CN110198198B - Road side unit synchronization method, device, processor and road side unit - Google Patents
Road side unit synchronization method, device, processor and road side unit Download PDFInfo
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- CN110198198B CN110198198B CN201810164463.XA CN201810164463A CN110198198B CN 110198198 B CN110198198 B CN 110198198B CN 201810164463 A CN201810164463 A CN 201810164463A CN 110198198 B CN110198198 B CN 110198198B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18578—Satellite systems for providing broadband data service to individual earth stations
- H04B7/18582—Arrangements for data linking, i.e. for data framing, for error recovery, for multiple access
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0644—External master-clock
Abstract
The invention discloses a road side unit synchronization method, which comprises the following steps: acquiring satellite data; judging whether the satellite data is synchronous with a satellite; if the road side unit is synchronous, generating a satellite synchronous signal by using the satellite data, and synchronizing the road side unit through the satellite synchronous signal; therefore, in the scheme, each road side unit can generate a satellite synchronization signal through satellite data synchronized with a satellite, so that mutual synchronization of all road side units is realized through the satellite synchronization signal, extra hardware such as synchronizers and synchronization cables is not needed, and the local synchronization system formed in the way simplifies the networking network scale of the multi-lane ETC, reduces the integration difficulty of the ETC system, and solves the problem that the system synchronization cannot be performed between the road side units through connecting the synchronizers or the synchronization cables due to the construction difficulty and the like; the invention also discloses a road side unit synchronizing device, a processor and a road side unit, and the technical effects can be realized.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a road side unit synchronization method, a road side unit synchronization device, a processor and a road side unit.
Background
At present, there are two general synchronization methods applied to a multi-ETC (Electronic Toll Collection) lane system:
firstly, an independent or integrated synchronizer is equipped for the road side units of each ETC lane, a synchronization signal is generated by the synchronizer as a main control synchronizer or an additional circuit, and other synchronizers are used as slaves to receive the synchronization signal, so that the road side units connected with the synchronizers are mutually synchronized.
And for the road side units on each ETC lane, the road side unit processor serving as the main control generates pulse width modulation signals to be output as synchronous signals, and other road side units are connected with the main control road side unit by using special synchronous cables to perform synchronization.
In both of the above two methods, one of the synchronizers or the rsu processor is required to be used as a master control, and the other synchronizers or rsu processors are used as slaves to receive the synchronization signal. In the mode of using a synchronizer or a synchronous cable, on the equipment level, extra communication and control interfaces are needed to adjust parameters such as signal frequency and duty ratio, and the complexity of road side unit synchronization is increased. On the system level, the networking network scale and the networking equipment quantity of the ETC lane need to be additionally increased, the construction difficulty is improved, and the integration cost and the complexity of the ETC system are increased.
Therefore, how to reduce the complexity of the synchronization of the road side units, avoiding the problems of high cost and high complexity of the ETC system, difficult construction and large maintenance workload caused by the fact that the system needs to additionally increase the networking network scale and the networking equipment amount of the ETC lane, and is needed to be solved by technical personnel in the field.
Disclosure of Invention
The invention aims to provide a method, a device, a processor and a road side unit for synchronizing the road side unit, so as to reduce the complexity of the synchronization of the road side unit and avoid the problems of high cost and complexity of an ETC system, difficult construction and large maintenance workload caused by the fact that the networking network scale and the networking equipment quantity of an ETC lane are additionally increased in the system.
In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:
a method of roadside unit synchronization, comprising:
acquiring satellite data;
judging whether the satellite data is synchronous with a satellite;
and if the road side unit is synchronous, generating a satellite synchronous signal by using the satellite data, and synchronizing the road side unit through the satellite synchronous signal.
Wherein if the satellite data is not synchronized with the satellite, the RSU synchronization method further comprises:
synchronizing the road side units using a local synchronization signal.
Wherein, if the satellite data is synchronized with a satellite, the RSU synchronization method further comprises:
and utilizing the satellite synchronization signal to calibrate a local synchronization signal generation module in real time.
The specific method for judging whether the satellite data is synchronous with the satellite comprises the following steps: and judging whether the satellite data which are continuously repeated for a plurality of times meet a certain error range, and if so, judging that the satellite data and the satellite are synchronous.
The satellite data generation method comprises the following steps:
the antenna unit built in the road side unit receives satellite signals, demodulates and decodes the satellite signals through a wireless transceiver module built in the road side unit, generates frame data according to a preset frame format, performs protocol analysis on the frame data, and generates the satellite data by using PPS signals.
A roadside unit synchronization device comprising:
the data acquisition module is used for acquiring satellite data;
the judging module is used for judging whether the satellite data is synchronous with a satellite;
and the first synchronization module is used for generating a satellite synchronization signal by using the satellite data when the satellite data is synchronized with a satellite, and synchronizing the road side unit through the satellite synchronization signal.
Wherein, this scheme still includes:
and the second synchronization module is used for synchronizing the road side unit by using a local synchronization signal when the satellite data and the satellite are not synchronized.
Wherein, this scheme still includes:
and the calibration module is used for calibrating the local synchronous signal generation module in real time by using the satellite synchronous signal when the satellite data is synchronous with a satellite.
A processor of a road side unit realizes the steps of the road side unit synchronization method when executing a computer program.
A road side unit comprising the processor described above, the road side unit further comprising: the antenna unit is arranged in the road side unit and used for receiving satellite signals; and the wireless transceiver module is arranged in the road side unit and used for demodulating and decoding the satellite signal, generating frame data according to a preset frame format, carrying out protocol analysis on the frame data and generating the satellite data by utilizing a PPS signal.
According to the scheme, the method for synchronizing the road side units provided by the embodiment of the invention comprises the following steps: acquiring satellite data; judging whether the satellite data is synchronous with a satellite; if the road side unit is synchronous, generating a satellite synchronous signal by using the satellite data, and synchronizing the road side unit through the satellite synchronous signal;
therefore, in the scheme, each road side unit can generate a satellite synchronization signal through satellite data synchronized with a satellite, so that mutual synchronization of all road side units is realized through the satellite synchronization signal, extra hardware such as synchronizers and synchronization cables is not needed, and the local synchronization system formed in the way simplifies the networking network scale of the multi-lane ETC, reduces the integration difficulty of the ETC system, and solves the problem that the system synchronization cannot be performed between the road side units through connecting the synchronizers or the synchronization cables due to the construction difficulty and the like; the invention also discloses a road side unit synchronizing device, a processor and a road side unit, and the technical effects can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for synchronizing road side units according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a specific method for synchronizing rsus according to an embodiment of the present invention;
FIG. 3 is a timing diagram of a PPS synchronization mechanism according to an embodiment of the present invention;
FIG. 4 is a timing diagram of a local synchronization mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a specific structure of a roadside unit disclosed in the embodiments of the present invention;
FIG. 6 is a flowchart of a selected satellite synchronization signal according to an embodiment of the present disclosure;
FIG. 7 is a flowchart of a selected local synchronization signal according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a roadside unit synchronization device disclosed in the embodiments of the present invention;
fig. 9 is a schematic diagram of receiving a rsu according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a method, a device, a processor and a road side unit for synchronizing the road side unit, which aim to reduce the complexity of the synchronization of the road side unit and avoid the problems of high cost and complexity of an ETC system, difficult construction and large maintenance workload caused by the fact that the networking network scale and the networking equipment quantity of an ETC lane are additionally increased in the system.
Referring to fig. 1, a method for synchronizing a roadside unit provided by an embodiment of the present invention includes:
s101, satellite data is obtained;
the satellite data in this scheme is generated by the rsu after processing the satellite signal, and the rsu synchronization method described in this embodiment is described based on the angle of the processor of the rsu. Specifically, the road side unit in the scheme comprises a satellite signal receiver, a wireless transceiver module and a processor, wherein the satellite signal receiver receives a satellite signal, and the satellite signal is processed through the wireless transceiver module to obtain satellite data. The satellite data at least comprises information such as a positioning module, longitude and latitude, a satellite clock, positioning state judgment and the like.
S102, judging whether the satellite data is synchronous with a satellite; if synchronous, executing S103;
specifically, in order to ensure that all roadside units are synchronized with each other, in the scheme, it is necessary to ensure that the received satellite data is synchronized with the satellite, and only if the satellite data is synchronized with the satellite, it can be ensured that the time in which the satellite data is received by all roadside units is synchronized, so that the satellite data can be used to generate a satellite synchronization signal to synchronize the roadside units.
And S103, generating a satellite synchronization signal by using the satellite data, and synchronizing the road side unit through the satellite synchronization signal.
Wherein if the satellite data is not synchronized with the satellite, the RSU synchronization method further comprises: synchronizing the road side units using a local synchronization signal.
Specifically, the processor in this embodiment may also be referred to as a parallel processor, that is, after receiving the satellite data, the rsu processor generates a local synchronization signal in a parallel manner, that is, the process of analyzing and generating the satellite synchronization signal is synchronized with the process of generating the local synchronization signal, if the time of the satellite data is synchronized with the satellite, the rsu is synchronized with the satellite using the satellite synchronization signal, and if the time of the satellite data is not synchronized with the satellite, the rsu may be synchronized with the local synchronization signal.
It can be understood that each roadside unit in the scheme may record time of satellite data and the number of times of satellite asynchronism, if the number of times of continuous asynchronism is greater than a predetermined threshold, or the total number of times of asynchronism is greater than a predetermined threshold, it is indicated that the wireless transceiver module may be in an abnormal state, the state of the wireless transceiver module is checked, and then repair operations such as a power down operation, a reset operation, and the like are performed, and if the wireless transceiver module is in an abnormal state after passing through the repair operations, operations such as fault reporting or fault reminding are performed according to a preset repair strategy, which is not specifically limited herein. It should be noted that, the synchronization of the roadside unit by using the satellite synchronization signal is the same as the principle of synchronizing the roadside unit by using the controller end in the existing scheme, and is not described herein in detail.
In summary, for the multiple-lane side unit system, when the method for synchronizing the road side units according to the embodiment is used, no additional device, circuit or cable is needed to perform communication between the master road side unit and the slave road side unit. That is, after the time of the received satellite data is synchronized to the satellite and the satellite synchronization signal is generated, the synchronization process of the road side unit can be performed through the satellite synchronization signal, so as to determine that the road side unit is synchronized to the satellite clock; in this way, in the multi-ETC lane system, when the roadside units are used, when the satellite data generated by the wireless transceiver modules of all the roadside units are synchronized with the satellite, all the roadside units are determined to be synchronized with each other at the moment, and the multi-ETC lane system is determined to be synchronized. The local area synchronization system formed by the mode simplifies the networking network scale of the multi-lane ETC, reduces the integration difficulty of the ETC system, and solves the problem that the system synchronization cannot be carried out between the road side units through connecting synchronizers or synchronous cables due to the reasons of difficult construction and the like
Based on the foregoing embodiment, in this embodiment, the method for generating satellite data specifically includes:
the antenna unit built in the road side unit receives the satellite signal, demodulates and decodes the satellite signal through the wireless transceiver module built in the road side unit, generates frame data according to a preset frame format, performs protocol analysis on the frame data, and generates the satellite data by using the PPS signal.
Specifically, the satellite signal receiver in this scheme may be specifically an antenna unit, and the antenna unit receives the satellite signal, demodulates and decodes the satellite signal through the wireless transceiver module, and issues the demodulated and decoded satellite signal to the processor in the road side unit according to a predetermined protocol.
The wireless transceiver module in the scheme is used for receiving satellite signals or base station signals of mobile communication. Specifically, the wireless transceiver module in the scheme is specifically configured to demodulate and decode signals received by the antenna unit to obtain information such as satellite time and longitude and latitude coordinates transmitted by a satellite, and generate frame data according to a Unicore protocol and transmit the frame data to the roadside unit processor.
In the scheme, the wireless transceiver module comprises three positioning modules, namely GPS positioning, BDS positioning and GPS/BDS mixed positioning. In order to increase accuracy and reliability, a GPS/BDS hybrid positioning module is adopted in the implementation process of the scheme, namely satellite signals in the scheme are specifically GPS and BDS dual-frequency signals.
For the system level, the ETC system is constructed by using the prior art technical scheme, and for the application system of N ETC lanes, N RSUs (Road Side Unit ) + N controllers + N synchronization cables (+ N synchronizers) need to be used. And use this technical scheme to establish ETC system, to the application in N ETC lanes, only need to use N RSU + N controllers. For the hardware angle of the equipment level, the RSU equipment of the scheme is improved by reducing one path of RS485 and corresponding circuits and hardware interfaces and adding a wireless transceiver module and a corresponding double-frequency antenna.
Therefore, the road side unit integrates the wireless transceiver module supporting GPS and BDS dual-mode positioning, and can realize synchronization among a plurality of road side units on the basis of realizing self synchronization of a single road side unit without additional independent signal generating equipment or signal generating circuits by using a satellite synchronization technology and a local synchronization technology. In addition, the scheme can reduce the external interfaces of the equipment and improve the integration level of the equipment; the equipment networking scale is reduced, and then the construction difficulty of the ETC system is reduced, and further the system integration cost is reduced.
Based on any of the above embodiments, in this embodiment, the specific method for determining whether the satellite data is synchronized with the satellite is as follows: and judging whether the satellite data which are continuously repeated for a plurality of times meet a certain error range, and if so, judging that the satellite data and the satellite are synchronous. Referring to fig. 2, a specific method for synchronizing a roadside unit provided in an embodiment of the present invention specifically includes:
s201, satellite data is obtained;
s202, carrying out protocol analysis on frame data in the satellite data to obtain protocol analysis data;
s203, determining the analysis time corresponding to each PPS signal by using the PPS signals in the satellite data and the protocol analysis data;
s204, judging whether the time error between the analysis times corresponding to each PPS signal meets the preset requirement or not; if yes, executing S205, if not, executing S206;
s205, generating a satellite synchronization signal by using the satellite data, and synchronizing the road side unit through the satellite synchronization signal;
and S206, synchronizing the road side unit by using a local synchronization signal.
Specifically, in the present scheme, the determining whether the satellite data for multiple consecutive times meets a certain error range is specifically determining whether a time error between analysis times corresponding to multiple PPS (Pulse Per Second) signals meets a predetermined requirement, and if the predetermined requirement is met, the satellite data for multiple consecutive times meets the certain error range. The road side unit synchronization mechanism in the scheme is an automatic synchronization mechanism, the generated synchronization signal comes from the wireless transceiver module, and the wireless transceiver module is time-synchronized with the satellite, so that synchronization among a plurality of road side units is realized. In the multi-ETC system using the road side unit, a plurality of road side units do not have a master-slave division, and each road side unit can generate a synchronous signal. The satellite synchronization mechanism is implemented as follows:
1) and the parallel processor carries out protocol analysis on the frame data sent by the wireless transceiving module, and extracts the synchronized satellite time in a time format of h: min: s: m, wherein h is 'hour', min is 'minute', s is 'second', and m is 'millisecond'. Wherein the millisecond display accuracy is 1 ms.
2) In the implementation of the satellite synchronization mechanism, a PPS synchronization mechanism is added. On the basis of carrying out protocol analysis on frame data sent by a wireless transceiver module to extract a time stamp, the PPS signal is utilized to carry out ns-level calibration on the time stamp extracted by the protocol analysis, so that the precision reaches 20 ns. The PPS signal is generated after the wireless transceiver module is synchronized to the satellite.
3) And the satellite synchronization signal judgment module is used for judging whether the wireless transceiver module is synchronized to the satellite or not by combining the frame data content transmitted by the protocol and the PPS signal. If the analysis wireless transceiver module is synchronized to the satellite, judging that the output result of the satellite synchronization mechanism is effective; if the analysis wireless transceiver module is out of synchronization with the satellite, the output result of the satellite synchronization mechanism is judged to be invalid.
Specifically, the frame data in the scheme is frame data of a Unicore protocol issued by the wireless transceiver module, and the content of the frame data includes information such as a positioning module, longitude and latitude, a satellite clock, and positioning state judgment. The processor analyzes the frame data sent by the wireless transceiver module, detects the positioning state judgment of the frame data, and judges whether the frame data time is synchronous with the satellite or not by combining the time interval position triggered by the rising edge of the PPS signal.
Referring to fig. 3, in the timing diagram of the PPS synchronization mechanism provided in this embodiment, T1 is a time interval between the PPS rising edge and the timestamp resolved by the RSU chip protocol, and a 24-hour system time accurate to 0.001 second is obtained according to the PPS rising edge position and the resolved timestamp position, which is the resolution time in this solution. And comparing the analysis time obtained each time, and if the analysis time meets the preset requirement, determining that the analysis time is synchronous, and further outputting the pulse per second of the satellite synchronous clock.
In the present embodiment, meeting the predetermined requirement can be understood as: if the analysis time obtained each time is compared with the analysis time obtained last time, the comparison result is within a certain error range, and synchronization is considered; or judging that two analysis times with a plurality of analysis times are compared, and if the comparison result is within a certain error range, considering synchronization; specifically, for the clock obtained last time, the local crystal oscillator is used for continuously timing the clock, and the satellite time is obtained until the next time, so that the clock and the satellite time can be compared conveniently.
4) The module finally outputs a satellite synchronous clock, namely a satellite synchronous signal, namely a first synchronous signal of the road side unit.
Based on any of the above embodiments, in this embodiment, if the satellite data is synchronized with a satellite, the method for synchronizing the rsu further includes:
and utilizing the satellite synchronization signal to calibrate a local synchronization signal generation module in real time.
Specifically, in order to ensure the continuity of the roadside unit synchronization, a local synchronization signal generation mechanism exists in the roadside unit processor, so that when the time in the satellite data is not synchronous with the satellite, the roadside unit is synchronized by using the local synchronization signal; furthermore, in order to ensure that the local clock is synchronized with the satellite time, and there is no time deviation, in this solution, the local synchronization signal generation module needs to be calibrated by the satellite synchronization signal after the time of the satellite data is synchronized with the satellite. And, through the calibration to the local synchronizing signal generating module, can guarantee in a multilane ETC system, carry on the cooperative work among a plurality of RSUs according to the same time criterion.
Specifically, the specific implementation of the local synchronization signal generation mechanism is as follows:
1) a local clock is generated on the processor in the time format h min s m, where h is 'hours', min is 'minutes', s is 'seconds', and m is 'milliseconds'. Wherein the millisecond display accuracy is 1 ms.
2) The local clock is calibrated using the time stamp of the satellite synchronization signal, when the local time stamp is synchronized with the satellite time. Referring to fig. 4, a timing diagram of the local synchronization mechanism provided for the embodiment, specifically, a timestamp generated by the satellite synchronization signal is obtained as a timestamp of the local synchronization signal, and a local synchronization clock is generated by the timestamp of the local synchronization signal.
3) And outputting a local synchronous clock by the local timestamp, namely the local synchronous clock is a local synchronous signal.
In this embodiment, the functions implemented by the processor are embodied in modules, that is, refer to fig. 5, which is a schematic diagram of a specific structure of the roadside unit provided in this embodiment; after the built-in antenna unit in the scheme receives the satellite signal, the wireless transceiving module demodulates and decodes the satellite signal and transmits the satellite signal to the satellite synchronous signal output module in the processor according to the Unicore protocol;
after receiving the data, the satellite synchronization signal output module analyzes the protocol, judges whether the time given by the protocol is synchronous with the satellite or not, outputs a satellite synchronization signal if the time given by the protocol is synchronous with the satellite, and takes the satellite synchronization signal as a first synchronization signal; the first synchronous signal generated by the satellite synchronous signal output module is output to the local synchronous signal generation module, the local synchronous signal generation module is calibrated in real time, and the local synchronous clock module outputs the second synchronous signal at the moment.
And the synchronous signal selection module receives the first synchronous signal generated by the satellite synchronous signal output module and simultaneously receives the second synchronous signal output by the local synchronous signal generation module. When the satellite synchronization signal output module determines that the wireless transceiver module is synchronized with the satellite signal, the synchronization signal selection module selects the satellite synchronization signal to output to the internal interrupt module as the transceiver switching synchronization indication signal of the roadside unit, and a flowchart of the selected satellite synchronization signal is shown in fig. 6. When the satellite synchronization judging module in the satellite synchronization signal output module judges that the wireless transceiver module is out of synchronization with the satellite signal, the synchronization signal selection module selects a local synchronization signal to output to the internal interrupt module as a transceiver switching synchronization indication signal of the roadside unit, and a flow chart of selecting the local synchronization signal is shown in fig. 7. The internal interrupt module receives the synchronous signal output by the synchronous signal selection module and performs transceiving synchronization by using the received synchronous signal.
In summary, the road side unit synchronization scheme according to the embodiment has at least the following beneficial effects:
1) compared with other road side units in a synchronous mode, the hardware system of the road side unit used in the scheme has the advantages that the hardware frame is simpler, the integration level is relatively higher, and the development and the maintenance of engineering personnel are easy;
2) the self-synchronization scheme of the road side unit reduces synchronization equipment such as a synchronizer and a synchronization cable required by the traditional ETC networking, reduces the networking scale of the system and extra debugging work under the condition of realizing the same multi-lane ETC system, and simultaneously reduces the integration difficulty of the system;
3) because the road side unit synchronizes satellite time, synchronization among a plurality of road side units is realized, and wiring of a multi-lane ETC system adopting the road side unit can be more flexible;
4) through the local area synchronization system composed of the road side units, the problem that synchronization cannot be performed between the road side units through a connecting synchronizer or a synchronization cable due to construction difficulty in engineering construction can be solved.
The road side unit synchronization device provided by the embodiment of the present invention is introduced below, and the road side unit synchronization device described below and the road side unit synchronization method described above may refer to each other.
Referring to fig. 8, a roadside unit synchronization device provided in an embodiment of the present invention includes:
a data acquisition module 110 for acquiring satellite data;
a judging module 120, configured to judge whether the satellite data is synchronized with a satellite;
the first synchronization module 130 is configured to generate a satellite synchronization signal by using the satellite data when the satellite data is synchronized with a satellite, and synchronize the road side unit through the satellite synchronization signal.
Wherein, this scheme still includes:
and the second synchronization module is used for synchronizing the road side unit by using a local synchronization signal when the satellite data and the satellite are not synchronized.
Wherein, this scheme still includes:
and the calibration module is used for calibrating the local synchronous signal generation module in real time by using the satellite synchronous signal when the satellite data is synchronous with a satellite.
The judging module is specifically used for judging whether satellite data which are continuously repeated meet a certain error range, and if so, judging that the satellite data are synchronous with a satellite;
specifically, the judging module includes:
the protocol analysis unit is used for carrying out protocol analysis on frame data in the satellite data to obtain protocol analysis data;
the analysis time determining unit is used for determining the analysis time corresponding to each PPS signal by utilizing the PPS signals in the satellite data and the protocol analysis data;
the judging unit is used for judging whether the time error between the analysis times corresponding to each PPS signal meets the preset requirement or not; and if so, judging whether the satellite data is synchronous with the satellite.
In the following, the rsus provided by the embodiments of the present invention are introduced, and the rsus described below and the rsus synchronization method described above may be referred to each other.
Referring to fig. 9, a roadside unit provided by an embodiment of the present invention includes a processor 210; and when the processor executes the computer program, the steps of the road side unit synchronization method are realized.
An antenna unit 220 built in the road side unit for receiving satellite signals;
the wireless transceiver module 230 built in the roadside unit is configured to demodulate and decode the satellite signal, generate frame data according to a predetermined frame format, perform protocol analysis on the frame data, and generate the satellite data by using a PPS signal.
In conclusion, the scheme discloses a road side unit integrating wireless transceiving modules, which is applied to multiple ETC lanes, does not need a synchronizer, a synchronous cable and the like, and can realize self-synchronization and a synchronization method thereof. The local area synchronization system formed by the scheme simplifies the networking network scale of the multi-lane ETC, reduces the integration difficulty of the ETC system, and solves the problem that the system synchronization can not be carried out between the road side units due to the reasons of construction difficulty and the like through connecting a synchronizer or a synchronization cable.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A road side unit synchronization method is characterized in that based on a road side unit, the road side unit synchronization method comprises the following steps:
acquiring satellite data; after receiving satellite data, the road side unit generates a local synchronous signal in a parallel mode;
judging whether the satellite data is synchronous with a satellite;
if the road side unit is synchronous, generating a satellite synchronous signal by using the satellite data, and synchronizing the road side unit through the satellite synchronous signal;
if not, synchronizing the road side unit by using a local synchronization signal;
the satellite data generation method comprises the following steps:
the antenna unit built in the road side unit receives satellite signals, demodulates and decodes the satellite signals through a wireless transceiver module built in the road side unit, generates frame data according to a preset frame format, performs protocol analysis on the frame data, and generates the satellite data by using a PPS signal;
wherein the road side unit synchronization method further comprises: the road side unit records the number of times of satellite data and satellite asynchronization, and if the number of continuous asynchronization is greater than a preset threshold value or the total number of asynchronization is greater than a preset threshold value, the road side unit judges that the wireless transceiver module is in an abnormal state, checks the state of the wireless transceiver module and executes repair operation; and if the wireless transceiver module is still in an abnormal state after the repair operation, carrying out fault reporting or fault reminding according to a preset repair strategy.
2. The rsu synchronization method of claim 1, wherein if the satellite data is synchronized with a satellite, the rsu synchronization method further comprises:
and utilizing the satellite synchronization signal to calibrate a local synchronization signal generation module in real time.
3. The rsu synchronization method according to claim 1 or 2, wherein the specific method of determining whether the satellite data is synchronized with a satellite is: and judging whether the satellite data which are continuously repeated for a plurality of times meet a certain error range, and if so, judging that the satellite data and the satellite are synchronous.
4. A RSU synchronization device, based on a RSU, comprising:
the data acquisition module is used for acquiring satellite data; the data acquisition module receives satellite data and then generates a local synchronous signal in a parallel mode;
the judging module is used for judging whether the satellite data is synchronous with a satellite;
the first synchronization module is used for generating a satellite synchronization signal by using the satellite data when the satellite data is synchronized with a satellite, and synchronizing the road side unit through the satellite synchronization signal;
the second synchronization module is used for synchronizing the road side unit by using a local synchronization signal when the satellite data is not synchronized with a satellite;
the antenna unit built in the road side unit receives satellite signals, demodulates and decodes the satellite signals through a wireless transceiver module built in the road side unit, generates frame data according to a preset frame format, performs protocol analysis on the frame data, and generates the satellite data by using a PPS signal;
the road side unit is further used for recording the number of times of asynchronization of satellite data and a satellite, and if the number of continuous asynchronization is larger than a preset threshold value or the total number of asynchronization is larger than a preset threshold value, the wireless transceiver module is judged to be in an abnormal state, the state of the wireless transceiver module is checked, and a repair operation is executed; and if the wireless transceiver module is still in an abnormal state after the repair operation, carrying out fault reporting or fault reminding according to a preset repair strategy.
5. The rsu synchronization device of claim 4, further comprising:
and the calibration module is used for calibrating the local synchronous signal generation module in real time by using the satellite synchronous signal when the satellite data is synchronous with a satellite.
6. A processor of a rsu, characterized in that the processor implements the steps of the rsu synchronization method according to any of claims 1 to 3 when executing a computer program.
7. A road side unit comprising the processor of claim 6, the road side unit further comprising:
the antenna unit is arranged in the road side unit and used for receiving satellite signals;
and the wireless transceiver module is arranged in the road side unit and used for demodulating and decoding the satellite signal, generating frame data according to a preset frame format, carrying out protocol analysis on the frame data and generating the satellite data by utilizing a PPS signal.
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| CN201810164463.XA CN110198198B (en) | 2018-02-27 | 2018-02-27 | Road side unit synchronization method, device, processor and road side unit |
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