未来驾驶辅助系统中多传感器融合的时间同步

2011 IEEE International Symposium on Precision Clock Synchronization for Measurement, Control and Communication Pub Date : 2011-11-07 DOI:10.1109/ISPCS.2011.6070146

A. Westenberger, Tobias Huck, M. Fritzsche, T. Schwarz, K. Dietmayer

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引用次数: 19

摘要

提出了一种在多传感器环境下实现精确时间戳和时间同步的新方法。现代驾驶员辅助系统使用越来越多的不同传感器，这些传感器不能提供测量的确切时间戳，也不能提供两次测量之间的时间间隔。本文描述了一种确定这些时间戳的方法，精确到毫秒级。考虑到内部传感器时钟的可能漂移。此外，一个常见的问题是度量丢失，它会导致时间戳中的大错误。这些帧被可靠地检测出来，并通过手边的方法得到充分的处理。最后描述了一种评估整个时间戳过程性能的方法，并给出了实际结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Temporal synchronization in multi-sensor fusion for future driver assistance systems

A new approach to precise timestamping and temporal synchronization in a multi-sensor setup is presented. Modern driver assistance systems use an increasing amount of different sensors that do not provide the exact timestamps of the measurements, nor the period of time between two measurements. This paper describes a method to determine these timestamps up to millisecond accuracy. Possible drifts of the internal sensor clocks are taken into account. In addition, a frequent problem are lost measurements that lead to large errors in the timestamping. These framedrops are detected reliably and handled adequately via the method at hand. Finally a method to evaluate the performance of the whole timestamping procedure is described and real-world results are presented.

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2011 IEEE International Symposium on Precision Clock Synchronization for Measurement, Control and Communication

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