Systems and Methods for Synchronizing Sensor Capture

Content Provider	The Lens
Abstract	In one embodiment, a method includes, by a computing device of a first sensor receiving synchronization information from a controller. The synchronization information being generated based on a clock of the controller. The method also includes determining, based on the synchronization information, a first offset between a first clock of the first sensor and the clock of the controller; storing the first offset; and synchronizing, based on the stored first offset and the first clock of the first sensor, a first data capture by the first sensor with a second data capture by a second sensor. The first data capture and the second data capture being requested by the controller.
Related Links	https://www.lens.org/lens/patent/009-857-117-837-032/frontpage
Language	English
Publisher Date	2019-09-19
Access Restriction	Open
Content Type	Text
Resource Type	Patent
Jurisdiction	United States of America
Date Applied	2019-03-11
Applicant	Lyft Inc
Application No.	201916298503
Claim	A method comprising, by a computing device of a first sensor: receiving synchronization information from a controller, the synchronization information being generated based on a clock of the controller; determining, based on the synchronization information, a first offset between a first clock of the first sensor and the clock of the controller; storing the first offset; and synchronizing, based on the stored first offset and the first clock of the first sensor, a first data capture by the first sensor with a second data capture by a second sensor, the first data capture and the second data capture being requested by the controller. The method of claim 1 , wherein the synchronizing of the first data capture with the second data capture comprises: receiving, from the controller, a first trigger signal for triggering data capture, the first trigger signal being generated based on the clock of the controller; determining, based on the first trigger signal and the stored first offset, a first trigger time relative to the first clock of the first sensor; and triggering the first sensor to perform the first data capture based on the first trigger time and the first clock of the first sensor. The method of claim 2 , wherein the second data capture is triggered by a second trigger signal received from the controller. The method of claim 3 , wherein the second data capture is performed by the second sensor at a second trigger time relative to a second clock of the second sensor, wherein the second trigger time is determined based on the second trigger signal and a second offset stored by the second sensor. The method of claim 4 , wherein the first offset and the second offset are different. The method of claim 1 , wherein: the synchronization information comprises a plurality of pulses with an interval that corresponds to a counter incrementation of the clock of the controller; and the first offset is determined based on a measurement of the plurality of pulses using the first clock of the first sensor. The method of claim 1 , wherein the first offset comprises a frequency offset and a phase offset between the first clock of the first sensor and the clock of the controller. The method of claim 1 , wherein the synchronization information comprises a coded-pulse train associated with an expected coded-pulse train, wherein the determining of the first offset comprises: comparing the coded-pulse train to a plurality of transformed versions of the expected coded-pulse train; and determining, based on the step of comparing, which one of the plurality of transformed versions of the expected coded-pulse train corresponds to the coded-pulse train; wherein the first offset is determined based on a transformation associated with the determined transformed version of the expected coded-pulse train. The method of claim 2 , wherein the first trigger signal specifies a scheduled time at which to trigger data capture. The method of claim 9 , further comprising: transmitting, in response to receiving the synchronization information, the received synchronization information to the controller; wherein the scheduled time is selected by the controller based on a measured round-trip time of the synchronization information being transmitted from and received by the controller. The method of claim 1 , further comprising: receiving, after the first data capture is performed, a second synchronization information from the controller; determining, based on the second synchronization information, a third offset between the first clock of the first sensor and the clock of the controller; and replacing the stored first offset with the third offset. One or more computer-readable non-transitory storage media embodying software that is operable when executed to cause one or more processors of a first sensor to perform operations comprising: receiving synchronization information from a controller, the synchronization information being generated based on a clock of the controller; determining, based on the synchronization information, a first offset between a first clock of the first sensor and the clock of the controller; storing the first offset; and synchronizing, based on the stored first offset and the first clock of the first sensor, a first data capture by the first sensor with a second data capture by a second sensor, the first data capture and the second data capture being requested by the controller. The media of claim 12 , wherein the software is further operable to: receive, from the controller, a first trigger signal for triggering data capture, the first trigger signal being generated based on the clock of the controller; determine, based on the first trigger signal and the stored first offset, a first trigger time relative to the first clock of the first sensor; and trigger the first sensor to perform the first data capture based on the first trigger time and the first clock of the first sensor. The media of claim 13 , wherein the second data capture is triggered by a second trigger signal received from the controller. The media of claim 14 , wherein the second data capture is performed by the second sensor at a second trigger time relative to a second clock of the second sensor, wherein the second trigger time is determined based on the second trigger signal and a second offset stored by the second sensor. The media of claim 15 , wherein the first offset and the second offset are different. A system of a first sensor comprising one or more processors that, when executing, are configured to causes the system to: receive synchronization information from a controller, the synchronization information being generated based on a clock of the controller; determine, based on the synchronization information, a first offset between a first clock of the first sensor and the clock of the controller; store the first offset; and synchronize, based on the stored first offset and the first clock of the first sensor, a first data capture by the first sensor with a second data capture by a second sensor, the first data capture and the second data capture being requested by the controller. The system of claim 17 , wherein the processors are further configured to: receive, from the controller, a first trigger signal for triggering data capture, the first trigger signal being generated based on the clock of the controller; determine, based on the first trigger signal and the stored first offset, a first trigger time relative to the first clock of the first sensor; and trigger the first sensor to perform the first data capture based on the first trigger time and the first clock of the first sensor. The system of claim 18 , wherein the second data capture is triggered by a second trigger signal received from the controller. The system of claim 19 , wherein the second data capture is performed by the second sensor at a second trigger time relative to a second clock of the second sensor, wherein the second trigger time is determined based on the second trigger signal and a second offset stored by the second sensor.
CPC Classification	PICTORIAL COMMUNICATION; e.g. TELEVISION Radio Direction-Finding;Radio Navigation;Determining Distance Or Velocity By Use Of Radio Waves;Locating Or Presence-Detecting By Use Of The Reflection Or Reradiation Of Radio Waves;Analogous Arrangements Using Other Waves
Extended Family	111-330-303-490-892 001-849-740-698-686 106-732-582-353-081 021-613-673-721-229 009-857-117-837-032
Patent ID	20190289172
Inventor/Author	Bangs Corey Frederick Briggs Forrest Samuel Hansel George James Hoffacker James Allen-white Lamba Dhruv Lee Chi Hoon Lu Yi Mcginn Brian Thomas Sawbridge Phillip
IPC	H04N5/06 H04N23/90
Status	Inactive
Owner	Lyft Inc Woven By Toyota U.s. Inc
Simple Family	111-330-303-490-892 001-849-740-698-686 106-732-582-353-081 021-613-673-721-229 009-857-117-837-032
CPC (with Group)	H04N5/06 H04N13/296 G01S17/86 H04N13/243 H04N2013/0081 H04N23/66 H04N23/90
Issuing Authority	United States Patent and Trademark Office (USPTO)
Kind	Patent Application Publication