The invention discloses a heterogeneous sensor synchronization method and device, a vehicle and a storage medium. The method comprises the steps that an acquisition node receives a synchronization data packet sent by a main controller; according to the received synchronous data packet, the acquisition node sends a feedback data packet to the main controller; the acquisition node receives a network delay data packet, wherein the network delay data packet comprises network transmission delay information calculated by the main controller according to the feedback data packet; according to the network delay data packet, the acquisition nodes respectively set phase-locked loop phase shift parameters, and the network transmission delay of the acquisition nodes is corrected; and the acquisition nodes are controlled to synchronously perform data acquisition. According to the method, the time difference between the acquisition nodes can be corrected, simultaneous acquisition is truly realized, the acquisition precision of multiple sensors is improved, and meanwhile, the number of the acquisition nodes accommodated in the system and the system stability are improved.

    本发明公开了一种异类传感器同步方法、装置、车辆及存储介质,包括采集节点接收主控制器发送的同步数据包;根据接收到的所述同步数据包,所述采集节点发送反馈数据包给所述主控制器;所述采集节点接收网络延迟数据包,所述网络延迟数据包包括所述主控制器根据所述反馈数据包计算出的网络传输延迟的信息;根据所述网络延迟数据包,所述采集节点分别设置锁相环相移参数,校正所述采集节点的所述网络传输延迟;控制所述采集节点同步进行数据采集。本发明能够校正各个采集节点之间的时间差,真正实现同时采集,提升了多传感器的采集精度,同时提高了系统中可容纳的采集节点的数量和系统稳定性。


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    Title :

    Heterogeneous sensor synchronization method and device, vehicle and storage medium


    Additional title:

    一种异类传感器同步方法、装置、车辆及存储介质


    Contributors:
    LI FENGJUN (author) / ZHOU JIANGUANG (author) / ZHANG CHAO (author)

    Publication date :

    2021-08-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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