System and method of sensor triggering for synchronized operation
A sensor triggering system for a sensor apparatus including a plurality of sensors. The system detects a first sensor pulse and determines a memory address of a lookup table based on the first sensor pulse. In response to the first sensor pulse, the system selectively triggers one or more of the plurality of sensors based at least in part on a codeword stored at the first memory address. For example, the codeword may comprise a number of bits such that each bit of the codeword indicates an activation state for a respective one of the plurality of sensors.
1. An autonomous vehicle (AV) comprising:
a pulse generator;
a plurality of sensors; and
an AV control system comprising one or more processors and a memory that stores instructions, wherein the instructions, when executed by the one or more processors, cause the AV control system to:
detect the one or more sensor pulses from the pulse generator of the AV;
in response to detecting the one or more sensor pulses, determine corresponding data indicating an activation state for each subset of one or more of the plurality of sensors; and
selectively trigger each subset of the one or more of the plurality of sensors based on the corresponding data indicating the activation state for each subset of the one or more of the plurality of sensors;
obtain sensor data generated by the plurality of sensors;
determine timing information of the sensor data; and
convert the sensor data into synchronized sensor data, the synchronized sensor data including the determined timing information of the sensor data.
2. The AV of claim 1 , wherein the executed instructions that cause the AV control system to determine timing information of the sensor data, further cause the AV control system to:
obtain sensor activating schedule information, wherein the determination of the timing information of the sensor data is based on the sensor activating schedule information.
3. The AV of claim 2 , wherein the sensor activating schedule information is based on one or more operating parameters of the AV.
4. The AV of claim 1 , wherein the executed instructions that cause the AV control system to determine timing information of the sensor data, further cause the AV control system to:
determine timing information of a sensor pulse of the one or more sensor pulses that most closely coincides with a time the sensor data is obtained, wherein the timing information of the sensor data is based on the timing information of the sensor pulse.
5. The AV of claim 1 , wherein to determine the corresponding data indicating the activation state for each subset of the one or more of the plurality of sensors and selectively trigger each subset of the one or more of the plurality of sensors based on the corresponding data indicating the activation state for each subset of the one or more of the plurality of sensors, the executed instructions cause the AV control system to:
determine a corresponding codeword from a memory address of a lookup table based on a corresponding current memory index pointing to the memory address in the lookup table; and
selectively trigger each subset of the one or more of the plurality of sensors based on the corresponding codeword stored at the memory address.
6. The AV of claim 5 , wherein the corresponding codeword comprises a plurality of bits equal to a number of sensors in the plurality of sensors.
7. The AV of claim 6 , wherein each bit of the corresponding codeword indicates the activation state for each subset of the one or more of the plurality of sensors.
8. The AV of claim 7 , wherein the executed instructions further cause the AV control system to:
for each subset of the one or more of the plurality of sensors, trigger the subset if a corresponding bit of the codeword is asserted.
9. The AV of claim 1 , further comprising:
acceleration, braking and steering systems, wherein the executed instructions further cause the control AV system to:
control operations of the acceleration, braking and steering systems of the AV by utilizing the synchronized sensor data.
10. The AV of claim 9 , wherein the executed instructions further cause the AV control system to:
generate a three-dimensional sensor image of an environment, based at least in part on the synchronized sensor data; and
wherein controlling the operations of the acceleration, braking and steering systems of the AV is further based on the three-dimensional sensor image of the environment.
11. The AV of claim 9 , wherein the executed instructions further cause the AV control system to:
perform route planning, based at least in part on the synchronized sensor data.
12. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of an autonomous vehicle (AV), cause the one or more processors to:
detect the one or more sensor pulses from the pulse generator of the AV;
in response to detecting the one or more sensor pulses, determine corresponding data indicating an activation state for each subset of one or more of the plurality of sensors;
selectively trigger each subset of the one or more of the plurality of sensors based on the corresponding data indicating the activation state for each subset of the one or more of the plurality of sensors;
obtain sensor data generated by the plurality of sensors, wherein each subset of one or more of the plurality of sensors are selectively triggered by one or more sensor pulses from a pulse generator;
determine timing information of the sensor data; and
convert the sensor data into synchronized sensor data, the synchronized sensor data including the determined timing information of the sensor data.
13. The non-transitory computer-readable medium of claim 12 , wherein the executed instructions that cause the one or more processors to determine timing information of the sensor data, further cause the one or more processors to:
obtain sensor activating schedule information, wherein the determination of the timing information of the sensor data is based on the sensor activating schedule information.
14. The non-transitory computer-readable medium of claim 13 , wherein the sensor activating schedule information is based on one or more operating parameters of the AV.
15. The non-transitory computer-readable medium of claim 12 , wherein the executed instructions that cause the one or more processors to determine timing information of the sensor data, further cause the one or more processors to:
determine timing information of a sensor pulse of the one or more sensor pulses that most closely coincides with a time the sensor data is obtained, wherein the timing information of the sensor data is based on the timing information of the sensor pulse.
16. The non-transitory computer-readable medium of claim 12 , wherein to determine the corresponding data indicating the activation state for each subset of the one or more of the plurality of sensors and selectively trigger each subset of the one or more of the plurality of sensors based on the corresponding data indicating the activation state for each subset of the one or more of the plurality of sensors, the executed instructions cause the one or more processors to:
determine a corresponding codeword from a memory address of a lookup table based on a corresponding current memory index pointing to the memory address in the lookup table; and
selectively trigger each subset of the one or more of the plurality of sensors based on the corresponding codeword stored at the memory address.
17. The non-transitory computer-readable medium of claim 16 , wherein the corresponding codeword comprises a plurality of bits equal to a number of sensors in the plurality of sensors.
18. The non-transitory computer-readable medium of claim 17 , wherein each bit of the corresponding codeword indicates the activation state for each subset of the one or more of the plurality of sensors.
19. The non-transitory computer-readable medium of claim 18 , wherein the executed instructions further cause the one or more processors to:
for each subset of the one or more of the plurality of sensors, trigger the subset if a corresponding bit of the codeword is asserted.
20. The non-transitory computer-readable medium of claim 12 , wherein the executed instructions further cause the one or more processors to:
control operations of an acceleration, braking and steering systems of the AV by utilizing the synchronized sensor data.
21. The non-transitory computer-readable medium of claim 20 , wherein the executed instructions further cause the one or more processors to:
generate a three-dimensional sensor image of an environment, based at least in part on the synchronized sensor data; and
wherein controlling the operations of the acceleration, braking and steering systems of the AV is further based on the three-dimensional sensor image of the environment.
22. The non-transitory computer-readable medium of claim 20 , wherein the executed instructions further cause the one or more processors to:
perform route planning, based at least in part on the synchronized sensor data.