CN113204241B - Clock control method, device, equipment and storage medium based on parking place - Google Patents
Clock control method, device, equipment and storage medium based on parking place Download PDFInfo
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- CN113204241B CN113204241B CN202110488220.3A CN202110488220A CN113204241B CN 113204241 B CN113204241 B CN 113204241B CN 202110488220 A CN202110488220 A CN 202110488220A CN 113204241 B CN113204241 B CN 113204241B
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- 238000004891 communication Methods 0.000 claims abstract description 227
- 239000000969 carrier Substances 0.000 claims abstract description 74
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- 238000012163 sequencing technique Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 13
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- 238000012549 training Methods 0.000 claims description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention belongs to the technical field of automatic driving, and discloses a clock control method, device and equipment based on a parking place and a storage medium. The method comprises the following steps: when the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, determining a plurality of target movable carriers according to the entrance time length of other movable carriers in the parking place; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier; and controlling the current movable carrier to move to the communication area, and synchronizing the clock of the current movable carrier according to the clock data of the communication target. By the method, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is in a parking place with low quality.
Description
Technical Field
The present invention relates to the field of autopilot technology, and in particular, to a parking place-based clock control method, apparatus, device, and storage medium.
Background
With the continuous development of intelligent control technology, sensor technology, information processing technology and mobile carrier communication technology have all greatly developed, and then drive the autopilot technology to cross one another technological threshold, the sophisticated research and development of autopilot also gradually starts to advance the autopilot level from L3 level to L4 level, and technical problems are also in great occurrence while the autopilot level is improved, and the technical problem needs to be solved.
Because the requirement on the precision of the clock is high, the automatic driving movable carrier and the remote data or remote control end are unified in time through the satellite clock, however, when the movable carrier is positioned at an underground parking place, the situation that the satellite signal is weak or even the satellite signal cannot be received possibly occurs, the situation that the satellite time signal cannot be received for a long time generally occurs due to the parking time length of the movable carrier parked at the parking place, and at the moment, the requirement of time synchronization of the movable carrier started from the underground parking place and the remote control end cannot be met, further, the validity judgment of the signal is not reliable any more, and the automatic driving movable carrier generates accidents.
Disclosure of Invention
The invention mainly aims to provide a clock control method, device, equipment and storage medium based on a parking place, and aims to solve the technical problem that a movable carrier in the prior art cannot acquire a reliable satellite clock signal in the parking place.
In order to achieve the above object, the present invention provides a clock control method based on a parking place, the method comprising the steps of:
When the current movable carrier is positioned at a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, sending a parking information inquiry request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place;
Determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place;
acquiring indoor positioning information and parking place information of a target movable carrier;
Determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier;
controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target;
And acquiring clock data of the communication target through the communication connection, and synchronizing the clock of the current movable carrier according to the clock data of the communication target.
Optionally, the determining the communication target and the communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier includes:
Acquiring idle parking position information according to the parking place information;
predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information;
calculating the power-down time of the target movable carrier to the target parking position according to the target parking position;
And acquiring indoor position information of the current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier reaching a target parking position.
Optionally, the predicting the target parking position of the target movable carrier according to the idle parking position information and the indoor positioning information includes:
Determining a preset parking position prediction model from a preset model database according to the parking place information;
and carrying out position prediction according to the idle parking position information and the indoor positioning information through a preset parking position prediction model to obtain a target parking position of the target movable carrier.
Optionally, before the step of determining the preset parking position prediction model from the preset model database according to the parking place information, the method further includes:
acquiring an initial parking position prediction model;
Training the initial parking position prediction model according to the sampling idle parking position information and the sampling indoor positioning information to obtain a preset parking position prediction model;
acquiring parking place information corresponding to the sampling idle parking position information;
And storing the parking place information corresponding to the sampling idle parking position information into a preset model database as an index of a preset parking position prediction model.
Optionally, the determining the communication target and the communication area corresponding to the communication target according to the position information of the current movable carrier and the power-down time of the target movable carrier reaching the target parking position includes:
determining a signal area where the target parking position is located according to the target parking position;
determining the running time of the current movable carrier reaching the signal area where the target parking position is located according to the position information of the current movable carrier;
Determining a communication target according to the running time and the power-down time of the target movable carrier reaching a target parking position;
And taking the signal area where the target parking position of the communication target is located as a communication area.
Optionally, the determining the communication target according to the running time and the power-down time of the target movable carrier reaching the target parking position includes:
Calculating available synchronous time according to the running time and the power-down time of the target movable carrier reaching the target parking position;
Sequencing the success probability of clock synchronization according to the available synchronization time and the target parking position to obtain a sequencing result;
And determining a communication target according to the sequencing result.
Optionally, the determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place includes:
acquiring the occupied area of a parking place;
Estimating a parking time threshold according to the occupied area, and setting an effective entrance time according to the time threshold;
acquiring an entrance time length smaller than the effective entrance time length, and determining other movable carriers corresponding to the entrance time length smaller than the effective entrance time length as target movable carriers.
In addition, in order to achieve the above object, the present invention also provides a parking place-based clock control apparatus, which includes:
the control module is used for sending a parking information inquiry request to a data terminal in the parking place when the current movable carrier is in the parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place;
the processing module is used for determining a plurality of target movable carriers according to the entrance time length of other movable carriers in the parking place;
the acquisition module is used for acquiring indoor positioning information and parking place information of the target movable carrier;
The processing module is further used for determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier;
The control module is further used for controlling the current movable carrier to move to the communication area until communication connection is established with the communication target;
the processing module is further configured to acquire clock data of the communication target through the communication connection, and synchronize a clock of the current movable carrier according to the clock data of the communication target.
In addition, in order to achieve the above object, the present invention also proposes a parking lot based clock control apparatus, comprising: a memory, a processor, and a parking lot based clocking program stored on the memory and executable on the processor, the parking lot based clocking program configured to implement a parking lot based clocking method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a parking lot based clock control program which, when executed by a processor, implements the parking lot based clock control method as described above.
When the current movable carrier is positioned at a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, sending a parking information inquiry request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place; determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place; acquiring indoor positioning information and parking place information of a target movable carrier; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier; controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target; and acquiring clock data of the communication target through the communication connection and synchronizing the clock of the current movable carrier according to the clock data of the communication target. By the method, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is in a parking place with low quality.
Drawings
FIG. 1 is a flow chart of a first embodiment of a parking lot based clock control method of the present invention;
FIG. 2 is a flowchart of step S40 in a second embodiment of a parking lot based clock control method according to the present invention;
FIG. 3 is a schematic diagram illustrating a communication destination selection according to an embodiment of a parking lot-based clock control method of the present invention;
FIG. 4 is a flowchart of step S44 in a third embodiment of a parking lot based clock control method according to the present invention;
FIG. 5 is a schematic diagram of a communication area corresponding to a communication target according to an embodiment of a parking lot based clock control method of the present invention;
FIG. 6 is a block diagram of a first embodiment of a parking lot based clock control apparatus of the present invention;
fig. 7 is a schematic structural diagram of a removable carrier of a hardware running environment according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment of the invention provides a clock control method based on a parking place, and referring to fig. 1, fig. 1 is a flow chart of a first embodiment of the clock control method based on the parking place.
In this embodiment, the clock control method based on the parking place includes the following steps:
Step S10: and when the current movable carrier is positioned at the parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, sending a parking information inquiry request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place.
It should be noted that, the execution body of the embodiment may be a control terminal on a current mobile carrier, and an operating system is running on the control terminal, so as to implement a vendor or user customized function, where the current mobile carrier may be provided with a satellite time receiver, such as: GPS clock receiving device or Beidou clock receiving device, etc. The movable carrier has various expression forms, such as a carrier with the movement capability of an automobile, a robot, an aircraft and the like, and the form of the movable carrier is not limited in this embodiment.
It will be appreciated that this embodiment is used when the mobile carrier is parked, either satellite signals are difficult to receive or the received satellite signals are of low quality due to the parking spot during start-up. The clock signal of the movable carrier parked in the parking place becomes unreliable after parking for a period of time, when the satellite signal is poor, the local clock is clocked, but as the signal-free time becomes longer, the signal drift of the local clock compared with the satellite clock is increased continuously, and after a period of time, the satellite clock is greatly deviated or even jumped in the local connection along with the continuous accumulation of errors. Therefore, the clock of the current movable carrier can be dynamically updated by comparing the reliability of the clock signals of other movable carriers, and the clock of the current movable carrier can be ensured not to deviate from the satellite clock greatly compared with the clock of the current movable carrier. In addition, in order to ensure that the time of the current movable carrier and the time of the upper computer are kept synchronous, the same clock is used as a clock source for time service, and the satellite clock signal is the most reliable as the clock source because the satellite clock signal has high accuracy and does not generate time deviation. In the practical application process, the systems at the two ends obtain the time difference between the data and the receiving process in a mode of attaching a time stamp to the data, and further judge the effectiveness of the data.
It should be noted that, because the current movable carrier parks in the parkable site for a certain period of time, the satellite signal loss time of the current movable carrier is longer than the satellite signal loss time of the current movable carrier just entering the parkable site, and further, after the satellite signal is lost, the clock source is converted into the local clock to keep the clock stability of the current movable carrier, but a certain time deviation occurs between the local clock and the satellite clock along with the increase of time, so that the clock deviation of the current movable carrier is also larger than the clock deviation of the movable carrier just entering the parkable site, and the time deviation of the clock of the current movable carrier relative to the satellite clock can be effectively reduced by synchronizing the clock of the current movable carrier according to the clock of the movable carrier just entering the parkable site, so that the communication reliability between the current movable carrier and the upper control terminal is higher.
It should be appreciated that when the satellite signal strength is below the preset strength threshold, it is indicated that the current satellite signal is no longer reliable. As long as the satellite signal strength is below the preset strength threshold, the object with the clock more accurate relative to the clock of the current movable carrier can be continuously searched for synchronization.
It should be noted that, the data terminal in the parking place may be an intelligent terminal of the parking place, or may be a network system formed by other devices in the parking place, or may be an ad hoc network system between movable carriers, and the embodiment does not limit the expression form of the data terminal in the parking place.
Further, the time length of entering the movable carrier into the parking place can be obtained through the data terminal in the parking place, and the movable carrier can be obtained through the detection device connected with the data terminal in the parking place at the entrance of the parking place, for example: the radio frequency identification number of the movable carrier is identified through the radio frequency sensor at the entrance, the entrance time of the movable carrier can be obtained by attaching a time stamp to the identification information, and the time length from the entrance time to the current time is the entrance time length. When the data terminal in the parking place sends a parking information inquiry request, the entering time length is sent to the current movable carrier.
Step S20: and determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place.
It should be noted that, the other mobile carriers are mobile carriers except the current mobile carrier, and because there may be numerous other mobile carriers in the parking place, acquiring data information of all mobile carriers may increase the operation burden of the control terminal, so that the first screening may be performed according to the time length of entering each mobile carrier to obtain the target carrier that may establish data connection and complete clock synchronization. Furthermore, since the clock data of the movable carrier cannot be acquired after the movable carrier is powered down, the movable carrier with shorter entry time can be selected as a target to be movable, and the shorter entry time indicates that the movable carrier has higher probability of running in a parking place and searching for an idle parking position, so that enough time is provided for guaranteeing the clock synchronization process.
In a specific implementation, there are various implementations for determining the target mobile carrier according to the time length of the entrance, for example: the shortest 5 movable carriers of the entrance duration can be selected as target movable carriers by sequencing the entrance durations. For another example: the average time from entering to parking and powering down acquired in advance in the cloud server can be used as a reference, the fixed time is used as the increased fault tolerance rate, and the movable carrier with the entering time of the movable carrier being shorter than the current time is used as the target movable carrier. Therefore, the preliminary screening of the movable carrier is completed, the target movable carrier is effectively determined, the entrance time is convenient to obtain, the data volume is small, and the overall efficiency of clock synchronization is effectively improved.
In addition, the occupied area of the parking place can be obtained; estimating a parking time threshold according to the occupied area, and setting an effective entrance time according to the time threshold; acquiring an entrance time length smaller than the effective entrance time length, and determining other movable carriers corresponding to the entrance time length smaller than the effective entrance time length as target movable carriers. It should be noted that the larger the parking area is, the longer the longest parking time of other movable carriers will be, so that a regression linear model can be built according to the pre-sampled parking area and the longest parking time, then a time threshold is determined according to the area of the current parking place, and then a certain numerical correction is performed according to the time threshold to obtain the final effective entrance time. Generally, the correction value can be set according to the idle rate of the parking position of the parking place, and the time is appropriately increased or decreased to obtain the final effective entering time length, and other movable carriers with the entering time length longer than or equal to the effective entering time length prove to be in a parked state, so that other movable carriers with the entering time length shorter than the effective entering time length are selected as target movable carriers.
Step S30: indoor positioning information and parking place information of the target movable carrier are acquired.
It should be understood that the indoor positioning information of the target movable carrier may be obtained by an indoor positioning system connected to the data terminal in the parking place, and the current plane position, the number of layers, the motion state, etc. of the target movable carrier may be known through the indoor positioning information.
It can be understood that the parking place information comprises parking place parking conditions, a parking place ground plane diagram, a parking place moving diagram, a parking place signal heat diagram and the like, and the parking place related information can be stored in a parking place data terminal and can be obtained by sending a query request.
Step S40: and determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier.
It should be noted that the communication target is one or more mobile carriers in the target mobile carriers, and is a mobile carrier that finally establishes a communication connection with the current mobile carrier and performs clock synchronization.
It will be appreciated that the movable carriers in the same area can maintain high quality data communication with each other, and that this area is then the signal area that can be communicated, and a signal area is selected as the target area to be clock-synchronized as the communication area. The signal area may be divided in various ways, for example: the signal thermal map of the parkable site can be divided, and the area covered by the signals of the same signal source is regarded as an independent signal area. For another example: the method comprises the steps that the method can divide the plane map of the parking place, firstly, the wall structure of the place is identified according to the plane map of the parking place, and the outline of the plane wall is subjected to linear detection to obtain line segments of the outlines; extending each wall line segment by a preset length and judging whether a closed figure exists or not; if the closed graph exists, marking the closed graph as a closed area; traversing the closed region, and taking the traversed closed region as a current closed region; judging whether the current closed region comprises a closed region with the area smaller than that of the current closed region or not; and if the current closed region comprises a closed region with the area smaller than that of the current closed region, determining the current closed region as one of the signal regions. And selecting the signal area according to the position information, the route information or the target parking position of the communication target to obtain the communication area.
Further, due to the fact that the positions of the movable carriers in the parking place are different, the situation that walls or barriers exist in the middle of the positions can occur, and even the movable carriers are respectively located on different floors, so that data connection quality is affected. Therefore, the mobile carrier and the mobile carrier in the parking place cannot be stably communicated, and a large signal delay or signal interference condition can occur in the clock synchronization process, so that the clock synchronization failure or the reliability of synchronization is reduced. To ensure a good communication environment between the movable carriers, the same signal area needs to be selected for clock synchronization.
Step S50: and controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target.
It is to be understood that the current mobile carrier may travel to the communication area automatically according to the selected communication area and the current mobile carrier's position plan until a reliable communication connection is established with the traffic objective.
Step S60: and acquiring clock data of the communication target through the communication connection and synchronizing the clock of the current movable carrier according to the clock data of the communication target.
In a specific implementation, the clock of the current movable carrier can be updated by acquiring the time signal of the clock synchronization object. It should be understood that the clock of the current movable carrier may be updated according to the time signal, where the time signal may include phase information and frequency information of the clock, and the updating is to synchronize the phase information and frequency information of the local clock with the clock of the target object, so as to complete time synchronization.
In the embodiment, when a current movable carrier is positioned at a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, a parking information inquiry request is sent to a data terminal in the parking place, so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place; determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place; acquiring indoor positioning information and parking place information of a target movable carrier; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier; controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target; and acquiring clock data of the communication target through the communication connection and synchronizing the clock of the current movable carrier according to the clock data of the communication target. By the method, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is in a parking place with low quality.
Referring to fig. 2, fig. 2 is a flowchart of a second embodiment of a clock control method based on a parking lot according to the present invention.
Based on the first embodiment, the parking place-based clock control method of the present embodiment specifically includes:
Step S41: and acquiring idle parking position information according to the parking place information.
It is to be understood that the obtaining of the free parking position information according to the parking lot information may be obtained from a parking lot data terminal, and the unlabeled free parking position may be obtained by marking the parking spaces of the parked movable carrier.
Step S42: and predicting the target parking position of the target movable carrier according to the idle parking position information and the indoor positioning information.
It should be noted that, according to the idle parking position information and the indoor positioning information, a driving route of the target movable carrier may be obtained, and a predicted route of the target movable carrier may be further predicted by combining a parking place moving map, and an idle parking position closest to the driving route may be queried through the predicted route, so as to further predict a target parking position of the target movable carrier.
It may be appreciated that, regarding the prediction of the target parking position of the target movable vehicle, a preset parking position prediction model may be determined from a preset model database according to the parking lot information; the parking position prediction model can be obtained from a plurality of parking places and corresponding sampling data thereof, so that the plan view information of the current parking place is matched with the parking place information in the preset model database to obtain the preset parking position prediction model corresponding to the parking place with the highest matching degree. And finally, inputting idle parking position information and indoor positioning information, carrying out position prediction according to the idle parking position information and the indoor positioning information through a preset parking position prediction model, and finally, predicting to obtain the target parking position of the target movable carrier.
It should be noted that, the process of establishing the prediction model may be performed by obtaining an initial parking position prediction model; training the initial parking position prediction model according to the sampling idle parking position information and the sampling indoor positioning information, predicting the travelling line of the target movable carrier according to the idle parking position and the target movable carrier position information, further obtaining a predicted target parking position, and obtaining a corresponding relation through machine training, further obtaining a preset parking position prediction model; acquiring parking place information corresponding to the sampling idle parking position information; and storing the parking place information corresponding to the sampling idle parking position information into a preset model database as an index of a preset parking position prediction model, and searching or directly matching through the parking place information to find the corresponding preset parking position prediction model.
Step S43: and calculating the power-down time of the target movable carrier to the target parking position according to the target parking position.
It should be understood that when the target movable carrier reaches the target parking position, the power-off may not be immediately performed, a time compensation value may be obtained according to the average power-off time after parking counted in the database, and then the final power-off time may be obtained according to the duration of the target movable carrier reaching the target parking position and the time compensation value, where the power-off time is the total duration of the target movable carrier from the current time to the power-off time.
Step S44: and acquiring indoor position information of the current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier reaching a target parking position.
It can be understood that after the indoor position information of the current movable carrier is obtained, the communication target and the communication area corresponding to the communication target can be determined according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier reaching the target parking position, further, the time required for reaching the communication area where the target movable carrier reaches the target parking position from the indoor position of the current movable carrier can be obtained through the indoor position information of the current movable carrier, when the time required for reaching the area where the target movable carrier reaches the target parking position from the indoor position of the current movable carrier is smaller than the power-down time of the target parking position, the current vehicle is indicated to have enough time to perform the clock synchronization operation, and the clock synchronization operation with the target movable carrier is indicated to be feasible, namely, the communication area where the target parking position is located can be selected as the communication area corresponding to the communication target.
In a specific implementation, as shown in fig. 3, two target movable carriers are a target No. 1 and a target No. 2, according to indoor position information of the current movable carrier, it can be known that the predicted time for the current movable carrier to reach the communication area is 60 seconds, the power-down time for the target movable carrier No. 1 to reach the target parking position is 70 seconds, and the power-down time for the target movable carrier No. 2 to reach the target parking position is 200 seconds. Therefore, the time for clock synchronization of the target No. 1 with the current movable carrier may be only 10 seconds, and clock synchronization may be completed in 10 seconds in general, but in this process, the target movable carrier may accelerate to travel, or the current movable carrier is transported to a situation where pedestrians are present, so that the possibility that the target No. 1 misses the clock synchronization is greater than the target No. 2, and the target No. 2 successfully performs clock synchronization, so that the target No. 2 movable carrier is selected as a communication object according to the indoor position information of the current movable carrier and the power-down time when the target movable carrier reaches the target parking position.
According to the embodiment, idle parking position information is acquired according to the parking place information; predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information; calculating the power-down time of the target movable carrier to the target parking position according to the target parking position; and acquiring indoor position information of the current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier reaching a target parking position. By the method, the time for establishing stable data connection between the current movable carrier and the target movable carrier is predicted according to the position information of the target movable carrier and the idle parking space information, and the reliability of successful data connection is further obtained. And determining a communication area corresponding to the communication target through the reliability, so that the success rate of clock synchronization of the current movable carrier is improved, and the overall efficiency of clock synchronization is improved.
Referring to fig. 4, fig. 4 is a flowchart of a second embodiment of a clock control method based on a parking lot according to the present invention.
Based on the above-mentioned first embodiment, the parking place-based clock control method of the present embodiment specifically includes:
Step S4401: and determining a signal area where the target parking position is located according to the target parking position.
It should be noted that, the signal area where the target parking position is located is determined according to the target parking position, and there are various manners regarding area division, which are exemplified by the following methods: the method comprises the steps that the method can divide the plane map of the parking place, firstly, the wall structure of the place is identified according to the plane map of the parking place, and the outline of the plane wall is subjected to linear detection to obtain line segments of the outlines; extending each wall line segment by a preset length and judging whether a closed figure exists or not; if the closed graph exists, marking the closed graph as a closed area; traversing the closed region, and taking the traversed closed region as a current closed region; judging whether the current closed region comprises a closed region with the area smaller than that of the current closed region or not; if the current closed area comprises a closed area with the area smaller than that of the current closed area, determining the current closed area as one of the signal areas, and then determining the communication area where the target parking position is located as the signal area where the target parking position is located.
Step S4402: and determining the running time of the current movable carrier to the signal area where the target parking position is located according to the position information of the current movable carrier.
It will be appreciated that the autopilot path planning may be performed based on the position of the current mobile carrier and the signal area in which the target parking position is located, by which the travel time required from the position of the current mobile carrier to the signal area in which the target parking position is located may be estimated.
Step S4403: and determining a communication target according to the running time and the power-down time of the target movable carrier reaching the target parking position.
It can be understood that the duration from when the communication target and the current movable carrier reach the communication area to before the communication target is powered down can be calculated according to the running time and the power-down time when the target movable carrier reaches the target parking position, and the longer the duration is, the longer the duration is the time for the current movable carrier to perform stable communication with the communication target, so that the fault tolerance rate in clock synchronization is improved, and therefore, the target with the highest fault tolerance rate can be selected as the communication target according to the running time and the power-down time when the target movable carrier reaches the target parking position.
In the embodiment, calculating the available synchronization time according to the running time and the power-down time of the target movable carrier to the target parking position; sequencing the success probability of clock synchronization according to the available synchronization time and the target parking position to obtain a sequencing result; and determining a communication target according to the sequencing result.
It should be understood that when there are a plurality of target movable carriers that satisfy the requirement that the time required for the indoor position of the current movable carrier to reach the region where the target movable carrier reaches the target parking position is smaller than the power-down time of the target parking position, the available synchronization time may also be calculated based on the travel time and the power-down time of the target movable carrier to reach the target parking position. The available time is the time length from when the communication target and the current movable carrier reach the communication area to before the communication target is powered down, the longer the time length is, the longer the running speed of the target movable carrier is uncertain, so that the calculated available synchronous time shows the possibility of successfully completing the clock synchronous operation, the possibility can be shown through probability, the probability does not show the real success probability, but only serves as an index for selecting the target movable carrier, and finally the success probability of clock synchronous is ranked, so that a ranking result is obtained; and determining a communication target according to the sequencing result.
Step S4404: and taking the signal area where the target parking position of the communication target is located as a communication area.
It can be understood that after the signal area is divided, the signal area where the communication target is located is selected according to the target parking position of the predicted communication target, and the communication area can be obtained. When the communication target and the current movable carrier are both in the communication area, the clock signals can be stably synchronized.
In a specific implementation, as can be seen from fig. 5, there are two target movable carriers, i.e., a target movable carrier No. 1 and a target movable carrier No. 2, and two signal areas No. 1 and No. 2. The available synchronization time for clock synchronization with the target 1 movable is 70s based on the power-down time and the time when the current movable carrier arrives at the target signal area, because the time period from when the communication target and the current movable carrier reach the communication area to when the communication target is powered down is 70s, which is 10s later than the target 1 movable carrier arrives at the signal area 1. The available synchronization time for clock synchronization with the No. 2 target is 20s, when the No. 2 target movable carrier enters the No. 2 signal area, the power is possibly turned off after 20s, so that the No. 1 target movable carrier can be obtained as a communication target according to the sequencing result, and the No. 1 signal area is a communication area. The conversion probability is described as that the target movable carrier is in the No. 2 area, the clock synchronization time is too short due to the fact that the acceleration driving or the stopping is rapidly conducted, and the fault tolerance can be achieved for a long time when the target movable carrier goes to the No. 1 signal area.
The embodiment determines a signal area where the target parking position is located according to the target parking position; determining the running time of the current movable carrier reaching the signal area where the target parking position is located according to the position information of the current movable carrier; determining a communication target according to the running time and the power-down time of the target movable carrier reaching a target parking position; and taking the signal area where the target parking position of the communication target is located as a communication area. By the method, reasonable selection of the communication target and the communication area according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier reaching the target parking position is realized, the time length which can be used in the clock synchronization process is ensured, and the success rate of clock synchronization is improved.
In addition, an embodiment of the present invention further provides a parking lot based clock control apparatus, referring to fig. 6, where the parking lot based clock control apparatus includes:
And the control module 10 is used for sending a parking information inquiry request to the data terminal in the parking place when the current movable carrier is in the parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place.
And the processing module 20 is used for determining a plurality of target movable carriers according to the entrance time length of other movable carriers in the parking place.
And an acquisition module 30 for acquiring indoor positioning information and parking place information of the target movable carrier.
The processing module 20 is further configured to determine a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier.
The control module 10 is further configured to control the current mobile carrier to move to the communication area until a communication connection is established with the communication destination.
The processing module 20 is further configured to acquire clock data of the communication destination through the communication connection and synchronize a clock of the current mobile carrier according to the clock data of the communication destination.
When the current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, the control module 10 of the embodiment sends a parking information inquiry request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place; the processing module 20 determines a plurality of target movable carriers according to the entrance time periods of other movable carriers in the parking place; the acquisition module 30 acquires indoor positioning information and parking place information of the target movable carrier; the processing module 20 determines a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier; the control module 10 controls the current movable carrier to move to the communication area until a communication connection is established with the communication target; the processing module 20 obtains the clock data of the communication target through the communication connection and synchronizes the clock of the current movable carrier according to the clock data of the communication target. By the device, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is in a parking place with low quality.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a parking place-based clock control program, and the parking place-based clock control program realizes the steps of the parking place-based clock control method when being executed by a processor.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a removable carrier of a hardware running environment according to an embodiment of the present invention.
As shown in fig. 7, the movable carrier may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 7 is not limiting of the movable carrier and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 7, an operating system, a network communication module, a user interface module, and a parking lot-based clock control program may be included in a memory 1005 as one type of computer storage medium.
In the removable carrier shown in fig. 7, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving an input instruction of a user; the removable carrier invokes the park-based clock control program stored in memory 1005 by processor 1001 and performs the following operations:
When the current movable carrier is positioned at a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, sending a parking information inquiry request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place;
Determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place;
acquiring indoor positioning information and parking place information of a target movable carrier;
Determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier;
controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target;
And acquiring clock data of the communication target through the communication connection and synchronizing the clock of the current movable carrier according to the clock data of the communication target.
Further, the processor 1001 may call a parking lot-based clock control program stored in the memory 1005, and further perform the following operations:
Acquiring idle parking position information according to the parking place information;
predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information;
calculating the power-down time of the target movable carrier to the target parking position according to the target parking position;
And acquiring indoor position information of the current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier reaching a target parking position.
Further, the processor 1001 may call a parking lot-based clock control program stored in the memory 1005, and further perform the following operations:
Determining a preset parking position prediction model from a preset model database according to the parking place information;
and carrying out position prediction according to the idle parking position information and the indoor positioning information through a preset parking position prediction model to obtain a target parking position of the target movable carrier.
Further, the processor 1001 may call a parking lot-based clock control program stored in the memory 1005, and further perform the following operations:
acquiring an initial parking position prediction model;
Training the initial parking position prediction model according to the sampling idle parking position information and the sampling indoor positioning information to obtain a preset parking position prediction model;
acquiring parking place information corresponding to the sampling idle parking position information;
And storing the parking place information corresponding to the sampling idle parking position information into a preset model database as an index of a preset parking position prediction model.
Further, the processor 1001 may call a parking lot-based clock control program stored in the memory 1005, and further perform the following operations:
determining a signal area where the target parking position is located according to the target parking position;
determining the running time of the current movable carrier reaching the signal area where the target parking position is located according to the position information of the current movable carrier;
Determining a communication target according to the running time and the power-down time of the target movable carrier reaching a target parking position;
And taking the signal area where the target parking position of the communication target is located as a communication area.
Further, the processor 1001 may call a parking lot-based clock control program stored in the memory 1005, and further perform the following operations:
Calculating available synchronous time according to the running time and the power-down time of the target movable carrier reaching the target parking position;
Sequencing the success probability of clock synchronization according to the available synchronization time and the target parking position to obtain a sequencing result;
And determining a communication target according to the sequencing result.
Further, the processor 1001 may call a parking lot-based clock control program stored in the memory 1005, and further perform the following operations:
acquiring the occupied area of a parking place;
Estimating a parking time threshold according to the occupied area, and setting an effective entrance time according to the time threshold;
acquiring an entrance time length smaller than the effective entrance time length, and determining other movable carriers corresponding to the entrance time length smaller than the effective entrance time length as target movable carriers.
In the embodiment, when a current movable carrier is positioned at a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, a parking information inquiry request is sent to a data terminal in the parking place, so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place; determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place; acquiring indoor positioning information and parking place information of a target movable carrier; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier; controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target; and acquiring clock data of the communication target through the communication connection and synchronizing the clock of the current movable carrier according to the clock data of the communication target. By the method, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is in a parking place with low quality.
In addition, an embodiment of the present invention further provides a computer readable storage medium, where a parking lot based clock control program is stored, where the parking lot based clock control program when executed by a processor performs the following operations:
When the current movable carrier is positioned at a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, sending a parking information inquiry request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place;
Determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place;
acquiring indoor positioning information and parking place information of a target movable carrier;
Determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier;
controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target;
And acquiring clock data of the communication target through the communication connection and synchronizing the clock of the current movable carrier according to the clock data of the communication target.
In the embodiment, when a current movable carrier is positioned at a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, a parking information inquiry request is sent to a data terminal in the parking place, so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place; determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place; acquiring indoor positioning information and parking place information of a target movable carrier; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier; controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target; and acquiring clock data of the communication target through the communication connection and synchronizing the clock of the current movable carrier according to the clock data of the communication target. By the method, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is in a parking place with low quality.
It should be noted that, when the computer readable storage medium is executed by the processor, each step in the method may be further implemented, and meanwhile, the corresponding technical effects are achieved, which is not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a removable carrier to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. The clock control method based on the parking place is characterized by comprising the following steps of:
When the current movable carrier is positioned at a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, sending a parking information inquiry request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place;
Determining a plurality of target movable carriers according to the entrance time of other movable carriers in the parking place;
acquiring indoor positioning information and parking place information of a target movable carrier;
Determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier;
controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target;
acquiring clock data of the communication target through the communication connection, and synchronizing the clock of the current movable carrier according to the clock data of the communication target;
the determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier comprises the following steps:
Acquiring idle parking position information according to the parking place information;
predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information;
calculating the power-down time of the target movable carrier to the target parking position according to the target parking position;
And acquiring indoor position information of the current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier reaching a target parking position.
2. The method of claim 1, wherein predicting the target parking position of the target movable carrier based on the idle parking position information and indoor positioning information comprises:
Determining a preset parking position prediction model from a preset model database according to the parking place information;
and carrying out position prediction according to the idle parking position information and the indoor positioning information through a preset parking position prediction model to obtain a target parking position of the target movable carrier.
3. The method of claim 2, wherein prior to the step of determining a preset parking location prediction model from a preset model database based on the parking lot information, further comprising:
acquiring an initial parking position prediction model;
Training the initial parking position prediction model according to the sampling idle parking position information and the sampling indoor positioning information to obtain a preset parking position prediction model;
acquiring parking place information corresponding to the sampling idle parking position information;
And storing the parking place information corresponding to the sampling idle parking position information into a preset model database as an index of a preset parking position prediction model.
4. The method of claim 1, wherein the determining a communication target and a communication area corresponding to the communication target according to the position information of the current movable carrier and a power-down time of the target movable carrier to reach a target parking position comprises:
determining a signal area where the target parking position is located according to the target parking position;
determining the running time of the current movable carrier reaching the signal area where the target parking position is located according to the position information of the current movable carrier;
Determining a communication target according to the running time and the power-down time of the target movable carrier reaching a target parking position;
And taking the signal area where the target parking position of the communication target is located as a communication area.
5. The method of claim 4, wherein said determining a communication target based on said travel time and a power down time of the target movable carrier to a target parking position comprises:
Calculating available synchronous time according to the running time and the power-down time of the target movable carrier reaching the target parking position;
Sequencing the success probability of clock synchronization according to the available synchronization time and the target parking position to obtain a sequencing result;
And determining a communication target according to the sequencing result.
6. The method of any one of claims 1-5, wherein the determining a plurality of target movable carriers according to the time of entry of other movable carriers in the parking lot comprises:
acquiring the occupied area of a parking place;
Estimating a parking time threshold according to the occupied area, and setting an effective entrance time according to the time threshold;
acquiring an entrance time length smaller than the effective entrance time length, and determining other movable carriers corresponding to the entrance time length smaller than the effective entrance time length as target movable carriers.
7. A parking lot based clock control apparatus, comprising:
the control module is used for sending a parking information inquiry request to a data terminal in the parking place when the current movable carrier is in the parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, so that the data terminal in the parking place feeds back the entrance time of other movable carriers in the parking place;
the processing module is used for determining a plurality of target movable carriers according to the entrance time length of other movable carriers in the parking place;
the acquisition module is used for acquiring indoor positioning information and parking place information of the target movable carrier;
The processing module is further used for determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier;
The control module is further used for controlling the current movable carrier to move to the communication area until communication connection is established with the communication target;
the processing module is further used for acquiring clock data of the communication target through the communication connection and synchronizing the clock of the current movable carrier according to the clock data of the communication target;
The processing module is further used for acquiring idle parking position information according to the parking place information;
predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information;
calculating the power-down time of the target movable carrier to the target parking position according to the target parking position;
And acquiring indoor position information of the current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier reaching a target parking position.
8. A parking lot based clock control apparatus, the apparatus comprising: a memory, a processor, and a parking lot based clocking program stored on the memory and executable on the processor, the parking lot based clocking program configured to implement the parking lot based clocking method of any one of claims 1 to 6.
9. A storage medium having stored thereon a parking lot based clocking program which when executed by a processor implements the parking lot based clocking method of any one of claims 1 to 6.
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