CN115686127A

CN115686127A - Time difference determination method and device and electronic equipment

Info

Publication number: CN115686127A
Application number: CN202211369758.3A
Authority: CN
Inventors: 陈红岩
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-11-03
Filing date: 2022-11-03
Publication date: 2023-02-03

Abstract

The invention provides a time difference determining method, a time difference determining device and electronic equipment, relates to the technical field of cloud computing, in particular to the technical field of automatic driving and big data, and the time difference determining method comprises the following steps: synchronously sending target signals to a first actuator of a first module and a second actuator of a second module, wherein the target signals are used for controlling the first actuator and the second actuator to execute target operation, and the first module and the second module are functional modules in the same device; receiving a first time sent by the first actuator and a second time sent by the second actuator, wherein the first time is a time when the first actuator executes the target operation according to the target signal, and the second time is a time when the second actuator executes the target operation according to the target signal; and determining the time difference between the first module and the second module according to the first time and the second time.

Description

Time difference determination method and device and electronic equipment

Technical Field

The disclosure relates to the technical field of cloud computing, in particular to the technical field of automatic driving and big data, and specifically relates to a time difference determination method and device and electronic equipment.

Background

Currently, the accuracy of time synchronization between multiple modules is usually measured, and therefore, the time difference between the multiple modules needs to be tested. The current solution usually adopts a network tool time comparison program to perform a time difference test, and the network tool time comparison program usually adopts a time stamp to calculate the transmission time between modules, so as to calculate the time difference between the modules.

Disclosure of Invention

The disclosure provides a time difference determining method and device and electronic equipment.

According to a first aspect of the present disclosure, there is provided a time difference determination method, including:

synchronously sending a target signal to a first actuator of a first module and a second actuator of a second module, wherein the target signal is used for controlling the first actuator and the second actuator to execute target operation, and the first module and the second module are functional modules in the same equipment;

receiving a first time sent by the first actuator and a second time sent by the second actuator, wherein the first time is a time when the first actuator executes the target operation according to the target signal, and the second time is a time when the second actuator executes the target operation according to the target signal;

and determining the time difference between the first module and the second module according to the first time and the second time.

According to a second aspect of the present disclosure, there is provided a time difference determination apparatus comprising:

the system comprises a first sending module, a second sending module and a control module, wherein the first sending module is used for synchronously sending a target signal to a first actuator of a first module and a second actuator of a second module, the target signal is used for controlling the first actuator and the second actuator to execute target operation, and the first module and the second module are functional modules in the same equipment;

a first receiving module, configured to receive a first time sent by the first actuator, and receive a second time sent by the second actuator, where the first time is a time when the first actuator executes the target operation according to the target signal, and the second time is a time when the second actuator executes the target operation according to the target signal;

a first determining module, configured to determine a time difference between the first module and the second module according to the first time and the second time.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the methods of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform any one of the methods of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements any of the methods of the first aspect.

In the embodiment of the disclosure, the time difference between the first module and the second module can be determined according to the first time when the first actuator executes the target operation and the second time when the second actuator executes the target operation, and the error of the time difference determined according to the method is smaller, the accuracy is higher, meanwhile, the time difference is not calculated by adopting a separate network tool time comparison program, and the calculation resource is saved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

Fig. 1 is a flowchart of a time difference determination method provided by an embodiment of the present disclosure;

fig. 2 is an application scenario diagram of a time difference determining method provided by the embodiment of the present disclosure;

fig. 3 is a diagram of an application scenario of another time difference determination method provided in an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a time difference determining apparatus according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of another time difference determination apparatus provided in the embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of another time difference determining apparatus provided in the embodiment of the present disclosure;

FIG. 7 is a schematic block diagram of an example electronic device used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

When calculating the time difference between different modules, a network tool time comparison program is generally required to be used for testing the time difference, and the network tool time comparison program generally calculates the transmission time between the modules by using a timestamp, so as to calculate the time difference between the modules.

In addition, a separate network tool time comparison program is required to calculate the time difference, which results in the waste of computing resources.

Meanwhile, when the time difference is calculated by the network tool time comparison program, an Internet Control Message Protocol (ICMP) or Internet Protocol (IP) timestamp is usually used for calculating, and the ICMP or IP timestamp is easily ignored by other modules during transmission, which results in that the time difference between the modules cannot be measured or the accuracy of the measured time difference is low, and the other modules may be routing modules or other functional modules.

In order to solve the above problem, the embodiments of the present disclosure propose the following solutions:

it should be noted that the embodiments of the present disclosure may be applied to the controller of the first module, that is, the execution subject of each step in the embodiments of the present disclosure may be the controller of the first module.

Referring to fig. 1, fig. 1 is a flowchart of a time difference determining method provided in an embodiment of the present disclosure, and as shown in fig. 1, the time difference determining method includes the following steps:

step S101, target signals are synchronously sent to a first actuator of a first module and a second actuator of a second module, the target signals are used for controlling the first actuator and the second actuator to execute target operations, and the first module and the second module are functional modules in the same device.

The target signals are synchronously transmitted to the first actuator and the second actuator, which can be referred to as follows: an error between transmission timings at which the target signal is respectively transmitted to the first actuator and the second actuator may be less than or equal to a preset difference, and a value of the preset difference may be 0.

The first actuator and the second actuator may be referred to as external actuators, the first module and the second module are functional modules in the same device, the functions of the first module and the second module may be the same or different, and the functions that the first module and the second module can implement are not specifically limited herein.

As an optional implementation, the number of the second modules may be multiple, and a calculation manner of the time difference between each second module and the first module may refer to this implementation, so that the target signal may be synchronously sent to the first actuator of the first module and the second actuators of the multiple second modules, so that the time difference between the first module and each of the multiple second modules may be calculated, and the calculation efficiency of the time difference is improved.

As an alternative embodiment, the first module and the second module are different functional modules in an autonomous vehicle.

In the embodiment of the disclosure, the first module and the second module are different functional modules in the autonomous driving vehicle, so that the time difference between the first module and the second module can be accurately calculated, and the intelligence degree and the safety of the autonomous driving vehicle are improved.

The specific content of the target signal and the target operation is not limited herein.

As an alternative, the target signal may be a brake signal, and the target operation may be a brake operation.

In an alternative embodiment, the target signal is an interrupt signal, and the target operation is an interrupt operation.

In the embodiment of the disclosure, when the target signal is an interrupt signal and the target operation is an interrupt operation, the first actuator and the second actuator can directly respond to and execute the interrupt operation when receiving the target signal, without decoding and analyzing the target signal, that is, without consuming the time for decoding and analyzing the target signal, so that the accuracy of the recorded first time and second time is higher, and the accuracy of the calculated time difference is further improved.

For example: when the target signal is an interrupt signal and the target operation is an interrupt operation, the time for synchronously transmitting the target signal is 1.05 microseconds, the time for receiving the target signal by the first module is 1.1 microseconds, and the time for receiving the target signal by the second module is 1.15 microseconds, then the time for executing the target operation by the first actuator (i.e., the first time in the following text) may be 1.1 microseconds, the time for executing the target operation by the second actuator (i.e., the second time in the following text) may be 1.15 microseconds, and then the time difference between the first module and the second module may be 1.15-1.1=0.05 microseconds.

When the target signal is a non-interrupt signal and the target operation is a non-interrupt operation, the time for synchronously transmitting the target signal is 1.05 microseconds, the time for receiving the target signal by the first module is 1.1 microseconds, the time for receiving the target signal by the second module is 1.15 microseconds, the first module needs to decode and analyze the target signal first, the consumed time length is 0.1 microseconds, the time for executing the target operation by the first actuator (i.e., the first time in the following text) may be 1.1+0.1=1.2 microseconds, similarly, the second module needs to decode and analyze the target signal first, the consumed time length is 0.2 microseconds, the time for executing the target operation by the second actuator (i.e., the second time in the following text) may be 1.15+0.2=1.35 microseconds, and the time difference between the first module and the second module may be 1.35-1.2=0.15 microseconds. Therefore, when the target signal is an interrupt signal and the target operation is an interrupt operation, the accuracy of the time difference between the first module and the second module can be improved because the target signal does not need to be decoded and analyzed.

Step S102, receiving a first time sent by the first actuator, and receiving a second time sent by the second actuator, where the first time is a time when the first actuator executes the target operation according to the target signal, and the second time is a time when the second actuator executes the target operation according to the target signal.

After the first actuator receives the target signal, the first actuator may execute a target operation according to the target signal, and the first module may record a first time at which the first actuator executes the target operation; similarly, after the second actuator receives the target signal, the second actuator may execute the target operation according to the target signal, and the second module may record a second time when the second actuator executes the target operation.

Step S103, determining the time difference between the first module and the second module according to the first time and the second time.

In the embodiment of the present disclosure, through steps S101 to S103, the time difference between the first module and the second module can be determined according to the first time when the first actuator executes the target operation and the second time when the second actuator executes the target operation, but the error of the time difference determined according to this method is smaller, the accuracy is higher, and meanwhile, it is not necessary to use a separate network tool to calculate the time difference compared with the program, so that the calculation resource is saved, i.e., the calculation of the time difference between the first module and the second module can be realized without depending on other devices outside the device.

In addition, since the time difference between the first module and the second module is calculated by the target signal according to the embodiment of the disclosure, the time difference between the first module and the second module does not need to be calculated by the ICMP or the IP timestamp, and thus, the time difference is not ignored by the first module or the second module, so that the availability and accuracy of the time difference can be improved.

It should be noted that, the specific manner of determining the time difference between the first module and the second module according to the first time and the second time is not limited herein.

As an alternative, the time difference may be obtained by subtracting the time with the smaller value from the time with the larger value of the first time and the second time.

As an optional implementation, the determining a time difference between the first module and the second module according to the first time and the second time includes:

determining an absolute value of a difference between the first time and the second time;

determining the absolute value as a time difference between the first module and the second module.

In the embodiment of the disclosure, the absolute value of the difference between the first time and the second time is determined as the time difference between the first module and the second module, so that the time difference is more convenient to calculate, and the diversity of the calculation mode of the time difference is increased.

As an optional implementation, the method further includes:

receiving target time sent by a time source module;

determining a calibration time according to the target time and the time difference;

sending the calibration time to the second module.

The time source module may be a module in the device, that is, may be a module in the same device as the first module and the second module.

Alternatively, the time source module may also be a module in other devices, that is, the time source module, the first module and the second module are modules in different devices. For example, the Time source module (Time Sources) may be a module in a Time server, and the Time server may include at least one of the following servers: a Global Positioning System (GPS) Time server and a Network Time Protocol (NTP) server.

It should be noted that, since the target time is the time provided by the time source module, the accuracy of the target time can be considered to be high. In addition, the first module and the second module may be provided with counters, so that the first module and the second module can independently perform timing, that is to say: the time of the first module is different from that of the second module, the first module receives the target time, can update the time of the first module, and sends the calibration time to the second module, so that the second module can update the time according to the calibration time, and thus, the time synchronization between the first module and the second module can be completed.

The specific manner of determining the calibration time according to the time difference and the target time is not limited herein, and is an optional implementation: the sum or difference of the target time and the time difference may be determined as the calibration time.

As another alternative, a product of the time difference and the target coefficient may be determined, and then a sum or a difference between the target time and the product may be determined as the calibration time, where the target coefficient may be a scene coefficient, and scene coefficients corresponding to different scenes are different, or the target coefficient may be a function coefficient of a module, and function coefficients corresponding to different functions of the module are also different.

In the embodiment of the disclosure, the calibration time may be determined according to the time difference and the target time, and the calibration time is sent to the second module, so that the second module may update the time on the second module according to the calibration time, thereby enhancing the relevance and uniformity of the time between the second module and the first module, and enhancing the accuracy of the time update of the second module.

For example: referring to fig. 2, fig. 2 includes a time source module 201, a first module 202 and three second modules 203, where the first module 201 may be referred to as a time acquisition module (receiving time module), and the second modules 203 may be referred to as other functional modules (e.g., a computing module or an automatic driving module), and the three second modules 203 may be referred to as: module 1 (module 1), module 2 (module 2) and module 3 (module 3), so that time synchronization between the first module 201 and the three second modules 203 can be accomplished.

As an optional implementation manner, the first module and the second actuator are respectively connected through a first data transmission line and a wireless network, and the first actuator is connected with a second data transmission line;

the synchronous transmission of the target signal to the first actuator of the first module and the second actuator of the second module comprises:

synchronously sending the target signals to the second actuator and the first actuator through the first data transmission line and the second data transmission line respectively;

the receiving a first time sent by the first module and a second time sent by the second module includes:

and receiving a first time sent by the first actuator through the second data transmission line, and receiving a second time sent by the second actuator through the first data transmission line and/or the wireless network.

The second data transmission line may be considered to be electrically connected to the controller and the first actuator of the first module, respectively, so that the controller and the first actuator of the first module may transmit the target signal and the first time through the second data transmission line.

The controller and the second actuator of the first module can be connected with the wireless network through the first data transmission line respectively, so that the controller and the second actuator of the first module can transmit the target signal and the second time through the first data transmission line and the wireless network.

In the embodiment of the disclosure, the controller of the first module may respectively and synchronously send the target signal to the second actuator and the first actuator through the first data transmission line and the second data transmission line, and the first data transmission line and the second data transmission line may be understood as pure hardware, that is, when the target signal is transmitted through the pure hardware, the data transmission delay caused is small or even negligible, so that an error of the target signal between the first module and the second module due to the transmission delay is reduced, that is, the accuracy of the time difference between the first module and the second module is further improved.

Referring to fig. 3, fig. 3 is an application scenario diagram of an embodiment of the present disclosure, and as shown in fig. 3, the application scenario diagram includes a module 0, a module 1, a module 2, a module 3, and a module n, where the module 0 may be understood as a first module in the above embodiment, and the module 1, the module 2, the module 3, and the module n may be understood as a second module in the above embodiment, and a dotted line in fig. 3 may be understood as a transmission direction of a target signal sent by the module 0 to the module 1, the module 2, the module 3, and the module n, and a solid line in fig. 3 may be understood as a transmission direction of the module 1, the module 2, the module 3, and the module n at a first time or a second time respectively sent to the module 0.

Specifically, the interaction between the modules in the application scenario diagram of fig. 3 can be understood as the following steps:

step S301, centering on module 0 (i.e., the first module in the above embodiment), each module sets an external interrupt priority as the highest priority, and when a time difference needs to be measured, first, module 0 sends an external interrupt signal to other modules (i.e., other modules are modules 1 to n, and modules 1 to n are the second modules in the above embodiment) and module 0 itself (i.e., the first actuator of the first module);

step S302, after receiving an external interrupt sent by the module 0 (a first actuator of a first module), recording the time T0 (namely the first time) of the module 0 at the moment;

step S303, after receiving an external interrupt signal, the modules 1 to n respectively record the system time (namely, the second time) of the respective module at the interrupt time, namely, T1 when the module 1 receives the external interrupt, and Tn when the module n receives the external interrupt;

step S304, the modules 1 to n send the respective recorded T1 to Tn to the module 0, and the sending mode can be a data line transmission mode or a wireless network communication mode;

step S305, the module 0 is responsible for calculating the time difference between the modules, for example, the time difference between the module 1 and the module 2 is the absolute value of T1-T2.

Thus, the embodiment of the disclosure can also improve the accuracy of the time difference and save the computing resources.

Referring to fig. 4, fig. 4 is a structural diagram of a time difference determination apparatus according to an embodiment of the present disclosure, and as shown in fig. 4, the time difference determination apparatus 400 includes:

a first sending module 401, configured to send a target signal to a first actuator of a first module and a second actuator of a second module synchronously, where the target signal is used to control the first actuator and the second actuator to execute a target operation, and the first module and the second module are function modules in the same device;

a first receiving module 402, configured to receive a first time sent by the first actuator, and receive a second time sent by the second actuator, where the first time is a time when the first actuator executes the target operation according to the target signal, and the second time is a time when the second actuator executes the target operation according to the target signal;

a first determining module 403, configured to determine a time difference between the first module and the second module according to the first time and the second time.

Optionally, referring to fig. 5, the first determining module 503 includes:

a first determining sub-module 5031 configured to determine an absolute value of a difference between the first time and the second time;

a second determining sub-module 5032 for determining the absolute value as the time difference between the first module and the second module.

The first sending module 501 and the first receiving module 502 in fig. 5 may refer to the relevant expressions of the first sending module 401 and the first receiving module 402 in fig. 4, which are not described herein again.

Optionally, referring to fig. 6, the time difference determining apparatus 600 further includes:

a second receiving module 604, configured to receive the target time sent by the time source module;

a second determining module 605, configured to determine a calibration time according to the target time and the time difference;

a second sending module 606, configured to send the calibration time to the second module.

The first sending module 601, the first receiving module 602, and the first determining module 603 in fig. 6 may refer to the relevant expressions of the first sending module 401, the first receiving module 402, and the first determining module 403 in fig. 4, respectively, which are not described herein again.

Optionally, the target signal is an interrupt signal, and the target operation is an interrupt operation.

Optionally, the first module and the second actuator are connected through a first data transmission line and a wireless network, respectively, and the first actuator is connected with a second data transmission line;

the first sending module is further configured to synchronously send the target signal to the second actuator and the first actuator through the first data transmission line and the second data transmission line, respectively;

the first receiving module is further configured to receive a first time sent by the first actuator through the second data transmission line, and receive a second time sent by the second actuator through the first data transmission line and/or the wireless network.

Optionally, the first module and the second module are different functional modules in an autonomous vehicle.

The time difference determining apparatus provided by the present disclosure can implement each process implemented by the time difference determining method embodiment, and can achieve the same beneficial effects, and for avoiding repetition, the details are not repeated here.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 7 illustrates a schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 7, the device 700 comprises a computing unit 701, which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

Computing unit 701 may be a variety of general purpose and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 701 executes the respective methods and processes described above, such as the time difference determination method. For example, in some embodiments, the time difference determination method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 700 via ROM 702 and/or communications unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the time difference determination method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the time difference determination method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A time difference determination method, comprising:

synchronously sending target signals to a first actuator of a first module and a second actuator of a second module, wherein the target signals are used for controlling the first actuator and the second actuator to execute target operation, and the first module and the second module are functional modules in the same device;

2. The method of claim 1, wherein said determining a time difference between the first module and the second module from the first time and the second time comprises:

3. The method of claim 1, further comprising:

receiving target time sent by a time source module;

sending the calibration time to the second module.

4. A method according to any one of claims 1 to 3, wherein the target signal is an interrupt signal and the target operation is an interrupt operation.

5. The method according to any one of claims 1 to 3, wherein the first module and the second actuator are respectively connected through a first data transmission line and a wireless network, and a second data transmission line is connected to the first actuator;

and receiving a first moment sent by the first actuator through the second data transmission line, and receiving a second moment sent by the second actuator through the first data transmission line and/or the wireless network.

6. The method of any of claims 1-3, wherein the first module and the second module are different functional modules in an autonomous vehicle.

7. A time difference determination apparatus, comprising:

the system comprises a first sending module, a second sending module and a control module, wherein the first sending module is used for synchronously sending target signals to a first actuator of a first module and a second actuator of a second module, the target signals are used for controlling the first actuator and the second actuator to execute target operations, and the first module and the second module are functional modules in the same device;

and the first determining module is used for determining the time difference between the first module and the second module according to the first time and the second time.

8. The apparatus of claim 7, wherein the first determining means comprises:

a first determining submodule, configured to determine an absolute value of a difference between the first time and the second time;

a second determination submodule for determining the absolute value as a time difference between the first module and the second module.

9. The apparatus of claim 7, further comprising:

the second receiving module is used for receiving the target time sent by the time source module;

a second determining module, configured to determine a calibration time according to the target time and the time difference;

and the second sending module is used for sending the calibration time to the second module.

10. The apparatus of any of claims 7 to 9, wherein the target signal is an interrupt signal and the target operation is an interrupt operation.

11. The device according to any one of claims 7 to 9, wherein the first module and the second actuator are respectively connected through a first data transmission line and a wireless network, and a second data transmission line is connected to the first actuator;

the first sending module is further configured to send the target signal to the second actuator and the first actuator synchronously through the first data transmission line and the second data transmission line, respectively;

12. The apparatus of any of claims 7-9, wherein the first module and the second module are different functional modules in an autonomous vehicle.

13. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.

15. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-6.