CN113204241A - Clock control method, device and equipment based on parking place and storage medium - Google Patents

Clock control method, device and equipment based on parking place and storage medium Download PDF

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Publication number
CN113204241A
CN113204241A CN202110488220.3A CN202110488220A CN113204241A CN 113204241 A CN113204241 A CN 113204241A CN 202110488220 A CN202110488220 A CN 202110488220A CN 113204241 A CN113204241 A CN 113204241A
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CN
China
Prior art keywords
target
parking
movable carrier
communication
information
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CN202110488220.3A
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Chinese (zh)
Inventor
韩旭
谭君华
蔡宇健
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Guangzhou Jingqi Technology Co ltd
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Guangzhou Jingqi Technology Co ltd
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Priority to CN202110488220.3A priority Critical patent/CN113204241A/en
Publication of CN113204241A publication Critical patent/CN113204241A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Abstract

The invention belongs to the technical field of automatic driving, and discloses a clock control method, a clock control device, clock control equipment and a storage medium based on a parking place. The method comprises the following steps: when the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, determining a plurality of target movable carriers according to the entry duration of other movable carriers in the parking place; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier; and controlling the current movable carrier to move to the communication area, and synchronizing the clock of the current movable carrier according to the clock data of the communication target. Through the mode, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is parked in a place with low quality.

Description

Clock control method, device and equipment based on parking place and storage medium
Technical Field
The invention relates to the technical field of automatic driving, in particular to a clock control method, a clock control device, clock control equipment and a storage medium based on a parking place.
Background
With the continuous development of the intelligent control technology, the sensor technology, the information processing technology and the mobile carrier communication technology are greatly developed, so that the automatic driving technology is promoted to cross one technical threshold, the automatic driving level is gradually advanced from the level L3 to the level L4 by the intensive research and development of automatic driving, and the technical problems also appear in large quantity while the automatic driving level is improved, and the urgent solution is needed.
Because of high requirement on clock precision, the automatic driving movable carrier and the remote data or the remote control end often perform time unification through a satellite clock, however, when the movable carrier is in an underground parking place, the situation that satellite signals are weak or even satellite signals cannot be received may occur, the situation that the satellite time signals cannot be received for a long time can occur due to the fact that the movable carrier parked in the parking place is generally long, at the moment, the requirement of time synchronization of the movable carrier started from the underground parking place and the time synchronization of the remote control end cannot be met, further, the validity judgment of the signals is not reliable any more, and further, accidents are caused to occur on the automatic driving movable carrier.
Disclosure of Invention
The invention mainly aims to provide a clock control method, a clock control device, clock control equipment and a storage medium based on a parking place, and aims to solve the technical problem that a movable carrier in the prior art cannot acquire reliable satellite clock signals when being located in the parking place.
In order to achieve the above object, the present invention provides a clock control method based on a parking lot, comprising the steps of:
when a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, sending a parking information query request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place;
determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place;
acquiring indoor positioning information and parking place information of a target movable carrier;
determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier;
controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target;
clock data of the communication target are acquired through the communication connection, and the clock of the current movable carrier is synchronized according to the clock data of the communication target.
Optionally, the determining, according to the indoor positioning information and the parking lot information of the target movable carrier, a communication target and a communication area corresponding to the communication target includes:
acquiring idle parking position information according to the parking site information;
predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information;
calculating the power-off time of the target movable carrier reaching the target parking position according to the target parking position;
the method comprises the steps of obtaining indoor position information of a current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-off time of a target movable carrier reaching a target parking position.
Optionally, the predicting the target parking position of the target movable carrier according to the idle parking position information and the indoor positioning information includes:
determining a preset parking position prediction model from a preset model database according to the parking place information;
and predicting the position through a preset parking position prediction model according to the idle parking position information and the indoor positioning information to obtain the target parking position of the target movable carrier.
Optionally, before the step of determining the preset parking position prediction model from the preset model database according to the parking lot information, the method further includes:
obtaining an initial parking position prediction model;
training the initial parking position prediction model according to the sampling idle parking position information and the sampling indoor positioning information to obtain a preset parking position prediction model;
acquiring parking place information corresponding to the sampled idle parking position information;
and storing the parking place information corresponding to the sampled idle parking position information into a preset model database as an index of a preset parking position prediction model.
Optionally, the determining, according to the position information of the current movable carrier and the power-off time when the target movable carrier reaches the target parking position, a communication target and a communication area corresponding to the communication target includes:
determining a signal area where the target parking position is located according to the target parking position;
determining the running time of the current movable carrier reaching a signal area where a target parking position is located according to the position information of the current movable carrier;
determining a communication target according to the running time and the power-off time when the target movable carrier reaches the target parking position;
and taking the signal area where the target parking position of the communication target is located as a communication area.
Optionally, the determining a communication target according to the travel time and the power-off time of the target movable carrier reaching the target parking position includes:
calculating available synchronous time according to the running time and the power-off time of the target movable carrier reaching the target parking position;
sequencing the success probability of clock synchronization according to the available synchronization time and the target parking position to obtain a sequencing result;
and determining a communication target according to the sequencing result.
Optionally, the determining a plurality of target mobile carriers according to entry durations of other mobile carriers in the parking lot includes:
acquiring the floor area of a parking place;
estimating a parking time threshold according to the occupied area, and setting an effective entrance time according to the time threshold;
and acquiring the entry time length smaller than the effective entry time length, and determining other movable carriers corresponding to the entry time length smaller than the effective entry time length as target movable carriers.
In addition, in order to achieve the above object, the present invention further provides a clock control device based on a parking lot, including:
the control module is used for sending a parking information query request to a data terminal in the parking field when the current movable carrier is in the parking field and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, so that the data terminal in the parking field feeds back the entry duration of other movable carriers in the parking field;
the processing module is used for determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place;
the acquisition module is used for acquiring indoor positioning information and parking place information of the target movable carrier;
the processing module is further configured to determine a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking lot information of the target movable carrier;
the control module is further configured to control the current movable carrier to move to the communication area until a communication connection is established with the communication target;
the processing module is further configured to acquire clock data of the communication target through the communication connection, and synchronize a clock of the current movable carrier according to the clock data of the communication target.
In addition, in order to achieve the above object, the present invention further provides a clock control device based on a parking lot, including: a memory, a processor, and a parking lot based clock control program stored on the memory and executable on the processor, the parking lot based clock control program configured to implement a parking lot based clock control method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium, where a parking lot based clock control program is stored, and the parking lot based clock control program, when executed by a processor, implements the parking lot based clock control method as described above.
When a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, sending a parking information query request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place; determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place; acquiring indoor positioning information and parking place information of a target movable carrier; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier; controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target; clock data of the communication target are acquired through the communication connection and the clock of the current movable carrier is synchronized according to the clock data of the communication target. Through the mode, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is parked in a place with low quality.
Drawings
FIG. 1 is a schematic flow chart illustrating a parking lot based clock control method according to a first embodiment of the present invention;
FIG. 2 is a flowchart illustrating step S40 of the parking lot based clock control method according to the second embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating communication target selection according to an embodiment of the parking lot-based clock control method of the present invention;
FIG. 4 is a flowchart illustrating step S44 of the parking lot based clock control method according to the third embodiment of the present invention;
fig. 5 is a schematic view of a communication area corresponding to a communication target according to an embodiment of the clock control method based on a parking lot of the present invention;
FIG. 6 is a block diagram of a parking lot based clock control apparatus according to a first embodiment of the present invention;
fig. 7 is a schematic structural diagram of a removable carrier of a hardware operating environment according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
An embodiment of the present invention provides a clock control method based on a parking lot, and referring to fig. 1, fig. 1 is a schematic flow diagram of a first embodiment of a clock control method based on a parking lot according to the present invention.
In this embodiment, the clock control method based on the parking lot includes the following steps:
step S10: when the current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, sending a parking information query request to a data terminal in the parking place, so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place.
It should be noted that the execution main body of this embodiment may be a control terminal on the current movable carrier, and an operating system is run on the control terminal, so as to implement a function customized by a manufacturer or a user, and the current movable carrier may be installed with a satellite time receiver such as: a GPS clock receiving device or a Beidou clock receiving device and the like. The movable carrier has various expression forms, such as a carrier with a moving capability, such as an automobile, a robot, an aircraft, etc., and the form of the movable carrier is not limited in this embodiment.
It can be understood that the present embodiment is used for receiving satellite signals difficultly or with low quality during the starting process due to the parking place after the movable carrier is parked. The clock signal of the movable carrier parked in the parking place is not reliable after the movable carrier is parked for a period of time, when the satellite signal is not good, the local clock is kept on time, but the signal drift of the local clock is increased continuously compared with the satellite clock along with the time of no signal becoming long, and the satellite clock is shifted greatly or even jumped along with the continuous accumulation of errors after a period of time. Therefore, the clock of the current movable carrier can be dynamically updated by comparing the reliability of the clock signals of other movable carriers, and the clock of the current movable carrier can be ensured not to have larger deviation with the satellite clock. In addition, in order to ensure that the time of the current movable carrier is kept synchronous with the time of the upper computer, one same clock is used as a clock source for time service, and the satellite clock signal is used as the clock source most reliably due to high precision and no time deviation. In the practical application process, the systems at the two ends obtain the time difference from the data transmission to the data reception process in a mode of attaching a time stamp to the data, and further judge the validity of the data.
It should be noted that, because the movable carrier is parked in the parking place for a certain time, the satellite signal loss time of the current mobile carrier will be longer than the satellite signal loss time of the just entered parking lot, and further, after the satellite signal is lost, the clock source is converted into a local clock in order to keep the clock stability of the current movable carrier, but with time, a certain time offset between the local clock and the satellite clock will occur, so that the clock offset of the current movable carrier will also be larger than the clock offset of the movable carrier just entering the parking lot, the clock of the current movable carrier is synchronized according to the clock of the movable carrier which just enters the parking place, so that the time deviation of the clock of the current movable carrier relative to the satellite clock can be effectively reduced, and the communication reliability between the current movable carrier and the upper control terminal is higher.
It should be understood that when the satellite signal strength is below the preset strength threshold, it indicates that the current satellite signal is no longer reliable. As long as the satellite signal strength is lower than the preset strength threshold, an object with a clock more accurate than that of the current movable carrier can be continuously searched for synchronization.
It should be noted that the data terminal in the parking lot may be an intelligent terminal of the parking lot, a network system formed by other devices in the parking lot, or an ad hoc network system between mobile carriers, and the present embodiment does not limit the expression form of the data terminal in the parking lot.
Further, it is long to get the entering of movable carrier entering parking place through the data terminal who parks in the place, can acquire through the check out test set that links to each other with the data terminal in the place of parking that is located parking place entrance, for example: the radio frequency identification number of the movable carrier is identified through a radio frequency sensor at an entrance, the identification information is attached with a timestamp to obtain the entry time of the movable carrier, and the time length from the entry time to the current time is the entry time length according to the entry time. When a data terminal in a parking place sends a parking information query request, the entering duration is sent to the current movable carrier.
Step S20: and determining a plurality of target movable carriers according to the entrance time lengths of other movable carriers in the parking place.
It should be noted that other movable carriers are movable carriers other than the current movable carrier, and since there may be a large number of other movable carriers in the parking lot, acquiring data information of all the movable carriers may increase the operation burden of the control terminal, and therefore, a target carrier that is likely to establish data connection and complete clock synchronization may be obtained by performing a first screening according to the entry duration of each movable carrier. Furthermore, because the clock data of the movable carrier cannot be acquired after the movable carrier is powered off, the movable carrier with shorter entry time can be selected as a target to be movable, the shorter entry time indicates that the movable carrier has higher probability of running in a parking place and finding an idle parking position, and enough time is provided for ensuring the clock synchronization process.
In a specific implementation, the target movable carrier is determined according to the entry duration, and there are various implementations, for example: the movable carriers with the shortest entry time length of 5 can be selected as the target movable carriers by giving the entry time length ranking. For another example: the average time from entering to parking power off collected in advance in the cloud server is used as a reference, fixed time is used as increased fault tolerance, and the movable carrier with the entering time being less than the current time is used as the target movable carrier. Therefore, the preliminary screening of the movable carrier is completed, the target movable carrier is effectively determined, the entry time is convenient to obtain, the data volume is small, and the overall efficiency of clock synchronization is effectively improved.
In addition, the floor area of the parking place can be obtained; estimating a parking time threshold according to the occupied area, and setting an effective entrance time according to the time threshold; and acquiring the entry time length smaller than the effective entry time length, and determining other movable carriers corresponding to the entry time length smaller than the effective entry time length as target movable carriers. It should be noted that the larger the area of the parking lot is, the longer the longest parking time of other movable carriers is, so that a regression linear model can be established according to the area of the parking lot sampled in advance and the longest parking time, a time threshold is determined according to the area of the current parking place, and a certain numerical value correction is performed according to the time threshold to obtain the final effective entry time. Generally speaking, a correction value can be set according to the vacancy rate of the parking positions of the parking place, the time is increased or decreased appropriately to obtain the final effective entry duration, and other movable carriers with entry durations larger than or equal to the effective entry duration prove to be in the parking state, so that other movable carriers with entry durations smaller than the effective entry duration are selected as the target movable carriers.
Step S30: and acquiring indoor positioning information and parking place information of the target movable carrier.
It should be understood that the indoor positioning information of the target mobile carrier may be obtained by an indoor positioning system connected to the data terminal in the parking lot, and the current plane position, the number of layers, the motion state, and the like of the target mobile carrier may be known through the indoor positioning information.
It can be understood that the parking place information includes parking place parking condition, parking place plane graph, parking place motion graph, parking place signal heat point graph and the like, and parking place related information, the parking place information can be stored in the parking place data terminal and can be obtained by sending query request.
Step S40: and determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking place information of the target movable carrier.
It should be noted that the communication target is one or more of the target movable carriers, and is a movable carrier that finally establishes a communication connection with the current movable carrier and performs clock synchronization.
It is understood that the movable carriers in the same area can maintain high-quality data communication with each other, and then this area is a signal area that can be communicated, and a signal area is selected as a target area to be subjected to clock synchronization as a communication area. The signal region may be divided in various ways, for example: the parking lot can be divided according to a signal heat point diagram of the parking lot, and an area covered by signals of the same signal source is regarded as an independent signal area. For another example: the method comprises the following steps that division can be carried out according to a plane map of a parking place, firstly, a wall structure of the place is identified according to the plane map of the parking place, and linear detection is carried out on the outline of the plane wall body to obtain each outline line segment; extending each wall line segment by a preset length and judging whether a closed graph exists or not; if the closed graph exists, marking the closed graph as a closed area; traversing the closed region, and taking the traversed closed region as a current closed region; judging whether the current closed region contains a closed region with the area smaller than that of the current closed region; and if the current closed region comprises a closed region with an area smaller than that of the current closed region, determining the current closed region as one of the signal regions. And selecting the signal area according to the position information, the route information or the target parking position of the communication target to obtain the communication area.
Furthermore, due to the difference in position between the mobile carriers with complex environments in the parking lot, a wall or an obstacle may exist in the middle of the position, even if the mobile carriers are respectively located on different floors, thereby affecting the quality of data connection. Therefore, stable communication with a movable carrier in a parking lot is not always possible, and a situation of large signal delay or signal interference may occur in the clock synchronization process, which may result in clock synchronization failure or reduced reliability of synchronization. To ensure a good communication environment between the mobile carriers, the same signal region needs to be selected for clock synchronization.
Step S50: and controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target.
It is to be understood that the current movable carrier can plan an autonomous driving route to the communication area according to the selected communication area and the position of the current movable carrier until a reliable communication connection is established with the traffic destination.
Step S60: clock data of the communication target are acquired through the communication connection and the clock of the current movable carrier is synchronized according to the clock data of the communication target.
In a specific implementation, the time signal of the clock synchronization object can be acquired to update the clock of the current movable carrier. It is to be understood that the clock of the current movable carrier may be updated according to the time signal, where the time signal may include phase information and frequency information of the clock, and the updating is to synchronize the phase information and frequency information of the local clock with the clock of the target object, so as to complete time synchronization.
In this embodiment, when a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, a parking information query request is sent to a data terminal in the parking place, so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place; determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place; acquiring indoor positioning information and parking place information of a target movable carrier; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier; controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target; clock data of the communication target are acquired through the communication connection and the clock of the current movable carrier is synchronized according to the clock data of the communication target. Through the mode, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is parked in a place with low quality.
Referring to fig. 2, fig. 2 is a flowchart illustrating a clock control method based on a parking lot according to a second embodiment of the present invention.
Based on the first embodiment, in the step S40, the clock control method based on a parking lot in this embodiment specifically includes:
step S41: and acquiring the information of the idle parking position according to the information of the parking place.
It should be understood that the information of the free parking positions obtained according to the information of the parking place can be obtained from a data terminal of the parking place, and the unmarked free parking positions are obtained by marking the parking places where the movable carriers are parked.
Step S42: and predicting the target parking position of the target movable carrier according to the idle parking position information and the indoor positioning information.
It should be noted that, according to the idle parking position information and the indoor positioning information, a traveling route of the target mobile carrier may be obtained, a predicted route of the target mobile carrier may be further predicted by combining with a parking lot map, and an idle parking position closest to the traveling route may be queried by the predicted route, so as to predict a target parking position of the target mobile carrier.
It is understood that, regarding the prediction of the target parking position of the target mobile vehicle, a preset parking position prediction model may be determined from a preset model database according to the parking lot information; the parking position prediction model can be obtained from a plurality of parking places and corresponding sampling data, so that the plane graph information of the current parking place is matched with the parking place information in the preset model database to obtain the preset parking position prediction model corresponding to the parking place with the highest matching degree. And finally, inputting idle parking position information and indoor positioning information, predicting the position through a preset parking position prediction model according to the idle parking position information and the indoor positioning information, and finally predicting to obtain the target parking position of the target movable carrier.
It should be noted that, the process of establishing the prediction model may be implemented by obtaining an initial parking position prediction model; training the initial parking position prediction model according to the sampled idle parking position information and the sampled indoor positioning information, predicting the traveling line of the target movable carrier according to the idle parking position and the target movable carrier position information to obtain a predicted target parking position, and obtaining a corresponding relation through machine training to obtain a preset parking position prediction model; acquiring parking place information corresponding to the sampled idle parking position information; and storing the parking place information corresponding to the sampled idle parking place information into a preset model database as an index of a preset parking place prediction model, and searching or directly matching through the parking place information so as to find the corresponding preset parking place prediction model.
Step S43: and calculating the power-off time of the target movable carrier reaching the target parking position according to the target parking position.
It should be understood that, when the target mobile carrier reaches the target parking position, the power may not be turned off immediately, a time compensation value may be obtained according to the average power-off time after parking counted in the database, and then a final power-off time is obtained according to the time length when the target mobile carrier reaches the target parking position and the time compensation value, where the power-off time is the total time length from the current time to the power-off time of the target mobile carrier.
Step S44: the method comprises the steps of obtaining indoor position information of a current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-off time of a target movable carrier reaching a target parking position.
It can be understood that after the indoor position information of the current movable carrier is obtained, the communication target and the communication area corresponding to the communication target can be determined according to the indoor position information of the current movable carrier and the power-down time of the target movable carrier to the target parking position, further, the time required for the communication area where the target movable carrier reaches the target parking position from the indoor position of the current movable carrier can be obtained through the indoor position information of the current movable carrier, when the time required for the communication area where the target movable carrier reaches the target parking position from the indoor position of the current movable carrier is less than the power-down time of the target parking position, it indicates that the current vehicle has sufficient time to perform clock synchronization operation, and it indicates that clock synchronization operation with the target movable carrier is possible, that is, the communication area where the target parking position is located can be selected as the communication area corresponding to the communication target.
In a specific implementation, as shown in fig. 3, there are two target mobile carriers, which are respectively the target No. 1 and the target No. 2, and it can be known from the indoor position information of the current mobile carrier that the predicted time for the current mobile carrier to reach the communication area is 60 seconds, the power-down time for the target mobile carrier No. 1 to reach the target parking position is 70 seconds, and the power-down time for the target mobile carrier No. 2 to reach the target parking position is 200 seconds. Therefore, the time for the object No. 1 to clock-synchronize with the current movable carrier may be only 10 seconds, generally 10 seconds may complete clock synchronization, but in the process, the object movable carrier may run at an accelerated speed, or the current movable carrier is moved to a courtesy pedestrian, so that the possibility that the object No. 1 misses clock synchronization is higher and the possibility that the object No. 2 succeeds in clock synchronization than the object No. 2, and therefore, the object No. 2 is selected as a communication object according to the indoor position information of the current movable carrier and the power-off time when the object movable carrier reaches the object parking position.
The embodiment acquires the information of the idle parking position according to the information of the parking place; predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information; calculating the power-off time of the target movable carrier reaching the target parking position according to the target parking position; the method comprises the steps of obtaining indoor position information of a current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-off time of a target movable carrier reaching a target parking position. By the method, the duration for establishing the stable data connection between the current movable carrier and the target movable carrier is predicted according to the position information and the free parking space information of the target movable carrier, and the reliability of successful data connection is further obtained. And determining a communication area corresponding to the communication target according to the reliability degree, thereby improving the success rate of clock synchronization of the current movable carrier and improving the overall efficiency of clock synchronization.
Referring to fig. 4, fig. 4 is a flowchart illustrating a clock control method based on a parking lot according to a second embodiment of the present invention.
Based on the first embodiment, in the step S44, the clock control method based on a parking lot in this embodiment specifically includes:
step S4401: and determining a signal area where the target parking position is located according to the target parking position.
It should be noted that, there are various ways of dividing the signal region where the target parking position is located according to the target parking position, and the following methods are taken as examples: the method comprises the following steps that division can be carried out according to a plane map of a parking place, firstly, a wall structure of the place is identified according to the plane map of the parking place, and linear detection is carried out on the outline of the plane wall body to obtain each outline line segment; extending each wall line segment by a preset length and judging whether a closed graph exists or not; if the closed graph exists, marking the closed graph as a closed area; traversing the closed region, and taking the traversed closed region as a current closed region; judging whether the current closed region contains a closed region with the area smaller than that of the current closed region; and if the current closed region comprises a closed region with an area smaller than that of the current closed region, determining the current closed region as one of the signal regions, and then determining the communication region where the target parking position is located as the signal region where the target parking position is located.
Step S4402: and determining the running time of the current movable carrier reaching the signal area where the target parking position is located according to the position information of the current movable carrier.
It should be understood that an automated driving route planning may be performed according to the position of the current movable carrier and the signal area where the target parking position is located, and a driving time required from the position of the current movable carrier to the signal area where the target parking position is located may be estimated through the automated driving route planning.
Step S4403: and determining a communication target according to the running time and the power-off time of the target movable carrier reaching the target parking position.
It can be understood that, according to the running time and the power-down time when the target movable carrier reaches the target parking position, the time length from when the communication target and the current movable carrier both reach the communication area to before the communication target is powered down can be calculated, and the longer the time length is, the longer the time for the current movable carrier to perform stable communication with the communication target is given, so as to improve the fault tolerance rate during clock synchronization, and therefore, according to the running time and the power-down time when the target movable carrier reaches the target parking position, the target with the highest fault tolerance rate can be selected as the communication target.
In the present embodiment, the available synchronization time is calculated from the travel time and the power-off time when the target movable carrier reaches the target parking position; sequencing the success probability of clock synchronization according to the available synchronization time and the target parking position to obtain a sequencing result; and determining a communication target according to the sequencing result.
It should be understood that when there are a plurality of target movable carriers such that the time required for the indoor position of the current movable carrier to reach the area where the target movable carrier reaches the target parking position is less than the power-down time of the target parking position, the available synchronization time may also be calculated from the travel time and the power-down time of the target movable carrier to reach the target parking position. The available time is the time length from when the communication target and the current movable carrier both reach the communication area to before the communication target is powered off, the longer the time length is, the longer the time length which can be used for clock synchronization operation is, because the running speed of the target movable carrier is uncertain, the calculated available synchronization time represents the possibility of successfully completing the clock synchronization operation, so the possibility can be represented by probability, the probability does not represent the true success probability, but only serves as an index for selecting the target movable carrier, and finally the success probability of clock synchronization is sequenced to obtain a sequencing result; and determining a communication target according to the sequencing result.
Step S4404: and taking the signal area where the target parking position of the communication target is located as a communication area.
It is understood that, after the signal area is divided, the signal area where the communication target is located is selected according to the target parking position of the communication target, and thus the communication area is obtained. When the communication target and the current movable carrier are both in the communication area, the clock signals can be stably synchronized.
In a specific implementation, as can be seen from fig. 5, there are two target movable carriers, i.e. target movable carrier No. 1 and target movable carrier No. 2, and two signal areas, signal area No. 1 and signal area No. 2. From the power-off time and the time when the current movable carrier reaches the target signal area, the available synchronization time for clock synchronization with the movement of the target No. 1 is 70s, because the current movable carrier reaches the signal area No. 1 10s later than the target movable carrier No. 1, and the time period from when both the communication target and the current movable carrier reach the communication area until the communication target is powered off is 70 s. And the available synchronization time for performing clock synchronization with the movable object No. 2 is 20s, when the movable carrier of the object No. 2 enters the signal area No. 2, the power can be turned off after 20s, so that the movable carrier of the object No. 1 can be obtained as a communication object according to the sequencing result, and the signal area No. 1 is a communication area. The conversion into the success probability is that the target mobile carrier in the area 2 may have too little clock synchronization time due to accelerated driving or rapid descending of the vehicle, and the target mobile carrier going to the area 1 has more time tolerance.
The signal area where the target parking position is located is determined according to the target parking position; determining the running time of the current movable carrier reaching a signal area where a target parking position is located according to the position information of the current movable carrier; determining a communication target according to the running time and the power-off time when the target movable carrier reaches the target parking position; and taking the signal area where the target parking position of the communication target is located as a communication area. By the aid of the method, the communication target and the communication area can be reasonably selected according to the indoor position information of the current movable carrier and the power-off time of the target movable carrier reaching the target parking position, the usable time length of a clock synchronization process is guaranteed, and the success rate of clock synchronization is improved.
In addition, an embodiment of the present invention further provides a clock control device based on a parking lot, and referring to fig. 6, the clock control device based on a parking lot includes:
the control module 10 is configured to send a parking information query request to a data terminal in the parking lot when the current movable carrier is in the parking lot and the satellite signal strength of the current movable carrier is lower than a preset strength threshold, so that the data terminal in the parking lot feeds back the entry duration of other movable carriers in the parking lot.
And the processing module 20 is configured to determine a plurality of target movable carriers according to entry durations of other movable carriers in the parking lot.
And the obtaining module 30 is configured to obtain indoor positioning information and parking lot information of the target movable carrier.
The processing module 20 is further configured to determine a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking lot information of the target movable carrier.
The control module 10 is further configured to control the current movable carrier to move to the communication area until a communication connection is established with the communication target.
The processing module 20 is further configured to acquire clock data of the communication target through the communication connection and synchronize a clock of the current movable carrier according to the clock data of the communication target.
When a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, the control module 10 of this embodiment sends a parking information query request to a data terminal in the parking place, so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place; the processing module 20 determines a plurality of target movable carriers according to the entry time lengths of other movable carriers in the parking lot; the acquisition module 30 acquires indoor positioning information and parking place information of the target movable carrier; the processing module 20 determines a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking lot information of the target movable carrier; the control module 10 controls the current movable carrier to move to the communication area until a communication connection is established with the communication target; the processing module 20 acquires the clock data of the communication destination via the communication connection and synchronizes the clock of the current movable carrier according to the clock data of the communication destination. By the device, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is parked in a parking place with low quality.
In addition, an embodiment of the present invention further provides a storage medium, where a parking lot based clock control program is stored on the storage medium, and the parking lot based clock control program, when executed by a processor, implements the steps of the parking lot based clock control method described above.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a movable carrier of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 7, the movable carrier may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the movable carrier, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 7, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a parking lot-based clock control program.
In the removable carrier shown in fig. 7, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving input instructions of a user; the removable carrier invokes a parking lot based clock control program stored in memory 1005 by processor 1001 and performs the following operations:
when a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, sending a parking information query request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place;
determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place;
acquiring indoor positioning information and parking place information of a target movable carrier;
determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier;
controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target;
clock data of the communication target are acquired through the communication connection and the clock of the current movable carrier is synchronized according to the clock data of the communication target.
Further, the processor 1001 may call a parking lot based clock control program stored in the memory 1005, and also perform the following operations:
acquiring idle parking position information according to the parking site information;
predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information;
calculating the power-off time of the target movable carrier reaching the target parking position according to the target parking position;
the method comprises the steps of obtaining indoor position information of a current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-off time of a target movable carrier reaching a target parking position.
Further, the processor 1001 may call a parking lot based clock control program stored in the memory 1005, and also perform the following operations:
determining a preset parking position prediction model from a preset model database according to the parking place information;
and predicting the position through a preset parking position prediction model according to the idle parking position information and the indoor positioning information to obtain the target parking position of the target movable carrier.
Further, the processor 1001 may call a parking lot based clock control program stored in the memory 1005, and also perform the following operations:
obtaining an initial parking position prediction model;
training the initial parking position prediction model according to the sampling idle parking position information and the sampling indoor positioning information to obtain a preset parking position prediction model;
acquiring parking place information corresponding to the sampled idle parking position information;
and storing the parking place information corresponding to the sampled idle parking position information into a preset model database as an index of a preset parking position prediction model.
Further, the processor 1001 may call a parking lot based clock control program stored in the memory 1005, and also perform the following operations:
determining a signal area where the target parking position is located according to the target parking position;
determining the running time of the current movable carrier reaching a signal area where a target parking position is located according to the position information of the current movable carrier;
determining a communication target according to the running time and the power-off time when the target movable carrier reaches the target parking position;
and taking the signal area where the target parking position of the communication target is located as a communication area.
Further, the processor 1001 may call a parking lot based clock control program stored in the memory 1005, and also perform the following operations:
calculating available synchronous time according to the running time and the power-off time of the target movable carrier reaching the target parking position;
sequencing the success probability of clock synchronization according to the available synchronization time and the target parking position to obtain a sequencing result;
and determining a communication target according to the sequencing result.
Further, the processor 1001 may call a parking lot based clock control program stored in the memory 1005, and also perform the following operations:
acquiring the floor area of a parking place;
estimating a parking time threshold according to the occupied area, and setting an effective entrance time according to the time threshold;
and acquiring the entry time length smaller than the effective entry time length, and determining other movable carriers corresponding to the entry time length smaller than the effective entry time length as target movable carriers.
In this embodiment, when a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, a parking information query request is sent to a data terminal in the parking place, so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place; determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place; acquiring indoor positioning information and parking place information of a target movable carrier; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier; controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target; clock data of the communication target are acquired through the communication connection and the clock of the current movable carrier is synchronized according to the clock data of the communication target. Through the mode, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is parked in a place with low quality.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a parking lot-based clock control program is stored on the computer-readable storage medium, and when executed by a processor, the parking lot-based clock control program implements the following operations:
when a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, sending a parking information query request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place;
determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place;
acquiring indoor positioning information and parking place information of a target movable carrier;
determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier;
controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target;
clock data of the communication target are acquired through the communication connection and the clock of the current movable carrier is synchronized according to the clock data of the communication target.
In this embodiment, when a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, a parking information query request is sent to a data terminal in the parking place, so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place; determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place; acquiring indoor positioning information and parking place information of a target movable carrier; determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier; controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target; clock data of the communication target are acquired through the communication connection and the clock of the current movable carrier is synchronized according to the clock data of the communication target. Through the mode, the clock signal of the current movable carrier is updated by selecting the object with smaller deviation between the clock and the satellite clock, so that the stable output of the clock signal of the movable carrier is ensured when the satellite signal is parked in a place with low quality.
It should be noted that, when being executed by a processor, the computer-readable storage medium may also implement the steps in the method, and achieve the corresponding technical effects, which is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. With this understanding in mind, the technical solutions of the present invention may be embodied in the form of a software product stored on a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above, and including instructions for causing a removable carrier to carry out the methods described in the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A clock control method based on a parking place is characterized by comprising the following steps:
when a current movable carrier is in a parking place and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold, sending a parking information query request to a data terminal in the parking place so that the data terminal in the parking place feeds back the entry duration of other movable carriers in the parking place;
determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place;
acquiring indoor positioning information and parking place information of a target movable carrier;
determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and parking site information of the target movable carrier;
controlling the current movable carrier to move to the communication area until a communication connection is established with the communication target;
clock data of the communication target are acquired through the communication connection, and the clock of the current movable carrier is synchronized according to the clock data of the communication target.
2. The method of claim 1, wherein determining a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking lot information of the target movable carrier comprises:
acquiring idle parking position information according to the parking site information;
predicting a target parking position of a target movable carrier according to the idle parking position information and the indoor positioning information;
calculating the power-off time of the target movable carrier reaching the target parking position according to the target parking position;
the method comprises the steps of obtaining indoor position information of a current movable carrier, and determining a communication target and a communication area corresponding to the communication target according to the indoor position information of the current movable carrier and the power-off time of a target movable carrier reaching a target parking position.
3. The method of claim 2, wherein predicting a target parking location of a target movable carrier from the free parking location information and indoor positioning information comprises:
determining a preset parking position prediction model from a preset model database according to the parking place information;
and predicting the position through a preset parking position prediction model according to the idle parking position information and the indoor positioning information to obtain the target parking position of the target movable carrier.
4. The method of claim 3, wherein said step of determining a predetermined parking location prediction model from a predetermined model database based on said parking lot information is preceded by the step of:
obtaining an initial parking position prediction model;
training the initial parking position prediction model according to the sampling idle parking position information and the sampling indoor positioning information to obtain a preset parking position prediction model;
acquiring parking place information corresponding to the sampled idle parking position information;
and storing the parking place information corresponding to the sampled idle parking position information into a preset model database as an index of a preset parking position prediction model.
5. The method of claim 2, wherein the determining a communication target and a communication area corresponding to the communication target according to the position information of the current movable carrier and the power-down time of the target movable carrier reaching the target parking position comprises:
determining a signal area where the target parking position is located according to the target parking position;
determining the running time of the current movable carrier reaching a signal area where a target parking position is located according to the position information of the current movable carrier;
determining a communication target according to the running time and the power-off time when the target movable carrier reaches the target parking position;
and taking the signal area where the target parking position of the communication target is located as a communication area.
6. The method of claim 5, wherein determining the communication target based on the travel time and the power-down time for the target movable carrier to reach the target parking location comprises:
calculating available synchronous time according to the running time and the power-off time of the target movable carrier reaching the target parking position;
sequencing the success probability of clock synchronization according to the available synchronization time and the target parking position to obtain a sequencing result;
and determining a communication target according to the sequencing result.
7. The method according to any one of claims 1 to 6, wherein determining a plurality of target movable carriers according to entry durations of other movable carriers in the parking lot comprises:
acquiring the floor area of a parking place;
estimating a parking time threshold according to the occupied area, and setting an effective entrance time according to the time threshold;
and acquiring the entry time length smaller than the effective entry time length, and determining other movable carriers corresponding to the entry time length smaller than the effective entry time length as target movable carriers.
8. A clock control device based on a parking lot, the clock control device based on the parking lot comprises:
the control module is used for sending a parking information query request to a data terminal in the parking field when the current movable carrier is in the parking field and the satellite signal intensity of the current movable carrier is lower than a preset intensity threshold value, so that the data terminal in the parking field feeds back the entry duration of other movable carriers in the parking field;
the processing module is used for determining a plurality of target movable carriers according to the entrance duration of other movable carriers in the parking place;
the acquisition module is used for acquiring indoor positioning information and parking place information of the target movable carrier;
the processing module is further configured to determine a communication target and a communication area corresponding to the communication target according to the indoor positioning information and the parking lot information of the target movable carrier;
the control module is further configured to control the current movable carrier to move to the communication area until a communication connection is established with the communication target;
the processing module is further configured to acquire clock data of the communication target through the communication connection, and synchronize a clock of the current movable carrier according to the clock data of the communication target.
9. A parking lot based clock control apparatus, the apparatus comprising: a memory, a processor, and a parking lot based clocking program stored on the memory and executable on the processor, the parking lot based clocking program configured to implement the parking lot based clocking method of any of claims 1-7.
10. A storage medium having stored thereon a parking lot based clock control program, the parking lot based clock control program when executed by a processor implementing the parking lot based clock control method according to any one of claims 1 to 7.
CN202110488220.3A 2021-04-30 2021-04-30 Clock control method, device and equipment based on parking place and storage medium Pending CN113204241A (en)

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