Abstract: Devices, systems, and methods for hardware-based time synchronization for heterogenous sensors are described. An example method includes generating a plurality of input trigger pulses having a nominal pulse-per-second (PPS) rate, generating, based on timing information derived from the plurality of input trigger pulses, a plurality of output trigger pulses, and transmitting the plurality of output trigger pulses to a sensor of a plurality of sensors, wherein a frequency of the plurality of output trigger pulses corresponds to a target operating frequency of the sensor, wherein, in a case that a navigation system coupled to the synchronization unit is functioning correctly, the plurality of input trigger pulses is generated based on a nominal PPS signal from the navigation unit, and wherein, in a case that the navigation system is not functioning correctly, the plurality of input trigger pulses is generated based on a simulated clock source of the synchronization unit.

Abstract: The present disclosure relates to autonomous vehicle technology, and provides a method and an apparatus for trailer angle measurement, as well as a vehicle. With the present disclosure, it can be determined whether to use a single-beam lidar or a multiple-beam lidar for trailer angle measurement based on an initial trailer angle. When it is determined to use the multiple-beam lidar a deflection direction of the semi-trailer can be obtained, and laser light emitted by the multiple-beam lidar on a side of the deflection direction and reflected by a trailer surface can be collected. A coordinate transformation and selection process can be applied on the laser point cloud to form a candidate point cloud. A boundary straight line of the trailer can be determined by means of optimized solution of the candidate point cloud. A trailer angle can be determined based on the boundary straight line of the trailer.

Abstract: The present disclosure provides an on-board synchronization device. The on-board synchronization device includes: a first circuit and at least one second circuit. The first circuit is configured to receive an initial signal containing Universal Time Coordinated (UTC), generate a first signal containing the UTC, and output the first signal to at least one on-board device, such that the at least one on-board device synchronizes its built-in clock with the UTC based on the first signal. The second circuit is configured to receive a Pulse Per Second (PPS) signal, generate a periodic second signal with a same phase as the PPS signal, and output the second signal or the PPS signal to the at least one on-board device, such that the at least one on-board device performs a predetermined action based on the second signal or the PPS signal.

Abstract: The present disclosure relates to sensor technology, and provides a method, an apparatus, and a system for vibration measurement for a sensor bracket as well as a movable device. The method is applied in a system for vibration measurement for the sensor bracket. The system includes the sensor bracket to be measured that is mounted on a movable device, and a marker on the sensor bracket to be measured, and a first sensor provided on the sensor bracket to be measured for collecting marker information. The method includes: collecting the marker information of the marker on the sensor bracket to be measured using the first sensor; determining a vibration measurement reference point based on the marker information, and obtaining vibration condition data of the vibration measurement reference point; and determining a vibration evaluation result for the sensor bracket based on the vibration condition data of the vibration measurement reference point.