The invention relates to a sensor synchronization method and device, a vehicle controller and a storage medium. The method comprises the following steps: acquiring real-time clock information of a vehicle from a real-time clock source of the vehicle; when the real-time clock information reaches a scanning period of a laser radar of the vehicle, triggering the laser radar to collect point cloud data of the surrounding environment of the vehicle; when the real-time clock information reaches the exposure moment of a camera device arranged in a preset direction of the vehicle, triggering the camera device arranged in the preset direction to expose, so as to synchronize the point cloud data, collected by the laser radar, in the preset direction with an image output by the camera device arranged in the preset direction; the exposure time of the camera device arranged in the preset direction is determined based on the time difference of the camera device arranged in the preset direction from exposure to image output. By adopting the method, high synchronization of the laser radar and the camera can be realized.

    本申请涉及一种传感器同步方法、装置、车辆控制器和存储介质。所述方法包括:从车辆的实时时钟源中获取所述车辆的实时时钟信息;当所述实时时钟信息达到所述车辆的激光雷达的扫描周期时,触发所述激光雷达采集所述车辆周围环境的点云数据;当所述实时时钟信息达到所述车辆在预设方向上设置的摄像装置的曝光时刻时,触发所述预设方向上设置的摄像装置曝光,以将所述激光雷达采集的所述预设方向上的点云数据,与所述预设方向上设置的摄像装置输出的图像同步;所述预设方向上设置的摄像装置的曝光时刻基于所述预设方向上设置的摄像装置从曝光到输出图像的时间差确定得到。采用本方法能够实现激光雷达和摄像头高度同步。


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    Title :

    Sensor synchronization method and device, vehicle controller and storage medium


    Additional title:

    传感器同步方法、装置、车辆控制器和存储介质


    Contributors:
    WU YOUPENG (author) / LI YANG (author) / SU XINGYI (author)

    Publication date :

    2024-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / 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 / H04Q Wähltechnik , SELECTING




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