CN115348657A - System architecture and method for vehicle time synchronization and vehicle - Google Patents

System architecture and method for vehicle time synchronization and vehicle Download PDF

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Publication number
CN115348657A
CN115348657A CN202210981631.0A CN202210981631A CN115348657A CN 115348657 A CN115348657 A CN 115348657A CN 202210981631 A CN202210981631 A CN 202210981631A CN 115348657 A CN115348657 A CN 115348657A
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vehicle
domain controller
bus
central computing
time
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CN115348657B (en
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孙长宇
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Xiaomi Automobile Technology Co Ltd
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Xiaomi Automobile Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H04L12/40013—Details regarding a bus controller
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40169—Flexible bus arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)

Abstract

The present disclosure relates to a system architecture, a method and a vehicle for vehicle time synchronization, comprising: the system comprises an Internet of vehicles system, a whole vehicle central computing domain controller VCCD connected with the Internet of vehicles system through a CAN bus and an Ethernet, a plurality of vehicle-mounted controllers and a plurality of first domain controllers connected with the VCCD through the CAN bus, and a plurality of second domain controllers connected with the VCCD through the CAN bus and the Ethernet; the vehicle networking system selects a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system, and sends information carrying the coordinated world time to the VCCD through the target sending channel; the VCCD carries out time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time, and carries out time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and the channels with the same types as the target sending channels.

Description

System architecture and method for vehicle time synchronization and vehicle
Technical Field
The present disclosure relates to the field of vehicle time synchronization technologies, and in particular, to a system architecture and a method for vehicle time synchronization, and a vehicle.
Background
The vehicle equipped with the automatic driving function is generally provided with sensors such as a camera, a millimeter wave radar, an ultrasonic radar and a laser radar, and the synchronization of the data acquisition time of the sensors is extremely important for vehicle perception and vehicle decision planning. If the acquisition time of the sensor data is not synchronous, a decision planning error can be caused, and dangerous actions are made by the vehicle. In the related art, the coordinated universal time is synchronized to each vehicle-mounted controller through the CAN bus to realize vehicle time synchronization, however, the synchronization frequency of the CAN bus is low, which may cause the accuracy of the vehicle-mounted controller time synchronization to be low, and when the coordinated universal time is lost.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a system architecture, a method and a vehicle for vehicle time synchronization.
According to a first aspect of the embodiments of the present disclosure, there is provided a system architecture for vehicle time synchronization, applied to a vehicle, the system architecture including:
the system comprises a vehicle networking system, a whole vehicle central computing domain controller connected with the vehicle networking system through a CAN bus and an Ethernet respectively, a plurality of vehicle-mounted controllers and a plurality of first domain controllers connected with the whole vehicle central computing domain controller through the CAN bus, and a plurality of second domain controllers connected with the whole vehicle central computing domain controller through the CAN bus and the Ethernet respectively;
the vehicle networking system is used for selecting a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system and sending information carrying coordinated world time to the whole vehicle central computing domain controller through the target sending channel;
the whole vehicle central computing domain controller is used for carrying out time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time and carrying out time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and the channels with the same types as the target sending channels.
Optionally, the micro control unit of the car networking system is connected with the M core of the entire car central computing domain controller through the CAN bus, the network access device of the car networking system is connected with an ethernet gateway configured in the entire car central computing domain controller, the M core of the entire car central computing domain controller is connected with the ethernet gateway, and the plurality of second domain controllers are connected with the ethernet gateway;
the micro control unit of the vehicle networking system is used for analyzing recommended positioning information to obtain coordinated universal time, generating coordinated universal time carrying information according to the coordinated universal time and synchronizing the coordinated universal time carrying information to an M core of the vehicle central computing domain controller through the CAN bus when the state of the vehicle networking system is in an awakening process;
the network access equipment of the vehicle networking system is used for synchronizing the recommended positioning information to the M core of the vehicle central computing domain controller through the Ethernet via the Ethernet gateway when the state of the vehicle networking system is an awakening state, so that the M core of the vehicle central computing domain controller analyzes the recommended positioning information to obtain the coordinated universal time.
Optionally, the plurality of second domain controllers comprises a cockpit domain controller and an intelligent drive domain controller;
the Ethernet gateway is connected with the system on chip of the cockpit domain controller, and an M core of the whole vehicle central computing domain controller is connected with a micro control unit of the cockpit domain controller through the CAN bus;
the Ethernet gateway is connected with a gateway configured in the intelligent driving domain controller, and an M core of the whole vehicle central computing domain controller is connected with an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus;
and the M core of the whole vehicle central computing domain controller is used for synchronizing the coordinated universal time to the micro control unit of the cabin domain controller and the AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus under the condition that the information carrying the coordinated universal time is received through the CAN bus.
Optionally, the M core of the entire vehicle central computing domain controller is configured to:
under the condition that the coordinated universal time is received through the Ethernet, analyzing the received recommended positioning information to obtain the coordinated universal time;
and the coordinated universal time is synchronized to the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus, and is synchronized to a micro control unit of the cabin domain controller and an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus.
Optionally, the smart driving domain controller is connected to an antenna of the vehicle through a GPS hard wire, so that when the M-core of the entire vehicle central computing domain controller is not synchronized with the coordinated universal time to the smart driving domain controller, the UTC atomic time is acquired from the antenna, and the coordinated universal time is obtained according to a plurality of the UTC atomic times.
Optionally, the vehicle central computing domain controller includes: the system clock is connected with the M core of the whole vehicle central computing domain controller;
and the micro control unit of the Internet of vehicles system is used for synchronizing the coordinated universal time to the system clock through the CAN bus under the condition of successful acquisition of the coordinated universal time so as to calibrate the system clock.
Optionally, the micro control unit of the car networking system is configured to, in a case that the acquisition of the coordinated world time fails, send, to an M-core of the vehicle central computing domain controller through the CAN bus, GNSS invalid information that is used to represent the failure of the acquisition of the coordinated world time;
and the M core of the whole vehicle central computing domain controller is used for synchronizing the clock time provided by the system clock to the plurality of vehicle-mounted controllers, the plurality of first domain controllers and the plurality of second domain controllers through the CAN bus under the condition of receiving the GNSS invalid information.
Optionally, the M core of the vehicle central computing domain controller is configured to synchronize the clock time provided by the system clock to the car networking system through the ethernet, so that the car networking system can perform time calibration according to the clock time.
According to a second aspect of the embodiments of the present disclosure, there is provided a method for vehicle time synchronization, applied to the system architecture for vehicle time synchronization of any one of the first aspect;
the method comprises the following steps:
the vehicle networking system selects a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system, and sends the information carrying the coordinated world time to the vehicle central computing domain controller through the target sending channel;
and the whole vehicle central computing domain controller performs time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time, and performs time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and a channel with the same type as the target sending channel.
Optionally, a micro control unit of the car networking system is connected with an M core of the entire car central computing domain controller through the CAN bus, a network access device of the car networking system is connected with an ethernet gateway configured in the entire car central computing domain controller, the M core of the entire car central computing domain controller is connected with the ethernet gateway, and the plurality of second domain controllers are connected with the ethernet gateway;
the vehicle networking system selects a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system, and comprises:
when the state of the Internet of vehicles system is in a wake-up process, the CAN bus is used as the target sending channel;
analyzing recommended positioning information to obtain coordinated universal time, and generating the information carrying coordinated universal time according to the coordinated universal time; or,
and when the state of the Internet of vehicles system is an awakening state, taking the Ethernet as the target sending channel.
Optionally, the plurality of second domain controllers comprises a cockpit domain controller and a smart drive domain controller;
the Ethernet gateway is connected with the system on chip of the cockpit domain controller, and the M core of the whole vehicle central computing domain controller is connected with the micro control unit of the cockpit domain controller through the CAN bus;
the Ethernet gateway is connected with a gateway configured in the intelligent driving domain controller, and an M core of the whole vehicle central computing domain controller is connected with an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus;
and under the condition that the M core of the whole vehicle central computing domain controller receives the information carrying the coordinated universal time through the CAN bus, the coordinated universal time is synchronized to the micro control unit of the cabin domain controller and the AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus.
Optionally, the method comprises:
under the condition that the M core of the whole vehicle central computing domain controller receives the coordinated universal time through the Ethernet, analyzing the received recommended positioning information to obtain the coordinated universal time;
and synchronizing the coordinated universal time to the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus, and synchronizing the coordinated universal time to a micro control unit of the cabin domain controller and an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus.
Optionally, the smart driving area controller is connected with an antenna of the vehicle through a GPS hard wire;
the method comprises the following steps: and under the condition that the M core of the whole vehicle central computing domain controller does not synchronously coordinate the universal time to the intelligent driving domain controller, the intelligent driving domain controller acquires UTC atomic time from the antenna, and obtains the coordinated universal time according to a plurality of UTC atomic times.
Optionally, the vehicle central computing domain controller includes: the system clock is connected with the M core of the whole vehicle central computing domain controller;
the method comprises the following steps:
and under the condition that the micro control unit of the Internet of vehicles system successfully acquires the coordinated universal time, synchronizing the coordinated universal time to the system clock through the CAN bus so as to calibrate the system clock.
Optionally, the method comprises:
under the condition that the acquisition of the coordinated world time fails, a micro control unit of the Internet of vehicles system sends GNSS invalid information to an M core of the whole vehicle central computing domain controller through the CAN bus, wherein the GNSS invalid information is used for representing the failure of the acquisition of the coordinated world time;
and under the condition that the M core of the whole vehicle central computing domain controller receives the GNSS invalid information, synchronizing clock time provided by the system clock to the plurality of vehicle-mounted controllers, the plurality of first domain controllers and the plurality of second domain controllers through the CAN bus.
Optionally, the method comprises:
the M core of the whole vehicle central computing domain controller synchronizes clock time provided by the system clock to the vehicle networking system through the Ethernet;
and the car networking system carries out time calibration according to the clock time.
According to a third aspect of an embodiment of the present disclosure, there is provided a vehicle including: the system architecture for vehicle time synchronization of any one of the first aspect.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the vehicle networking system is connected with the whole vehicle central computing domain controller through a CAN bus and an Ethernet, the whole vehicle central computing domain controller is connected with the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus, and the whole vehicle central computing domain controller is connected with the plurality of second domain controllers through the CAN bus and the Ethernet; the vehicle networking system selects a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system, and sends the information carrying the coordinated world time to the vehicle central computing domain controller through the target sending channel; and the whole vehicle central computing domain controller performs time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time, and performs time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and channels with the same types as the target sending channels. The coordinated universal time CAN be synchronized to the whole vehicle central computing domain controller from the CAN bus or the Ethernet according to the state of the vehicle networking system, and then is uniformly synchronized to the vehicle-mounted controller and the domain controller, so that the time synchronization precision of the vehicle-mounted controller is improved, the CAN bus and the Ethernet form a time synchronization double loop, the time synchronization CAN be carried out through the other loop under the condition that one path of signal is lost, and the functional safety of a vehicle is ensured.
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 disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a block diagram illustrating a system architecture for vehicle time synchronization in accordance with an exemplary embodiment.
FIG. 2 is a flow chart illustrating a method for vehicle time synchronization according to an exemplary embodiment.
FIG. 3 is a functional block diagram schematic of a vehicle, shown in an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
FIG. 1 is a block diagram illustrating a system architecture for vehicle time synchronization, as shown in FIG. 1, for a vehicle, the system architecture including:
the system comprises a vehicle networking system T-Box, a complete vehicle central computing domain controller VCCD connected with the vehicle networking system T-Box through a CAN bus and an Ethernet respectively, a plurality of vehicle-mounted controllers and a plurality of first domain controllers connected with the complete vehicle central computing domain controller VCCD through the CAN bus, and a plurality of second domain controllers connected with the complete vehicle central computing domain controller through the CAN bus and the Ethernet respectively;
it may be noted that the on-board controller and the first domain controller are controllers that CAN only configure a CAN bus interface on the vehicle, and the second domain controller is a domain controller that CAN configure a CAN bus interface and an ethernet interface on the vehicle at the same time.
The vehicle networking system T-Box is used for selecting a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system T-Box and sending the information carrying the coordinated world time to the vehicle central computing domain controller VCCD through the target sending channel;
the vehicle networking system T-Box acquires recommended positioning information from a GNSS antenna, analyzes the recommended positioning information through a built-in GNSS module to obtain Coordinated Universal Time Coordinated (UTC), and synchronizes the Coordinated Universal Time to a Micro Control Unit (MCU) of the vehicle networking system T-Box through a Serial Peripheral Interface (SPI).
In the embodiment of the disclosure, since the 5G module (SA 515) is configured in the car networking system T-Box of the 5G version, a gPTP-related protocol can be implemented, and after the car networking system T-Box of the 5G version obtains the UTC, the UTC can be synchronized to the ethernet through the ethernet based on the gPTP-related protocol.
And the whole vehicle central computing domain controller VCCD is used for carrying out time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time and carrying out time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and a channel with the same type as the target sending channel.
Referring to fig. 1, the VCCD includes an M core and an a core, and the M core is connected to the a core by means of I2C based on GTC protocol, so that the M core can synchronize the coordinated universal time to the a core.
The VCCD broadcasts the coordinated universal time with the format of year/month/day and hour/minute/second to the whole network through the CAN node on the M core, and the period is 100ms.
The system connects the vehicle networking system with the whole vehicle central computing domain controller through the CAN bus and the Ethernet, connects the whole vehicle central computing domain controller with the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus, and connects the whole vehicle central computing domain controller with the plurality of second domain controllers through the CAN bus and the Ethernet; the vehicle networking system selects a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system, and sends the information carrying the coordinated world time to the vehicle central computing domain controller through the target sending channel; and the whole vehicle central computing domain controller performs time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time, and performs time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and channels with the same types as the target sending channels. The coordinated universal time CAN be synchronized to the whole vehicle central computing domain controller from the CAN bus or the Ethernet according to the state of the vehicle networking system, so that the universal time is synchronized to the vehicle-mounted controller and the domain controller in a unified manner, the time synchronization precision of the vehicle-mounted controller is improved, the CAN bus and the Ethernet form a time synchronization double loop, the time synchronization CAN be carried out through the other loop under the condition that one signal is lost, and the functional safety of a vehicle is ensured.
In one embodiment, referring to fig. 1, the MCU of the car networking system T-Box is connected to the M-core of the vehicle central computing domain controller VCCD through the CAN bus, the NAD of the car networking system T-Box is connected to the ethernet gateway configured in the vehicle central computing domain controller VCCD, the M-core of the vehicle central computing domain controller VCCD is connected to the ethernet gateway Switch, and the second domain controllers are connected to the ethernet gateway Switch;
the MCU of the vehicle networking system T-Box is used for analyzing recommended positioning information to obtain coordinated universal time when the state of the vehicle networking system T-Box is in a wake-up process, generating information carrying coordinated universal time according to the coordinated universal time, and synchronizing the information carrying coordinated universal time to an M core of a vehicle central computing domain controller (VCCD) through the CAN bus;
the network access device NAD of the car networking system T-Box is configured to synchronize the recommended positioning information to the M-core of the vehicle central computing domain controller VCCD through the ethernet via the ethernet gateway when the state of the car networking system T-Box is an awake state, so that the M-core of the vehicle central computing domain controller VCCD analyzes the recommended positioning information to obtain the coordinated universal time.
In the technical scheme, the vehicle networking system T-Box needs to be initialized firstly in the awakening process, and the time is needed in the initializing process, in the awakening process, a micro control unit of the vehicle networking system T-Box CAN be electrified quickly and CAN be started quickly, so that the coordinated universal time obtained by analysis CAN be synchronized to a central computing domain controller of the whole vehicle firstly through a CAN bus, the time synchronization of vehicle-mounted equipment CAN be performed quickly, after the vehicle networking system T-Box is awakened, the transmission speed of the Ethernet is high, the synchronization frequency is high, the load of the CAN bus CAN be reduced, and the time synchronization precision of the vehicle-mounted equipment CAN be improved.
In one embodiment, referring to fig. 1, the plurality of second domain controllers includes a cockpit domain controller DCD and a smart driving domain controller ADD; the intelligent driving area controller ADD is connected with an angle radar arranged on the vehicle through a CAN bus, and the intelligent driving area controller ADD is connected with a fuel oil and lubricating system FLRL, a Right side laser radar RSL (Right side Lidar) and a Left side laser radar LSL (Left side Lidar) arranged on the vehicle through a plurality of paths of Ethernet.
The Ethernet gateway is connected with the system on chip of the cockpit domain controller DCD, and the M core of the vehicle central computing domain controller VCCD is connected with the MCU of the cockpit domain controller DCD through the CAN bus;
the Ethernet gateway is connected with a gateway configured in the intelligent driving domain controller ADD, and an M core of the vehicle central computing domain controller is connected with an AURIX single chip microcomputer of the intelligent driving domain controller ADD through the CAN bus;
and the M core of the whole vehicle central computing domain controller is used for synchronizing the coordinated universal time to the micro control unit of the cabin domain controller and the AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus under the condition that the information carrying the coordinated universal time is received through the CAN bus.
In one embodiment, the M core of the entire vehicle central computing domain controller is configured to:
under the condition that the coordinated universal time is received through the Ethernet, analyzing the received recommended positioning information to obtain the coordinated universal time;
and the coordinated universal time is synchronized to the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus, and is synchronized to a micro control unit of the cabin domain controller and an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus.
In one embodiment, the smart driving domain controller is connected with an antenna of the vehicle through a GPS hard wire, so that when the M core of the entire vehicle central computing domain controller is not synchronized with the coordinated universal time to the smart driving domain controller, the UTC atomic time is acquired from the antenna, and the coordinated universal time is obtained according to a plurality of the UTC atomic times.
In one embodiment, the entire vehicle central computing domain controller includes: the system clock is connected with the M core of the whole vehicle central computing domain controller;
and the micro control unit of the Internet of vehicles system is used for synchronizing the coordinated universal time to the system clock through the CAN bus under the condition of successfully acquiring the coordinated universal time so as to calibrate the system clock.
In one embodiment, the micro control unit of the vehicle networking system is configured to send, to an M-core of the vehicle central computing domain controller, GNSS invalid information through the CAN bus when the acquisition of the coordinated world fails, where the GNSS invalid information is used to represent the failure of the acquisition of the coordinated world;
and the M core of the whole vehicle central computing domain controller is used for synchronizing the clock time provided by the system clock to the plurality of vehicle-mounted controllers, the plurality of first domain controllers and the plurality of second domain controllers through the CAN bus under the condition of receiving the GNSS invalid information.
In the embodiment of the disclosure, if the M core of the vehicle central computing domain controller receives not only a gPTP signal through the ethernet but also a CAN timesync signal through the CAN bus, the master clock is synchronized through the gPTP, and the master clock may be broadcast to all active networks through the CAN bus, or the master clock is synchronized to the ethernet through the ethernet.
In another embodiment, if the M-core of the vehicle central computing domain controller does not receive the ptp signal, for example, the periodic ptp Sync message is not received after time out, and only the CAN timeout Sync signal is received through the CAN bus, the master clock is synchronized through the CAN time Sync signal, and the master clock is broadcasted to all active networks through the CAN bus.
Similarly, if the M core of the vehicle central computing domain controller does not receive the CAN timesync signal and only receives the gPTP signal through the ethernet, the master clock is synchronized through the gPTP signal and the master clock is broadcasted to all the active networks through the CAN bus.
In one embodiment, the M core of the entire vehicle central computing domain controller is configured to synchronize the clock time provided by the system clock to the internet of vehicles system through the ethernet, so that the internet of vehicles system can perform time calibration according to the clock time.
In the embodiment of the disclosure, the M core of the vehicle central computing domain controller synchronizes the clock time to the vehicle networking system T-Box through the Ethernet gateway.
In the embodiment of the disclosure, if the M core of the vehicle central computing domain controller does not receive neither the gPTP signal nor the CAN timeout signal, timing is performed through the system clock RTC, and clock time provided by the system clock is broadcasted through the CAN bus to all active networks.
Because the car networking system T-Box is not configured with a system clock, in order to ensure time synchronization between modules in the car networking system T-Box, clock time provided by a system clock of the vehicle central computing domain controller needs to be synchronized to the modules of the car networking system T-Box as absolute time. And further ensuring the normal work of the Internet of vehicles system T-Box and the time consistency of the vehicle-mounted equipment.
In the embodiment of the disclosure, when the T-Box of the car networking system acquires the recommended positioning information through the GNNS module, the T-Box may mark "GNSS =1" according to a preset definition, and notify through a CAN message that a system clock in the central computing domain controller of the entire car is configured and configured, and simultaneously coordinate the universal time synchronously through the ethernet, and broadcast UTC through the CAN bus. When the recommended positioning information is not acquired through the GNNS module, the GNSS =0 may be marked according to a preset definition, and a message such as "GNSS = invalid" may be sent to the vehicle central computing domain controller through the CAN bus, and the vehicle central computing domain controller may broadcast the clock time provided by the system clock as the master clock through the CAN bus after receiving the message.
The situation that the recommended positioning information is not acquired can be that the vehicle networking system T-Box is in a shallow sleep state, or in a deep sleep state, or in an initialization state.
According to the method, under the condition that GNSS signals are weak or invalid, an Ethernet gateway switch is additionally arranged in a VCCD (virtual vehicle control device), clock time provided by an M-core acquisition system clock RTC of the whole central computing domain controller is synchronized to an SoC (system on chip) of a cabin domain controller DCD (direct current device) and an Orin of an intelligent driving domain controller ADD, and corresponding ECUs such as a laser and an angle radar are used for time synchronization.
And after the GNSS signal is recovered, updating the UTC to the RTC to realize the calibration of the RTC of the system clock. In the VCCD, the coordinated universal time or the clock time is used as a main clock, and relative time does not need to be calculated by each sensor and each chip, so that the accuracy of information alignment can be improved.
The embodiment of the present disclosure further provides a method for vehicle time synchronization, which is applied to the system architecture for vehicle time synchronization described in any one of the foregoing embodiments;
referring to fig. 2, the method includes:
in step S21, the car networking system selects a target transmission channel from the CAN bus and the ethernet according to the state of the car networking system, and transmits the information carrying the coordinated world time to the entire car central computing domain controller through the target transmission channel;
in step S22, the vehicle central computing domain controller performs time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time, and performs time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and a channel of the same type as the target transmission channel.
Optionally, the micro control unit of the car networking system is connected with the M core of the entire car central computing domain controller through the CAN bus, the network access device of the car networking system is connected with an ethernet gateway configured in the entire car central computing domain controller, the M core of the entire car central computing domain controller is connected with the ethernet gateway, and the plurality of second domain controllers are connected with the ethernet gateway;
the internet of vehicles system selects a target sending channel from the CAN bus and the Ethernet according to the state of the internet of vehicles system, and comprises:
when the state of the Internet of vehicles system is in a wake-up process, the CAN bus is used as the target sending channel;
analyzing recommended positioning information to obtain coordinated universal time, and generating the information carrying the coordinated universal time according to the coordinated universal time; or,
and when the state of the Internet of vehicles system is an awakening state, taking the Ethernet as the target sending channel.
Optionally, the plurality of second domain controllers comprises a cockpit domain controller and a smart drive domain controller;
the Ethernet gateway is connected with the system on chip of the cockpit domain controller, and the M core of the whole vehicle central computing domain controller is connected with the micro control unit of the cockpit domain controller through the CAN bus;
the Ethernet gateway is connected with a gateway configured in the intelligent driving domain controller, and an M core of the whole vehicle central computing domain controller is connected with an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus;
and under the condition that the M core of the whole vehicle central computing domain controller receives the information carrying the coordinated universal time through the CAN bus, the coordinated universal time is synchronized to the micro control unit of the cabin domain controller and the AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus.
Optionally, the method comprises:
under the condition that the M core of the whole vehicle central computing domain controller receives the coordinated universal time through the Ethernet, analyzing the received recommended positioning information to obtain the coordinated universal time;
and the coordinated universal time is synchronized to the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus, and is synchronized to a micro control unit of the cabin domain controller and an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus.
Optionally, the smart driving domain controller is connected with an antenna of the vehicle through a GPS hard wire;
the method comprises the following steps: and under the condition that the M core of the whole vehicle central computing domain controller does not synchronously coordinate the universal time to the intelligent driving domain controller, the intelligent driving domain controller acquires UTC atomic time from the antenna, and obtains the coordinated universal time according to a plurality of UTC atomic times.
Optionally, the vehicle central computing domain controller includes: the system clock is connected with the M core of the whole vehicle central computing domain controller;
the method comprises the following steps:
and under the condition that the micro control unit of the Internet of vehicles system successfully acquires the coordinated universal time, synchronizing the coordinated universal time to the system clock through the CAN bus so as to calibrate the system clock.
Optionally, the method comprises:
under the condition that the acquisition of the coordinated world time fails, a micro control unit of the vehicle networking system sends GNSS invalid information to an M core of the vehicle central computing domain controller through the CAN bus, wherein the GNSS invalid information is used for representing the failure of the acquisition of the coordinated world time;
and under the condition that the M core of the whole vehicle central computing domain controller receives the GNSS invalid information, synchronizing clock time provided by the system clock to the plurality of vehicle-mounted controllers, the plurality of first domain controllers and the plurality of second domain controllers through the CAN bus.
Optionally, the method comprises:
the M core of the whole vehicle central computing domain controller synchronizes clock time provided by the system clock to the vehicle networking system through the Ethernet;
and the car networking system carries out time calibration according to the clock time.
The disclosed embodiment also provides a vehicle, including: the system architecture for vehicle time synchronization of any of the preceding embodiments.
Referring to fig. 3, fig. 3 is a functional block diagram of a vehicle 600 according to an exemplary embodiment. The vehicle 600 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 600 may acquire environmental information around the vehicle through the sensing system 620 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to implement fully automatic driving, or present the analysis results to the user to implement partially automatic driving.
Vehicle 600 may include various subsystems such as infotainment system 610, perception system 620, decision control system 630, drive system 640, and computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 600 may be interconnected by wire or wirelessly.
In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.
The communication system 611 may comprise a wireless communication system that may wirelessly communicate with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may utilize an infrared link, bluetooth, or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.
The entertainment system 612 may include a display device, a microphone and a sound, and a user may listen to a radio in the car based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.
In some cases, the voice signal of the user may be acquired through a microphone, and certain control of the vehicle 600 by the user, such as adjusting the temperature in the vehicle, etc., may be implemented according to the analysis of the voice signal of the user. In other cases, music may be played to the user through a stereo.
The navigation system 613 may include a map service provided by a map provider to provide navigation of a route for the vehicle 600, and the navigation system 613 may be used in conjunction with a global positioning system 621 and an inertial measurement unit 622 of the vehicle. The map service provided by the map provider can be a two-dimensional map or a high-precision map.
The sensing system 620 may include several types of sensors that sense information about the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system 621 (the global positioning system may be a GPS system, a beidou system or other positioning system), an Inertial Measurement Unit (IMU) 622, a laser radar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors of internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.
Global positioning system 621 is used to estimate the geographic location of vehicle 600.
The inertial measurement unit 622 is used to sense a pose change of the vehicle 600 based on the inertial acceleration. In some embodiments, inertial measurement unit 622 may be a combination of accelerometers and gyroscopes.
Lidar 623 utilizes laser light to sense objects in the environment in which vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.
The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, in addition to sensing objects, the millimeter-wave radar 624 may also be used to sense the speed and/or heading of objects.
The ultrasonic radar 625 may sense objects around the vehicle 600 using ultrasonic signals.
The camera 626 is used to capture image information of the surroundings of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the image capturing device 626 may include still images or video stream information.
Decision control system 630 includes a computing system 631 that makes analytical decisions based on information obtained by sensing system 620, and decision control system 630 further includes a vehicle controller 632 that controls the powertrain of vehicle 600, and a steering system 633, throttle 634, and brake system 635 for controlling vehicle 600.
The computing system 631 may operate to process and analyze the various information acquired by the perception system 620 to identify objects, and/or features in the environment surrounding the vehicle 600. The target may comprise a pedestrian or an animal and the objects and/or features may comprise traffic signals, road boundaries and obstacles. The computing system 631 may use object recognition algorithms, motion from Motion (SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map an environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the various information obtained and derive a control strategy for the vehicle.
The vehicle controller 632 may be used to perform coordinated control on the power battery and the engine 641 of the vehicle to improve the power performance of the vehicle 600.
The steering system 633 is operable to adjust the heading of the vehicle 600. For example, in one embodiment, a steering wheel system.
The throttle 634 is used to control the operating speed of the engine 641 and thus the speed of the vehicle 600.
The brake system 635 is used to control the deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheel 644. In some embodiments, the braking system 635 may convert the kinetic energy of the wheels 644 into electrical current. The braking system 635 may also take other forms to slow the rotational speed of the wheel 644 to control the speed of the vehicle 600.
The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.
Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 642 may also provide energy to other systems of the vehicle 600.
The transmission 643 may transmit mechanical power from the engine 641 to the wheels 644. The transmission 643 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 643 may also include other devices, such as clutches. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.
Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. Computing platform 650 can include at least one processor 651, which processor 651 can execute instructions 653 stored in a non-transitory computer-readable medium, such as memory 652. In some embodiments, the computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 600 in a distributed manner.
The processor 651 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 651 may also include a processor such as a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 3 functionally illustrates processors, memories, and other elements of the computer in the same block, one of ordinary skill in the art will appreciate that the processors, computers, or memories may actually comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different enclosure than the computer. Thus, references to a processor or computer are to be understood as including references to a collection of processors or computers or memories which may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only computations related to the component-specific functions.
In the disclosed embodiment, the processor 651 may perform the method for vehicle time synchronization described above.
In various aspects described herein, the processor 651 can be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle and others are executed by a remote processor, including taking the steps necessary to perform a single maneuver.
In some embodiments, the memory 652 may contain instructions 653 (e.g., program logic), which instructions 653 may be executed by the processor 651 to perform various functions of the vehicle 600. Memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of infotainment system 610, perception system 620, decision control system 630, drive system 640.
In addition to instructions 653, memory 652 may also store data such as road maps, route information, the location, direction, speed, and other such vehicle data of the vehicle, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.
Computing platform 650 may control functions of vehicle 600 based on inputs received from various subsystems (e.g., drive system 640, perception system 620, and decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by perception system 620. In some embodiments, the computing platform 650 is operable to provide control over many aspects of the vehicle 600 and its subsystems.
Optionally, one or more of these components described above may be mounted separately from or associated with the vehicle 600. For example, the memory 652 may exist partially or completely separate from the vehicle 600. The aforementioned components may be communicatively coupled together in a wired and/or wireless manner.
Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 3 should not be construed as limiting the embodiment of the present disclosure.
An autonomous automobile traveling on a roadway, such as vehicle 600 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently and may be used to determine the speed at which the autonomous vehicle is to be adjusted based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, and the like.
Optionally, the vehicle 600 or a sensing and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict the behavior of the identified object based on characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each of the identified objects is dependent on the behavior of each other, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road being traveled, the curvature of the road, the proximity of static and dynamic objects, and so forth.
In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may provide instructions to modify the steering angle of the vehicle 600 to cause the autonomous vehicle to follow a given trajectory and/or to maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).
The vehicle 600 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the embodiment of the present disclosure is not particularly limited.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A system architecture for vehicle time synchronization, applied to a vehicle, the system architecture comprising:
the system comprises a vehicle networking system, a whole vehicle central computing domain controller connected with the vehicle networking system through a CAN bus and an Ethernet respectively, a plurality of vehicle-mounted controllers and a plurality of first domain controllers connected with the whole vehicle central computing domain controller through the CAN bus, and a plurality of second domain controllers connected with the whole vehicle central computing domain controller through the CAN bus and the Ethernet respectively;
the vehicle networking system is used for selecting a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system and sending information carrying coordinated world time to the whole vehicle central computing domain controller through the target sending channel;
the whole vehicle central computing domain controller is used for carrying out time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time and carrying out time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and the channels with the same types as the target sending channels.
2. The system architecture of claim 1, wherein the mcu of the car networking system is connected to the M-core of the rdma controller via the CAN bus, the nic of the car networking system is connected to an ethernet gateway disposed in the rdma controller, the M-core of the rdma controller is connected to the ethernet gateway, and the plurality of second domain controllers are connected to the ethernet gateway;
the micro control unit of the vehicle networking system is used for analyzing recommended positioning information to obtain coordinated universal time, generating coordinated universal time carrying information according to the coordinated universal time and synchronizing the coordinated universal time carrying information to an M core of the vehicle central computing domain controller through the CAN bus when the state of the vehicle networking system is in an awakening process;
the network access equipment of the vehicle networking system is used for synchronizing the recommended positioning information to the M core of the whole vehicle central computing domain controller through the Ethernet via the Ethernet gateway when the state of the vehicle networking system is an awakening state, so that the M core of the whole vehicle central computing domain controller analyzes the recommended positioning information to obtain the coordinated universal time.
3. The system architecture of claim 2, wherein the plurality of second domain controllers comprises a cockpit domain controller and a smart drive domain controller;
the Ethernet gateway is connected with the system on chip of the cockpit domain controller, and the M core of the whole vehicle central computing domain controller is connected with the micro control unit of the cockpit domain controller through the CAN bus;
the Ethernet gateway is connected with a gateway configured in the intelligent driving domain controller, and an M core of the vehicle central computing domain controller is connected with an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus;
and the M core of the whole vehicle central computing domain controller is used for synchronizing the coordinated universal time to the micro control unit of the cabin domain controller and the AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus under the condition that the information carrying the coordinated universal time is received through the CAN bus.
4. The system architecture of claim 3, wherein the M-core of the full vehicle central computing domain controller is to:
under the condition that the coordinated universal time is received through the Ethernet, analyzing the received recommended positioning information to obtain the coordinated universal time;
and the coordinated universal time is synchronized to the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus, and is synchronized to a micro control unit of the cabin domain controller and an AURIX single chip microcomputer of the intelligent driving domain controller through the CAN bus.
5. The system architecture of claim 3, wherein the smart driving domain controller is connected to an antenna of the vehicle via a GPS hard wire to obtain UTC atomic time from the antenna and obtain coordinated universal time according to a plurality of UTC atomic times when an M core of the entire vehicle central computing domain controller is not synchronized to the smart driving domain controller.
6. The system architecture of claims 1-5, wherein the full vehicle central computing domain controller comprises: the system clock is connected with the M core of the whole vehicle central computing domain controller;
and the micro control unit of the Internet of vehicles system is used for synchronizing the coordinated universal time to the system clock through the CAN bus under the condition of successful acquisition of the coordinated universal time so as to calibrate the system clock.
7. The system architecture of claim 6, wherein the micro control unit of the vehicle networking system is configured to send, via the CAN bus, a GNSS invalidity message to the M-core of the vehicle central computing domain controller in the event of failure to acquire the coordinated world time, the GNSS invalidity message being used to characterize the failure to acquire the coordinated world time;
and the M core of the whole vehicle central computing domain controller is used for synchronizing the clock time provided by the system clock to the plurality of vehicle-mounted controllers, the plurality of first domain controllers and the plurality of second domain controllers through the CAN bus under the condition of receiving the GNSS invalid information.
8. The system architecture of claim 7, wherein the M core of the full car central computing domain controller is configured to synchronize a clock time provided by the system clock to the Internet of vehicles system via the Ethernet, such that the Internet of vehicles system is capable of time calibration according to the clock time.
9. A method for vehicle time synchronization, characterized by being applied to the system architecture for vehicle time synchronization of any one of claims 1-8;
the method comprises the following steps:
the vehicle networking system selects a target sending channel from the CAN bus and the Ethernet according to the state of the vehicle networking system, and sends the information carrying the coordinated world time to the vehicle central computing domain controller through the target sending channel;
and the whole vehicle central computing domain controller performs time synchronization on the plurality of vehicle-mounted controllers and the plurality of first domain controllers through the CAN bus according to the information carrying the coordinated universal time, and performs time synchronization on the plurality of second domain controllers according to the information carrying the coordinated universal time and channels with the same types as the target sending channels.
10. A vehicle, characterized by comprising: the system architecture for vehicle time synchronization of any one of claims 1-8.
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