CN112398563A - Time synchronization method and time synchronization system of vehicle and vehicle - Google Patents
Time synchronization method and time synchronization system of vehicle and vehicle Download PDFInfo
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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
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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
- H04B7/1851—Systems using a satellite or space-based relay
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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
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18513—Transmission in a satellite or space-based system
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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
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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Abstract
The invention discloses a time synchronization method and a time synchronization system of a vehicle and the vehicle, wherein the time synchronization method of the vehicle comprises the following steps: acquiring first clock data and second clock data; judging whether the first clock data and the second clock data are accurate or not; and correcting the system time according to the first clock data and the second clock data, and sending the system time to a time service module to complete time synchronization. According to the time synchronization method of the vehicle, the accuracy of the first clock data and the accuracy of the second clock data are judged to screen out the calibration reference of the system time, so that the system time can be calibrated according to the calibration reference, the calibrated system time is sent to the time service module, and the time synchronization is completed through the time service module, so that the accuracy and the reliability of the system time and the time service module can be improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a time synchronization method and a time synchronization system of a vehicle and the vehicle.
Background
In the related art, a vehicle can receive a satellite clock signal to acquire satellite clock data and synchronize the satellite clock data with a time service module, so that the time service precision of the time service module is improved. However, when the satellite clock signal has an error or is interrupted, the vehicle cannot acquire the satellite clock data, so that the satellite clock data and the time service module cannot be time-synchronized, and the system time in the vehicle is inconsistent, that is, the accuracy of the time in the vehicle is reduced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a time synchronization method for a vehicle, which has higher time service precision and accuracy.
The invention further provides a time synchronization system with the time synchronization method of the vehicle.
The invention also provides a vehicle with the time synchronization system of the vehicle.
According to a time synchronization method of a vehicle according to an embodiment of a first aspect of the invention, the time synchronization method of a vehicle includes: acquiring first clock data and second clock data; judging whether the first clock data and the second clock data are accurate or not; and correcting the system time according to the first clock data and the second clock data, and sending the system time to a time service module to complete time synchronization.
According to the time synchronization method of the vehicle, the accuracy of the first clock data and the accuracy of the second clock data are judged to select the calibration reference of the system time, so that the system time can be calibrated according to the calibration reference, the calibrated system time is sent to the time service module, and the time synchronization is completed through the time service module, so that the accuracy and the reliability of the system time and the time service module can be improved.
In some embodiments, the first clock data comprises: a first satellite clock signal and a second satellite clock signal, the second clock data being a local clock signal, the acquiring the first clock data comprising: obtaining the first satellite clock signal, obtaining the second satellite clock signal, and obtaining the local clock signal.
Further, determining whether the first clock data is accurate comprises: judging whether the first satellite clock signal is accurate or not, and judging whether the second satellite clock signal is accurate or not; and judging whether the second clock data is accurate or not to judge whether the local clock signal is accurate or not.
Further, the correcting the system time according to the first clock data and the second clock data includes: if the first satellite clock signal is accurate, the first satellite clock signal is used for correcting the system time; if the first satellite clock signal is not accurate, but the second satellite clock signal is accurate, correcting the system time by the second satellite clock signal; and if the first satellite clock signal and the second satellite clock signal are inaccurate, correcting the system time by using a local clock signal.
In some embodiments, the timing module is time synchronized by a pps signal.
According to a time synchronization system of a vehicle according to an embodiment of a second aspect of the present invention, the time synchronization system of the vehicle includes: the device comprises a first receiving unit, a second receiving unit, a calibration module and a time service module, wherein the first receiving unit is suitable for acquiring first clock data; the second receiving unit is adapted to obtain second clock data; the calibration module is suitable for judging whether the first clock data and the second clock data are accurate or not and calibrating the system time; the time service module is suitable for completing time synchronization.
Further, the calibration module is configured as a MEMS high precision clock.
Further, the second receiving unit is integrated within the calibration module.
Optionally, the time service module performs time synchronization through pps signals.
According to a vehicle of an embodiment of a third aspect of the invention, the vehicle includes: the time synchronization system described in the above embodiments.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a time synchronization method according to an embodiment of the present application;
fig. 2 is a wire frame diagram of a vehicle according to an embodiment of the present application.
Reference numerals:
the vehicle 100 is provided with a plurality of wheels,
the device comprises a first receiving unit 10, a second receiving unit 20, a calibration module 30 and a time service module 40.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A time synchronization method of the vehicle 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 2.
As shown in fig. 1, according to the time synchronization method of the vehicle 100 according to the embodiment of the first aspect of the invention, the time synchronization method of the vehicle 100 includes: acquiring first clock data and second clock data; judging whether the first clock data and the second clock data are accurate or not; and correcting the system time according to the first clock data and the second clock data, and sending the system time to the time service module 40 to complete time synchronization.
Specifically, after the first clock data and the second clock data are acquired, the accuracy of the first clock data and the accuracy of the second clock data are judged, the calibration standard of the system time is selected according to the accuracy of the first clock data and the accuracy of the second clock data, namely, the system time with higher accuracy in the first clock data and the second clock data is used as the calibration standard to calibrate the system time according to the calibration standard, the calibrated system time is sent to the time service module 40, and the calibrated system time is synchronized to other modules by the time service module 40 to complete time synchronization.
That is, the corrected system time realizes time synchronization of the remaining modules through the time service module 40, so as to improve accuracy and reliability of the system time and the time service module 40, that is, accuracy and reliability of time service.
It should be noted that the remaining modules may be position detection and recognition sensors such as a combined inertial navigation sensor, a laser radar sensor, a millimeter wave radar sensor, and a video sensor, or may be modules that perform navigation and analysis based on time precision, so that the time synchronization of the autonomous vehicle 100 based on the time synchronization method of the present application is accurate and reliable, and the driving stability, accuracy, and safety of the autonomous vehicle 100 may be improved.
According to the time synchronization method of the vehicle 100 of the present invention, the accuracy of the first clock data and the second clock data is determined to screen out the calibration reference of the system time, so that the system time can be calibrated according to the calibration reference, the calibrated system time is sent to the time service module 40, and the time synchronization is completed by the time service module 40, so that the accuracy and reliability of the system time and the time service module 40 can be improved.
In some embodiments, the first clock data comprises: the method comprises the following steps that a first satellite clock signal and a second satellite clock signal are obtained, second clock data are local clock signals, and the obtaining of the first clock data comprises the following steps: the method includes acquiring a first satellite clock signal, acquiring a second satellite clock signal, and acquiring a local clock signal.
Specifically, by acquiring the first satellite clock signal, the second satellite clock signal, and the local clock signal, the first satellite clock data, the second satellite clock data, and the local clock data may be acquired accordingly, so that the vehicle 100 may simultaneously determine the accuracy of the first satellite clock data, the second satellite clock data, and the local clock data, and thus the accuracy and reliability of system time calibration may be effectively improved.
In a specific embodiment of the invention, the first satellite and the second satellite can be a GPS satellite and a beidou satellite respectively, wherein when a clock signal of the GPS satellite is normal, a clock signal output by the GPS satellite is adopted as a high-precision signal source, when an error or signal interruption occurs in the clock signal of the GPS satellite, the beidou satellite clock signal is adopted as a signal source of a high-precision synchronous clock, and when clock signals of the GPS satellite and the beidou satellite are not normal, a local clock signal is adopted as a high-precision clock signal source in a short time, so that accuracy, reliability and safety of clock data can be ensured.
It should be noted that the local clock refers to: a clock source located in proximity to and in direct relationship to the associated device, the local clock data representing clock data in proximity to the associated device.
Further, determining whether the first clock data is accurate comprises: judging whether the first satellite clock signal is accurate or not, and judging whether the second satellite clock signal is accurate or not; and judging whether the second clock data is accurate or not to judge whether the local clock signal is accurate or not.
Specifically, the accuracy of the first satellite clock signal and the accuracy of the second satellite clock signal, namely the accuracy of the first clock data, are judged, and the accuracy of the local clock signal, namely the accuracy of the second clock data, is judged, so that the calibration reference of the system time is screened out, and the accuracy of the system time calibration is improved.
Further, the correcting the system time according to the first clock data and the second clock data includes: if the first satellite clock signal is accurate, the first satellite clock signal is used for correcting the system time; if the first satellite clock signal is not accurate, but the second satellite clock signal is accurate, the second satellite clock signal is used for correcting the system time; and if the first satellite clock signal and the second satellite clock signal are inaccurate, the local clock signal is used for correcting the system time.
Specifically, when the accuracy of the first clock data and the accuracy of the second clock data are judged, if the first satellite clock signal is accurate, the system time is corrected by taking the first satellite clock signal as a reference; if the first satellite clock signal is inaccurate and the second satellite clock signal is accurate, correcting the system time by taking the second satellite clock signal as a reference; if the first satellite clock signal and the second satellite clock signal are inaccurate, the system time is corrected by the local clock signal, so that the accuracy and reliability of the system time correction can be improved, and the universality of the time synchronization method of the vehicle 100 can be improved.
In some embodiments, the timing module 40 is time synchronized by a pps signal. In this way, the timing module 40 is time-synchronized by the pps signal, so that the timing precision of the system time to the timing module 40 can be improved, and the accuracy and reliability of the time synchronization of the timing module 40 are improved.
It should be noted that pps (english name: Pulse Per Second, chinese name: Pulse number Per Second) signals refer to: the system time and the synchronization pulse signal of the time service module 40, so that the accuracy of the time synchronization of the system time and the time service module 40 is higher.
According to the time synchronization system of the vehicle 100 of the embodiment of the second aspect of the invention, the time synchronization system of the vehicle 100 includes: the clock calibration system comprises a first receiving unit 10, a second receiving unit 20, a calibration module 30 and a time service module 40, wherein the first receiving unit 10 is suitable for acquiring first clock data; the second receiving unit 20 is adapted to obtain second clock data; the calibration module 30 is adapted to determine whether the first clock data and the second clock data are accurate, and correct the system time; the timing module 40 is adapted to complete time synchronization.
Specifically, after the first receiving unit 10 and the second receiving unit 20 respectively obtain the first clock data and the second clock data, the calibration module 30 determines the accuracy of the first clock data and the second clock data, so as to screen out a calibration standard of the system time according to the accuracy of the first clock data and the second clock data, that is, the calibration standard with higher accuracy in the first clock data and the second clock data is used as a calibration standard, the system time is calibrated according to the calibration standard, and the calibrated system time is sent to the time service module 40, so that the time service module 40 synchronizes the calibrated system time to the rest of modules, and time synchronization is completed, thereby improving the accuracy and reliability of the system time and the time service module 40, and further improving the accuracy and reliability of time service.
Further, the calibration module 30 is configured as a MEMS high precision clock. In this way, by providing the calibration module 30 configured as an MEMS high-precision clock, the accuracy and reliability of the system time and the time after calibration of the time service module 40 can be improved, thereby improving the accuracy and reliability after the system time and the time service module 40 complete time synchronization.
It should be noted that the MEMS (Micro-Electro-Mechanical System, chinese name: Micro Electro-Mechanical System) high-precision clock refers to a clock with better stability, stronger vibration performance, and higher reliability and precision.
Further, the second receiving unit 20 is integrated within the calibration module 30. Therefore, on one hand, when the second clock data is acquired, the accuracy analysis of the first clock data and the second clock data can be completed, and the checking efficiency is improved, so that the driving safety of the vehicle 100 is higher; on the other hand, the number of parts can be reduced, the judgment logic is simplified, and the working stability of the time synchronization system is higher.
Optionally, the timing module 40 performs time synchronization through pps signal. Thus, the time service module 40 is time synchronized through the pps signal, so that the time service precision of the system time to the time service module 40 can be improved, and the accuracy and the reliability of the time synchronization of the time service module 40 are improved
According to the vehicle 100 of the embodiment of the third aspect of the invention, the vehicle 100 includes: in the time synchronization system in the above embodiment, the first receiving unit 10 and the second receiving unit 20 respectively obtain the first clock data and the second clock data, so that the calibration module 30 determines the accuracy of the first clock data and the second clock data to screen out the calibration standard of the system time, and sends the calibrated system time to the time service module 40, so that the system time and the time service module 40 complete time synchronization, thereby improving the accuracy and reliability of the system time and the time service module 40, and further improving the consistency of the time in the vehicle 100.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present invention, "a plurality" means two or more.
In the description of the present invention, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact with each other not directly but through another feature therebetween.
In the description of the invention, "above", "over" and "above" a first feature in a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A method of time synchronization of a vehicle (100), comprising:
acquiring first clock data and second clock data;
judging whether the first clock data and the second clock data are accurate or not;
and correcting the system time according to the first clock data and the second clock data, and sending the system time to a time service module (40) to finish time synchronization.
2. The time synchronization method of a vehicle (100) according to claim 1, wherein the first clock data includes: a first satellite clock signal and a second satellite clock signal, the second clock data being a local clock signal, the acquiring the first clock data comprising: obtaining the first satellite clock signal, obtaining the second satellite clock signal, and obtaining the local clock signal.
3. The time synchronization method of a vehicle (100) according to claim 2, wherein determining whether the first clock data is accurate includes: judging whether the first satellite clock signal is accurate or not, and judging whether the second satellite clock signal is accurate or not; and judging whether the second clock data is accurate or not to judge whether the local clock signal is accurate or not.
4. The time synchronization method of a vehicle (100) according to claim 3, wherein the correcting a system time based on the first clock data and the second clock data comprises:
if the first satellite clock signal is accurate, the first satellite clock signal is used for correcting the system time;
if the first satellite clock signal is not accurate, but the second satellite clock signal is accurate, correcting the system time by the second satellite clock signal;
and if the first satellite clock signal and the second satellite clock signal are inaccurate, correcting the system time by using a local clock signal.
5. The method for time synchronization of a vehicle (100) according to any one of claims 1-4, wherein the timing module (40) is time synchronized by a pps signal.
6. A time synchronization system of a vehicle (100), comprising:
a first receiving unit (10), the first receiving unit (10) being adapted to obtain first clock data;
a second receiving unit (20), the second receiving unit (20) being adapted to obtain second clock data;
a calibration module (30), the calibration module (30) adapted to determine whether the first clock data and the second clock data are accurate and to correct a system time;
the time service module (40), the time service module (40) is suitable for completing time synchronization.
7. The time synchronization system according to claim 6, characterized in that the calibration module (30) is configured as a MEMS high precision clock.
8. Time synchronization system according to claim 7, characterized in that the second receiving unit (20) is integrated within the calibration module (30).
9. The time synchronization system according to any one of claims 6-8, wherein the time service module (40) is time synchronized by a pps signal.
10. A vehicle (100), characterized by comprising: the time synchronization system of any one of claims 6-9.
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| CN202011104848.0A CN112398563A (en) | 2020-10-15 | 2020-10-15 | Time synchronization method and time synchronization system of vehicle and vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113922910A (en) * | 2021-10-09 | 2022-01-11 | 广东汇天航空航天科技有限公司 | Sensor time synchronization processing method, device and system |
| CN115047938A (en) * | 2022-08-12 | 2022-09-13 | 浙江大学 | Clock synchronization method, system, electronic device and computer readable storage medium |
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| CN110830141A (en) * | 2019-11-26 | 2020-02-21 | 北京小马智行科技有限公司 | Time synchronization method, system, storage medium and processor |
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| CN102238719A (en) * | 2010-04-27 | 2011-11-09 | 中国移动通信集团公司 | Time synchronization method and device and distributed time synchronization system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113922910A (en) * | 2021-10-09 | 2022-01-11 | 广东汇天航空航天科技有限公司 | Sensor time synchronization processing method, device and system |
| CN113922910B (en) * | 2021-10-09 | 2023-09-19 | 广东汇天航空航天科技有限公司 | Sensor time synchronization processing method, device and system |
| CN115047938A (en) * | 2022-08-12 | 2022-09-13 | 浙江大学 | Clock synchronization method, system, electronic device and computer readable storage medium |
| CN115047938B (en) * | 2022-08-12 | 2022-11-04 | 浙江大学 | Clock synchronization method, system, electronic device and computer readable storage medium |
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Application publication date: 20210223 |