CN109257132A - A kind of multi-sensor data cognitive method and system based on time synchronization - Google Patents
A kind of multi-sensor data cognitive method and system based on time synchronization Download PDFInfo
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- CN109257132A CN109257132A CN201811028122.6A CN201811028122A CN109257132A CN 109257132 A CN109257132 A CN 109257132A CN 201811028122 A CN201811028122 A CN 201811028122A CN 109257132 A CN109257132 A CN 109257132A
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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
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Abstract
The invention discloses a kind of multi-sensor data cognitive method and system based on time synchronization, first control main control unit send message synchronization time to each sensor, contain the timestamp information of main control unit itself in synchronization time message；Wherein, main control unit is communicated to connect with each sensor respectively；Each sensor is controlled again after message, records the timestamp information of main control unit in the synchronization time for receiving main control unit；Finally control sensor sends message, the timestamp information sent in transmitted message comprising message to main control unit.Since each sensor is on the basis of the timestamp information that main control unit issues, on this basis, each sensor will receive time difference of the above-mentioned timestamp between when sending message to main control unit plus the above-mentioned timestamp corresponding time, time difference when sending message to main control unit as sensor, therefore main control unit receives time of the message of each sensor and can synchronize.
Description
Technical field
The present invention relates to sensing datas to perceive field, more specifically to a kind of more sensings based on time synchronization
Device data perception method and system.
Background technique
When carrying on technical development, often it is related to the perception of sensing data.By taking Vehicular automatic driving as an example, automatically
The safety of driving, it is necessary first to by the accuracy of sensing data.The accuracy of sensing data includes sensing data
Consistency over time and space.The consistency of sensing data spatially is accomplished by transducer calibration, knot
Fruit is the adjustment to the intrinsic parameter of sensor.But the consistency of sensing data in time, compare and is difficult to ensure.
The reason is that each sensor internal has individual MCU to run, the time of each sensor is not fully synchronized, to vehicle
When automatic Pilot ECU (this paper abbreviation AD-ECU) sends message, although AD- can be convenient for from the timestamp information of belt sensor itself
ECU distinguishes sequencing and time interval between the sensor difference message.But these timestamps are both for sensor
ECU's itself, it can not indicate the timestamp information of other sensors.Here it is the time synchronization problems between sensor.
Time synchronization problem between sensor, different sensors number can not exactly be differentiated by bringing directly affecting for AD-ECU
Time interval between, this problem may be fatal in automated driving system.For example, AD-ECU has received camera hair
The message come prompts have pedestrian at 50 meters of front, and before, the message that AD-ECU is sent before also having received to millimetre-wave radar,
There is barrier at 80 meters of prompt front.But if AD-ECU can not be identified millimetre-wave radar message and camera message it
Between time interval, can not just know whether this two information have correlation, so that correct anticipation can not be made, cause from
The dynamic accident driven.
Summary of the invention
The technical problem to be solved in the present invention is that providing a kind of multi-sensor data perception side based on time synchronization
Method and system, to solve the nonsynchronous technological deficiency of data between sensor.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of multisensor based on time synchronization
Data perception method, comprises the following steps:
(1) control main control unit sends message synchronization time to each sensor, contains master in synchronization time message
Control the timestamp information of unit itself；Wherein, main control unit is communicated to connect with each sensor respectively；
(2) it controls each sensor and after message, records the timestamp letter of main control unit in the synchronization time for receiving main control unit
Breath；
(3) control sensor sends message, the timestamp letter sent in transmitted message comprising message to main control unit
Breath, the timestamp information that message is sent is calculated by the timestamp information of time difference and the main control unit, described
Time difference refers to that the sensor is obtained from the timestamp information for receiving the main control unit according to the temporal information of itself
The duration between message is sent to sensor.
Further, in the multi-sensor data cognitive method of the invention based on time synchronization, step (1) it is specific
Implementation are as follows: main control unit fixed cycle sends message synchronization time to each sensor by the Multi Cast mode of UDP.
Further, it in the multi-sensor data cognitive method of the invention based on time synchronization, in step (3), passes
Sensor sends message to main control unit and uses udp protocol.
Further, in the multi-sensor data cognitive method of the invention based on time synchronization, in step (3), report
Timestamp information corresponding time=main control unit timestamp information corresponding time+time difference that text is sent.
Further, in the multi-sensor data cognitive method of the invention based on time synchronization, sensor every time to
When main control unit sends message, in transmitted message include this is which secondary letter that message is sent to main control unit of the sensor
Breath；When main control unit receives the message of sensor transmission every time, report that the message and last time that this is received received
Transmission included in text is counted and is compared, if the difference of the two is 0, abandons the message of sensor transmission.
Further, in the multi-sensor data cognitive method of the invention based on time synchronization, main control unit is each
When sending message to sensor, in transmitted message include this is which secondary letter that message is sent to sensor of main control unit
Breath；When sensor receives the message of main control unit transmission every time, message that the message and last time that this is received received
Included in send count be compared, if the difference of the two be 0, abandon main control unit transmission message.
The present invention is to solve its technical problem, the multi-sensor data sense based on time synchronization that the present invention also provides a kind of
Know system, include following module:
Synchronization time, message sending module, sent message synchronization time to each sensor for controlling main control unit, should
The timestamp information of main control unit itself is contained in synchronization time message；Wherein, main control unit is logical with each sensor respectively
Letter connection；
Timestamp logging modle, for controlling each sensor in the synchronization time for receiving main control unit after message, record master
Control the timestamp information of unit；
Sensor message sending module sends message to main control unit for controlling sensor, wraps in transmitted message
Containing the timestamp information that message is sent, the timestamp information that message is sent is the timestamp by time difference and the main control unit
Information is calculated, and the time difference refers to that the sensor is obtained from receiving the master according to itself temporal information
The timestamp information of control unit sends the duration between message to sensor.
Further, in the multi-sensor data sensory perceptual system of the invention based on time synchronization, synchronization time message
Sending module is specifically used for: main control unit fixed cycle is sent to each sensor by the Multi Cast mode of UDP and is synchronized
Time message；In step sensor message sending module, sensor sends message to main control unit and uses udp protocol.
Further, in the multi-sensor data sensory perceptual system of the invention based on time synchronization, sensor every time to
When main control unit sends message, in transmitted message include this is which secondary letter that message is sent to main control unit of the sensor
Breath；When main control unit receives the message of sensor transmission every time, report that the message and last time that this is received received
Transmission included in text is counted and is compared, if the difference of the two is 0, abandons the message of sensor transmission.
Further, in the multi-sensor data sensory perceptual system of the invention based on time synchronization, main control unit is each
When sending message to sensor, in transmitted message include this is which secondary letter that message is sent to sensor of main control unit
Breath；When sensor receives the message of main control unit transmission every time, message that the message and last time that this is received received
Included in send count be compared, if the difference of the two be 0, abandon main control unit transmission message.
Implement the multi-sensor data cognitive method and system of the invention based on time synchronization, has below beneficial to effect
Fruit: since each sensor is on the basis of the timestamp information that main control unit issues, on this basis, each sensor will be received
The above-mentioned timestamp corresponding time is added to time difference of the above-mentioned timestamp between when sending message to main control unit, as biography
Time difference when sensor sends from message to main control unit, thus main control unit receive time of the message of each sensor can be with
It is synchronous.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the time synchronization process figure of AD-ECU and sensor when message sends normal；
Fig. 2 is the time synchronization process figure of AD-ECU and sensor when message sends abnormal.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.Wherein, following embodiments will continue to be illustrated by taking automatic Pilot as an example, but the present invention is not
It is defined in this.
It is proposed by the invention based on time synchronization in order to solve the time synchronization problem between sensor with reference to Fig. 1
Multi-sensor data cognitive method specifically comprises the following steps.
Firstly, AD-ECU is after actuation, fixed cycle is sent to each sensor by the Multi Cast mode of UDP and is synchronized
Time message.The timestamp information Tad1 of AD-ECU itself is contained in synchronization time message.
Secondly, sensor after message, records the timestamp information Tad1 of AD-ECU in the synchronization time for receiving AD-ECU.
Finally, timestamp information of the sensor according to itself, does synchronous operation, obtain from the timestamp for receiving AD-ECU
The time t1 of information sends the time difference t2-t1 between the time t2 of message to sensor, the timestamp result Tad1+ of operation
T2-t1 is sent to AD-ECU as the message of UDP together with the collected data of sensor.
Since each sensor is before sending message to AD-ECU, the synchronization operation of timestamp can be all done, so AD-
The all the sensors message that ECU is received all is the time orderly and can accurately calculate the time difference between message.In next period
Interior, sensor then restarts to calculate the timestamp for the message that it to be sent with the new timestamp information Tad2 of AD-ECU, specifically
Process is similar to the above, is not repeating here.
But, it is contemplated that the abnormal possibility in transmission process, in the communication message between AD-ECU and sensor plus
Entered sequence number, i.e., this be which time of main control unit to sensor send message information and this be sensor
Which time sends the information of message to main control unit, this parameter can periodically be reset, and resets period and message synchronization time
Cycle synchronisation can also use always, the invention is not limited in this regard.Specifically, AD-ECU will record on lower each sensor
Sequence number in secondary message, if new message possesses same sequence number, AD- with preceding time
ECU can lose current message.Equally, sensor side also will record the sequence number of AD-ECU, if AD-ECU
For sequence number in current sync message as preceding time, sensor can also lose the current message of AD-ECU.With reference to
Fig. 1, since the message sequence number that sensor receives is respectively n1 and n1+1, message is normally received；Together
When, since the AD-ECU message sequence number received is respectively n2 and n2+1, message is normally received.With reference to
Fig. 2, sensor are for the first time n1 with the sequence number received for the second time, and sensor abandons the message；AD-ECU
Second of sequence number received with third time is n2+1, and AD-ECU abandons the message.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of multi-sensor data cognitive method based on time synchronization, which is characterized in that comprise the following steps:
(1) control main control unit sends message synchronization time to each sensor, contains master control list in synchronization time message
The timestamp information of member itself；Wherein, main control unit is communicated to connect with each sensor respectively；
(2) it controls each sensor and after message, records the timestamp information of main control unit in the synchronization time for receiving main control unit；
(3) control sensor sends message, the timestamp information sent in transmitted message comprising message, report to main control unit
The timestamp information that text is sent is calculated by the timestamp information of time difference and the main control unit, the time difference
Refer to that the sensor is obtained from the timestamp information of the main control unit is received to sensing according to itself temporal information
Device sends the duration between message.
2. the multi-sensor data cognitive method according to claim 1 based on time synchronization, which is characterized in that step
(1) specific implementation are as follows: main control unit fixed cycle is sent to each sensor by the Multi Cast mode of UDP and synchronized
Time message.
3. the multi-sensor data cognitive method according to claim 2 based on time synchronization, which is characterized in that step
(3) in, sensor sends message to main control unit and uses udp protocol.
4. the multi-sensor data cognitive method according to claim 1 based on time synchronization, which is characterized in that step
(3) in, timestamp information corresponding time=main control unit timestamp information corresponding time+time of message transmission
Difference.
5. the multi-sensor data cognitive method according to claim 1 based on time synchronization, which is characterized in that sensor
It comprising this is that the sensor which time sends to main control unit and report in transmitted message when sending message to main control unit every time
The information of text；When main control unit receives the message of sensor transmission every time, the message and last time that this is received are received
To message included in send count be compared, if the difference of the two be 0, abandon the sensor transmission message.
6. the multi-sensor data cognitive method according to claim 1 based on time synchronization, which is characterized in that master control list
It comprising this is that main control unit which time to sensor sends message in transmitted message when member sends message to sensor every time
Information；When sensor receives the message of main control unit transmission every time, what the message and last time that this is received received
Transmission included in message is counted and is compared, if the difference of the two is 0, abandons the message of main control unit transmission.
7. a kind of multi-sensor data sensory perceptual system based on time synchronization, which is characterized in that include following module:
Synchronization time, message sending module, sent message synchronization time, the synchronization to each sensor for controlling main control unit
The timestamp information of main control unit itself is contained in time message；Wherein, main control unit respectively with each sensor communication link
It connects；
Timestamp logging modle after message, records master control list in the synchronization time for receiving main control unit for controlling each sensor
The timestamp information of member；
Sensor message sending module sends message to main control unit for controlling sensor, includes report in transmitted message
The timestamp information that text is sent, the timestamp information that message is sent are the timestamp informations by time difference and the main control unit
It is calculated, the time difference refers to that the sensor is obtained from receiving the master control list according to itself temporal information
The timestamp information of member sends the duration between message to sensor.
8. the multi-sensor data sensory perceptual system according to claim 7 based on time synchronization, which is characterized in that when synchronous
Between message sending module be specifically used for: main control unit fixed cycle is sent by the MultiCast mode of UDP to each sensor
Synchronization time message；In step sensor message sending module, sensor sends message to main control unit and uses udp protocol.
9. the multi-sensor data sensory perceptual system according to claim 7 based on time synchronization, which is characterized in that sensor
It comprising this is that the sensor which time sends to main control unit and report in transmitted message when sending message to main control unit every time
The information of text；When main control unit receives the message of sensor transmission every time, the message and last time that this is received are received
To message included in send count be compared, if the difference of the two be 0, abandon the sensor transmission message.
10. the multi-sensor data sensory perceptual system according to claim 7 based on time synchronization, which is characterized in that master control
It comprising this is that main control unit which time sends to sensor and report in transmitted message when unit sends message to sensor every time
The information of text；When sensor receives the message of main control unit transmission every time, the message that this is received was received with last time
Message included in send count be compared, if the difference of the two be 0, abandon main control unit transmission message.
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| CN109739149A (en) * | 2019-01-23 | 2019-05-10 | 苏州蓝石新动力有限公司 | A kind of vehicle-mounted synchronisation control means and device |
| CN110290580A (en) * | 2019-06-05 | 2019-09-27 | 深圳市英特瑞半导体科技有限公司 | A kind of method and its system based on 1588 agreement passing times |
| WO2021035645A1 (en) * | 2019-08-29 | 2021-03-04 | 上海飞来信息科技有限公司 | Sensing system, sensing device and control method therefor, movable platform, and storage medium |
| CN113870456A (en) * | 2021-10-20 | 2021-12-31 | 广东电力通信科技有限公司 | Multi-sensor integrated autonomous inspection system and inspection method |
| CN114124282A (en) * | 2021-12-01 | 2022-03-01 | 国网新疆电力有限公司电力科学研究院 | Synchronization method and device between asynchronous heterogeneous sensor data acquisition systems |
| CN114172915A (en) * | 2021-11-05 | 2022-03-11 | 中汽创智科技有限公司 | Message synchronization method, automatic driving system, storage medium and electronic equipment |
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| CN109739149A (en) * | 2019-01-23 | 2019-05-10 | 苏州蓝石新动力有限公司 | A kind of vehicle-mounted synchronisation control means and device |
| CN110290580A (en) * | 2019-06-05 | 2019-09-27 | 深圳市英特瑞半导体科技有限公司 | A kind of method and its system based on 1588 agreement passing times |
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| CN114172915A (en) * | 2021-11-05 | 2022-03-11 | 中汽创智科技有限公司 | Message synchronization method, automatic driving system, storage medium and electronic equipment |
| CN114172915B (en) * | 2021-11-05 | 2023-10-31 | 中汽创智科技有限公司 | Message synchronization method, automatic driving system, storage medium and electronic equipment |
| CN114124282A (en) * | 2021-12-01 | 2022-03-01 | 国网新疆电力有限公司电力科学研究院 | Synchronization method and device between asynchronous heterogeneous sensor data acquisition systems |
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