CN113271172B - Time synchronization method and device - Google Patents
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- CN113271172B CN113271172B CN202110807180.4A CN202110807180A CN113271172B CN 113271172 B CN113271172 B CN 113271172B CN 202110807180 A CN202110807180 A CN 202110807180A CN 113271172 B CN113271172 B CN 113271172B
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- 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
- H04J3/0658—Clock or time synchronisation among packet nodes
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Abstract
The application relates to a time synchronization method and a device thereof, which can realize the synchronization of network time and satellite time in the running process of a vehicle so as to ensure the accuracy and reliability of information. The time synchronization method comprises the following steps: firstly, acquiring a first time difference between network times of vehicles passing through reference marks of a round-trip road section twice, wherein the round-trip road section comprises a straight-line driving part and an intersection part, and the reference marks are arranged at the intersection part; secondly, acquiring satellite time of at least one of two target track points on the round trip road section according to the first time difference, wherein the satellite time difference between the two target track points is equal to the first time difference, and a straight line obtained by connecting the two target track points is perpendicular to a running track line of the vehicle on a straight line running part; and finally, synchronizing the network time and the satellite time by using the acquired satellite time of the target track point.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a time synchronization method and a time synchronization device.
Background
The satellite Positioning measurement method mainly includes a Global Positioning System (GPS) and a Real-time kinematic (RTK) technique. The GPS adopts network time, the RTK data adopts satellite time, the network time and the satellite time are not synchronous, the reference cannot be adjusted to uniform reference time, and the reliability and the accuracy of information are influenced.
Disclosure of Invention
In order to overcome the problems in the related art, the application provides a time synchronization method and a device thereof, which can realize the synchronization of network time and satellite time in the vehicle driving process so as to ensure the accuracy and reliability of information.
A first aspect of the present application provides a time synchronization method, including: firstly, acquiring a first time difference between network times of vehicles passing through reference marks of a round-trip road section twice, wherein the round-trip road section comprises a straight-line driving part and an intersection part, and the reference marks are arranged at the intersection part; secondly, acquiring satellite time of at least one of two target track points on the round trip road section according to the first time difference, wherein the satellite time difference between the two target track points is equal to the first time difference, and a straight line obtained by connecting the two target track points is perpendicular to a running track line of the vehicle on the straight running part; and finally, synchronizing the network time and the satellite time by using the acquired satellite time of the target track point.
In a possible implementation manner of the first aspect, the obtaining a satellite time of at least one of two target track points on the round trip section according to the first time difference includes: translating the satellite according to a preset direction by using a perpendicular line which is perpendicular to the track of the straight-line driving part, and determining the satellite time difference between two drop-foot points at which the perpendicular line intersects with the track of the straight-line driving part, wherein the preset direction is consistent with the driving direction of the vehicle before the vehicle drives into the intersection part; when the satellite time difference between the two foot points is equal to the first time difference, determining the two foot points as the two target track points; and determining the satellite time of at least one of the two target track points according to the real-time dynamic RTK data.
In one possible implementation of the first aspect, the reference identifier comprises a stop marking at the intersection portion; the network time of the vehicle passing the reference identifier of the round trip segment twice comprises: a first network time and a second network time, wherein the first network time is a network time when the stopping mark line passes before the vehicle enters the intersection part, and the second network time is a network time when the vehicle exits the intersection part and passes the stopping mark line again.
In a possible implementation manner of the first aspect, the two target track points are: first track point and second track point, first track point with second track point all is located straight line travel part, the satellite time of first track point is less than the satellite time of second track point.
In a possible implementation manner of the first aspect, when the acquired satellite time of the target track point is the satellite time of the first track point, synchronizing the network time and the satellite time by using the acquired satellite time of the target track point includes: calculating a second time difference between the satellite time of the first track point and the first network time; and synchronizing the network time and the satellite time according to the second time difference.
In a possible implementation manner of the first aspect, when the acquired satellite time of the target track point is the satellite time of the second track point, synchronizing the network time and the satellite time by using the acquired satellite time of the target track point includes: calculating a third time difference between the satellite time of the second track point and the second network time; and synchronizing the network time and the satellite time according to the third time difference.
In a possible implementation manner of the first aspect, when the acquired satellite time of the target track point is the satellite time of the first track point and the second track point, synchronizing the network time and the satellite time by using the acquired satellite time of the target track point includes: calculating a second time difference between the satellite time of the first track point and the first network time, and a third time difference between the satellite time of the second track point and the second network time; and synchronizing the network time and the satellite time according to the second time difference and the third time difference.
In a possible implementation manner of the first aspect, the satellite time is obtained from real-time dynamic RTK data sent by a cloud server.
A second aspect of the present application provides a time synchronization apparatus, including: the system comprises an acquisition module and a synchronization module, wherein the acquisition module is used for acquiring a first time difference between network times of vehicles passing through reference marks of a round-trip road section twice, the round-trip road section comprises a straight-line driving part and an intersection part, and the reference marks are arranged at the intersection part; acquiring satellite time of two target track points on the round trip road section according to the first time difference, wherein the satellite time difference between the two target track points is equal to the first time difference, and a straight line obtained by connecting the two target track points is perpendicular to a driving track line of the vehicle on the straight driving part; and the synchronization module is used for synchronizing the network time and the satellite time by using the satellite time of at least one of the two target track points.
A third aspect of the present application provides a time synchronization apparatus, including: a processor and a memory; the memory is used for storing executable codes; the processor is configured to execute the time synchronization method according to the first aspect or any implementation manner of the first aspect by calling the executable code.
A fourth aspect of the present application provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform a method of time synchronization as described in the first aspect and any one of its possible implementations.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flow chart of an embodiment of a time synchronization method provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a time synchronizer according to an embodiment of the present application;
fig. 3 is another schematic structural diagram of the time synchronization apparatus in the embodiment of the present application.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the embodiments of the present application, a time synchronization method and a device thereof are provided, and in order to facilitate understanding of technical solutions in the embodiments of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a time synchronization method provided in an embodiment of the present application.
As shown in fig. 1, the time synchronization method provided in the embodiment of the present application includes:
101. the time synchronizer obtains a first time difference between network times of two vehicle passes the reference identifier of the round trip segment.
In the embodiment of the present application, the roundtrip segment may be an intersection, and the reference identifier is an identifier disposed at a part of the intersection. Wherein the roundtrip section comprises a straight-line driving section (i.e. a straight-line driving section) and an intersection section (i.e. an intersection turning section), and the reference mark is arranged at the intersection section.
For example, the roundtrip segment is a roundtrip intersection such as a parallel road including the same stop mark, and in this case, the reference mark may be the stop mark.
It should be noted that, in the embodiment of the present application, the reference mark includes, but is not limited to, a stop mark, and may also be a mark of other similar functions disposed at the intersection portion, for example, the reference mark may also be a telegraph pole disposed at the intersection portion, and the like.
The first time difference may be a time difference between a first network time and a second network time, and the first network time and the second network time are both obtained by using the network time as a reference time.
In the case of reference to a stop marking identified as being at an intersection portion, it is readily understood that the vehicle would pass the stop marking twice at this time, and therefore, the first network time is the network time when the vehicle passes the stop marking before entering the intersection portion, and correspondingly, the second network time is the network time when the vehicle passes the stop marking again after exiting the intersection.
For example, the network time is generally a time stamp of the corresponding time, and the time stamp when the vehicle passes the stop mark before entering the intersection portion is a1, i.e., the first network time is a 1. The time stamp when the vehicle passes the stop mark again after exiting the intersection is a2, that is, the second network time is a 2.
102. The time synchronizer acquires the satellite time of any one of the two target track points on the round trip road section according to the first time difference.
In the embodiment of the application, the two target track points are located on the straight-line driving part and are respectively a first track point and a second track point, wherein the satellite time of the first track point is smaller than the satellite time of the second track point, so that the first track point is located on the straight-line driving part before the vehicle drives into the intersection part, and the second track point is located on the straight-line driving part after the vehicle drives out of the intersection part.
In this embodiment, the time synchronizer may obtain the satellite time of at least one of the two target track points on the round trip road segment according to the first time difference, and perform the following operations:
first, a satellite time difference between two foothold points at which vertical lines perpendicular to the trajectory of the straight traveling section are translated along a preset direction that coincides with the traveling direction of the vehicle before the vehicle enters the intersection section is determined, respectively.
And secondly, when the satellite time difference between the two foot hanging points is equal to the first time difference, determining the two foot hanging points as target track points. The foot hanging point where the perpendicular line intersects with the straight-line driving part before the intersection part is determined as a first track point, and correspondingly, the foot hanging point where the perpendicular line intersects with the straight-line driving part after the intersection part is determined as a second track point.
And finally, determining the satellite time of the two target track points according to the real-time dynamic RTK data. For example, the satellite time is determined based on server-transmitted RTK data received at the target track point.
It is easy to understand that the satellite time corresponding to any track point on the round trip section can be obtained by pre-calculation.
For example, the satellite time of each track point on the round trip route segment is known in advance from the RTK data, and after the first track point c1 and the second track point c2 are determined, the satellite time of the first track point c1 is Tc1To obtain the second trace point c2The star time is Tc2。
103. The time synchronization device synchronizes the network time and the satellite time by using the satellite time of the target track point acquired in step 102.
In this embodiment of the present application, the satellite time of the target track point obtained in step 102 may be divided into the following cases:
1) only the satellite time of the first track point is obtained;
2) only the satellite time of the second track point is obtained;
3) and simultaneously acquiring the satellite time of the first track point and the second track point.
For the case where only the satellite time of the first track point is acquired in 1) above, the time synchronization apparatus may perform the following time synchronization operation: calculating a second time difference between the satellite time of the first track point and the first network time; and synchronizing the network time and the satellite time according to the second time difference.
For example, if the time stamp when the stop mark line is passed before the vehicle enters the intersection portion is a1, that is, the first network time is a1, the satellite time of the first track point c1 is Tc1(ii) a Then the satellite time T of the first trace point c1c1And a first network time instant a1 is (a 1-T)c1) Or (T)c1-a1）。
For the case where only the satellite time of the second track point is acquired in 2) above, the time synchronization apparatus may perform the following time synchronization operation: calculating a third time difference between the satellite time of the second track point and the second network time; and synchronizing the network time and the satellite time according to the third time difference.
For example, the time stamp when the vehicle passes the stop mark again after exiting the intersection is a2, that is, the second network time is a2, and the satellite time of the second track point c2 is Tc2(ii) a Then the satellite time T of the second trace point c2c2And a third time difference of a2 between the second network time is (a 2-T)c2) Or (T)c2-a2）。
For the case of acquiring the satellite time of the first track point and the second track point simultaneously in the above 3), the time synchronization apparatus may perform the following time synchronization operation: calculating a second time difference between the satellite time of the first track point and the first network time, and a third time difference between the satellite time of the second track point and the second network time; and synchronizing the network time and the satellite time according to the second time difference and the third time difference. The synchronization of the network time and the satellite time according to the second time difference and the third time difference may specifically be based on an average value of the second time difference and the third time difference, and the like.
For example, if the time stamp when the stop mark line is passed before the vehicle enters the intersection portion is a1, that is, the first network time is a1, the satellite time of the first track point c1 is Tc1(ii) a The time stamp when the vehicle passes the stop mark again after exiting the intersection is a2, that is, the second network time is a2, and the satellite time of the second track point c2 is Tc2(ii) a The average of the second time difference and the third time difference is: ((a 2-T)c2+a1-Tc1) [ 2 ] or ((T)c2- a2+Tc1-a1）/2）
In the embodiment of the application, when the vehicle runs on a round trip road section, the reference identifier is arranged at the intersection, the first time difference between the corresponding network times is obtained based on the reference identifier, the two target track points are determined based on the first time difference, and finally the satellite time of the target track points is used for synchronizing the network time and the satellite time, so that the synchronization of the network time and the satellite time in the running process of the vehicle is realized, the reference is adjusted to the uniform reference time, and the accuracy and the reliability of information can be ensured.
Corresponding to the embodiment of the application function implementation method, the application also provides a time synchronization device and a corresponding embodiment.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a time synchronization apparatus according to an embodiment of the present application.
As shown in fig. 2, the time synchronization apparatus 200 in the embodiment of the present application includes: the system comprises an acquisition module 201 and a synchronization module 202, wherein the acquisition module 201 is used for acquiring a first time difference between network times of a vehicle passing through a reference identifier of a round-trip road section twice, the round-trip road section comprises a straight-line driving part and an intersection part, and the reference identifier is arranged at the intersection part; acquiring satellite time of at least one of two target track points on a round trip road section according to the first time difference, wherein the satellite time difference between the two target track points is equal to the first time difference, and a straight line obtained by connecting the two target track points is perpendicular to a driving track line of a vehicle on a straight driving part; and the synchronization module 202 is configured to synchronize the network time and the satellite time by using the acquired satellite time of the target track point.
Optionally, in some embodiments of the present application, the obtaining module 201 is specifically configured to perform the following operations to obtain satellite time: firstly, translating the satellite according to a preset direction by using a perpendicular line which is vertical to the track of the straight driving part, and determining the satellite time difference between two drop foot points at which the perpendicular line is intersected with the track of the straight driving part, wherein the preset direction is consistent with the driving direction of a vehicle before the vehicle enters the intersection part; secondly, when the satellite time difference between the two foot hanging points is equal to the first time difference, determining the two foot hanging points as two target track points; and finally, determining the satellite time of at least one of the two target track points according to the real-time dynamic RTK data.
Optionally, in some embodiments of the present application, the reference identifier comprises a stop marking on the intersection portion; the network time acquired by the acquisition module 201 when the vehicle passes through the reference identifier of the round trip road segment twice includes: the first network time is the network time when the stop mark line passes before the vehicle enters the intersection part, and the second network time is the network time when the vehicle passes the stop mark line again after exiting the intersection part.
Optionally, in some embodiments of the present application, the target track point corresponding to the satellite time in the obtaining module 201 is: first track point and second track point, first track point and second track point all are located the straight line part of traveling, and the satellite time of first track point is less than the satellite time of second track point.
Optionally, in some embodiments of the present application, in a case that the satellite time of the target track point acquired by the acquisition module 201 is the satellite time of the first track point, the synchronization device 202 is configured to: calculating a second time difference between the satellite time of the first track point and the first network time; and synchronizing the network time and the satellite time according to the second time difference.
Optionally, in some embodiments of the present application, in a case that the satellite time of the target track point acquired by the acquisition module 201 is the satellite time of the first track point, the synchronization device 202 is configured to: calculating a third time difference between the satellite time of the second track point and the second network time; and synchronizing the network time and the satellite time according to the third time difference.
Optionally, in some embodiments of the present application, in a case that the satellite time of the target track point acquired by the acquisition module 201 is the satellite time of the first track point, the synchronization device 202 is configured to: calculating a second time difference between the satellite time of the first track point and the first network time, and a third time difference between the satellite time of the second track point and the second network time; and synchronizing the network time and the satellite time according to the second time difference and the third time difference.
Optionally, in some embodiments of the present application, the satellite time corresponding to the obtaining module 201 is obtained from real-time dynamic RTK data sent by a cloud server.
Referring to fig. 3, fig. 3 is another schematic structural diagram of a time synchronization apparatus according to an embodiment of the present application.
As shown in fig. 3, the time synchronizer 300 includes a memory 301 and a processor 302.
The Processor 302 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 301 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions for the processor 302 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. In addition, the memory 301 may comprise any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 301 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disc, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 301 has stored thereon executable code that, when processed by the processor 302, may cause the processor 302 to perform some or all of the methods described above.
The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required in the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the applications disclosed herein may be implemented as electronic hardware, computer software, or combinations of both.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method of time synchronization, comprising:
acquiring a first time difference between network times of vehicles passing through reference marks of a round-trip road section twice, wherein the round-trip road section comprises a straight-line driving part and an intersection part, and the reference marks are arranged at the intersection part;
acquiring satellite time of at least one of two target track points on the round trip road section according to the first time difference, wherein the satellite time difference between the two target track points is equal to the first time difference, and a straight line obtained by connecting the two target track points is perpendicular to a driving track line of the vehicle on the straight driving part;
and synchronizing the network time and the satellite time by using the acquired satellite time of the target track point.
2. The method of claim 1,
the acquiring the satellite time of at least one of the two target track points on the round trip section according to the first time difference comprises:
translating a vertical line perpendicular to the track of the straight-line driving part in a preset direction, and determining a satellite time difference between two vertical foot points at which the vertical line intersects with the driving trajectory line of the straight-line driving part, wherein the preset direction is consistent with the driving direction of the vehicle before the vehicle drives into the intersection part, and the satellite time of all points on the driving trajectory line of the straight-line driving part is predicted;
when the satellite time difference between the two foot points is equal to the first time difference, determining the two foot points as the two target track points;
and determining the satellite time of at least one of the two target track points according to the real-time dynamic RTK data.
3. The method of claim 2,
the reference identifier comprises a stop marking on the intersection portion;
the network time of the vehicle passing the reference identifier of the round trip segment twice comprises: a first network time and a second network time, wherein the first network time is a network time when the stopping mark line passes before the vehicle enters the intersection part, and the second network time is a network time when the vehicle exits the intersection part and passes the stopping mark line again.
4. The method of claim 3,
the two target track points are: first track point and second track point, first track point with second track point all is located straight line travel part, the satellite time of first track point is less than the satellite time of second track point.
5. The method of claim 4,
the obtained satellite time of the target track point is the satellite time of the first track point;
the synchronizing the network time and the satellite time by using the acquired satellite time of the target track point comprises the following steps:
calculating a second time difference between the satellite time of the first track point and the first network time;
and synchronizing the network time and the satellite time according to the second time difference.
6. The method of claim 4,
the obtained satellite time of the target track point is the satellite time of the second track point;
the step of synchronizing the network time and the satellite time by the acquired satellite time of the target track point comprises the following steps:
calculating a third time difference between the satellite time of the second track point and the second network time;
and synchronizing the network time and the satellite time according to the third time difference.
7. The method of claim 4,
the obtained satellite time of the target track point is the satellite time of the first track point and the second track point;
the synchronizing the network time and the satellite time by using the acquired satellite time of the target track point comprises the following steps:
calculating a second time difference between the satellite time of the first track point and the first network time, and a third time difference between the satellite time of the second track point and the second network time;
and synchronizing the network time and the satellite time according to the second time difference and the third time difference.
8. The method according to any one of claims 1 to 7,
the satellite time is acquired from real-time dynamic RTK data sent by a cloud server.
9. A time synchronization apparatus, comprising:
an acquisition module and a synchronization module;
the acquisition module is used for acquiring a first time difference between network times of vehicles passing through reference marks of a round-trip road section twice, wherein the round-trip road section comprises a straight-line driving part and an intersection part, and the reference marks are arranged at the intersection part; acquiring satellite time of two target track points on the round trip road section according to the first time difference, wherein the satellite time difference between the two target track points is equal to the first time difference, and a straight line obtained by connecting the two target track points is perpendicular to a driving track line of the vehicle on the straight driving part;
and the synchronization module is used for synchronizing the network time and the satellite time by using the acquired satellite time of the two target track points.
10. A time synchronization apparatus, comprising:
a processor and a memory; the memory is used for storing executable codes;
the processor, configured to execute the time synchronization method according to any one of claims 1 to 7 by calling the executable code.
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