The embodiment of the invention discloses sensor synchronization equipment, method and device, a controller and a storage medium. The device is applied to an automatic driving vehicle and at least comprises a controller, a plurality of laser sensors and a plurality of cameras, the controller is in time synchronization with the laser sensors and the cameras, and the preset scanning time of each laser sensor corresponds to at least one camera; the controller is used for determining the next scanning moment of each laser sensor; determining each target camera corresponding to the next scanning moment according to the corresponding relationship between each preset scanning moment of each laser sensor and each camera; for each target camera, determining the delay duration of the target camera, and sending an exposure instruction to the target camera at the delay duration before the next scanning moment; and each target camera is used for receiving the exposure instruction sent by the controller and executing the exposure operation when receiving the exposure instruction. According to the embodiment of the invention, space-time synchronization of each camera and each laser sensor can be realized.
本申请实施例公开一种传感器同步设备、方法、装置、控制器及存储介质。该设备应用于自动驾驶车辆,该设备至少包括:控制器、多台激光传感器以及多台相机,控制器与各激光传感器以及各相机均时间同步,每个激光传感器的各预设扫描时刻与至少一相机存在对应关系;控制器用于确定各激光传感器的下一扫描时刻;根据每个激光传感器的各预设扫描时刻和各相机的对应关系,确定下一扫描时刻对应的各目标相机;针对每台目标相机,确定该目标相机的延迟时长,并在下一扫描时刻前延迟时长处发送曝光指令至该目标相机;各目标相机,用于接收控制器发送的曝光指令,并在接收到曝光指令时执行曝光操作。本申请实施例可以实现各相机和各激光传感器的时空同步。
Sensor synchronization equipment, method and device, controller and storage medium
一种传感器同步设备、方法、装置、控制器及存储介质
2025-01-24
Patent
Electronic Resource
Chinese
IPC: | 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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