CN112822771A - Synchronization method, synchronization device and terminal equipment - Google Patents
Synchronization method, synchronization device and terminal equipment Download PDFInfo
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Abstract
The invention provides a synchronization method, a synchronization device and terminal equipment, wherein the transmission period of a PSBCH synchronization signal comprises a first reserved subframe and a second reserved subframe, and the method comprises the following steps: under the condition that the synchronization grade of the first terminal equipment is a first synchronization grade, transmitting a PSBCH synchronization signal on a first reserved subframe; under the condition that the synchronization level of the first terminal equipment is a second synchronization level, transmitting a PSBCH synchronization signal on a second reserved subframe; under the condition that the synchronization level of the first terminal equipment is a third synchronization level, transmitting a PSBCH synchronization signal on a target reserved subframe; the target reserved subframe is a reserved subframe with low receiving power in the first reserved subframe and the second reserved subframe; and under the condition that the synchronization grade of the first terminal equipment is the fourth synchronization grade, randomly selecting a reserved subframe to transmit the PSBCH synchronization signal based on the internal clock of the first terminal equipment. The scheme of the invention solves the problem that the prior art lacks a scheme of the through link synchronous signal which is in line mark conformity and can be implemented.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a synchronization method, an apparatus, and a terminal device.
Background
When the vehicle is in a complex environment such as an urban canyon, a flyover, an overpass, an underground parking lot, a tunnel and the like, the satellite signal may not be received, and time synchronization by the satellite signal may not be performed. And the internal clock precision of the car networking equipment is lower, and the requirement of high-precision time synchronization can not be met for a long time. However, in the prior art, no through link synchronization signal scheme which is consistent with the row standard and can be implemented is available.
Disclosure of Invention
The invention provides a synchronization method, a synchronization device and terminal equipment, and solves the problem that a scheme which is consistent with a row standard and can be implemented in a practical manner is lacked in the prior art.
In a first aspect, an embodiment of the present invention provides a synchronization method, applied to a first terminal device, where a transmission cycle of a PSBCH synchronization signal of a physical direct link broadcast channel includes a first reserved subframe and a second reserved subframe, where the synchronization method includes:
under the condition that the synchronization grade of the first terminal equipment is a first synchronization grade, the first terminal equipment sends a PSBCH synchronization signal on a first reserved subframe;
under the condition that the synchronization level of the first terminal equipment is a second synchronization level, the first terminal equipment sends a PSBCH synchronization signal on a second reserved subframe;
under the condition that the synchronization level of the first terminal equipment is a third synchronization level, the first terminal equipment sends a PSBCH synchronization signal on a target reserved subframe; the target reserved subframe is a reserved subframe with low receiving power in a first reserved subframe and a second reserved subframe;
and under the condition that the synchronization level of the first terminal equipment is a fourth synchronization level, the first terminal equipment randomly selects a reserved subframe to send a PSBCH synchronization signal based on an internal clock of the first terminal equipment.
In a second aspect, an embodiment of the present invention provides a synchronization method, applied to a second terminal device, including:
judging whether a target signal is received or not, wherein the target signal comprises a Global Navigation Satellite System (GNSS) signal and/or a PSBCH synchronous signal sent by at least one first terminal device through a reserved subframe;
if the target signal is received, determining a synchronization source of the second terminal equipment;
and determining the synchronization level of the second terminal equipment according to the synchronization source of the second terminal equipment.
In a third aspect, an embodiment of the present invention provides a terminal device, where the terminal device is a first terminal device, and the terminal device includes: a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the synchronization method according to the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a terminal device, where the terminal device is a second terminal device, and the terminal device includes: a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the synchronization method according to the first aspect when executing the computer program.
In a fifth aspect, an embodiment of the present invention provides a synchronization apparatus, applied to a first terminal device, where a transmission cycle of a PSBCH synchronization signal includes a first reserved subframe and a second reserved subframe, and the synchronization apparatus includes:
a first sending module, configured to send, by the first terminal device, a PSBCH synchronization signal on a first reserved subframe when the synchronization level of the first terminal device is a first synchronization level;
a second sending module, configured to send, by the first terminal device, a PSBCH synchronization signal on a second reserved subframe when the synchronization level of the first terminal device is the second synchronization level;
a third sending module, configured to send, by the first terminal device, a PSBCH synchronization signal on a target reserved subframe when the synchronization level of the first terminal device is a third synchronization level; the target reserved subframe is a reserved subframe with low receiving power in a first reserved subframe and a second reserved subframe;
a fourth sending module, configured to, when the synchronization level of the first terminal device is a fourth synchronization level, randomly select a reserved subframe to send a PSBCH synchronization signal by the first terminal device based on the internal clock of the first terminal device.
In a sixth aspect, an embodiment of the present invention provides a synchronization apparatus, applied to a second terminal device, including:
the processing module is used for judging whether a target signal is received or not, wherein the target signal comprises a Global Navigation Satellite System (GNSS) signal and/or a PSBCH synchronous signal sent by at least one first terminal device through a reserved subframe;
a synchronization source determining module, configured to determine a synchronization source of the second terminal device if the target signal is received;
and the synchronization level determining module is used for determining the synchronization level of the second terminal equipment according to the synchronization source of the second terminal equipment.
In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the synchronization method according to the first aspect, or implements the steps of the synchronization method according to the second aspect.
The technical scheme of the invention has the beneficial effects that:
the embodiment of the invention can realize that the reserved sub-frames are used for sending the through link synchronization signals among the vehicle networking equipment, thereby realizing the cascade time synchronization of the multi-stage Road Side equipment (Road-Side-Unit, RSU) and the vehicle equipment (On-Board Unit, OBU), meeting the existing standard, having less change On the synchronization process, not damaging the resource pools of the RSU and the OBU, having the feasibility of implementation and being suitable for the synchronization among the vehicle networking equipment in a cascade mode.
Drawings
FIG. 1 shows one of the flow charts of the synchronization method of the embodiment of the present invention;
FIG. 2 is a second flowchart of a synchronization method according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating one embodiment of a synchronization method;
FIG. 4 is a second schematic diagram of a synchronization method according to an embodiment of the present invention;
FIG. 5 is a third flowchart of a synchronization method according to an embodiment of the present invention;
FIG. 6 is a block diagram showing a structure of a synchronization apparatus according to an embodiment of the present invention;
FIG. 7 is a second block diagram of a synchronization apparatus according to an embodiment of the present invention;
fig. 8 is a block diagram showing a configuration of a terminal device according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In addition, the terms "system" and "network" are often used interchangeably herein.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.
In the embodiment of the present invention, the access network may be an access network including a Macro Base Station (Macro Base Station), a micro Base Station (Pico Base Station), a Node B (3G mobile Station), an enhanced Base Station (eNB), a Home enhanced Base Station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay Station, an access point, an RRU (Remote Radio Unit), an RRH (Remote Radio Head), and the like. The user terminal may be a mobile phone (or handset), or other device capable of sending or receiving wireless signals, including user Equipment, a Personal Digital Assistant (PDA), a wireless modem, a wireless communicator, a handheld device, a laptop computer, a cordless phone, a Wireless Local Loop (WLL) station, a CPE (Customer Premise Equipment) or a mobile smart hotspot capable of converting mobile signals into WiFi signals, a smart appliance, or other devices capable of autonomously communicating with a mobile communication network without human operation, and so on.
It is known that high precision time synchronization is one of the key technologies of the internet of vehicles. If the time synchronization is not accurate, the decision and execution of the vehicles are affected, and serious potential safety hazards exist. Therefore, no matter the multi-sensor synchronous fusion of the sensing end, the realization of high-precision positioning of the whole vehicle, and the interconnection of the vehicle, the road and even the vehicle and everything, all need the support of a high-precision time synchronization technology. In addition, currently, Orthogonal Frequency Division Multiplexing (OFDM) modulation technology is mainly used for communication in the car networking, and an OFDM system generally requires precise time synchronization to maintain orthogonality between carriers.
Currently, the primary synchronization sources for car networking devices include: global Navigation Satellite System (GNSS), gNB/eNB, other car networking devices, and internal clocks of the devices. However, when the car networking device is in a complex environment such as an urban canyon, a flyover, an overpass, an underground parking lot, a tunnel, and the like, the satellite signal may not be received, so that time synchronization by the satellite signal may not be performed. And the internal clock precision of the car networking equipment is lower, and the requirement of high-precision time synchronization can not be met for a long time. Thus, unsynchronized internet of vehicles devices need to acquire time synchronization signals through other synchronized internet of vehicles devices. For the car networking application, a plurality of unsynchronized car networking devices may exist at the same time and are distributed dispersedly, and in this case, the car networking devices can only be synchronized in a cascading manner.
In the current synchronization scheme, there are mainly two kinds of synchronization signals: one is the direct link Synchronization Signal (SLSS) for Synchronization in time and frequency; the other is a Master Information Block (MIB-SL) for providing other Information. For SLSS, a Primary link Synchronization Signal (PSSS) and a Secondary link Synchronization Signal (SSSS) are included.
The MIB-SL is transmitted through a Physical Sidelink Broadcast Channel (PSBCH), and carries the following information: an coverage flag, configured to indicate whether the synchronization signal transmitting device is in a coverage area of a cell; directFrameNumber and directSubFrameNumber, respectively, indicate a corresponding frame number and subframe number in case of being connected to the coverage. When a User Equipment (UE) transmits an SLSS and an MIB-SL, parameters must be selected and corresponding subframes determined.
In order to facilitate processing of subframes used for service transmission in a resource pool, a physical subframe determined according to a System Frame Number (SFN) and a synchronous bitmap form are mapped to a logical subframe, and the logical subframe needs to be obtained by excluding the following 3 types of subframes from the physical subframe: first, when the PC5 port and the Uu port share a Time Division Duplex (TDD) carrier, all Downlink (DL) subframes and special subframes; the second type is used for sending synchronous subframes of SLSS and PSBCH, and the synchronous period protocol is set to be 160 ms; and the third category, reserved subframes.
In the SFN period (10240ms), after excluding the first-class and second-class subframes, the indexes of the rest subframes are arranged in ascending order and are respectively marked as (I)0，I1，…，I(1024-Nslss-Ndssf-1)). Wherein N isslssNumber of subframes configured as SLSS resources among 10240 subframes, NdssfThe total number of downlink subframes and special subframes when direct link transmission occurs in one TDD cell among 10240 subframes. According to bitmap mapping, a subframe which cannot be divided by bitmap in an SFN period is called a reserved subframe.
The number of the reserved subframes is calculated as follows:
Nreserved＝(10240-Nslss-Ndssf)mod Lbitmap
wherein L isbitmapBit map length configured for higher layers.
Then, the reserved subframes are uniformly distributed into the SFN according to the following method:
By excluding the above class 3 subframes, the remaining subframes in the SFN/DFN period are all subframes that may be used to transmit V2X (Vehicle-to-anything) traffic. The resource pool configuration indicates the logical sub-frame by a bitmap mode through a time domain indication method, and the length of the bitmap specified by a protocol can be any one of 16, 20 and 100.
The row standard YD/T3755-2020 technical requirement for roadside equipment supporting direct communication based on LTE network wireless communication technology specifies that the bitmap length is 100, the number of reserved subframes is 40, and the period is 256 ms. Meanwhile, the row labels indicate that the roadside device may transmit the through link synchronization signal in subframes not configured for V2X message transmission, including at least reserved subframes, based on its own capabilities. At present, the prior art lacks a scheme of through link synchronization signal which is consistent with the row standard and can be implemented.
Specifically, embodiments of the present invention provide a synchronization method, an apparatus, and a terminal device, which solve the problem that a scheme of a through link synchronization signal that meets a row standard and can be implemented in a practical manner is lacking in the prior art.
First embodiment
As shown in fig. 1, an embodiment of the present invention provides a synchronization method, which is applied to a first terminal device, where a transmission cycle of a PSBCH synchronization signal of a physical direct link broadcast channel includes a first reserved subframe and a second reserved subframe, and the synchronization method specifically includes the following steps:
step 11: under the condition that the synchronization grade of the first terminal equipment is a first synchronization grade, the first terminal equipment sends a PSBCH synchronization signal on a first reserved subframe;
step 12: under the condition that the synchronization level of the first terminal equipment is a second synchronization level, the first terminal equipment sends a PSBCH synchronization signal on a second reserved subframe;
step 13: under the condition that the synchronization level of the first terminal equipment is a third synchronization level, the first terminal equipment sends a PSBCH synchronization signal on a target reserved subframe; and the target reserved subframe is a reserved subframe with low receiving power in the first reserved subframe and the second reserved subframe.
Here, the first terminal device receives PSBCH synchronization signals sent by other devices, and performs judgment processing on the power and subframe number of the received PSBCH synchronization signals. Namely, the signal power of the first reserved subframe and the second reserved subframe is monitored, and the PSBCH synchronization signal is transmitted by selecting the subframe with lower signal power.
Step 14: and under the condition that the synchronization level of the first terminal equipment is a fourth synchronization level, the first terminal equipment randomly selects a reserved subframe to send a PSBCH synchronization signal based on an internal clock of the first terminal equipment.
It is noted that in this case of step 14, the first terminal device may not transmit the PSBCH synchronization signal.
In this embodiment, two reserved subframe transmission periods are set as one through link synchronization signal (i.e., PSBCH synchronization signal) transmission period, and the transmission period of one PSBCH synchronization signal may be 512 ms. In this case, the transmission period of one PSBCH synchronization signal includes two reserved subframes, i.e., a first reserved subframe and a second reserved subframe.
For example, the reserved subframes may be numbered as 1, 2, 3, …, N respectivelyrsf-1、NrsfThen the number of each first reserved subframe may be Nrsf2＝2,4,6,…，NrsfCorrespondingly, the numbers of the second reserved sub-frames in the same transmission period with the first reserved sub-frames are respectively Nrsf1＝1,3,5,…，Nrsf-1。
Here, the number N may bersf2Is defined as an even reserved subframe (i.e. the first reserved subframe), will be numbered Nrsf1Is defined as an odd reserved subframe (i.e., the second reserved subframe).
It should be noted that the order of step 11, step 12, step 13, and step 14 is not limited.
In this embodiment, the reserved subframes are used to send PSBCH synchronization signals, so that the car networking devices can synchronize with each other in a cascading manner. For example, the number of the reserved sub-frame of the received PSBCH synchronization signal, the arrival time and the signal power can be determined, so as to determine the local synchronization signal source (i.e. synchronization source) and the number of the reserved sub-frame of the locally transmitted PSBCH synchronization signal.
Optionally, the synchronization level comprises one of:
a first synchronization level for indicating that a synchronization source of the first terminal device is a Global Navigation Satellite System (GNSS) signal;
a second synchronization level, configured to indicate that a synchronization source of the first terminal device is a terminal device of the first synchronization level;
a third synchronization level, configured to indicate that a synchronization source of the first terminal device is a terminal device of the second synchronization level or the third synchronization level;
a fourth synchronization level, configured to indicate that the first terminal device does not receive a synchronization signal, where the synchronization signal includes a GNSS signal and/or a PSBCH synchronization signal sent by another terminal device;
the priority of the synchronization levels is from high to low as follows: a first synchronization level, a second synchronization level, a third synchronization level, and a fourth synchronization level.
Optionally, the PSBCH synchronization signal includes: and sign information and SLSS identification information indicating whether the first terminal equipment is in a GNSS coverage range.
For example, the flag information (i.e., the coverage flag) is 1, which indicates that the first terminal device is within the coverage of the GNSS, and the coverage flag is 0, which indicates that the first terminal device is out of the coverage of the GNSS.
Optionally, the correspondence between the synchronization level and the flag information and the SLSS identification information includes at least one of:
when the flag information is 1 and the SLSS identification information is 0, indicating that the synchronization level of the first terminal device is a first synchronization level;
when the flag information is 0 and the SLSS identification information is 0, indicating that the synchronization level of the first terminal device is a second synchronization level;
when the flag information is 0 and the SLSS identification information is a preset value, indicating that the synchronization level of the first terminal device is a third synchronization level; for example, the SLSS ID is 168;
and when the mark information is 0 and the SLSS identification information is a value larger than a preset value, the synchronization grade of the first terminal equipment is a fourth synchronization grade. For example, the SLSS ID is a random number greater than 168.
As an alternative embodiment of the present application, as shown in fig. 2, a cascading time synchronization mechanism for sending a synchronization signal of a direct link by using reserved subframes between pieces of car networking equipment is provided, where a specific synchronization process is as follows:
s201: and starting the first terminal equipment.
S202: detecting whether a GNSS signal can be received; if the GNSS signal can be received, executing S203; if the GNSS signal cannot be received, S205 is executed.
S203: the first terminal equipment updates a local clock according to the GNSS signal and enters a synchronous state; at this time, the synchronization level of the first terminal device is 1, the coverage flag is 1, which indicates that the first terminal device is in the coverage of the GNSS, and the SLSS ID is 0.
S204: the first terminal device entering the synchronization state transmits a PSBCH synchronization signal at an even reserved subframe (i.e., a first reserved subframe).
S205: and if the first terminal equipment does not receive the GNSS signal, the first terminal equipment enters an out-of-step state.
S206: judging whether PSBCH synchronous signals sent by other terminal equipment are received; if yes, go to S207; otherwise, S209 is executed.
S207: if the first terminal device can receive PSBCH synchronization signals sent by other devices, and the signal power is greater than the threshold setting value, the first terminal device synchronizes with the PSBCH synchronization signal with the highest synchronization level, the first terminal device enters a synchronization state, and selects a proper reserved subframe to send the PSBCH synchronization signal, which may specifically be:
if the first terminal equipment receives a plurality of PSBCH synchronous signals and the reserved subframe number of the PSBCH synchronous signals has an even reserved subframe number and an odd reserved subframe number, the first terminal equipment selects the reserved subframe number with low signal receiving power to send the PSBCH synchronous signals of the first terminal equipment; if the first terminal equipment receives that the PSBCH synchronous signals are all even reserved sub-frame numbers, the first terminal equipment selects odd reserved sub-frame numbers to send the PSBCH synchronous signals of the first terminal equipment; if the first terminal equipment receives the PSBCH synchronous signals which are odd reserved sub-frame numbers, the first terminal equipment selects even reserved sub-frame numbers to send the PSBCH synchronous signals of the first terminal equipment.
S208: randomly entering a synchronous signal receiving state;
s209: if the first terminal device does not receive the GNSS signal and does not receive the PSBCH synchronous signal sent by other terminal devices, the first terminal device enters an out-of-step state, an include flag is 0, which indicates that the first terminal device is not in the coverage of the GNSS, and an SLSS ID is a random number larger than 168, which indicates that the first terminal device does not have a synchronous source. At this time, the first terminal device does not transmit the PSBCH synchronization signal or randomly selects the reserved subframe number (i.e., randomly selects the first reserved subframe or the second reserved subframe) to transmit the synchronization signal based on the internal clock of the first terminal device.
S210: judging whether the received PSBCH synchronous signal has a priority higher than that of the current synchronous source; if yes, go to S211; otherwise, S212 is executed.
S211: and taking the terminal equipment with the highest synchronization level as the synchronization source of the first terminal equipment.
S212: and keeping the original synchronization state, namely keeping the current synchronization source of the first terminal equipment unchanged.
As shown in fig. 3, in an embodiment of the present application, system parameters of the car networking devices such as the RSU and the OBU are configured as follows: the system bandwidth is 20MHz, a duplex mode supporting half-duplex is supported, the subcarrier spacing is 15kHz, the length of a Cyclic Prefix (CP) is 4.687 mus (5.208 mus (symbol 0)), the modulation mode is QPSK, and the maximum transmission power is 23 dBm.
The car networking application scenario of this embodiment includes 4 RSUs and 1 OBU, wherein only RSU1 is able to receive GNSS signals. The initial states of the remaining 3 RSUs and 1 OBU are out-of-sync states. The synchronization process of each terminal device is as follows:
after each terminal device is started, the GNSS signal is received at first, and the PSBCH synchronous signal is not sent.
The RSU1 receives the GNSS signal and enters a synchronization state, where the incloverage flag is 1, the SLSS ID is 0, and the synchronization level is the first synchronization level. In this case, RSU1 randomly selects even reserved subframe NSF1Transmitting PSBCH synchronization signals, i.e. NSF1Is an even number.
The RSU2 receives the PSBCH synchronization signal sent by the RSU1, enters a synchronization state, the coverage flag is 0, the SLSS ID is 0, and the synchronization level is a second synchronization level. In this case, the RSU2 selects the odd reserved subframe number NSF2Transmitting PSBCH synchronization signals, i.e. NSF2Is an odd number.
The RSU3 receives the PSBCH synchronous signal sent by the RSU2 and enters a synchronous state, the coverage flag is 0, the SLSS ID is 168, and the synchronous grade is third synchronizationAnd (4) grading. In this case, due to the reserved subframe number N of RSU2SF2For odd, RSU3 selects even reserved subframe number NSF3Transmitting PSBCH synchronization signals, i.e. NSF3Is an even number.
The RSU4 and the OBU1 receive the PSBCH synchronizing signal transmitted by the RSU3 and enter a synchronizing state, an INCoverage flag is 0, an SLSS ID is 168, and the synchronizing grade is a third synchronizing grade. In this case, due to the reserved subframe number N of RSU3SF3For even, RSU4 and OBU1 select odd reserved subframe number NSF4Transmitting PSBCH synchronization signals, i.e. NSF4Is an odd number.
In another embodiment of the present application, as shown in fig. 4, the first terminal device receives a plurality of synchronization signals simultaneously:
the RSU2 receives PSBCH synchronous signals of the RSU1 and the RSU3 respectively;
wherein, the power of the synchronous signal of RSU1 is P1Reserved subframe number NSF1Is odd, and the arrival time of the synchronization signal is t1The coverage flag is 0, the SLSS ID is 0, and the synchronization level of the RSU1 is the second synchronization level;
RSU3 having a synchronization signal power of P3Reserved subframe number NSF3Is even number, and the arrival time of the synchronization signal is t3The coverage flag is 0, the SLSS ID is 168, and the synchronization level of the RSU3 is the third synchronization level.
Since the RSU1 has a higher synchronization level than RSU3, RSU2 synchronizes with RSU1 with an include flag of 0, SLSS ID of 168, and RSU1 has a synchronization level of 3.
Selecting the target reserved sub-frame to transmit the PSBCH synchronization signal according to the received power, for example, if P1>P3The RSU2 selects an even reserved subframe (i.e., a reserved subframe with low received power) to transmit the PSBCH synchronization signal.
In this embodiment, can realize utilizing the reservation subframe to send through link synchronization signal between the car networking equipment to realize multistage trackside equipment RSU and mobile unit OBU cascade time synchronization, accord with current standard, it is less to synchronous flow change, and can not destroy the resource pool of RSU and OBU, possess the feasibility of implementing, be applicable to through the mode of cascading synchronization between the car networking equipment.
Second embodiment
As shown in fig. 5, an embodiment of the present invention provides a synchronization method, which is applied to a second terminal device, and specifically includes the following steps:
step 51: judging whether a target signal is received or not, wherein the target signal comprises a Global Navigation Satellite System (GNSS) signal and/or a PSBCH synchronous signal sent by at least one first terminal device through a reserved subframe;
step 52: and if the target signal is received, determining a synchronization source of the second terminal equipment.
In this step, the synchronization source is selected according to the synchronization level of the device that transmits the target signal. The priority of the GNSS signal is highest, and the GNSS signal is preferentially selected as the synchronization source of the second terminal device when the GNSS signal can be received.
Step 53: and determining the synchronization level of the second terminal equipment according to the synchronization source of the second terminal equipment.
Optionally, in step 52, the determining a synchronization source of the second terminal device includes:
determining the GNSS signal as a synchronous source of the second terminal equipment under the condition that the target signal is the GNSS signal;
under the condition that the target signal is a GNSS signal and a PSBCH synchronization signal sent by at least one first terminal device, determining the GNSS signal as a synchronization source of the second terminal device;
and under the condition that the target signal is a PSBCH synchronization signal sent by at least one first terminal device, obtaining the synchronization grade of the at least one first terminal device, and determining the first terminal device with the highest synchronization grade as the synchronization source of the second terminal device.
In the above step, the second terminal device may select a synchronization source with the highest synchronization level for synchronization.
For example, the second terminal device having the second, third, and fourth synchronization levels receives the synchronization signal at the corresponding time when the synchronization signal is not transmitted. If the PSBCH synchronous signal is received and the priority is higher than that of the local synchronous source, the second terminal equipment updates the synchronous source; otherwise, the second terminal equipment keeps the original synchronous state.
Optionally, the PSBCH synchronization signal includes: flag information indicating whether the first terminal device is within the GNSS coverage range and through link synchronization signal SLSS identification information.
For example, the flag information (i.e., the coverage flag) is 1, which indicates that the first terminal device is within the coverage of the GNSS, and the coverage flag is 0, which indicates that the first terminal device is out of the coverage of the GNSS.
Optionally, the obtaining the synchronization level of the at least one first terminal device includes:
when the flag information is 1 and the SLSS identification information is 0, determining that the synchronization level of the first terminal equipment is a first synchronization level;
when the mark information is 0 and the SLSS identification information is 0, determining that the synchronization level of the first terminal equipment is a second synchronization level;
when the mark information is 0 and the SLSS identification information is a preset value, determining that the synchronization level of the first terminal equipment is a third synchronization level;
when the flag information is 0 and the SLSS identification information is a value greater than a preset value, determining that the synchronization level of the first terminal equipment is a fourth synchronization level;
the priority of the synchronization levels is from high to low as follows: a first synchronization level, a second synchronization level, a third synchronization level, and a fourth synchronization level.
Optionally, step 53 may specifically include:
determining that the synchronization grade of the second terminal equipment is a first synchronization grade under the condition that the synchronization source of the second terminal equipment is a GNSS signal;
determining that the synchronization level of the second terminal device is a second synchronization level under the condition that the synchronization source of the second terminal device is the first terminal device of the first synchronization level;
and under the condition that the synchronization source of the second terminal equipment is the first terminal equipment with the second synchronization level or the third synchronization level, determining that the synchronization level of the second terminal equipment is the third synchronization level.
Optionally, after the determining whether the target signal is received, the method further includes: and if the target signal is not received, determining that the synchronization level of the second terminal equipment is a fourth synchronization level.
In this embodiment, can realize utilizing the reservation subframe to send through link synchronization signal between the car networking equipment to realize multistage trackside equipment RSU and mobile unit OBU cascade time synchronization, accord with current standard, it is less to synchronous flow change, and can not destroy the resource pool of RSU and OBU, possess the feasibility of implementing, be applicable to through the mode of cascading synchronization between the car networking equipment.
Third embodiment
As shown in fig. 6, an embodiment of the present invention provides a synchronization apparatus 600, applied to a first terminal device, where a transmission cycle of a PSBCH synchronization signal includes a first reserved subframe and a second reserved subframe, and the synchronization apparatus includes:
a first sending module 601, configured to send a PSBCH synchronization signal on a first reserved subframe when the synchronization level of the first terminal device is a first synchronization level;
a second sending module 602, configured to, when the synchronization level of the first terminal device is a second synchronization level, send a PSBCH synchronization signal on a second reserved subframe by the first terminal device;
a third sending module 603, configured to, when the synchronization level of the first terminal device is a third synchronization level, send a PSBCH synchronization signal on a reserved target subframe by the first terminal device; the target reserved subframe is a reserved subframe with low receiving power in a first reserved subframe and a second reserved subframe;
a fourth sending module 604, configured to, when the synchronization level of the first terminal device is a fourth synchronization level, randomly select a reserved subframe to send a PSBCH synchronization signal by the first terminal device based on the internal clock of the first terminal device.
Optionally, the synchronization level comprises one of:
a first synchronization level for indicating that a synchronization source of the first terminal device is a Global Navigation Satellite System (GNSS) signal;
a second synchronization level, configured to indicate that a synchronization source of the first terminal device is a terminal device of the first synchronization level;
a third synchronization level, configured to indicate that a synchronization source of the first terminal device is a terminal device of the second synchronization level or the third synchronization level;
a fourth synchronization level, configured to indicate that the first terminal device does not receive a synchronization signal, where the synchronization signal includes a GNSS signal and/or a PSBCH synchronization signal sent by another terminal device;
the priority of the synchronization levels is from high to low as follows: a first synchronization level, a second synchronization level, a third synchronization level, and a fourth synchronization level.
Optionally, the PSBCH synchronization signal includes: and sign information and SLSS identification information indicating whether the first terminal equipment is in a GNSS coverage range.
Optionally, the correspondence between the synchronization level and the flag information and the SLSS identification information includes at least one of:
when the flag information is 1 and the SLSS identification information is 0, indicating that the synchronization level of the first terminal device is a first synchronization level;
when the flag information is 0 and the SLSS identification information is 0, indicating that the synchronization level of the first terminal device is a second synchronization level;
when the flag information is 0 and the SLSS identification information is a preset value, indicating that the synchronization level of the first terminal device is a third synchronization level;
and when the mark information is 0 and the SLSS identification information is a value larger than a preset value, the synchronization grade of the first terminal equipment is a fourth synchronization grade.
The third embodiment of the present invention corresponds to the method of the first embodiment, and all the implementation means in the first embodiment are applied to the embodiment of the synchronization apparatus, so that the same technical effects can be achieved.
Fourth embodiment
As shown in fig. 7, an embodiment of the present invention provides a synchronization apparatus 700, applied to a second terminal device, including:
a processing module 701, configured to determine whether a target signal is received, where the target signal includes a global navigation satellite system GNSS signal and/or a PSBCH synchronization signal that is sent by at least one first terminal device through a reserved subframe;
a synchronization source determining module 702, configured to determine a synchronization source of the second terminal device if the target signal is received;
a synchronization level determining module 703, configured to determine, according to the synchronization source of the second terminal device, a synchronization level of the second terminal device.
Optionally, the synchronization source determining module 702 includes:
a first determining unit, configured to determine, when the target signal is a GNSS signal, the GNSS signal as a synchronization source of the second terminal device;
a second determining unit, configured to determine, when the target signal is a GNSS signal and a PSBCH synchronization signal sent by at least one first terminal device, the GNSS signal as a synchronization source of the second terminal device;
a third determining unit, configured to, when the target signal is a PSBCH synchronization signal sent by at least one first terminal device, obtain a synchronization level of the at least one first terminal device, and determine a first terminal device with a highest synchronization level as a synchronization source of the second terminal device.
Optionally, the PSBCH synchronization signal includes: flag information indicating whether the first terminal device is within the GNSS coverage range and through link synchronization signal SLSS identification information.
Optionally, the third determining unit includes:
a first determining subunit, configured to determine, when the flag information is 1 and the SLSS identification information is 0, that the synchronization level of the first terminal device is a first synchronization level;
a second determining subunit, configured to determine, when the flag information is 0 and the SLSS identification information is 0, that the synchronization level of the first terminal device is a second synchronization level;
a third determining subunit, configured to determine, when the flag information is 0 and the SLSS identification information is a preset value, that the synchronization level of the first terminal device is a third synchronization level;
a fourth determining subunit, configured to determine, when the flag information is 0 and the SLSS identification information is a value greater than a preset value, that the synchronization level of the first terminal device is a fourth synchronization level;
the priority of the synchronization levels is from high to low as follows: a first synchronization level, a second synchronization level, a third synchronization level, and a fourth synchronization level.
Optionally, the synchronization level determining module 703 includes:
a fifth determining subunit, configured to determine, when the synchronization source of the second terminal device is a GNSS signal, that the synchronization level of the second terminal device is the first synchronization level;
a sixth determining subunit, configured to determine, when the synchronization source of the second terminal device is the first terminal device of the first synchronization level, that the synchronization level of the second terminal device is the second synchronization level;
a seventh determining subunit, configured to determine, when the synchronization source of the second terminal device is the first terminal device of the second synchronization level or the third synchronization level, that the synchronization level of the second terminal device is the third synchronization level.
Optionally, the synchronization apparatus 700 further includes:
and if the target signal is not received, determining that the synchronization level of the second terminal equipment is a fourth synchronization level.
The fourth embodiment of the present invention corresponds to the method of the second embodiment, and all the implementation means in the second embodiment are applied to the embodiment of the synchronization apparatus, so that the same technical effects can be achieved.
Fifth embodiment
In order to better achieve the above object, as shown in fig. 8, a fifth embodiment of the present invention further provides a terminal device, where the terminal device is a first terminal device, and the terminal device includes:
a processor 800; and a memory 820 connected to the processor 800 through a bus interface, wherein the memory 820 is used for storing programs and data used by the processor 800 in executing operations, and the processor 800 calls and executes the programs and data stored in the memory 820.
The transceiver 810 is connected to the bus interface, and is configured to receive and transmit data under the control of the processor 800; the transmission period of the PSBCH synchronization signal of the physical through link broadcast channel includes a first reserved subframe and a second reserved subframe, and the processor 800 is configured to read the program in the memory 820 and perform the following steps:
under the condition that the synchronization grade of the first terminal equipment is a first synchronization grade, the first terminal equipment sends a PSBCH synchronization signal on a first reserved subframe;
under the condition that the synchronization level of the first terminal equipment is a second synchronization level, the first terminal equipment sends a PSBCH synchronization signal on a second reserved subframe;
under the condition that the synchronization level of the first terminal equipment is a third synchronization level, the first terminal equipment sends a PSBCH synchronization signal on a target reserved subframe; the target reserved subframe is a reserved subframe with low receiving power in a first reserved subframe and a second reserved subframe;
and under the condition that the synchronization level of the first terminal equipment is a fourth synchronization level, the first terminal equipment randomly selects a reserved subframe to send a PSBCH synchronization signal based on an internal clock of the first terminal equipment.
Where in fig. 8, the bus architecture may include any number of interconnected buses and bridges, with various circuits being linked together, particularly one or more processors represented by processor 800 and memory represented by memory 820. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 810 may be a number of elements including a transmitter and a transceiver providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 830 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 800 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 800 in performing operations.
Optionally, the synchronization level comprises one of:
a first synchronization level for indicating that a synchronization source of the first terminal device is a Global Navigation Satellite System (GNSS) signal;
a second synchronization level, configured to indicate that a synchronization source of the first terminal device is a terminal device of the first synchronization level;
a third synchronization level, configured to indicate that a synchronization source of the first terminal device is a terminal device of the second synchronization level or the third synchronization level;
a fourth synchronization level, configured to indicate that the first terminal device does not receive a synchronization signal, where the synchronization signal includes a GNSS signal and/or a PSBCH synchronization signal sent by another terminal device;
the priority of the synchronization levels is from high to low as follows: a first synchronization level, a second synchronization level, a third synchronization level, and a fourth synchronization level.
Optionally, the PSBCH synchronization signal includes: and sign information and SLSS identification information indicating whether the first terminal equipment is in a GNSS coverage range.
Optionally, the correspondence between the synchronization level and the flag information and the SLSS identification information includes at least one of:
when the flag information is 1 and the SLSS identification information is 0, indicating that the synchronization level of the first terminal device is a first synchronization level;
when the flag information is 0 and the SLSS identification information is 0, indicating that the synchronization level of the first terminal device is a second synchronization level;
when the flag information is 0 and the SLSS identification information is a preset value, indicating that the synchronization level of the first terminal device is a third synchronization level;
and when the mark information is 0 and the SLSS identification information is a value larger than a preset value, the synchronization grade of the first terminal equipment is a fourth synchronization grade.
The terminal equipment provided by the invention can realize that the reserved subframes are used for sending the through link synchronization signals among the vehicle networking equipment, thereby realizing the cascade time synchronization of the multi-stage road side equipment RSU and the vehicle-mounted equipment OBU, meeting the existing standard, having small change on the synchronization process, not damaging the resource pools of the RSU and the OBU, having the feasibility of implementation, and being suitable for the synchronization among the vehicle networking equipment in a cascade mode.
Sixth embodiment
In order to better achieve the above object, a sixth embodiment of the present invention further provides a terminal device, where the terminal device is a second terminal device, and the specific structure of the terminal device is the same as that in fig. 8, and the terminal device includes:
a processor 800; and a memory 820 connected to the processor 800 through a bus interface, wherein the memory 820 is used for storing programs and data used by the processor 800 in executing operations, and the processor 800 calls and executes the programs and data stored in the memory 820.
The transceiver 810 is connected to the bus interface, and is configured to receive and transmit data under the control of the processor 800; the processor 800 is used for reading the program in the memory 820 and executing the following steps:
judging whether a target signal is received or not, wherein the target signal comprises a Global Navigation Satellite System (GNSS) signal and/or a PSBCH synchronous signal sent by at least one first terminal device through a reserved subframe;
if the target signal is received, determining a synchronization source of the second terminal equipment;
and determining the synchronization level of the second terminal equipment according to the synchronization source of the second terminal equipment.
Where in fig. 8, the bus architecture may include any number of interconnected buses and bridges, with various circuits being linked together, particularly one or more processors represented by processor 800 and memory represented by memory 820. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 810 may be a number of elements including a transmitter and a transceiver providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 830 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 800 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 800 in performing operations.
Optionally, when determining the synchronization source of the second terminal device, the processor 800 is specifically configured to:
determining the GNSS signal as a synchronous source of the second terminal equipment under the condition that the target signal is the GNSS signal;
under the condition that the target signal is a GNSS signal and a PSBCH synchronization signal sent by at least one first terminal device, determining the GNSS signal as a synchronization source of the second terminal device;
and under the condition that the target signal is a PSBCH synchronization signal sent by at least one first terminal device, obtaining the synchronization grade of the at least one first terminal device, and determining the first terminal device with the highest synchronization grade as the synchronization source of the second terminal device.
Optionally, the PSBCH synchronization signal includes: flag information indicating whether the first terminal device is within the GNSS coverage range and through link synchronization signal SLSS identification information.
Optionally, when obtaining the synchronization level of the at least one first terminal device, the processor 800 is specifically configured to:
when the flag information is 1 and the SLSS identification information is 0, determining that the synchronization level of the first terminal equipment is a first synchronization level;
when the mark information is 0 and the SLSS identification information is 0, determining that the synchronization level of the first terminal equipment is a second synchronization level;
when the mark information is 0 and the SLSS identification information is a preset value, determining that the synchronization level of the first terminal equipment is a third synchronization level;
when the flag information is 0 and the SLSS identification information is a value greater than a preset value, determining that the synchronization level of the first terminal equipment is a fourth synchronization level;
the priority of the synchronization levels is from high to low as follows: a first synchronization level, a second synchronization level, a third synchronization level, and a fourth synchronization level.
Optionally, when determining the synchronization level of the second terminal device according to the synchronization source of the second terminal device, the processor 800 is specifically configured to:
determining that the synchronization grade of the second terminal equipment is a first synchronization grade under the condition that the synchronization source of the second terminal equipment is a GNSS signal;
determining that the synchronization level of the second terminal device is a second synchronization level under the condition that the synchronization source of the second terminal device is the first terminal device of the first synchronization level;
and under the condition that the synchronization source of the second terminal equipment is the first terminal equipment with the second synchronization level or the third synchronization level, determining that the synchronization level of the second terminal equipment is the third synchronization level.
Optionally, after the determining whether the target signal is received, the processor 800 is further configured to: and if the target signal is not received, determining that the synchronization level of the second terminal equipment is a fourth synchronization level.
The terminal equipment provided by the invention can realize that the reserved subframes are used for sending the through link synchronization signals among the vehicle networking equipment, thereby realizing the cascade time synchronization of the multi-stage road side equipment RSU and the vehicle-mounted equipment OBU, meeting the existing standard, having small change on the synchronization process, not damaging the resource pools of the RSU and the OBU, having the feasibility of implementation, and being suitable for the synchronization among the vehicle networking equipment in a cascade mode.
Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be performed by hardware, or may be instructed to be performed by associated hardware by a computer program that includes instructions for performing some or all of the steps of the above methods; and the computer program may be stored in a readable storage medium, which may be any form of storage medium.
In addition, embodiments of the present invention also provide a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method as in the first embodiment described above, or implements the steps of the method as in the second embodiment described above. And the same technical effect can be achieved, and in order to avoid repetition, the description is omitted.
Furthermore, it is to be noted that in the device and method of the invention, it is obvious that the individual components or steps can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of performing the series of processes described above may naturally be performed chronologically in the order described, but need not necessarily be performed chronologically, and some steps may be performed in parallel or independently of each other. It will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the present invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present invention.
Thus, the objects of the invention may also be achieved by running a program or a set of programs on any computing device. The computing device may be a general purpose device as is well known. The object of the invention is thus also achieved solely by providing a program product comprising program code for implementing the method or the apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future. It is further noted that in the apparatus and method of the present invention, it is apparent that each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (15)
1. A synchronization method applied to a first terminal device, wherein a transmission period of a PSBCH synchronization signal of a physical through link broadcast channel comprises a first reserved subframe and a second reserved subframe, the synchronization method comprises the following steps:
under the condition that the synchronization grade of the first terminal equipment is a first synchronization grade, the first terminal equipment sends a PSBCH synchronization signal on a first reserved subframe;
under the condition that the synchronization level of the first terminal equipment is a second synchronization level, the first terminal equipment sends a PSBCH synchronization signal on a second reserved subframe;
under the condition that the synchronization level of the first terminal equipment is a third synchronization level, the first terminal equipment sends a PSBCH synchronization signal on a target reserved subframe; the target reserved subframe is a reserved subframe with low receiving power in a first reserved subframe and a second reserved subframe;
and under the condition that the synchronization level of the first terminal equipment is a fourth synchronization level, the first terminal equipment randomly selects a reserved subframe to send a PSBCH synchronization signal based on an internal clock of the first terminal equipment.
2. The synchronization method of claim 1, wherein the synchronization level comprises one of:
a first synchronization level for indicating that a synchronization source of the first terminal device is a Global Navigation Satellite System (GNSS) signal;
a second synchronization level, configured to indicate that a synchronization source of the first terminal device is a terminal device of the first synchronization level;
a third synchronization level, configured to indicate that a synchronization source of the first terminal device is a terminal device of the second synchronization level or the third synchronization level;
a fourth synchronization level, configured to indicate that the first terminal device does not receive a synchronization signal, where the synchronization signal includes a GNSS signal and/or a PSBCH synchronization signal sent by another terminal device;
the priority of the synchronization levels is from high to low as follows: a first synchronization level, a second synchronization level, a third synchronization level, and a fourth synchronization level.
3. The synchronization method of claim 1, wherein the PSBCH synchronization signal comprises: and sign information and SLSS identification information indicating whether the first terminal equipment is in a GNSS coverage range.
4. The synchronization method according to claim 3, wherein the correspondence between the synchronization level and the flag information and the SLSS identification information includes at least one of:
when the flag information is 1 and the SLSS identification information is 0, indicating that the synchronization level of the first terminal device is a first synchronization level;
when the flag information is 0 and the SLSS identification information is 0, indicating that the synchronization level of the first terminal device is a second synchronization level;
when the flag information is 0 and the SLSS identification information is a preset value, indicating that the synchronization level of the first terminal device is a third synchronization level;
and when the mark information is 0 and the SLSS identification information is a value larger than a preset value, the synchronization grade of the first terminal equipment is a fourth synchronization grade.
5. A synchronization method applied to a second terminal device is characterized by comprising the following steps:
judging whether a target signal is received or not, wherein the target signal comprises a Global Navigation Satellite System (GNSS) signal and/or a PSBCH synchronous signal sent by at least one first terminal device through a reserved subframe;
if the target signal is received, determining a synchronization source of the second terminal equipment;
and determining the synchronization level of the second terminal equipment according to the synchronization source of the second terminal equipment.
6. The synchronization method according to claim 5, wherein the determining the synchronization source of the second terminal device comprises:
determining the GNSS signal as a synchronous source of the second terminal equipment under the condition that the target signal is the GNSS signal;
under the condition that the target signal is a GNSS signal and a PSBCH synchronization signal sent by at least one first terminal device, determining the GNSS signal as a synchronization source of the second terminal device;
and under the condition that the target signal is a PSBCH synchronization signal sent by at least one first terminal device, obtaining the synchronization grade of the at least one first terminal device, and determining the first terminal device with the highest synchronization grade as the synchronization source of the second terminal device.
7. The synchronization method of claim 6, wherein the PSBCH synchronization signal comprises: flag information indicating whether the first terminal device is within the GNSS coverage range and through link synchronization signal SLSS identification information.
8. The synchronization method according to claim 7, wherein the obtaining the synchronization level of the at least one first terminal device comprises:
when the flag information is 1 and the SLSS identification information is 0, determining that the synchronization level of the first terminal equipment is a first synchronization level;
when the mark information is 0 and the SLSS identification information is 0, determining that the synchronization level of the first terminal equipment is a second synchronization level;
when the mark information is 0 and the SLSS identification information is a preset value, determining that the synchronization level of the first terminal equipment is a third synchronization level;
when the flag information is 0 and the SLSS identification information is a value greater than a preset value, determining that the synchronization level of the first terminal equipment is a fourth synchronization level;
the priority of the synchronization levels is from high to low as follows: a first synchronization level, a second synchronization level, a third synchronization level, and a fourth synchronization level.
9. The synchronization method according to claim 8, wherein determining the synchronization level of the second terminal device according to the synchronization source of the second terminal device comprises:
determining that the synchronization grade of the second terminal equipment is a first synchronization grade under the condition that the synchronization source of the second terminal equipment is a GNSS signal;
determining that the synchronization level of the second terminal device is a second synchronization level under the condition that the synchronization source of the second terminal device is the first terminal device of the first synchronization level;
and under the condition that the synchronization source of the second terminal equipment is the first terminal equipment with the second synchronization level or the third synchronization level, determining that the synchronization level of the second terminal equipment is the third synchronization level.
10. The synchronization method according to claim 8, further comprising, after said determining whether the target signal is received:
and if the target signal is not received, determining that the synchronization level of the second terminal equipment is a fourth synchronization level.
11. A terminal device, the terminal device being a first terminal device, comprising: transceiver, memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor realizes the steps of the synchronization method according to any of claims 1 to 4 when executing the computer program.
12. A terminal device, the terminal device being a second terminal device, comprising: transceiver, memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor realizes the steps of the synchronization method according to any of claims 5 to 10 when executing the computer program.
13. A synchronization apparatus applied to a first terminal device, wherein a transmission period of a PSBCH synchronization signal includes a first reserved subframe and a second reserved subframe, the synchronization apparatus comprising:
a first sending module, configured to send, by the first terminal device, a PSBCH synchronization signal on a first reserved subframe when the synchronization level of the first terminal device is a first synchronization level;
a second sending module, configured to send, by the first terminal device, a PSBCH synchronization signal on a second reserved subframe when the synchronization level of the first terminal device is the second synchronization level;
a third sending module, configured to send, by the first terminal device, a PSBCH synchronization signal on a target reserved subframe when the synchronization level of the first terminal device is a third synchronization level; the target reserved subframe is a reserved subframe with low receiving power in a first reserved subframe and a second reserved subframe;
a fourth sending module, configured to, when the synchronization level of the first terminal device is a fourth synchronization level, randomly select a reserved subframe to send a PSBCH synchronization signal by the first terminal device based on the internal clock of the first terminal device.
14. A synchronization device applied to a second terminal device, comprising:
the processing module is used for judging whether a target signal is received or not, wherein the target signal comprises a Global Navigation Satellite System (GNSS) signal and/or a PSBCH synchronous signal sent by at least one first terminal device through a reserved subframe;
a synchronization source determining module, configured to determine a synchronization source of the second terminal device if the target signal is received;
and the synchronization level determining module is used for determining the synchronization level of the second terminal equipment according to the synchronization source of the second terminal equipment.
15. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the synchronization method according to one of the claims 1 to 4 or the steps of the synchronization method according to one of the claims 5 to 10.
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