US 11,807,265 B2
Synchronizing sensors of autonomous driving vehicles
Shuai Wang, Beijing (CN); Manjiang Zhang, Sunnyvale, CA (US); Yaoming Shen, Milpitas, CA (US); Lingchang Li, Beijing (CN); and Shuangcheng Guo, Beijing (CN)
Assigned to BAIDU USA LLC, Sunnyvale, CA (US); and BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD., Beijing (CN)
Appl. No. 16/494,735
Filed by Baidu USA LLC, Sunnyvale, CA (US); and Baidu.com Times Technology (Beijing) Co., Ltd., Beijing (CN)
PCT Filed Aug. 30, 2019, PCT No. PCT/CN2019/103810
§ 371(c)(1), (2) Date Sep. 16, 2019,
PCT Pub. No. WO2021/035721, PCT Pub. Date Mar. 4, 2021.
Prior Publication US 2021/0354719 A1, Nov. 18, 2021
Int. Cl. B60W 60/00 (2020.01); G06V 20/56 (2022.01)
CPC B60W 60/001 (2020.02) [G06V 20/588 (2022.01); B60W 2420/42 (2013.01); B60W 2552/53 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
determining a first set of data acquisition characteristics of a first sensor of an autonomous driving vehicle, wherein the first set of data acquisition characteristics include a first initialization delay of the first sensor and a first acquisition delay of the first sensor, wherein an initiation delay includes an amount of time between receiving an instruction and starting a capture of sensor data including the amount of time to initialize a charged coupled device (CCD) and complementary metal-oxide-semiconductor (CMOS), to power up a transmitter, or to power up a laser, wherein the first initialization delay of the first sensor is within a first initialization threshold, wherein the first acquisition delay of the first sensor is based on one or more attributes including a shutter speed and an exposure time of the first sensor;
determining a second set of data acquisition characteristics of a second sensor of the autonomous driving vehicle, wherein the second set of data acquisition characteristics include a second initialization delay of the second sensor and a second acquisition delay of the second sensor, wherein the second initialization delay of the second sensor is within a second initialization threshold, wherein the second acquisition delay of the first sensor is based on one or more attributes including a shutter speed and an exposure time of the second sensor; and
synchronizing a first data acquisition time of the first sensor and a second data acquisition time of the second sensor, based on
the first set of data acquisition characteristics in view of the first initialization delay of the first sensor and the first acquisition delay of the first sensor, and
the second set of data acquisition characteristics in view of the second initialization delay of the second sensor and the second acquisition delay of the second sensor, wherein:
the first sensor obtains first sensor data at the first data acquisition time; and
the second sensor obtains second sensor data at the second data acquisition time.