CN113242104A - Clock control method, device and equipment based on signal-free area and storage medium - Google Patents
Clock control method, device and equipment based on signal-free area and storage medium Download PDFInfo
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- CN113242104A CN113242104A CN202110488932.5A CN202110488932A CN113242104A CN 113242104 A CN113242104 A CN 113242104A CN 202110488932 A CN202110488932 A CN 202110488932A CN 113242104 A CN113242104 A CN 113242104A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0644—External master-clock
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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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 clock control storage medium based on a signal-free area. The method comprises the following steps: when the detected satellite signal intensity is lower than a preset intensity threshold value, sending a position information query request to other movable carriers in a preset range, and determining a plurality of target movable carriers according to the position information corresponding to the other movable carriers in the preset range and the historical satellite signal hot spot diagram; acquiring clock data of the target movable carrier; updating the clock of the current movable carrier according to the clock data of the target movable carrier. Through the mode, the object with smaller deviation amount between the clock and the satellite clock is selected to update the clock signal of the current movable carrier, so that stable output of the clock signal is ensured in an area with low satellite signal quality.
Description
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 clock control storage medium based on a signal-free area.
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 and another technical threshold, and the technical problem is also explosively appeared while the automatic driving level is improved, so that a urgent need exists for solving the technical problem.
The remote driving is an important part in automatic driving, and since the remote driving is often accompanied by the existence of signal delay signal interference and the like, the validity of the signal is more important to judge, and new requirements are also put on the clock synchronization capability of the control signal, for example, when the movable carrier receives an operation instruction from a remote place, the movable carrier needs to know when the instruction is sent out so as to judge whether the signal is valid or not. For example, during the high-speed running of the movable carrier, a turning signal is received, but the signal is sent out 2 seconds ago, so that the signal cannot be trusted, because the vehicle is already out of the curve after 2 seconds, the clocks at the two ends need to be highly synchronized, and a reliable basis can be provided for judging the validity of the signal. Because of high requirement on clock precision, the automatic driving movable carrier is often synchronized by a satellite clock, however, when the movable carrier is in a remote suburb or a tunnel or other position with poor satellite signal, the satellite clock is switched to a local clock to keep time, so as to ensure the requirement of time synchronization of the movable carrier and the time of a remote control end, however, compared with the satellite clock, the stability of the local clock is more prone to error, further, the validity judgment of the signal is not reliable, and thus, the automatic driving movable carrier is in accident.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a clock control method, a device, equipment and a storage medium based on a signal-free area, and aims to solve the technical problem that a movable carrier clock source is unreliable when a satellite signal is in a poor position in the prior art.
In order to achieve the above object, the present invention provides a clock control method based on a signal-free region, the method comprising the steps of:
when the current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold value, sending a position information inquiry request to other movable carriers in a preset range, so that the other movable carriers in the preset range inquire and return position information according to the position information;
acquiring a historical satellite signal hotspot graph;
determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram;
acquiring clock data of the target movable carrier;
updating the clock of the current movable carrier according to the clock data of the target movable carrier.
Optionally, the updating the clock of the current movable carrier according to the clock data of the target movable carrier includes:
acquiring satellite clock switching duration and clock identification information corresponding to the target movable carrier according to the clock data of the target movable carrier;
sending a driving record inquiry request to the target movable carrier so that the target movable carrier returns a bumpiness accumulation value of the target movable carrier according to the driving record inquiry request;
determining a preset credibility analysis model from a preset model database according to the clock identification information;
determining the credibility score of the target movable carrier through the preset credibility analysis model according to the satellite clock switching duration and the bumpiness accumulation value;
determining a clock synchronization object according to the credibility score of the target movable carrier;
and obtaining a corresponding time signal according to the clock data of the clock synchronization object, and updating the clock of the current movable carrier according to the time signal.
Optionally, before the step of determining the preset credibility analysis model from the preset model database according to the clock identification information, the method further includes:
acquiring an initial credibility analysis model;
training the initial credibility analysis model according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation value to obtain a preset credibility analysis model;
clock identification information corresponding to a preset credibility analysis model is obtained according to any one of the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount;
and putting the clock identification information into a preset model database as an index of a preset credibility analysis model.
Optionally, the training the initial reliability analysis model according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount to obtain a preset reliability analysis model includes:
determining a first corresponding relation among the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount;
determining a second corresponding relation between the clock deviation amount and the clock uncertainty according to the sampling clock deviation amount;
and training the initial credibility analysis model according to the first corresponding relation and the second corresponding relation to obtain a preset credibility analysis model.
Optionally, after the step of obtaining the time signal of the target movable carrier according to the clock data of the clock synchronization object and updating the clock of the current movable carrier according to the time signal, the method further includes:
detecting a bumpiness accumulation value updated by the current movable carrier clock and a switching duration corresponding to a clock synchronization object;
predicting through the preset reliability analysis model according to the updated bumpiness accumulation value of the current movable carrier clock and the switching duration corresponding to the clock synchronization object so as to obtain the reliability score of the current movable carrier;
if the credibility score of the current movable carrier is lower than the credibility score of the target movable carrier, selecting the target movable carrier corresponding to the highest credibility score from the credibility scores of the target movable carriers;
and updating the clock of the current movable carrier according to the target movable carrier corresponding to the highest credibility score.
Optionally, the determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hotspot map includes:
acquiring historical tracks of other movable carriers according to the position information corresponding to the other movable carriers in the preset range, and predicting the driving intentions of the other movable carriers;
sorting the effective degrees of satellite signals of other movable carriers in a preset range according to the driving intention, the historical track and the historical satellite signal hotspot graph to obtain sorting results of other movable carriers;
and determining a plurality of target movable carriers according to the sequencing result.
Optionally, the sorting the effective degrees of satellite signals of other movable carriers in a preset range according to the driving intention, the historical track and the historical satellite signal hotspot graph to obtain sorting results of other movable carriers includes:
predicting the leaving time of other movable carriers leaving a preset range within preset time according to the driving intention;
obtaining the signal loss time of other movable carriers entering a signal-free area according to the historical satellite signal hotspot graph and the historical track;
and sequencing other movable carriers through a preset sequencing model according to the leaving time and the signal loss time so as to obtain sequencing results of other movable carriers.
In addition, in order to achieve the above object, the present invention further provides a clock control device based on a dead zone, including:
the control module is used for sending a position information query request to other movable carriers in a preset range when the current movable carrier is in a running state and the detected satellite signal intensity is lower than a preset intensity threshold value, so that the other movable carriers in the preset range query and return position information according to the position information;
the acquisition module is used for acquiring a historical satellite signal hotspot graph;
the processing module is used for determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram;
the acquisition module is further used for acquiring clock data of the target movable carrier;
the control module is further configured to update the clock of the current movable carrier according to the clock data of the target movable carrier.
In addition, to achieve the above object, the present invention further provides a clock control device based on a no-signal area, including: the system comprises a memory, a processor and a no-signal region based clock control program stored on the memory and capable of running on the processor, wherein the no-signal region based clock control program is configured to realize the no-signal region based clock control method.
In addition, in order to achieve the above object, the present invention further provides a storage medium having a signal-free area-based clock control program stored thereon, wherein the signal-free area-based clock control program, when executed by a processor, implements the signal-free area-based clock control method as described above.
When the current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold value, sending a position information inquiry request to other movable carriers in a preset range to make the other movable carriers in the preset range inquire and return position information according to the position information; acquiring a historical satellite signal hotspot graph; determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram; acquiring clock data of the target movable carrier; updating the clock of the current movable carrier according to the clock data of the target movable carrier. Through the mode, the object with smaller deviation between the clock and the satellite clock is selected to update the clock signal of the current movable carrier, so that time synchronization is realized, and stable output of the clock signal is ensured in an area with low satellite signal quality.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a clock control method based on a signal-free area according to the present invention;
FIG. 2 is a flowchart illustrating step S50 of the clock control method based on no signal area according to the second embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating clock synchronization object selection according to an embodiment of the signal-free region-based clock control method of the present invention;
FIG. 4 is a flowchart illustrating step S30 of the clock control method based on no signal area according to the third embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating target mobile carrier screening according to an embodiment of the method for clock control based on a dead zone;
FIG. 6 is a block diagram of a first embodiment of a clock control apparatus based on a signal-free area according to 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 no-signal area, and referring to fig. 1, fig. 1 is a schematic flow diagram of a first embodiment of a clock control method based on a no-signal area according to the present invention.
In this embodiment, the clock control method based on the no-signal area includes the following steps:
step S10: when the current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold value, sending a position information inquiry request to other movable carriers in a preset range, so that the other movable carriers in the preset range inquire and return position information according to the position information.
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: GPS clock receiving arrangement or big dipper clock receiving arrangement etc. but current portable carrier still can install vibration detection device if: vibration sensors, bump accumulators or laser displacement sensors, etc. 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, when the present embodiment is applied to a mobile vehicle in a driving process, an existing clock signal is generally sent to a sensor and a system by a satellite, and when the mobile vehicle passes through a tunnel, a high-rise building and other places with poor signals, the satellite signal is degraded, which may cause a delay of the clock signal, thereby affecting subsequent vehicle control; in addition, when the satellite signal is not good, a local clock keeps time, but as the signal-free time becomes longer, the signal drift of the local clock compared with the satellite clock is increased continuously, and as errors are accumulated continuously after a period of time, the satellite clock generates a large offset and even jumps in the local connection. Therefore, the clock of the current movable carrier can be dynamically updated by comparing the reliability of the clock signals of other movable carriers, so that the clock of the current movable carrier does not have larger deviation with the satellite clock. The local clock may be a satellite clock that the current movable carrier independently operates when the satellite signal is lost, or may be a clock composed of a local crystal oscillator provided on the current movable carrier. In order to ensure that the time of the current movable carrier and the time of the upper computer are kept synchronous, 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 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. In addition, since the signal range of the current movable carrier is limited, a preset range needs to be set according to the signal condition, so that a high communication quality can be maintained when the current movable carrier communicates with the movable carrier within the preset range.
In a specific implementation, the position information of the other movable carriers may be obtained by sending a position information query request, so that the other movable carriers can feed back the position information, and further, the position information may include information data that can be obtained by a positioning system and a related operation module, such as current positioning information, a historical movement track, a driving speed, and a driving direction of the movable carrier.
Step S20: and acquiring a historical satellite signal hotspot graph.
It should be noted that the satellite signal in the historical satellite signal hot spot diagram may be a GPS signal or a signal of a beidou positioning system, the type of the satellite signal depends on the type of a satellite clock synchronization signal used by the current vehicle, and the type of the satellite signal is not limited in this embodiment. In addition, the historical satellite signal hot spot map can be used for marking the satellite signal strength by combining a map according to the signal condition of the location of different satellite communication equipment, then obtaining a relatively stable historical satellite signal map according to a large amount of marking information, accurately predicting the satellite signal strength under different position coordinates according to the historical satellite signal map, and marking a satellite signal area and a no-signal area according to the historical satellite signal map, wherein the no-signal area is an area with low satellite signal quality.
Step S30: and determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram.
It should be noted that, since the number of the movable carriers in the preset range is not estimated, if the number of the movable carriers is large, the data connection with all vehicles in the preset range and the processing of the clock data may exceed the range that the current movable carrier network and the computing resources can bear, and therefore, the position information of other movable carriers may be obtained to perform preliminary screening to obtain a plurality of movable carriers as the target movable carriers.
It is understood that an appropriate number of target mobile carriers need to be screened out for further processing, and the number of target mobile carriers is not limited in this embodiment and can be set according to the network quality and the data processing capability of the mobile carriers.
Furthermore, there are various ways to select the target movable carrier by means of the location information and the historical satellite signal hot spot map, such as: the determination may be made by the distance from the movable carrier to the current movable carrier and the traveling direction of the movable carrier, and the object whose traveling direction is directed to the current movable carrier at the edge of the preset area is selected as the target movable carrier, because the object whose traveling direction is directed to the current movable carrier at the edge of the preset area enters the no-signal area later than other movable objects with a greater probability, and thus the amount of deviation of the clock signal occurs is smaller.
Step S40: clock data of the target movable carrier is acquired.
It should be noted that the clock data of the target movable carrier is data including a clock signal of the target movable carrier and clock-related information, where the clock signal is a signal for updating a clock of the current movable carrier so as to synchronize the two clocks in time, and the clock-related information is used to provide a basis for further selecting a clock synchronization object, and the related information includes, for example, a clock model, a parameter, a clock start time, a clock switching time, and the like. Since synchronization of the clock signal is required, a data connection needs to be established with the target removable carrier, and synchronization of the clock signal is gradually achieved by tracking the clock signal.
Step S50: updating the clock of the current movable carrier according to the clock data of the target movable carrier.
It is to be understood that updating the clock of the current movable carrier according to the clock data of the target movable carrier depends on the number of target movable carriers, and if the target can move the carrier only, the current movable carrier is updated directly according to the clock signal of the target movable carrier; however, when the target mobile carriers are a plurality of objects, the clock reliability of each target mobile carrier needs to be further determined to determine the final clock synchronization object.
In specific implementation, the determination may be performed according to a clock switching duration of the target movable carrier, where the clock switching duration is a duration from a time when the clock and the satellite clock are out of synchronization to the present time, and it can be understood that the longer the switching duration is, the more inaccurate the clock is, so that the movable carrier with the shortest switching duration may be selected as a clock synchronization object, thereby implementing time synchronization to reduce a time deviation of local time relative to satellite time.
In this embodiment, when a current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold, a location information query request is sent to other movable carriers within a preset range, so that the other movable carriers within the preset range query and return location information according to the location information; acquiring a historical satellite signal hotspot graph; determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram; acquiring clock data of the target movable carrier; updating the clock of the current movable carrier according to the clock data of the target movable carrier. Through the mode, the object with smaller deviation amount between the clock and the satellite clock is selected to update the clock signal of the current movable carrier, so that stable output of the clock signal is ensured in an area with low satellite signal quality.
Referring to fig. 2, fig. 2 is a flowchart illustrating a clock control method based on a signal-free area according to a second embodiment of the present invention.
Based on the first embodiment, in the clock control method based on the signal-free area in this embodiment, in the step S50, the method specifically includes:
step S51: and acquiring satellite clock switching duration and clock identification information corresponding to the target movable carrier according to the clock data of the target movable carrier.
It should be understood that the satellite clock switching duration is the length of time from the moment when the target clock is out of synchronization with the satellite clock to the present time, for example, the present time is 16 hours, 20 minutes and 15 seconds, and the clock switching duration is 16 hours, 10 minutes and 00 seconds, so that the satellite clock switching duration is 10 minutes and 15 seconds at this time. The clock identification information can be product information of the clock or model information of a chip where the clock is located, and the type and the model of the clock can be accurately acquired through the clock identification information.
Step S52: and sending a driving record inquiry request to the target movable carrier so that the target movable carrier returns the bumpiness accumulated value of the target movable carrier according to the driving record inquiry request.
It can be understood that the accumulated value of the jitter is an accumulated jitter amount indicating the time from the time when the clock switches the movable carrier to the present time, and the accumulated jitter amount may be an accumulated vibration amount, a horizontal accumulated displacement amount, or an accumulated value measured by a jitter accumulator, and is used for recording the accumulated vibration condition of the movable carrier. Therefore, the clock deviation can be predicted according to the vibration condition through the quantized vibration quantity accumulated from the clock switching time to the current time.
Step S53: and determining a preset credibility analysis model from a preset model database according to the clock identification information.
It should be understood that, because the sensitivity of clocks of different models to time and vibration is different, the influence of the increase of the switching duration and the influence of the jitter accumulation value on the clock deviation are also different, so that clock identification information needs to be obtained, and then a model in a preset model database is retrieved according to the clock identification information to obtain a corresponding preset credibility analysis model. Furthermore, the preset model database is a database in which clock identification information corresponds to the reliability analysis model, the database may be stored in the local storage device, or may be stored in the cloud server for real-time query, and the obtaining mode of the preset model database is not limited in this embodiment.
It should be noted that, the predetermined reliability analysis model may be obtained by obtaining an initial reliability analysis model, and then training the initial reliability analysis model according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount, then obtaining a preset credibility analysis model, then obtaining clock identification information corresponding to the preset credibility analysis model according to any one of the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation value, wherein, the sampling bump accumulation value and the sampling clock switching duration respectively correspond to the clock deviation amount, and each group of the sampling bump accumulation value and the corresponding clock deviation amount and the sampling clock switching duration and the corresponding clock deviation amount both correspond to the clock for sampling, therefore, the preset credibility analysis models obtained by training according to each group of data can correspond one to one according to the clock identification information; and putting the clock identification information into a preset model database as an index of a preset credibility analysis model, and finally establishing a preset credibility analysis model associated with the clock identification information.
Further, the training process of the reliability analysis model may be that a first corresponding relationship between a sampling bump accumulation value, a sampling clock switching duration and a sampling clock deviation is determined according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation, the initial reliability model is trained to obtain a final preset reliability analysis model according to the sampling bump accumulation value and the sampling clock switching duration as independent variables and the sum of the corresponding clock deviation as a dependent variable; determining a second corresponding relation between the clock deviation amount and the clock uncertainty according to the sampling clock deviation amount, wherein the clock deviation amount can be regarded as an absolute value of a clock error, a final error range can be obtained according to the absolute value of the error, the uncertainty is further obtained, and finally a reliability scoring standard is formulated according to the uncertainty; and training the initial credibility analysis model according to the first corresponding relation and the second corresponding relation to obtain a preset credibility analysis model.
It will be appreciated that the scoring criteria for reliability are specified in terms of uncertainty, since a higher uncertainty for a clock indicates a lower reliability for the current clock, and therefore a higher uncertainty ultimately results in a lower confidence level. When the uncertainty is above a formulated threshold, the confidence score may be 0.
In a specific implementation, because the time length factor exists in the corresponding relationship between the sampling jitter accumulation value and the clock offset, the clock offset can be corrected to a certain extent in the training of the sampling jitter accumulation value, and then the corrected clock offset is used as sample data for training.
Step S54: and determining the credibility score of the target movable carrier through the preset credibility analysis model according to the satellite clock switching duration and the bumpiness accumulation value.
It can be understood that the satellite switching duration and the bumpiness accumulation value can obtain the credibility score of the target mobile carrier after passing through the preset credibility analysis model. The higher the score is, the lower the expected value of the clock deviation amount of the target movable carrier is, and the higher the clock reliability of the target movable carrier is judged.
Step S55: and determining a clock synchronization object according to the credibility score of the target movable carrier.
It should be noted that the credibility score of the target movable carrier means whether the clock signal of the target movable carrier is reliable, so that the target movable carrier with the highest credibility score can be selected as the clock synchronization object. And on the basis, the target movable carrier with the highest reliability and small score difference can be selected for continuous detection, so that the target movable carrier with the score stabilized at the highest position is selected as a clock synchronization object.
Further, as shown in fig. 3, 5 target movable carriers in the preset range are respectively named as a target No. 1, a target No. 2, a target No. 3, a target No. 4 and a target No. 5 according to the numbers in the figure, and since the road surface of a vehicle in the road is relatively smooth and almost has no bump accumulation value, the scores of the target No. 2, the target No. 3 and the target No. 5 are higher than the score of the credibility of the target movable carrier with the clock switching duration being not much different, and under the condition that the bump accumulation value is not much different, the highest score of the credibility is obtained by the target No. 3 with the shortest clock switching duration, and at this time, the target No. 3 is selected as the clock synchronization object, and since the target No. 3 just enters the no-signal area, the current movable carrier can obtain a more accurate clock signal by performing clock synchronization with the target No. 3.
Step S56: and obtaining a corresponding time signal according to the clock data of the clock synchronization object, and updating the clock of the current movable carrier according to the time signal.
In a specific implementation, the clock of the clock synchronization object is the clock with the highest reliability, that is, the clock with the smallest deviation from the satellite clock. At this time, 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, after step S56 is finished, the updated jitter accumulation value of the current movable carrier clock and the switching duration corresponding to the clock synchronization object may be detected; predicting through the preset reliability analysis model according to the updated bumpiness accumulation value of the current movable carrier clock and the switching duration corresponding to the clock synchronization object so as to obtain the reliability score of the current movable carrier; this is because, the current movable carrier needs to be scored in real time according to a new bumpy accumulation value, which is a bumpy accumulation value after the clock of the current movable carrier is updated, and a bumpy accumulation value of a clock synchronization object before being updated, based on a switching duration corresponding to the clock synchronization object, and if the credibility score of the current movable carrier is lower than that of the target movable carrier, the target movable carrier corresponding to the highest credibility score is selected from the credibility scores of the target movable carrier; and updating the clock of the current movable carrier according to the target movable carrier corresponding to the highest credibility score. It should be noted that, since the current movable carrier and the target movable carrier are both in the driving process, the number of other movable carriers within the prediction range and the corresponding confidence scores are constantly changing, and therefore the target movable carrier needs to be updated according to a preset period, so as to ensure that the clock of the current movable carrier can be continuously updated along with the increase of time, so as to ensure the accuracy of the clock.
In this embodiment, a satellite clock switching duration and clock identification information corresponding to the target movable carrier are obtained according to the clock data of the target movable carrier; sending a driving record inquiry request to the target movable carrier so that the target movable carrier returns a bumpiness accumulation value of the target movable carrier according to the driving record inquiry request; determining a preset credibility analysis model from a preset model database according to the clock identification information; determining the credibility score of the target movable carrier through the preset credibility analysis model according to the satellite clock switching duration and the bumpiness accumulation value; determining a clock synchronization object according to the credibility score of the target movable carrier; and obtaining a corresponding time signal according to the clock data of the clock synchronization object, and updating the clock of the current movable carrier according to the time signal. Therefore, the reliability of the target movable carrier is quantitatively analyzed; because the clock deviation amount of the target movable carrier is predicted according to the accumulated bumping amount and the switching duration of the target movable carrier, the reliability of the target movable carrier is further obtained, and the target movable carrier is finally selected, the reliability of selecting a clock synchronization object is improved, and the time deviation of a local clock and a satellite clock is further reduced.
Referring to fig. 4, fig. 4 is a flowchart illustrating a clock control method based on a signal-free area according to a second embodiment of the present invention.
Based on the first embodiment, in the clock control method based on the signal-free area in this embodiment, in the step S30, the method specifically includes:
step S31: and acquiring historical tracks of other movable carriers according to the position information corresponding to the other movable carriers in the preset range, and predicting the driving intentions of the other movable carriers.
It should be noted that the historical trajectories of other movable carriers are the traveling or flying routes of other movable carriers on the map, and the entry point coordinates and the entry trajectories of other movable carriers entering the satellite-free signal area or the low satellite signal area can be clearly obtained through the routes.
It will be appreciated that the travel intent of a movable carrier may be derived from travel directions, map information, travel status and current location of other movable carriers, for example: according to the current position and the driving direction of the position, the driving direction of other movable carriers along the road can be obtained, and then according to the driving direction along the road and the current speed of the vehicle, the driving range of other movable carriers can be obtained after a long time. It should be noted that if other movable carriers travel out of the preset range, the communication quality of the other movable carriers of the current movable carrier cannot be guaranteed, and further, the synchronization process of the clock signal is no longer reliable. For another example: when other movable carriers are unmanned aerial vehicles, can be based on unmanned aerial vehicle's current position, flight direction and the travel state prediction of current movable carrier out of the prediction scope after the unmanned aerial vehicle how long.
Step S32: and sorting the effective degrees of the satellite signals of other movable carriers in a preset range according to the driving intention, the historical track and the historical satellite signal hotspot graph to obtain sorting results of other movable carriers.
It should be noted that the driving intention, the historical track and the historical satellite signal hotspot graph rank the effective degrees of satellite signals of other movable carriers in the preset range, that is, the time of other movable carriers leaving the preset range and the time of other movable carriers entering the no-signal area are comprehensively considered by predicting, so as to screen out other movable carriers which can guarantee completion of time synchronization and have short time of entering the no-signal area, that is, have high clock reliability.
It should be understood that the sequencing process may be predicting the leaving time of other movable carriers leaving a preset range within a preset time according to the driving intention; then obtaining the signal loss time of other movable carriers entering a signal-free area according to the historical satellite signal hotspot graph and the historical track; and sequencing other movable carriers through a preset sequencing model according to the leaving time and the signal loss time by combining the two to obtain the sequencing result of other movable carriers.
In a specific implementation, the ranking model may have a variety of implementation forms, such as: and taking the leaving time as a main factor, preferentially grading other movable carriers according to the leaving time, dividing the movable carriers into high risk, medium risk and low risk, ranking the movable carriers with the low risk at the highest priority, and ranking each level of movable carriers by taking the signal loss time as a reference to obtain the final ranking result. For another example: calculating the probability of other movable carriers leaving the preset range within the preset time according to the leaving time, combining the probability weight with the signal loss time to obtain the validity score, and finally sorting the other movable carriers according to the validity score.
Further, as shown in fig. 5, 5 other movable carriers in the preset range are respectively named as No. 1, No. 2, No. 3, No. 4 and No. 5 according to the numbers in the drawing, and the first implementation manner is described, the other movable carriers are sorted, firstly, the difference between the No. 1 and No. 4 and the current movable carrier driving direction is large, and the movable carriers are about to drive out of the preset range, so that the movable carriers can be classified as high risk, the No. 5 and the current movable carrier driving direction is close but about to drive out of the preset range, the medium risk or the high risk needs to be determined according to the driving speed of No. 5, the No. 2 and No. 3 are classified as low risk, then the other movable carriers in the low risk are sorted for the second time, the distance from the outside of the no-signal area to the current position can be obtained through the no-signal area obtained through the historical driving route and the historical satellite signal heat map in fig. 5, and the driving distance of the no-signal area of No. 3 is less than No. 2, and predicting the signal loss time according to the running records or the running speeds of the two carriers, if the signal loss time of No. 3 is less than No. 2, the ranking of No. 3 is the highest, and if the number of the selected target movable carriers is 2, the No. 2 and the No. 3 are selected as the target movable carriers for further judgment.
Step S33: and determining a plurality of target movable carriers according to the sequencing result.
It can be understood that the importance degree ranking of other movable carriers can be obtained by determining a plurality of target movable carriers according to the sequencing result by other movable carriers, and since the number of other movable carriers may be many within a preset range, it is necessary to roughly screen the other movable carriers, select a vehicle with the highest time synchronization success probability and the highest clock reliability, and then perform subsequent synchronization operations.
In the embodiment, the historical tracks of other movable carriers are obtained according to the position information corresponding to the other movable carriers in the preset range, and the driving intentions of the other movable carriers are predicted; sorting the effective degrees of satellite signals of other movable carriers in a preset range according to the driving intention, the historical track and the historical satellite signal hotspot graph to obtain sorting results of other movable carriers; and determining a plurality of target movable carriers according to the sequencing result. By the method, other movable carriers in the preset range are screened, and the vehicle with the highest time synchronization success probability and the highest clock reliability is selected, so that the efficiency in the clock synchronization object selection process is improved, the waste of the operation resources and the network resources of the current movable carrier system is reduced, and the burden of network communication is reduced.
In addition, an embodiment of the present invention further provides a storage medium, where a clock control program based on a no-signal area is stored, and the clock control program based on a no-signal area, when executed by a processor, implements the steps of the clock control method based on a no-signal area as described above.
Referring to fig. 6, fig. 6 is a block diagram illustrating a first embodiment of a clock control apparatus based on a dead zone according to the present invention.
As shown in fig. 6, the clock control apparatus based on a dead zone according to an embodiment of the present invention includes:
the control module 10 is configured to send a location information query request to other mobile carriers within a preset range when the current mobile carrier is in a driving state and the detected satellite signal strength is lower than a preset strength threshold, so that the other mobile carriers within the preset range query and return location information according to the location information.
And the acquisition module 20 is used for acquiring a historical satellite signal hotspot graph.
And the processing module 30 is configured to determine a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot map.
The obtaining module 20 is further configured to obtain clock data of the target movable carrier.
The control module 10 is further configured to update the clock of the current movable carrier according to the clock data of the target movable carrier.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
In this embodiment, when the current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold, the control module 10 sends a location information query request to other movable carriers within a preset range, so that the other movable carriers within the preset range query and return location information according to the location information; the acquisition module 20 acquires a historical satellite signal hotspot graph; the processing module 30 determines a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot map; the acquisition module 20 acquires clock data of the target movable carrier; the control module 10 updates the clock of the current movable carrier according to the clock data of the target movable carrier. Through the mode, the object with smaller deviation amount between the clock and the satellite clock is selected to update the clock signal of the current movable carrier, so that stable output of the clock signal is ensured in an area with low satellite signal quality.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the clock control method based on the dead zone provided in any embodiment of the present invention, and are not described herein again.
Referring to fig. 7, fig. 7 is a schematic diagram of a movable carrier structure 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 Central Processing Unit (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., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a 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, the memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a signal-less-region-based clock control program.
In the signal-free area-based clock control device shown in fig. 7, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the signal-free area-based clock control device of the present invention may be provided in a signal-free area-based clock control device that calls a signal-free area-based clock control program stored in the memory 1005 by the processor 1001 and performs the following operations:
when the current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold value, sending a position information inquiry request to other movable carriers in a preset range, so that the other movable carriers in the preset range inquire and return position information according to the position information;
acquiring a historical satellite signal hotspot graph;
determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram;
acquiring clock data of the target movable carrier;
updating the clock of the current movable carrier according to the clock data of the target movable carrier.
Further, the processor 1001 may call a no-signal region based clock control program stored in the memory 1005, and also perform the following operations:
acquiring satellite clock switching duration and clock identification information corresponding to the target movable carrier according to the clock data of the target movable carrier;
sending a driving record inquiry request to the target movable carrier so that the target movable carrier returns a bumpiness accumulation value of the target movable carrier according to the driving record inquiry request;
determining a preset credibility analysis model from a preset model database according to the clock identification information;
determining the credibility score of the target movable carrier through the preset credibility analysis model according to the satellite clock switching duration and the bumpiness accumulation value;
determining a clock synchronization object according to the credibility score of the target movable carrier;
and obtaining a corresponding time signal according to the clock data of the clock synchronization object, and updating the clock of the current movable carrier according to the time signal.
Further, the processor 1001 may call a no-signal region based clock control program stored in the memory 1005, and also perform the following operations:
acquiring an initial credibility analysis model;
training the initial credibility analysis model according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation value to obtain a preset credibility analysis model;
clock identification information corresponding to a preset credibility analysis model is obtained according to any one of the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount;
and putting the clock identification information into a preset model database as an index of a preset credibility analysis model.
Further, the processor 1001 may call a no-signal region based clock control program stored in the memory 1005, and also perform the following operations:
determining a first corresponding relation among the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount;
determining a second corresponding relation between the clock deviation amount and the clock uncertainty according to the sampling clock deviation amount;
and training the initial credibility analysis model according to the first corresponding relation and the second corresponding relation to obtain a preset credibility analysis model.
Further, the processor 1001 may call a no-signal region based clock control program stored in the memory 1005, and also perform the following operations:
detecting a bumpiness accumulation value updated by the current movable carrier clock and a switching duration corresponding to a clock synchronization object;
predicting through the preset reliability analysis model according to the updated bumpiness accumulation value of the current movable carrier clock and the switching duration corresponding to the clock synchronization object so as to obtain the reliability score of the current movable carrier;
if the credibility score of the current movable carrier is lower than the credibility score of the target movable carrier, selecting the target movable carrier corresponding to the highest credibility score from the credibility scores of the target movable carriers;
and updating the clock of the current movable carrier according to the target movable carrier corresponding to the highest credibility score.
Further, the processor 1001 may call a no-signal region based clock control program stored in the memory 1005, and also perform the following operations:
acquiring historical tracks of other movable carriers according to the position information corresponding to the other movable carriers in the preset range, and predicting the driving intentions of the other movable carriers;
sorting the effective degrees of satellite signals of other movable carriers in a preset range according to the driving intention, the historical track and the historical satellite signal hotspot graph to obtain sorting results of other movable carriers;
and determining a plurality of target movable carriers according to the sequencing result.
Further, the processor 1001 may call a no-signal region based clock control program stored in the memory 1005, and also perform the following operations:
predicting the leaving time of other movable carriers leaving a preset range within preset time according to the driving intention;
obtaining the signal loss time of other movable carriers entering a signal-free area according to the historical satellite signal hotspot graph and the historical track;
and sequencing other movable carriers through a preset sequencing model according to the leaving time and the signal loss time so as to obtain sequencing results of other movable carriers.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a signal-free area-based clock control program is stored on the computer-readable storage medium, and when executed by a processor, the signal-free area-based clock control program implements the following operations:
when the current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold value, sending a position information inquiry request to other movable carriers in a preset range, so that the other movable carriers in the preset range inquire and return position information according to the position information;
acquiring a historical satellite signal hotspot graph;
determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram;
acquiring clock data of the target movable carrier;
updating the clock of the current movable carrier according to the clock data of the target movable carrier.
In this embodiment, when a current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold, a location information query request is sent to other movable carriers within a preset range, so that the other movable carriers within the preset range query and return location information according to the location information; acquiring a historical satellite signal hotspot graph; determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram; acquiring clock data of the target movable carrier; updating the clock of the current movable carrier according to the clock data of the target movable carrier. Through the mode, the object with smaller deviation amount between the clock and the satellite clock is selected to update the clock signal of the current movable carrier, so that stable output of the clock signal is ensured in an area with low satellite signal 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. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to 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 signal-free area is characterized in that the clock control method based on the signal-free area comprises the following steps:
when the current movable carrier is in a driving state and the detected satellite signal intensity is lower than a preset intensity threshold value, sending a position information inquiry request to other movable carriers in a preset range, so that the other movable carriers in the preset range inquire and return position information according to the position information;
acquiring a historical satellite signal hotspot graph;
determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram;
acquiring clock data of the target movable carrier;
updating the clock of the current movable carrier according to the clock data of the target movable carrier.
2. The method of claim 1, wherein said updating the clock of the current movable carrier according to the clock data of the target movable carrier comprises:
acquiring satellite clock switching duration and clock identification information corresponding to the target movable carrier according to the clock data of the target movable carrier;
sending a driving record inquiry request to the target movable carrier so that the target movable carrier returns a bumpiness accumulation value of the target movable carrier according to the driving record inquiry request;
determining a preset credibility analysis model from a preset model database according to the clock identification information;
determining the credibility score of the target movable carrier through the preset credibility analysis model according to the satellite clock switching duration and the bumpiness accumulation value;
determining a clock synchronization object according to the credibility score of the target movable carrier;
and obtaining a corresponding time signal according to the clock data of the clock synchronization object, and updating the clock of the current movable carrier according to the time signal.
3. The method of claim 2, wherein the step of determining the predetermined credibility analysis model from the predetermined model database according to the clock identification information is preceded by the step of:
acquiring an initial credibility analysis model;
training the initial credibility analysis model according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation value to obtain a preset credibility analysis model;
clock identification information corresponding to a preset credibility analysis model is obtained according to any one of the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount;
and putting the clock identification information into a preset model database as an index of a preset credibility analysis model.
4. The method of claim 3, wherein the training the initial reliability analysis model according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount to obtain a preset reliability analysis model comprises:
determining a first corresponding relation among the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount according to the sampling bump accumulation value, the sampling clock switching duration and the sampling clock deviation amount;
determining a second corresponding relation between the clock deviation amount and the clock uncertainty according to the sampling clock deviation amount;
and training the initial credibility analysis model according to the first corresponding relation and the second corresponding relation to obtain a preset credibility analysis model.
5. The method of claim 2, wherein after the step of deriving a time signal of the target movable carrier from the clock data of the clock synchronization object and updating the clock of the current movable carrier according to the time signal, further comprising:
detecting a bumpiness accumulation value updated by the current movable carrier clock and a switching duration corresponding to a clock synchronization object;
predicting through the preset reliability analysis model according to the updated bumpiness accumulation value of the current movable carrier clock and the switching duration corresponding to the clock synchronization object so as to obtain the reliability score of the current movable carrier;
if the credibility score of the current movable carrier is lower than the credibility score of the target movable carrier, selecting the target movable carrier corresponding to the highest credibility score from the credibility scores of the target movable carriers;
and updating the clock of the current movable carrier according to the target movable carrier corresponding to the highest credibility score.
6. The method according to any one of claims 1 to 5, wherein the determining a plurality of target movable carriers according to the position information corresponding to other movable carriers within the preset range and the historical satellite signal hotspot graph comprises:
acquiring historical tracks of other movable carriers according to the position information corresponding to the other movable carriers in the preset range, and predicting the driving intentions of the other movable carriers;
sorting the effective degrees of satellite signals of other movable carriers in a preset range according to the driving intention, the historical track and the historical satellite signal hotspot graph to obtain sorting results of other movable carriers;
and determining a plurality of target movable carriers according to the sequencing result.
7. The method according to claim 6, wherein the step of ranking the effective degrees of satellite signals of other movable carriers in a preset range according to the driving intention, the historical track and the historical satellite signal hotspot graph to obtain the ranking result of other movable carriers comprises the following steps:
predicting the leaving time of other movable carriers leaving a preset range within preset time according to the driving intention;
obtaining the signal loss time of other movable carriers entering a signal-free area according to the historical satellite signal hotspot graph and the historical track;
and sequencing other movable carriers through a preset sequencing model according to the leaving time and the signal loss time so as to obtain sequencing results of other movable carriers.
8. A signal free zone based clock control apparatus, comprising:
the control module is used for sending a position information query request to other movable carriers in a preset range when the current movable carrier is in a running state and the detected satellite signal intensity is lower than a preset intensity threshold value, so that the other movable carriers in the preset range query and return position information according to the position information;
the acquisition module is used for acquiring a historical satellite signal hotspot graph;
the processing module is used for determining a plurality of target movable carriers according to the position information corresponding to other movable carriers in the preset range and the historical satellite signal hot spot diagram;
the acquisition module is further used for acquiring clock data of the target movable carrier;
the control module is further configured to update the clock of the current movable carrier according to the clock data of the target movable carrier.
9. A signal free zone based clock control apparatus, the apparatus comprising: a memory, a processor, and a dead zone based clocking program stored on the memory and executable on the processor, the dead zone based clocking program configured to implement the dead zone based clocking method of any of claims 1 to 7.
10. A storage medium having stored thereon a dead zone based clock control program, the dead zone based clock control program when executed by a processor implementing the dead zone based clock control method of any one of claims 1 to 7.
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| US12007487B1 (en) * | 2020-12-31 | 2024-06-11 | Waymo Llc | Global positioning system time verification for autonomous vehicles |
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