CN116418437A - Automatic driving system double-time-axis time service method, device, control method and system - Google Patents
Automatic driving system double-time-axis time service method, device, control method and system Download PDFInfo
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Abstract
The application discloses a double-time-axis time service method, a double-time-axis time service device, a double-time-axis time service control method and a double-time-axis time service control system for an automatic driving system, and belongs to the technical field of automatic driving. The method comprises the following steps: synchronously writing world time information contained in GPS signals received by a GPS sensor by an absolute time domain timer in a sensor hub; a local time domain timer in the sensor hub synchronously writes current world time information in the absolute time domain timer as an initial value of local time if a vehicle-mounted server of the vehicle judges that the vehicle has a GPS signal when the vehicle is started; and timing the local time to the autopilot system by the sensor hub. According to the method and the device, through the setting of the double time axes, the absolute time of the absolute time unit is determined according to the world time in the GPS information, and meanwhile, automatic driving processing is carried out according to the local time of the local time unit of the absolute time equipment by taking the local time as the time reference of an automatic driving system. The stability of the time reference is improved.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a double-time-axis time service method, a double-time-axis time service device, a double-time-axis time service control method and a double-time-axis time service control system for an automatic driving system.
Background
In the existing automatic driving system, in order to ensure the accuracy of automatic driving data calculation and the synchronism of automatic driving data, time service operation is required to be carried out on the automatic driving data. Thus, a time giving unit is provided inside the automatic driving system, and time recording and time stamping operation for the automatic driving data are performed. The existing inter-grant unit is arranged on a single time axis, and records and grants time by taking the world time acquired by a positioning unit, such as a GPS unit, as a time reference. However, the GPS units may not all acquire GPS information normally. For example, in places where the GPS signal is weak, such as tunnels or overhead, the GPS unit cannot effectively acquire GPS information, and thus cannot acquire world time, and cannot provide a time reference for the time service unit. Therefore, due to the intermittent time of the GPS information, the time in the time service unit is intermittent, time jump phenomenon can occur, finally, the whole automatic driving system is wrong in data calculation, and finally, data cannot be effectively processed.
Disclosure of Invention
Aiming at the problem that in the prior art, in an automatic driving system with a single time axis taking the world time in GPS information as a time reference, the time reference of a time service unit jumps due to the instability of the GPS information, and the normal operation of the whole automatic driving system is influenced, the application provides a double time axis time service method, a double time axis time service device, a double time axis time service control method and a double time axis time service system of the automatic driving system.
In one technical scheme of the application, a dual-time-axis time service method of an automatic driving system is provided, which comprises the following steps: synchronously writing world time information contained in GPS signals received by a GPS sensor by an absolute time domain timer in a sensor hub; a local time domain timer in the sensor hub synchronously writes current world time information in the absolute time domain timer as an initial value of local time when a vehicle is started if a vehicle-mounted server of the vehicle judges that the GPS signal exists, independently and continuously counts time after the vehicle is started, and takes a counting result as a current value of the local time; and timing the local time to the autopilot system by the sensor hub.
Optionally, the sensor hub time-service the local time to the autopilot system, comprising: the local time is given to the vehicle-mounted server through a first Ethernet cable; timing the local time to at least one lidar of the vehicle via a second ethernet line; and time stamping the sensor data received by the sensor hub with the local time.
Optionally, the sensor hub time-service the local time to the autopilot system, further comprising: and the vehicle-mounted server time-feeds the local time to the data acquisition and storage equipment through a third Ethernet cable.
Optionally, the method further comprises: if the vehicle-mounted server determines that the GPS signal is not available when the vehicle is started, the vehicle-mounted server checks whether the GPS signal is available or not, if the GPS signal is available, the vehicle-mounted server synchronously writes current world time information in the mobile network signal by a local time domain timer in the sensor hub as an initial value of local time, and if the GPS signal is not available, synchronously writes current time information of a standby real-time circuit in the sensor hub by the local time domain timer in the sensor hub as an initial value of local time.
Optionally, the method further comprises: the sensor hub periodically transmits the real-time world time in the absolute time domain timer and the real-time local time in the local time domain timer to the vehicle-mounted server in pairs as real-time world time and real-time local time pairs; and the vehicle-mounted server stores the real-time world time and the real-time local time pair in a world time and real-time local corresponding relation table during operation.
In one technical scheme of this application, provide a two time axis time service device of automatic driving system, include: an absolute time domain timer in the sensor hub that synchronously writes world time information contained in the GPS signals received by the GPS sensor; and a local time domain timer in the sensor hub, which synchronously writes current world time information in the absolute time domain timer as an initial value of the local time if the vehicle-mounted server of the vehicle determines that the GPS signal is present at the time of starting the vehicle, and independently continuously counts time after the vehicle is started, and takes the counted time result as the current value of the local time, wherein the sensor hub gives time of the local time to the automatic driving system.
In one technical scheme of the application, an automatic driving control method based on double-time-axis time service is provided, which comprises the following steps: synchronously writing world time information contained in GPS signals received by a GPS sensor by an absolute time domain timer in a sensor hub; a local time domain timer in the sensor hub synchronously writes current world time information in the absolute time domain timer as an initial value of local time when a vehicle is started if a vehicle-mounted server of the vehicle judges that the GPS signal exists, independently and continuously counts time after the vehicle is started, and takes a counting result as a current value of the local time; the sensor hub gives local time to the automatic driving system; and controlling, by the in-vehicle server, the vehicle based on the local time.
In one aspect of the present application, an autopilot system based on dual timeline timing is provided, including: a GPS sensor; an in-vehicle server of the vehicle; and a sensor hub including an absolute time domain timer for synchronously writing world time information contained in the GPS signal received by the GPS sensor, a local time domain timer for synchronously writing current world time information in the absolute time domain timer as an initial value of the local time if the vehicle-mounted server of the vehicle determines that the GPS signal is present at the time of starting the vehicle, and for independently continuously counting time after the vehicle is started and taking the counted time result as a current value of the local time, wherein the local time is given to the automatic driving system by the sensor hub, and the vehicle is controlled based on the local time by the vehicle-mounted server.
The beneficial effects of this application are: according to the method and the device, through the setting of the double time axes, the absolute time of the absolute time unit is determined according to the world time in the GPS information, and meanwhile, automatic driving processing is carried out according to the local time of the local time unit of the absolute time equipment by taking the local time as the time reference of an automatic driving system. The stability of the time reference is improved, the influence of the intensity change of the GPS information signal is avoided, and the stability of data processing of an automatic driving system is ensured.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow diagram of one embodiment of a dual timeline timing method of an autopilot system of the present application;
FIG. 2 is a schematic structural view of one embodiment of a dual timeline timing device of the autopilot system of the present application;
FIG. 3 is a flow chart of one embodiment of an autopilot control method of the present application based on dual timeline timing;
fig. 4 is a schematic structural diagram of an embodiment of an autopilot system based on dual time axis timing of the present application.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be capable of operation in sequences other than those illustrated or described herein, for example. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a sequence of steps or elements is not necessarily limited to those elements that are expressly listed or inherent to such product or apparatus, but may include other elements not expressly listed or inherent to such product or apparatus.
In the existing automatic driving system, in order to ensure the accuracy of automatic driving data calculation and the synchronism of automatic driving data, time service operation is required to be carried out on the automatic driving data. Thus, a time giving unit is provided inside the automatic driving system, and time recording and time stamping operations for the automatic driving data are performed. The existing inter-grant unit is arranged on a single time axis, and records and grants time by taking the world time acquired by a positioning unit, such as a GPS unit, as a time reference. However, the GPS units may not all acquire GPS information normally. For example, in places where the GPS signal is weak, such as tunnels or overhead, the GPS unit cannot effectively acquire GPS information, and thus obtain the world time, and cannot provide a time reference for the time service unit. Therefore, due to the intermittent time of the GPS information, the time in the time service unit is intermittent, time jump phenomenon can occur, finally, the whole automatic driving system is wrong in data calculation, and finally, data cannot be effectively processed.
Aiming at the problems, the application provides a double-time-axis time service method, a double-time-axis time service device, a double-time-axis time service control method and a double-time-axis time service control system for an automatic driving system. The method comprises the following steps: synchronously writing world time information contained in GPS signals received by a GPS sensor by an absolute time domain timer in a sensor hub; a local time domain timer in the sensor hub synchronously writes current world time information in the absolute time domain timer as an initial value of local time when a vehicle is started if a vehicle-mounted server of the vehicle judges that the GPS signal exists, independently and continuously counts time after the vehicle is started, and takes a counting result as a current value of the local time; and timing the local time to the autopilot system by the sensor hub.
According to the dual-time-axis time service method of the automatic driving system, an absolute time domain timer and a local time domain timer are set, dual-time-axis processing is carried out, world time information is obtained through the absolute time domain timer according to GPS signals, and local time of the automatic driving system is recorded through the local time domain timer; when the automatic driving system is started, after the local time and the absolute time are synchronized, the automatic driving system performs the data processing process of automatic driving by taking the local time as a reference. Therefore, even if GPS information cannot be acquired, the absolute time of the absolute time domain timer, namely, the recorded world time is jumped, the stability of the local time is not affected, so that the stability of the time reference of an automatic driving system is ensured, and the accuracy of data processing is ensured.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
FIG. 1 is a flow chart of one embodiment of a dual timeline timing method of an autopilot system of the present application.
In the embodiment shown in fig. 1, the automatic driving system dual time axis time service method of the present application includes: in the process S101, the absolute time domain timer in the sensor hub synchronously writes the world time information contained in the GPS signal received by the GPS sensor.
In this embodiment, an absolute time threshold timer is first set in the sensor hub, and the absolute time threshold timer is connected to the GPS sensor to synchronize the world time information in the GPS signal acquired by the GPS sensor, thereby obtaining the world time, and the world time is written into the absolute time threshold timer.
Optionally, the sensor hub is connected with a GPS sensor, acquires world time information through the GPS sensor, and performs time counting according to the world time information.
In this alternative embodiment, the world time information in the GPS sensor is acquired. According to the standard protocol of the GPS sensor, when the GPS sensor transmits data, accurate world time information can be transmitted to the sensor hub through the standard GPRMC+PPS protocol in an automatic driving system. The absolute time domain timer obtains accurate world time from the GPS signal of the GPS sensor. Since the GPS signal is unstable, the world time in the absolute time domain timer is also unstable, and time hopping and the like may occur.
It should be noted that, the absolute time domain timer and the GPS sensor perform time synchronization according to a predetermined time interval, for example, the synchronization time is 1 second, and the time synchronization is performed every second, so if the GPS signal is not acquired in the last second, and the time synchronization is performed again, time jump may occur.
In the embodiment shown in fig. 1, the automatic driving system dual time axis time service method of the present application includes: in the process S102, if the on-board server of the vehicle determines that the GPS signal is present at the time of starting the vehicle, the local time domain timer in the sensor hub synchronously writes the current world time information in the absolute time domain timer as an initial value of the local time, and after the vehicle is started, the local time is independently and continuously counted, and the counted result is used as the current value of the local time.
In this embodiment, a local time threshold timer would first be provided in the sensor hub to record the self-team time of the vehicle itself. When the vehicle starts, if the vehicle-mounted server of the vehicle judges that the GPS signal exists, the vehicle-mounted server sends out a synchronous instruction of the self-team time threshold timer and the absolute time threshold timer, time synchronization of the local time threshold timer and the absolute time threshold timer is carried out, and current world time information in the absolute time domain timer is written into the local time threshold timer to serve as an initial value of local time. Then, after the vehicle is started, the local time threshold timer can independently count, is not influenced by the GPS signal and the absolute time threshold timer, and takes the count result as the current value of the local time. The entire autopilot system also uses the time within the local time threshold timer as a time reference.
Specifically, when the vehicle is started, that is, when the automatic driving system is started, the local time of the local time domain timer is synchronized with the world time of the absolute time domain timer. When the vehicle or the automated driving system is started, the automated driving system does not start the automated driving process for the automated driving data, and thus the local time is not required as the time reference, and the time reference is allowed to be changed, so that the time synchronization is suitable. If time synchronization is performed during the running process of the automatic driving vehicle, the local time of the local time domain timer may jump in time, which may cause errors in data processing of the automatic driving system and affect the automatic driving. In time synchronization, the local time of the local time domain timer is synchronized to the world time of the absolute time domain timer, and this time is used as the initial value of the local time to count time.
In the above embodiment, since the corresponding universal time is unstable when the GPS signal is unstable, a jump occurs, and thus, the setting of the dual time axis is performed. Firstly, presetting a local time domain timer and an absolute time domain timer in a sensor hub, wherein the local time of the local time domain timer is taken as the self time of a vehicle automatic driving system; the absolute time recorded by the absolute time domain timer is real world time.
Specifically, the local time domain timer and the absolute time domain timer are actually one timer. After the corresponding time is obtained by the two, time counting is carried out according to the time precision. In the actual process, the local time domain timer and the absolute time domain timer can be set by corresponding codes through the FPGA processing chip, so that corresponding timing functions of the local time domain timer and the absolute time domain timer are realized. Wherein, the specific setting process is not specifically limited in this application.
Specifically, the local time domain timer and the absolute time domain timer are two relatively independent timing units, the two are not interfered with each other, and only when a time synchronization instruction is received, the two can perform data interaction so as to perform a time synchronization process.
In the embodiment shown in fig. 1, the automatic driving system dual time axis time service method of the present application includes: in the process S103, the sensor hub gives the local time to the autopilot system.
In this embodiment, after the local time is determined by the local time threshold timer in the sensor hub, a time service operation is performed to the entire automated driving system through the sensor hub.
Optionally, the sensor hub time-service the local time to the autopilot system, comprising: the local time is given to the vehicle-mounted server through a first Ethernet cable; timing the local time to at least one lidar of the vehicle via a second ethernet line; and time stamping the sensor data received by the sensor hub with the local time.
In this alternative embodiment, the time stamping of the data from the automated driving system, including the onboard server, lidar, and other sensors, is performed during the time stamping of the automated driving system. By uniformly timing various processing units and various data in the automatic driving system according to the time of the local time threshold timer.
Specifically, the sensor connector can select an SOC chip with different logic units, and a real-time processor can be arranged on the SOC chip to perform specific time stamping operation on the collected data of the sensor. The sensor hub transmits the time of the local time threshold timer to a processing unit such as a server, and the corresponding processing unit performs automatic driving operations such as subsequent data processing based on the local time.
Optionally, the sensor hub time-service the local time to the autopilot system, further comprising: and the vehicle-mounted server time-feeds the local time to the data acquisition and storage equipment through a third Ethernet cable.
In this alternative embodiment, the data collection storage devices in the autopilot system also need to be time-stamped for the data-collected autopilot vehicle during operation of the autopilot system. The whole driving system is under the same time reference, so that the accuracy of data processing in the automatic driving process is ensured.
Optionally, the dual-time-axis time service method of the autopilot system of the present application further includes: if the vehicle-mounted server determines that the GPS signal is not available when the vehicle is started, the vehicle-mounted server checks whether the GPS signal is available or not, if the GPS signal is available, the vehicle-mounted server synchronously writes current world time information in the mobile network signal by a local time domain timer in the sensor hub as an initial value of local time, and if the GPS signal is not available, synchronously writes current time information of a standby real-time circuit in the sensor hub by the local time domain timer in the sensor hub as an initial value of local time.
In this alternative embodiment, there is a scenario where there is no GPS signal when the car is started when the local time of the local time threshold timer is determined, and there is no way for the absolute time threshold timer to acquire world time information. At this time, after the vehicle-mounted server determines that there is no GPS signal, the vehicle-mounted server starts to check whether there is a mobile network signal at this time, if there is a mobile network signal, the vehicle-mounted server acquires current world time information in the mobile network signal at this time, and then, the local time domain timer in the sensor hub synchronously writes the current world time information and uses the current world time information as an initial value of local time, and then starts to count local time. If the vehicle-mounted server checks that the mobile network signal is not available at the moment, the current time information of the standby real-time circuit in the sensor hub is synchronously written by the local time domain timer in the sensor hub as an initial value of the local time.
Specifically, in the actual driving process, when the vehicle starts, the GPS information of the GPS unit cannot be acquired, for example, when the vehicle starts at a place with weak GPS signal such as a garage, the vehicle-mounted server acquires the world time information by using the network, takes the world time as the local time of the local time domain timer, and then the automatic driving system performs the subsequent automatic driving processing process by taking the local time as the time reference to perform time stamping processing for corresponding automatic driving data.
Specifically, when the automatic driving vehicle starts in an underground scene such as a ground garage, the GPS signal is weak or not, and the current world time information in the mobile network signal is required to be acquired through the vehicle-mounted server and is synchronized to the local time threshold timer. If there is no mobile network signal at this time, the current time information of the standby real-time circuit needs to be used as an initial value of the local time. Wherein the standby Real Time circuit may select an RTC (real_time Clock) circuit. The RTC circuit is provided with a button battery, and can still provide stable time when the automatic driving vehicle is powered off.
Optionally, the dual-time-axis time service method of the autopilot system of the present application further includes: the sensor hub periodically transmits the real-time world time in the absolute time domain timer and the real-time local time in the local time domain timer to the vehicle-mounted server in pairs as real-time world time and real-time local time pairs; and the vehicle-mounted server stores the real-time world time and the real-time local time pair in a real-time world time and real-time local time corresponding relation table during operation.
In this alternative embodiment, a series of automatic driving processes such as time service is performed with the local time of the local time threshold timer as a time reference. The local time is also taken as a time reference on the vehicle-mounted server. However, as the vehicle travels, the local time of the local time threshold time deviates in time from the world time of the absolute time threshold timer. However, the on-vehicle server needs to acquire accurate world time, so that a certain conversion of local time is needed. The sensor hub periodically transmits the real-time world time in the absolute time domain timer and the real-time local time in the local time domain timer as a real-time world time and real-time local time pair to the vehicle-mounted server. And the vehicle-mounted server stores the real-time world time and the real-time local time pair in a real-time world time and real-time local time corresponding relation table during operation. Real-time world time and real-time local time, respectively corresponding to the absolute time threshold timer and the local time threshold timer, are recorded in pairs in a correspondence table. When the time conversion is needed later, the vehicle-mounted server performs time offset according to the real-time local time, the real-time world time and the real-time local time corresponding relation table to obtain the world time at the corresponding moment.
Specifically, the dual time axis setting method of the present application further includes: and providing a time reference for the local time domain timer and the absolute time domain timer by using a time reference unit so as to ensure the time timing accuracy of the local time domain timer and the absolute time domain timer.
In this specific example, the time reference unit may select a temperature compensated crystal oscillator unit TCXO, and the time reference unit is a local time domain timer, an absolute time domain timer, and the time stability of the entire autopilot system.
According to the automatic driving system double-time-axis time service method, through setting of double time axes, the absolute time of the absolute time domain timer is determined according to the world time in GPS information, and meanwhile automatic driving processing is carried out according to the local time of the local time domain timer of the absolute time equipment and by taking the local time as a time reference of the automatic driving system. The stability of the time reference is improved, the influence of the intensity change of the GPS information signal is avoided, and the stability of data processing of an automatic driving system is ensured.
Fig. 2 is a schematic structural view of one embodiment of the dual-time-axis timing device of the autopilot system of the present application.
In the embodiment shown in fig. 2, there is provided a dual time axis timing device of an autopilot system, including: an absolute time domain timer 2011 in the sensor hub 201 that synchronously writes world time information contained in the GPS signals received by the GPS sensor; and a local time domain timer 2012 in the sensor hub 201, which synchronously writes current world time information in the absolute time domain timer as an initial value of the local time when the vehicle is started and, after the vehicle is started, independently continuously counts time and takes the counted result as the current value of the local time, wherein the local time is given to the automatic driving system by the sensor hub if the vehicle-mounted server of the vehicle determines that the GPS signal is present.
In the embodiment, an absolute time threshold timer is firstly set in a sensor hub, and is connected with a GPS sensor through the absolute time threshold timer, so that world time information in GPS signals acquired by the GPS sensor is synchronized, and world time is further obtained and written into the absolute time threshold timer; a local time threshold timer is set in the sensor hub to record the self-team time of the vehicle itself. When the vehicle starts, if the vehicle-mounted server of the vehicle judges that the GPS signal exists, the vehicle-mounted server sends out a synchronous instruction of the self-team time threshold timer and the absolute time threshold timer, time synchronization of the local time threshold timer and the absolute time threshold timer is carried out, and current world time information in the absolute time domain timer is written into the local time threshold timer to serve as an initial value of local time. Then, after the vehicle is started, the local time threshold timer can independently count, is not influenced by the GPS signal and the absolute time threshold timer, and takes the count result as the current value of the local time. The entire autopilot system also uses the time within the local time threshold timer as a time reference. And after the local time is determined by the local time threshold timer in the sensor hub, time service operation is performed on the whole automatic driving system through the sensor hub.
Optionally, the sensor hub is connected with a GPS sensor, acquires world time information through the GPS sensor, and performs time counting according to the world time information.
Optionally, in the automatic driving system dual-time-axis time service device, local time is time-service to the vehicle-mounted server through the first ethernet line; timing the local time to at least one lidar of the vehicle via a second ethernet line; and time stamping the sensor data received by the sensor hub with the local time.
Optionally, in the automatic driving system dual-time-axis time service device, the local time is time-service to the data acquisition and storage device through a third ethernet line in the vehicle-mounted server.
Optionally, in the dual time axis timing device of the automatic driving system, if the vehicle-mounted server determines that there is no GPS signal when the vehicle starts, the vehicle-mounted server checks whether there is a mobile network signal, if there is a mobile network signal, the local time domain timer in the sensor hub synchronously writes current world time information in the mobile network signal as an initial value of the local time, and if there is no mobile network signal, the local time domain timer in the sensor hub synchronously writes current time information of the standby real time circuit in the sensor hub as an initial value of the local time.
Fig. 3 shows a flow diagram of one embodiment of an autopilot control method based on dual timeline timing of the present application.
In the embodiment shown in fig. 3, the automatic driving control method based on the dual time axis timing of the present application includes: step S301, synchronously writing world time information contained in GPS signals received by a GPS sensor by an absolute time domain timer in a sensor hub; step S302, a local time domain timer in the sensor hub is used for synchronously writing current world time information in the absolute time domain timer as an initial value of the local time and independently and continuously counting time after the vehicle is started if a vehicle-mounted server of the vehicle judges that the GPS signal is provided during the vehicle starting, and the counting result is used as the current value of the local time; a process S303, wherein the sensor hub time the local time to the automatic driving system; and a process S304, wherein the vehicle is controlled by the vehicle-mounted server based on the local time.
According to the automatic driving control method based on double-time-axis time service, the absolute time domain timer and the local time domain timer are set, double-time-axis processing is carried out, world time information is obtained through the absolute time domain timer according to GPS signals, and the local time of an automatic driving system is recorded through the local time domain timer; when the automatic driving system is started, after the local time and the absolute time are synchronized, the automatic driving system performs the data processing process of automatic driving by taking the local time as a reference. Therefore, even if GPS information cannot be acquired, the absolute time of the absolute time domain timer, namely, the recorded world time is jumped, the stability of the local time is not affected, so that the stability of the time reference of an automatic driving system is ensured, and the accuracy of data processing is ensured.
Fig. 4 shows a schematic structural diagram of one embodiment of the autopilot system based on dual time axis timing of the present application.
In the embodiment shown in fig. 4, the dual-time-axis time service-based autopilot system of the present application includes: a GPS sensor 401; an onboard server 402 of the vehicle; the sensor hub 403 includes an absolute time domain timer 4031 for synchronously writing the world time information included in the GPS signal received by the GPS sensor, a local time domain timer 4032 for synchronously writing the current world time information in the absolute time domain timer as an initial value of the local time when the vehicle is started if the on-board server of the vehicle determines that the GPS signal is present, and for independently continuously counting time after the vehicle is started and for taking the result of the counting time as the current value of the local time, wherein the local time is given to the automated driving system by the sensor hub and the vehicle is controlled based on the local time by the on-board server.
According to the automatic driving system based on double-time-axis time service, the absolute time domain timer and the local time domain timer are set to process the double time axes, world time information is acquired according to GPS signals through the absolute time domain timer, and the local time of the automatic driving system is recorded through the local time domain timer; when the automatic driving system is started, after the local time and the absolute time are synchronized, the automatic driving system performs the data processing process of automatic driving by taking the local time as a reference. Therefore, even if GPS information cannot be acquired, the absolute time of the absolute time domain timer, namely, the recorded world time is jumped, the stability of the local time is not affected, so that the stability of the time reference of an automatic driving system is ensured, and the accuracy of data processing is ensured.
In one embodiment of the present application, a computer readable storage medium stores computer instructions operable to perform the autopilot system dual timeline timing method or the autopilot control method based on dual timeline timing described in any of the embodiments. Wherein the storage medium may be directly in hardware, in a software module executed by a processor, or in a combination of the two.
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
The processor may be a central processing unit (English: central Processing Unit; CPU; for short), or other general purpose processor, digital signal processor (English: digital Signal Processor; for short DSP), application specific integrated circuit (English: application Specific Integrated Circuit; ASIC; for short), field programmable gate array (English: field Programmable Gate Array; FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, etc. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one embodiment of the present application, a computer device includes a processor and a memory storing computer instructions, wherein: the processor operates the computer instructions to perform the autopilot system dual timeline timing method or the autopilot control method based on dual timeline timing described in any of the embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing is only examples of the present application, and is not intended to limit the scope of the patent application, and all equivalent structural changes made by the specification and drawings of the present application, or direct or indirect application in other related technical fields, are included in the scope of the patent protection of the present application.
Claims (10)
1. The double-time-axis time service method of the automatic driving system is characterized by comprising the following steps of:
synchronously writing world time information contained in GPS signals received by a GPS sensor by an absolute time domain timer in a sensor hub;
a local time domain timer in the sensor hub, if the vehicle-mounted server of the vehicle judges that the GPS signal exists when the vehicle is started, synchronously writing current world time information in the absolute time domain timer as an initial value of local time, independently continuously counting time after the vehicle is started, and taking a counting result as a current value of the local time; and
the local time is timed to the autopilot system by the sensor hub.
2. The autopilot system dual timeline timing method of claim 1 wherein said timing the local time to the autopilot system by the sensor hub comprises:
the local time is given to the vehicle-mounted server through a first Ethernet cable;
-timing the local time to at least one lidar of the vehicle via a second ethernet line; and
and time stamping the sensor data received by the sensor hub by utilizing the local time.
3. The autopilot system dual timeline time method of claim 2 wherein said sensor hub time said local time to said autopilot system further comprises:
and the vehicle-mounted server time-service the local time to the data acquisition and storage equipment through a third Ethernet line.
4. The autopilot system dual timeline time method of claim 2 further comprising:
if the vehicle-mounted server determines that the GPS signal is not available at the time of starting the vehicle, the vehicle-mounted server checks whether the GPS signal is available or not,
if there is the mobile network signal, synchronously writing current world time information in the mobile network signal by a local time domain timer in the sensor hub as an initial value of the local time, and
and if the mobile network signal is not available, synchronously writing current time information of a standby real-time circuit in the middle sensor hub by a local time domain timer in the sensor hub as an initial value of the local time.
5. The automatic driving system dual time axis timing method as claimed in claim 1, further comprising:
the sensor hub periodically transmits the real-time world time in the absolute time domain timer and the real-time local time in the local time domain timer to the vehicle-mounted server in pairs as real-time world time and real-time local time pairs; and
and the vehicle-mounted server stores the real-time world time and real-time local time pair in a world time and real-time local corresponding relation table during operation.
6. An automatic driving system double-time-axis time service device, which is characterized by comprising:
an absolute time domain timer in the sensor hub that synchronously writes world time information contained in the GPS signals received by the GPS sensor; and
a local time domain timer in the sensor hub, which synchronously writes current world time information in the absolute time domain timer as an initial value of local time when the vehicle is started if the on-board server of the vehicle determines that the GPS signal is present, and independently continuously counts time after the vehicle is started, and takes the counted result as the current value of the local time,
wherein the local time is timed to the autopilot system by the sensor hub.
7. An automatic driving control method based on double time axis time service is characterized by comprising the following steps:
synchronously writing world time information contained in GPS signals received by a GPS sensor by an absolute time domain timer in a sensor hub;
a local time domain timer in the sensor hub, if the vehicle-mounted server of the vehicle judges that the GPS signal exists when the vehicle is started, synchronously writing current world time information in the absolute time domain timer as an initial value of local time, independently continuously counting time after the vehicle is started, and taking a counting result as a current value of the local time;
timing the local time to the autopilot system by the sensor hub; and
and controlling the vehicle by the vehicle-mounted server based on the local time.
8. An automatic driving system based on dual time axis timing, comprising:
a GPS sensor;
an in-vehicle server of the vehicle;
a sensor hub comprising
An absolute time domain timer for synchronously writing world time information contained in the GPS signal received by the GPS sensor,
a local time domain timer for synchronously writing current world time information in the absolute time domain timer as an initial value of local time if the vehicle-mounted server of the vehicle determines that the GPS signal is present at the time of starting the vehicle, independently continuously counting time after the vehicle is started, taking the counting result as the current value of the local time,
wherein the local time is timed to the autopilot system by the sensor hub, and
and controlling the vehicle by the vehicle-mounted server based on the local time.
9. A computer readable storage medium, wherein the storage medium stores computer instructions that are operative to perform the sensor hub dual timeline setting method of any of claims 1-5.
10. A computer device comprising a processor and a memory, the memory storing computer instructions, wherein: the processor operates computer instructions to perform the sensor hub dual timeline setting method of any of claims 1-5.
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