PPS and GPRMC can be converted, the laser radar module can read the time synchronous protocol by receiving the network data synchronous protocol and the synchronous box module, the camera triggering module is connected with synchronous pulse of the laser radar, the time synchronous sources are all time synchronous box signal data protocol A, and the camera triggering receives a triggering signal B of the laser radar in a matched mode that the laser radar rotating speed is used as a time stamp parameter, so that the rotating position of the laser radar can be represented, namely the phase. This is a list of relationships corresponding to laser radar power and camera triggers and exposures on board an autonomous vehicle. The camera mounting positions are different, the required triggering moments are also different, and the camera real-time triggering system can combine camera exposure and laser radar rotation phases according to the information of the camera mounting positions and the laser radar, so that the automatic driving sensing capability is improved, and the system resource consumption is reduced.

The synchronous box can also send out pulse signals C based on satellite navigation, the C signals can set delay parameters in a small range according to requirements, the C signals are beneficial to eliminating data delay errors in transmission in time synchronization, and the time deviation of a subsequent sensor or module is corrected.

Of course, the B signal or the C signal may be used alone as a subsequent camera trigger source.

Using the B signal alone, the camera trigger is entirely dependent on the trigger phase of the lidar, the camera is entirely dependent on the rotation of the lidar to expose, errors and instabilities in the mechanical rotation of the lidar can be transferred to the camera trigger, but such errors and instabilities are transferred to the feedback as a lag.

Using the C signal alone, the camera trigger is entirely dependent on the trigger signal output by the time sync box, which outputs a stable time sync signal. The camera exposure is completely independent of the laser radar for the l exposure or there is no laser radar in the system. The camera exposure triggers the camera exposure completely in terms of time instants.

The camera trigger receiving module comprises signal input filtering, input signal fusion and trigger comparison. Since the satellite PPS signal is used as the second synchronization basis of the basic system, the trigger is a trigger edge using the rising edge of the pulse as the trigger signal and the synchronization signal, and the hold time must be enough to satisfy the camera trigger.

The trigger signal is subsequently transmitted to a logic editing component triggered by the camera, and the logic editing component distributes independent trigger signals to corresponding camera trigger channels according to the trigger frame rate and phase delay requirements of precompiled cameras according to the input trigger signal. The result of this is that all cameras have unique independent corresponding trigger signals, which make it possible for the cameras to trigger according to the lidar phase.

The basis of the matching of the camera and the laser radar point cloud is phase triggering, the rotation of the laser radar is basically uniform, but the exposure of the photosensitive device part is not fixed time due to the brightness of the environment where the camera is positioned, and a series of exposure is completed in a dynamic range, so that the matching of the laser radar point cloud and the camera image is also a variable factor, namely the exposure time of the camera. In order to counteract the time errors introduced by the exposure time, a dynamic adjustment of the trigger moment is required. The exposure time is short, and the triggering time is delayed; the exposure time is long and the trigger time needs to be advanced. The triggering time can be dynamically adjusted to better enable the central area of the camera image to be matched with the laser radar point cloud, the outline and depth information of the measured object are more accurate, the recognition of an automatic driving perception system is facilitated, the false recognition probability is reduced, and accurate preconditions are provided for planning.

The camera data de-serial receiving component outputs a camera trigger signal and obtains image information of the camera.

S201 is the source of this system time information, the time information is from the satellite signal, S201 converts the satellite time information into PPS, which is a pulse-per-second signal, and GPRMC/GPGGA, which is a message of NMEA protocol containing the time information.

S202 receives the message, converts the message into network time synchronization protocols such as PTP/gPTP/NTP and the like, S202 becomes a network time synchronization source of a subsequent system, and serves as a MASTER time source of time synchronization to output a synchronization source signal C.

S203 is to receive the time synchronization information sent by the network data protocol time synchronization module S202 module, so that the time synchronization between S203 and S202 is realized; this is S203 may output a phase trigger signal B, which is a time-measurable signal.

S204 is to receive a phase trigger signal B output by the laser radar S203, and simultaneously receive a master clock synchronous source signal C sent by the S202 module to obtain absolute time; and then, by triggering a camera strategy, the output signal B of the step S203 is used as a camera triggering basis to adjust and align the front time and the back time, and a camera triggering signal D is generated and used for triggering a camera.

S205 is a camera, wherein a plurality of cameras can be arranged at the position and are respectively distributed around the vehicle body; in practical applications, the number of cameras is as many as ten. Due to the different camera positions, the deviation angle relative to the main lidar is also different, and the resulting trigger signals are also different. And these trigger signals are all generated from the S204 module.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A camera real-time triggering system applied to an automatic driving automobile is characterized in that: the system comprises a satellite navigation module, a network data protocol time synchronization module, a laser radar module, a camera trigger acquisition module and a camera, wherein the satellite navigation module receives a basic synchronization trigger signal component, the satellite navigation module receives a time synchronization source, and the receiving basic synchronization trigger signal component is respectively connected with a signal processing component and an external time synchronization source and mainly used for receiving an external time synchronization pulse synchronization signal, filtering the pulse synchronization signal and sending the pulse synchronization signal to the signal processing component;

2. The camera real-time triggering system for an automatic driving automobile according to claim 1, wherein the network data protocol time synchronization module converts time information data output by the satellite navigation module into network data synchronization packets, time information data and other time synchronization information, and can also convert PPS and GPRMC signals.