CN112804021A - Time synchronization method, device, vehicle and medium - Google Patents
Time synchronization method, device, vehicle and medium Download PDFInfo
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- CN112804021A CN112804021A CN202011642015.XA CN202011642015A CN112804021A CN 112804021 A CN112804021 A CN 112804021A CN 202011642015 A CN202011642015 A CN 202011642015A CN 112804021 A CN112804021 A CN 112804021A
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- time
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000012937 correction Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 3
- 230000002860 competitive effect Effects 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- 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
- H04J3/0641—Change of the master or reference, e.g. take-over or failure of the master
-
- 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
- H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
Abstract
The invention relates to the technical field of time synchronization, in particular to a time synchronization method, a device, a vehicle and a medium, wherein the method comprises the steps of selecting a master clock node in a competitive mode, broadcasting time messages periodically by the master clock node, correcting the time messages by the rest nodes through the calculated transmission delay on the received time messages, and correcting a local clock of the vehicle according to the corrected time messages; the master clock node broadcasts the high-order timing command through the successful competition, the slave node inquires the transmission delay, calculates the accurate timing time and corrects the local time value, and then the master clock node broadcasts and sends the low-order timing command to reduce the bus communication load, so that the best clock node can be selected in a real-time self-adaptive manner, and the time synchronization among all domain controllers in the system is ensured.
Description
Technical Field
The invention relates to the technical field of time synchronization, in particular to a time synchronization method.
Background
The intelligent networked automobile is mainly composed of a plurality of domain controllers and gateways (or switches), and the controllers of all domains work cooperatively, so that high-precision synchronization among the controllers of all domains in a system needs to be ensured under a unified time standard. The general method is that the automatic driving domain has a GPS signal, and time synchronization is carried out by taking the automatic driving domain as a reference, but when the GPS signal is lost or the automatic driving domain node fails, the time synchronization between domain controllers cannot be ensured.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a time synchronization method is provided to solve the background art problems.
In order to solve the above technical problems, a first technical solution adopted by the present invention is:
a time synchronization method includes that a main clock node is selected out in a competition mode, the main clock node broadcasts time messages periodically, the other nodes correct the received time messages through calculated transmission delay, and the local clock of the other nodes is corrected according to the corrected time messages.
Preferably, if the master clock node fails or the external input requirement or condition changes, a new master clock node is newly elected.
Preferably, the contention resolution master clock node includes:
and (3) building a master control clock node competition model, inputting information of each domain controller and each gateway, which is strongly related to time, and external input manual control selection data into the model for training, and outputting the optimal master clock node in real time according to actual conditions.
Preferably, the time message includes a high-order timing command and a low-order timing command;
when the master clock node successfully competes and a new node accesses the system bus, the master clock node broadcasts a high-order timing command to finish high-order time value correction of other nodes;
and after the master clock node finishes sending the high-order timing command, periodically broadcasting a low-order timing command, and correcting the time value at a low order.
Preferably, the two timing commands, namely the high-order timing command and the low-order timing command, are used by the control word to indicate the time information message; the high 5 bits of the command word are used for indicating the number of the master clock node, the low 3 bits are used for indicating different timing commands, the '000' is a low-order timing command which indicates that the broadcasted time precision reaches ns level, and the '001' is a high-order timing command which indicates that the broadcasted time precision reaches s level time value; the time value is 31 bits in total, when the time value is a low-order time correction command, the time value carried by the time information message is a ms value of 10 bits, a us value of 10 bits and an ns value of 8 bits, other bits are filled with 0, and when the time value is a high-order time correction command, the time information message only has a current second value.
Preferably, the transmission delay includes a line transmission delay, a coding delay, a circuit delay and a protocol transmission delay between nodes.
Preferably, the nodes transmit data through the SOMEIP protocol.
In order to solve the above technical problem, the second technical solution adopted by the present invention is:
a time synchronizer includes
A memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the time synchronization method of any of claims 1-7;
the device adaptively changes the master clock node according to the actual situation.
In order to solve the above technical problems, the third technical solution adopted by the present invention is:
a vehicle comprises the time synchronization device.
In order to solve the above technical problem, a fourth technical solution adopted by the present invention is:
a medium on which a computer program is stored which, when being executed by a processor, realizes the time synchronization method as described above.
The invention has the beneficial effects that: the method and the device can adaptively select the optimal clock node in real time, and ensure that time synchronization is kept among all domain controllers in the system; the master clock node which successfully competes broadcasts a high-order timing command, the slave node inquires transmission Delay, calculates accurate timing time and corrects a local time value, and then the master clock node broadcasts and sends a low-order timing command to reduce the bus communication load; and if a new node is added or the system has a problem, the master clock node competition is carried out again.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description will be given with reference to the embodiments.
Example one
A time synchronization method, competition chooses the master clock node, the master clock node broadcasts the time message periodically, the other nodes revise the time message through the transmission delay calculated to the time message received, correct one's own local clock according to the time message after revising; and if the master clock node fails or the external input requirement or condition changes, newly selecting a new master clock node.
The contention resolution master clock node includes:
establishing a master control clock node competition model, and carrying out strong time-related information on each domain controller and gateway (switch), such as whether the automatic driving domain has a GPS signal and the credibility of the GPS signal, the accuracy of the time value of the GPS signal, and the influence of different road conditions and different weather conditions; whether the central gateway has a 4G/5G signal to acquire time information or not, whether the intelligent cabin domain has Bluetooth Wifi or not, whether credible time information can be acquired or not, and whether external input is artificially controlled to select a data input model for training, and the optimal master clock node is output in real time according to actual conditions.
The time message comprises a high-order timing command (timing command 1) and a low-order timing command (timing command 0);
when the master clock node successfully competes and a new node accesses the system bus, the master clock node broadcasts a high-order timing command to finish high-order time value correction of other nodes;
and after the master clock node finishes sending the high-order timing command, periodically broadcasting a low-order timing command, and correcting the time value at a low order.
The high-order timing command and the low-order timing command consist of control words, command words and time values;
the control word is used for indicating a time information message; command words-where the upper 5 bits are used to indicate the master clock node number and the lower 3 bits are used to indicate different timing commands, "000" is a low order timing command indicating that the broadcasted time precision is to ns level and "001" is a high order timing command indicating that the broadcasted time precision is to s level time value; the time value is 31 bits in total, when the time value is a low-order time correction command (namely when the time correction command is 0), the time value carried by the time information message is an ms value of 10 bits, an us value of 10 bits and an ns value of 8 bits, other bits are filled with 0, and when the time value is a high-order time correction command (namely when the time correction command is 1), the time information message only has the current second value.
The transmission delay includes line transmission delay, coding delay, circuit delay and protocol transmission delay among nodes.
And data transmission is carried out between the nodes through the SOMEIP protocol.
Example two
A time synchronization method includes that a master clock node is selected in a competition mode, the master clock node which succeeds in competition broadcasts a timing command 1, when a slave node inquires a transmission Delay, accurate correction time is calculated and correction of a local time value is conducted, then the master clock node broadcasts a timing command 0, and bus communication load is reduced. And if a new node is added or the system has a problem, the master clock node competition is carried out again.
EXAMPLE III
A time synchronizer includes
A memory for storing one or more programs;
a processor;
when the one or more programs are executed by the processor, implementing the time synchronization method as recited in claim one or two embodiments;
the device adaptively changes the master clock node according to the actual situation.
Example four
A vehicle comprising the time synchronization apparatus according to the third embodiment.
EXAMPLE five
A medium, on which a computer program is stored, which, when being executed by a processor, implements the time synchronization method according to the first or second embodiment.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent modifications made by the present invention in the specification or directly or indirectly applied to the related technical field are included in the scope of the present invention.
Claims (10)
1. A time synchronization method is characterized in that a master clock node is selected in a competition mode, the master clock node broadcasts time messages periodically, other nodes correct the received time messages through calculated transmission delay, and the local clock of the other nodes is corrected according to the corrected time messages.
2. The method according to claim 1, wherein if the master clock node fails or the external input requirement or condition changes, a new master clock node is re-elected.
3. The method of time synchronization of claim 1, wherein said contending for picking a master clock node comprises:
and (3) building a master control clock node competition model, inputting information of each domain controller and each gateway, which is strongly related to time, and external input manual control selection data into the model for training, and outputting the optimal master clock node in real time according to actual conditions.
4. The time synchronization method according to claim 1, wherein the time message includes a higher order timing command and a lower order timing command;
when the master clock node successfully competes and a new node accesses the system bus, the master clock node broadcasts a high-order timing command to finish high-order time value correction of other nodes;
and after the master clock node finishes sending the high-order timing command, periodically broadcasting a low-order timing command, and correcting the time value at a low order.
5. The time synchronization method according to claim 4, wherein the timing commands of the high order timing command and the low order timing command are used by a control word to indicate a time information message; the high 5 bits of the command word are used for indicating the number of the master clock node, the low 3 bits are used for indicating different timing commands, the '000' is a low-order timing command which indicates that the broadcasted time precision reaches ns level, and the '001' is a high-order timing command which indicates that the broadcasted time precision reaches s level time value; the time value is 31 bits in total, when the time value is a low-order time correction command, the time value carried by the time information message is a ms value of 10 bits, a us value of 10 bits and an ns value of 8 bits, other bits are filled with 0, and when the time value is a high-order time correction command, the time information message only has a current second value.
6. The method according to any one of claims 1 to 5, wherein the transmission delay includes a line transmission delay, a coding delay, a circuit delay, and a protocol transmission delay between nodes.
7. The time synchronization method according to any one of claims 1 to 5, wherein the nodes transmit data therebetween via the SOMEIP protocol.
8. A time synchronizer, comprising
A memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the time synchronization method of any of claims 1-7;
the device adaptively changes the master clock node according to the actual situation.
9. A vehicle characterized by comprising the time synchronization device of claim 8.
10. A medium on which a computer program is stored which, when being executed by a processor, carries out the method for time synchronization according to any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011642015.XA CN112804021A (en) | 2020-12-31 | 2020-12-31 | Time synchronization method, device, vehicle and medium |
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| CN202011642015.XA CN112804021A (en) | 2020-12-31 | 2020-12-31 | Time synchronization method, device, vehicle and medium |
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Cited By (2)
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| CN114785474A (en) * | 2022-03-31 | 2022-07-22 | 上海赫千电子科技有限公司 | In-vehicle SOME/IP transmission method and device based on TSN time sensitive network |
| CN116506096A (en) * | 2023-06-26 | 2023-07-28 | 北京象帝先计算技术有限公司 | Clock synchronization method, system, component and equipment |
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Address after: 100176 floor 10, building 1, zone 2, yard 9, Taihe 3rd Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Beijing National New Energy Vehicle Technology Innovation Center Co.,Ltd. Address before: 100089 1705 100176, block a, building 1, No. 10, Ronghua Middle Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant before: BEIJING NEW ENERGY VEHICLE TECHNOLOGY INNOVATION CENTER Co.,Ltd. |
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