US 12,276,947 B2
Systems and methods for time synchronization of multiple sensors in a vehicle
Hua Wang, Beijing (CN); Fenglei Wang, Beijing (CN); and Zhenqiang Yan, Beijing (CN)
Assigned to BEIJING VOYAGER TECHNOLOGY CO., LTD., Beijing (CN)
Filed by BEIJING VOYAGER TECHNOLOGY CO., LTD., Beijing (CN)
Filed on Jul. 23, 2021, as Appl. No. 17/443,254.
Application 17/443,254 is a continuation of application No. PCT/CN2019/080969, filed on Apr. 2, 2019.
Claims priority of application No. 201910251313.7 (CN), filed on Mar. 29, 2019.
Prior Publication US 2021/0356915 A1, Nov. 18, 2021
Int. Cl. G06F 1/12 (2006.01); G01S 19/42 (2010.01); G01S 19/47 (2010.01); G04R 20/04 (2013.01); H04J 3/06 (2006.01)
CPC G04R 20/04 (2013.01) [G01S 19/421 (2013.01); G01S 19/47 (2013.01); H04J 3/0644 (2013.01); H04J 3/0655 (2013.01); G06F 1/12 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for time synchronization in a vehicle, the vehicle including a satellite navigation device, at least one light detection and ranging (LiDAR) device, at least one camera, and a controller, the method comprising:
transmitting, by the satellite navigation device to the controller and the at least one LIDAR device, a coordinated universal time (UTC) and a pulse per second (PPS) signal, the PPS signal incorporating integer second information of the UTC, the satellite navigation device having a first clock;
synchronizing, by the controller, a second clock of the controller with the first clock of the satellite navigation device based on the PPS signal and the UTC;
synchronizing, by the at least one LiDAR device, a third clock of the at least one LIDAR device with the first clock of the satellite navigation device based on the PPS signal and the UTC;
transmitting, by the at least one camera, an initial data package to the controller, the initial data package including a first timestamp according to a fourth clock of the at least one camera, the first timestamp indicating a time when the at least one camera transmits the initial data package;
transmitting, by the controller after receiving the initial data package, a modified data package to the at least one camera, the modified data package including a second timestamp indicating a time when the controller receives the initial data package and a third timestamp indicating a time when the controller transmits the modified data package according to the second clock;
recording, by the at least one camera after receiving the modified data package, a fourth timestamp according to the fourth clock of the at least one camera, indicating a time when the at least one camera receives the modified data package from the controller;
determining, by the at least one camera, an offset between the second clock and the fourth clock based on the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp; and
synchronizing, by the at least one camera, the fourth clock of the at least one camera with the second clock of the controller based on the offset.