Trigger logic to trigger sensors of an autonomous driving vehicle for capturing data

Patent metadata

Field	Value
Publication number	US-10890914-B2
Application number	US-201816112349-A
Country	US
Kind code	B2
Filing date	Aug 24, 2018
Priority date	Aug 24, 2018
Publication date	Jan 12, 2021
Grant date	Jan 12, 2021

Abstract

A sensor unit includes a sensor interface coupled to a number of sensors and a host interface coupled to a host system utilized to autonomously drive the vehicle. The sensor unit further includes sensor control modules corresponding to the sensors. Each sensor control module includes delay time control logic, delay adjustment logic, and a trigger signal generator. The delay time control logic is to receive a pulse time adjustment (PTA) value from the host system. The delay adjustment logic is to receive a trigger time adjustment (TTA) value from the host system. The delay adjustment logic is to modify timing of at least a portion of the pulses of a pulse signal based on the PTA value and the TTA value. The trigger signal generator is to generate a trigger signal based on the modified pulse signal and to transmit the trigger signal to a corresponding sensor.

First claim

What is claimed is:

1. A sensor unit utilized in an autonomous driving vehicle, the sensor unit comprising:
a sensor interface to be coupled to a plurality of sensors mounted on a plurality of locations of an autonomous driving vehicle (ADV);
a host interface to be coupled to a host system, wherein the host system is configured to perceive a driving environment surrounding the ADV based on sensor data obtained from the sensors and to plan a path to autonomously drive the ADV; and
a plurality of sensor control modules, each corresponding to one of the plurality of sensors, wherein each of the sensor control modules comprises:
a delay time control logic to receive a pulse time adjustment (PTA) value from the host system via the host interface,
a delay adjustment logic to
receive a pulse signal that has a plurality of pulses from a pulse generator of the sensor control module,
receive a trigger time adjustment (TTA) value from the host system via the host interface, the TTA value is utilized to determine which of the pulses of the pulse signal should be modified, while remaining pulses of the pulse signal remain unchanged, and
modify timing of at least a portion of the plurality of pulses of the pulse signal based on the PTA value and the TTA value to produce a modified pulse signal, and

a trigger signal generator to generate a trigger signal based on the modified pulse signal and to transmit the trigger signal to a corresponding sensor.

2. The sensor unit of claim 1 , wherein the PTA value is utilized to determine an offset between an original pulse of the pulse signal and a modified pulse of the original pulse.

3. The sensor unit of claim 1 , wherein each of the sensor control modules further comprises a width and polarity adjustment (WPA) logic to receive a width adjustment (WA) value from the host system, wherein the trigger signal generator is to modify a pulse width of at least a portion of the pulses of the pulse signal based on the WA value.

4. The sensor unit of claim 3 , wherein the WPA logic is further configured to receive a polarity adjustment (PA) value from the host system, wherein the trigger signal generator is to modify a polarity of at least a portion of the pulses of the pulse signal based on the PA value.

5. The sensor unit of claim 1 , wherein the plurality of sensors comprise one or more cameras, and wherein each of the sensor control modules associated with the cameras further comprises a frame per second (FPS) control logic to receive an FPS value from the host system, wherein the FPS value specifies a number of image frames generated by a corresponding camera.

6. The sensor unit of claim 5 , wherein the at least a portion of the pulses of the pulse signal are modified further based on the FPS value to generate the trigger signal with the modified pulses in a repeated manner according to the FPS value.

7. The sensor unit of claim 5 , wherein each sensor control module further comprises an error detector to detect any potential frame drops based on the trigger signal and the FPS value, and to provide a feedback signal to the host system concerning the potential frame drops.

8. The sensor unit of claim 1 , wherein each of the sensor control modules separately receives the PTA value and the TTA value from the host system that has been specifically configured to the corresponding sensor.

9. The sensor unit of claim 1 , wherein at least two of the sensor control modules receive different PTA values or TTA values from the host system.

10. The sensor unit of claim 1 , wherein the host system configures a PTA value and a TTA value for each of the sensor control modules to trigger capturing time of each of the sensors in a collaborative fashion to capture the driving environment surrounding the ADV.

11. The sensor unit of claim 1 , wherein the sensor interface comprises an Ethernet interface to be coupled with a LIDAR device or one or more cameras.

12. The sensor unit of claim 1 , wherein the sensor interface comprises a global positioning system (GPS) interface to be coupled to at least one of a GPS receiver and an IMU device.

13. The sensor unit of claim 1 , wherein the sensor interface comprises a control area network (CAN) interface to be coupled to throttle control logic, braking control logic, and steering control logic of the ADV.

14. An autonomous driving system, comprising:
a plurality of sensors mounted on a plurality of locations of an autonomous driving vehicle (ADV);
a host system having a perception module and a planning and control module, wherein the perception module is to perceive a driving environment surrounding the ADV based on sensor data obtained from the sensors, and wherein the planning and control module is to plan a path to autonomously drive the ADV; and
a sensor unit coupled to the plurality of sensors and the host system, wherein the sensor unit comprises
a sensor interface to be coupled to the plurality of sensors mounted on the ADV,
a host interface to be coupled to the host system, and
a plurality of sensor control modules, each corresponding to one of the plurality of sensors, wherein each of the sensor control modules comprises:
a delay time control logic to receive a pulse time adjustment (PTA) value from the host system via the host interface,
a delay adjustment logic to
receive a pulse signal that has a plurality of pulses from a pulse generator of the sensor control module,
receive a trigger time adjustment (TTA) value from the host system via the host interface, the TTA value is utilized to determine which of the pulses of the pulse signal should be modified, while remaining pulses of the pulse signal remain unchanged, and
modify timing of at least a portion of the plurality of pulses of the pulse signal based on the PTA value and the TTA value to produce a modified pulse signal, and

a trigger signal generator to generate a trigger signal based on the modified pulse signal and to transmit the trigger signal to a corresponding sensor.

15. The system of claim 14 , wherein the PTA value is utilized to determine an offset between an original pulse of the pulse signal and a modified pulse of the original pulse.

16. The system of claim 14 , wherein each of the sensor control modules further comprises a width and polarity adjustment (WPA) logic to receive a width adjustment (WA) value from the host system, wherein the trigger signal generator is to modify a pulse width of at least a portion of the pulses of the pulse signal based on the WA value.

17. The system of claim 16 , wherein the WPA logic is further configured to receive a polarity adjustment (PA) value from the host system, wherein the trigger signal generator is to modify a polarity of at least a portion of the pulses of the pulse signal based on the PA value.

18. The system of claim 14 , wherein the plurality of sensors comprise one or more cameras, and wherein each of the sensor control modules associated with the cameras further comprises a frame per second (FPS) control logic to receive an FPS value from the host system, wherein the FPS value specifies a number of image frames generated by a corresponding camera.

Assignees

• Baidu Usa Llc

Inventors

• Zhang Manjiang
• Kwan Oh
• Zhang Tiffany

Classifications

• G01S7/487

  Extracting wanted echo signals {, e.g. pulse detection} · CPC title

• H04Q9/04 Primary

  Arrangements for synchronous operation · CPC title

• G06F1/04

  Generating or distributing clock signals or signals derived directly therefrom · CPC title

• G01S7/484

  Transmitters · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title