CN117715168B - Signal synchronization system and method - Google Patents
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- CN117715168B CN117715168B CN202311753140.1A CN202311753140A CN117715168B CN 117715168 B CN117715168 B CN 117715168B CN 202311753140 A CN202311753140 A CN 202311753140A CN 117715168 B CN117715168 B CN 117715168B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The invention relates to the technical field of signal synchronization and discloses a signal synchronization system and a signal synchronization method. The first processor here is the processor closest to the sensor. The first processor sets a time identifier for the data according to the corresponding time information when the first data to be synchronized is acquired, and sends the time identifier to the second processor. The second processor herein refers to any other processor than the first processor. The second processor is used for acquiring the time identifier sent by the first processor and synchronizing the time information of the second data to be synchronized acquired by the second processor according to the time identifier.
Description
Technical Field
The invention relates to the technical field of signal synchronization, in particular to a signal synchronization system and a signal synchronization method.
Background
The current method of time synchronization of the APA signal of the integrated cabin-park controller uses the accepted time information of the GPS receiver, and then synchronizes the time information into the corresponding sensor. And after each sensor receives the time information, time marking is carried out on the data measured by the sensor, and finally, data alignment is carried out according to the time information of each sensor, so that signal synchronization is realized.
However, the above method has the following problems that the GPS receiver is seriously relied on, and the GPS receiver must have an external time service function and a sensor function with an acceptable time, and the requirements for the respective components are relatively high.
Disclosure of Invention
In view of the above, the present invention provides a signal synchronization system and method to solve the problem that the signal synchronization depends on the timing of the GPS receiver.
In a first aspect, the present invention provides a signal synchronization system comprising at least two processors, a plurality of types of sensors, each type of sensor comprising at least one sensor;
the first sensor is used for acquiring first data to be synchronized; forwarding the first data to be synchronized to a first processor corresponding to the first sensor in a preset forwarding mode, wherein the first processor is the processor closest to the first sensor;
The first processor is used for setting a time identifier for the first data to be synchronized according to the corresponding time information when the first data to be synchronized is acquired; transmitting the time identifier to a second processor, wherein the second processor is any other processor except the first processor;
The second processor is used for acquiring the time identifier sent by the first processor; and synchronizing time information of the second data to be synchronized acquired by the second processor according to the time identification.
The method has the advantages that interaction is carried out between at least one processor and a plurality of types of sensors, and the first sensor is used for acquiring first data to be synchronized and forwarding the first data to the first processor corresponding to the sensor in a preset forwarding mode. The first sensor here is the processor closest to the sensor. The first processor sets a time identifier for the data according to the corresponding time information when the first data to be synchronized is acquired, and sends the time identifier to the second processor. The second processor herein refers to any other processor than the first processor. The second processor is used for acquiring the time identifier sent by the first processor and synchronizing the time information of the second data to be synchronized acquired by the second processor according to the time identifier.
In this way, the system can effectively synchronize data from different sensors, thereby ensuring accuracy and consistency of the data. In addition, the time service problem of the GPS receiver is not relied on, and the limitation on sensors in the system is reduced.
In an alternative embodiment, when the first sensor is of a type comprising a plurality of sensors, the first sensor is further configured to:
Acquiring a second data set to be synchronized;
and synchronizing the acquisition time of all data in the second data set to be synchronized to obtain the first data set to be synchronized.
In an alternative embodiment, the first processor is further configured to:
Determining delay information according to the type information of the first sensor and a forwarding mode corresponding to the first sensor;
and determining the time mark according to the time information and the delay information.
In an alternative embodiment, the plurality of types of sensors include at least two of a wheel pulse sensor, an inertial sensor, a radar, and an image sensor.
In an alternative embodiment, the second processor is further configured to:
and generating a parking control instruction according to each data to be synchronized after time synchronization.
In an alternative embodiment, the first processor is any one of a linear braking system, a gateway, a microcontroller unit, and a deserializer.
In an alternative embodiment, the second processor is a 8155 chip.
In a second aspect, the present invention provides a signal synchronization method applied to the signal synchronization system as in the first aspect or any implementation manner of the first aspect, where the method includes:
Acquiring first data to be synchronized; forwarding the first information to be synchronized to a first processor corresponding to the first sensor in a preset forwarding mode, wherein the first processor is the processor closest to the first sensor;
setting a time identifier for the first data to be synchronized according to the corresponding time information when the first data to be synchronized is acquired; transmitting the time identifier to a second processor, wherein the second processor is any other processor except the first processor;
Acquiring a time identifier sent by a first processor; and synchronizing time information of the second data to be synchronized acquired by the second processor according to the time identification.
In an alternative embodiment, the first data to be synchronized is acquired, specifically for:
Acquiring a second data set to be synchronized;
and synchronizing the acquisition time of all data in the second data set to be synchronized to obtain the first data set to be synchronized.
In an optional implementation manner, according to time information corresponding to the first data to be synchronized, a time identifier is set for the first data to be synchronized, which specifically includes:
Determining delay information according to the type information of the first sensor and a forwarding mode corresponding to the first sensor;
and determining the time mark according to the time information and the delay information.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a signal synchronization system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of yet another signal synchronization system according to an embodiment of the invention;
fig. 3 is a flowchart of a signal synchronization method according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this embodiment, a signal synchronization system is provided, and fig. 1 is a schematic diagram of a signal synchronization system according to an embodiment of the present invention. The system comprises at least two processors, a plurality of types of sensors, each type of sensor comprising at least one sensor, the system being usable for time synchronization of an APA signal in a parking integrated controller, wherein the APA signal is a signal of a alloted berth vehicle auxiliary control unit for controlling the parking of a vehicle into a parking space. In the integrated cabin controller, the APA signal is a signal for controlling the parking assist system. The signals are generally acquired by sensing units such as sensors and cameras of the vehicle and transmitted to a docking integrated controller for processing. The APA signal may include information of vehicle speed, steering angle, yaw rate, vehicle position, etc. The information is processed by the cabin-parking integrated controller and is used for controlling the parking path and speed of the vehicle, so that the driver is helped to smoothly park the vehicle into a parking space. Fig. 1 is a schematic diagram of a signal synchronization system.
A first sensor 101 for acquiring first data to be synchronized; and forwarding the first data to be synchronized to a first processor corresponding to the first sensor in a preset forwarding mode, wherein the first processor is the processor closest to the first sensor.
The first sensor is illustratively any one of a plurality of types of sensors, such as any one of vehicle speed, steering angle, yaw rate, vehicle position, etc., and of course, for both steering angle and yaw rate, it is necessary to obtain sensor information for each wheel of the vehicle, and the corresponding sensor may be a wheel pulse sensor. The vehicle position may be information of an image sensor corresponding to each azimuth in the vehicle, information of a radar, or the like.
The preset forwarding mode can be determined according to a hardware device (i.e., a first processor) closest to the first sensor on a hardware link and having a timing or time function, as shown in fig. 2, after the wheel pulse sensor acquires the data to be synchronized, the data is forwarded to the MCU (first processor) through the gateway after passing through the linear braking system, and the whole process is the corresponding preset forwarding mode, wherein the MCU is the nearest processor to the wheel pulse sensor.
In a preferred embodiment, when the first sensor is of a type comprising a plurality of sensors, the first sensor is further adapted to: acquiring a second data set to be synchronized; and synchronizing the acquisition time of all data in the second data set to be synchronized to obtain the first data set to be synchronized.
Illustratively, as shown in FIG. 2, when information is collected, multiple sensors of the same type, such as radar and image sensors, need to be positioned in different orientations. To ensure consistency of sensor data time, when sending sensor data to the first processor, the same type of sensor data should be time synchronized prior to transmission to ensure that the sensor data arrives at the first processor at the same time, improving the time accuracy of the sensor data.
The first processor 102 is configured to set a time identifier for the first data to be synchronized according to time information corresponding to the first data to be synchronized; the time stamp is sent to a second processor, which is any other processor than the first processor.
For example, when the MCU acquires the time information corresponding to the first data to be synchronized, as the time information corresponding to the first data to be synchronized, specifically, after a time stamp (time identifier) is set for the first data to be synchronized, the time identifier is sent to the second processor, or the time identifier and the corresponding data to be synchronized may be simultaneously sent to the second processor.
In a preferred embodiment, there is a certain error information in the time of the first processor acquiring the sensor as the time identifier of the data to be synchronized, and precisely the corresponding time identifier should be the time of the corresponding sensor generating the data to be synchronized as the time identifier, so that delay factors caused in the transmission process of the data to be synchronized need to be considered, and specifically, the first processor is further configured to:
Determining delay information according to the type information of the first sensor and a forwarding mode corresponding to the first sensor; and determining the time mark according to the time information and the delay information.
For example, according to the hardware link corresponding to the system, the forwarding mode corresponding to each data to be synchronized is actually fixed, so that the delay time can be determined according to the type of the sensor corresponding to the data to be synchronized and the corresponding forwarding mode, thereby improving the accuracy of the time information.
Specifically, taking the hardware link in fig. 2 as an example, the time delay of each sensor is described as follows:
Wheel pulse: the time from the wheel pulse signal to the linear braking system is of the level of hundred us, the time delay from the wheel pulse signal to the linear braking system, which is sent out by the linear braking system, is about 1ms when the wheel pulse signal is forwarded to the MCU through the gateway, the time delay from the MCU to the SPI when the wheel pulse signal is received by the CAN signal is forwarded is about 1.5ms (measured by the logic analyzer), and the time delay of the whole link is hundred us+1ms+1.5 ms.
IMU: the IMU path is basically the same as the wheel pulse signal, but does not pass through the linear braking system, and the time delay can be basically 1 ms+1.5 ms by referring to the data of the wheel pulse.
And (3) radar: the radar data is directly given to the MCU, then the MCU gives 8155, and the main time delay is the forwarding of the MCU, which is about 1.5 ms.
On-board IMU: the delay estimate of the IMU is within 5 ms.
Camera: the delay time from the start of exposure by camera to the transmission of image data 8155 is within 10 ms.
The corresponding sensor delay time after the delay processing is shown in the following table.
A second processor 103, configured to obtain a time identifier sent by the first processor; and synchronizing time information of the second data to be synchronized acquired by the second processor according to the time identification.
For example, as shown in fig. 2, the second processor may be a 8155 chip, after the MUC sends the acquired time identifier of the first data to be synchronized to the 8155 chip, the 8155 chip parses the acquired time corresponding to the time identifier, and performs time synchronization with the data to be synchronized acquired in the 8155 chip, so that time synchronization of data between different sensors is completed, real-time performance of the data is improved, dependence on a GPS receiver is avoided, and limitation on sensor types is reduced.
In particular, the sensor data in both the MCU and 8155 systems are time stamped accurately with respect to their own system clocks, aligning the sensor data in both systems. The synchronization scheme adopts a mode of PPS+UART time messages, a periodic signal with the period of 1s is generated by the MCU through an internal high-precision timer, a simulated time message is sent out on a serial port at the rising edge of the periodic signal, 8155 can obtain the accurate system time of the MCU according to the interrupt triggered by the PPS signal and the time information obtained by receiving the message, and the time synchronization of the two systems is realized.
The sensor's timestamp is marked by the adjacent MCU or SoC (system on a chip), and the sensor data is time stamped at an adjacent location (e.g., data interface or signal input) before the data enters the MCU or SoC. This means that the sensor itself does not have the ability to receive external time, but rather acquires the system clock by data interaction with the MCU or SoC, and then uses this clock information to time stamp the sensor data. When sensor data enters the MCU or SoC, the MCU or SoC will use the system clock to generate a time stamp and store the time stamp with the sensor data. In this way, the sensor data is accurately tagged with time information so that alignment and synchronization with other sensor data can be performed.
In summary, the sensors in the scheme do not directly receive external time, but timestamp the sensor data by interacting with the MCU or SoC, a system clock generated by the MCU or SoC. Thus, the synchronization and alignment of the sensor data can be realized, and accurate time information is provided for the APA algorithm to use.
The system has no GPS receiver, reduces the complexity and cost of the whole scheme, reduces the complexity of a hardware link, does not need to receive external time for a sensor in the system, marks a sensor time stamp by an adjacent MCU or SoC, and reduces the limitation requirement of the corresponding function of the sensor.
The embodiment also provides a signal synchronization method, which is used for implementing the foregoing embodiments and preferred embodiments, and is not described in detail.
The present embodiment provides a signal synchronization method, as shown in fig. 3, an apparatus includes:
Step S301, obtaining first data to be synchronized; forwarding the first information to be synchronized to a first processor corresponding to the first sensor in a preset forwarding mode, wherein the first processor is the processor closest to the first sensor;
step S302, setting a time identifier for the first data to be synchronized according to the corresponding time information when the first data to be synchronized is acquired; transmitting the time identifier to a second processor, wherein the second processor is any other processor except the first processor;
Step S303, obtaining a time identifier sent by a first processor; and synchronizing time information of the second data to be synchronized acquired by the second processor according to the time identification.
In some optional embodiments, the first data to be synchronized is acquired, specifically for:
Acquiring a second data set to be synchronized;
and synchronizing the acquisition time of all data in the second data set to be synchronized to obtain the first data set to be synchronized.
In some optional embodiments, setting a time identifier for the first data to be synchronized according to time information corresponding to the first data to be synchronized, specifically includes:
Determining delay information according to the type information of the first sensor and a forwarding mode corresponding to the first sensor;
and determining the time mark according to the time information and the delay information.
In some alternative embodiments, the plurality of types of sensors include at least two of a wheel pulse sensor, an inertial sensor, a radar, and an image sensor.
In some alternative embodiments, the second processor is further configured to:
and generating a parking control instruction according to each data to be synchronized after time synchronization.
In some alternative embodiments, the first processor is any one of a linear braking system, a gateway, a microcontroller unit, and a deserializer.
In some alternative embodiments, the second processor is a 8155 chip.
Further functional descriptions of the above steps are the same as those of the above corresponding embodiments, and are not repeated here.
Claims (10)
1. A signal synchronization system, characterized in that the system comprises at least two processors, a plurality of types of sensors, each type of sensor comprising at least one sensor,
The first sensor is used for acquiring first data to be synchronized; forwarding the first data to be synchronized to a first processor corresponding to the first sensor in a preset forwarding mode, wherein the first processor is the processor closest to the first sensor;
The first processor is configured to set a time identifier for the first data to be synchronized according to time information corresponding to the first data to be synchronized when the first data to be synchronized is acquired; transmitting the time identifier to a second processor, wherein the second processor is any other processor except the first processor;
The second processor is used for acquiring the time identifier sent by the first processor; synchronizing time information of second data to be synchronized acquired by the second processor according to the time identifier; the second data to be synchronized is sensor data of sensors except the first sensor, which are acquired by the second processor.
2. The system of claim 1, wherein when the first sensor is of a type that includes a plurality of sensors, the first sensor is further configured to:
acquiring a second data set to be synchronized; the second data set to be synchronized is sensor data of a plurality of sensors in the type to which the first sensor belongs;
and synchronizing the acquisition time of all data in the second data set to be synchronized to obtain the first data set to be synchronized.
3. The system of claim 2, wherein the first processor is further configured to:
determining delay information according to type information of a first sensor and a forwarding mode corresponding to the first sensor;
And determining the time mark according to the time information and the delay information.
4. The system of claim 3, wherein the plurality of types of sensors include at least two of a wheel pulse sensor, an inertial sensor, a radar, and an image sensor.
5. The system of any one of claims 1-4, wherein the second processor is further configured to:
and generating a parking control instruction according to each data to be synchronized after time synchronization.
6. The system of claim 5, wherein the first processor is any one of a linear braking system, a gateway, a microcontroller unit, and a deserializer.
7. The system of claim 6, wherein the second processor is a 8155 chip.
8. A signal synchronization method applied to the signal synchronization system of any one of the preceding claims 1-7, the method comprising:
Acquiring first data to be synchronized; forwarding the first information to be synchronized to a first processor corresponding to the first sensor in a preset forwarding mode, wherein the first processor is the processor closest to the first sensor;
Setting a time identifier for the first data to be synchronized according to the time information corresponding to the first data to be synchronized; transmitting the time identifier to a second processor, wherein the second processor is any other processor except the first processor;
Acquiring a time identifier sent by the first processor; synchronizing time information of second data to be synchronized acquired by the second processor according to the time identifier; the second data to be synchronized is sensor data of sensors except the first sensor, which are acquired by the second processor.
9. The method of claim 8, wherein the obtaining the first data to be synchronized is specifically configured to:
acquiring a second data set to be synchronized; the second data set to be synchronized is sensor data of a plurality of sensors in the type to which the first sensor belongs;
and synchronizing the acquisition time of all data in the second data set to be synchronized to obtain the first data set to be synchronized.
10. The method of claim 9, wherein the setting the time identifier for the first data to be synchronized according to the time information corresponding to the time when the first data to be synchronized is obtained specifically includes:
determining delay information according to type information of a first sensor and a forwarding mode corresponding to the first sensor;
And determining the time mark according to the time information and the delay information.
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| CN114338951A (en) * | 2021-12-30 | 2022-04-12 | 智道网联科技(北京)有限公司 | Sensor synchronization method, device and system and vehicle |
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| CN113496545B (en) * | 2020-04-08 | 2022-05-27 | 阿里巴巴集团控股有限公司 | Data processing system, method, sensor, mobile acquisition backpack and equipment |
| CN114727253A (en) * | 2022-04-06 | 2022-07-08 | 深兰人工智能(深圳)有限公司 | Multi-sensor time domain synchronization method and device, storage medium and terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109905194A (en) * | 2019-02-21 | 2019-06-18 | 初速度（苏州）科技有限公司 | A kind of vehicle-mounted terminal system and synchronization data obtaining method, device |
| CN114338951A (en) * | 2021-12-30 | 2022-04-12 | 智道网联科技(北京)有限公司 | Sensor synchronization method, device and system and vehicle |
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