The invention provides a multi-sensor synchronous control method and device, an unmanned system and a medium, and the method comprises the steps: determining the delay time of a to-be-synchronized sensor based on the coordinates of a preset reference point corresponding to the to-be-synchronized sensor and the control characteristics of the to-be-synchronized sensor; based on a preset target sampling moment and the delay duration, determining a triggering moment of the to-be-synchronized sensor; and triggering the synchronous clock signal corresponding to the to-be-synchronized sensor by using the triggering moment, so that the to-be-synchronized sensor performs data sampling on the preset reference point at the target sampling moment, and thus, different triggering moments can be set for each sensor; and all the sensors can sample the corresponding reference points at the preset target sampling time, so that the synchronous sampling of all the sensors for the same object is realized, the precision of the sensing result of the sensing system is improved, and the stability and safety of the unmanned driving system are further improved.
本发明提供了一种多传感器的同步控制方法、设备、无人驾驶系统和介质,包括基于待同步传感器对应的预设参考点的坐标和待同步传感器的控制特性,确定待同步传感器的延迟时长;基于预设目标采样时刻和延迟时长,确定待同步传感器的触发时刻;利用触发时刻,对待同步传感器对应的同步时钟信号进行触发,以便待同步传感器在目标采样时刻对预设参考点进行数据采样,这样,可以针对每个传感器设置不同的触发时刻,并使所有传感器能够在预设目标采样时刻针对对应的参考点进行采样,实现了所有传感器针对同一物体的同步采样,提高了感知系统的感知结果的精度,进而提高了无人驾驶系统的稳定性和安全性。
Multi-sensor synchronous control method and device, unmanned driving system and medium
多传感器的同步控制方法、设备、无人驾驶系统和介质
2022-12-09
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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