CN116455498A - Time service method, system and intelligent driving equipment - Google Patents
Time service method, system and intelligent driving equipment Download PDFInfo
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- CN116455498A CN116455498A CN202310308401.2A CN202310308401A CN116455498A CN 116455498 A CN116455498 A CN 116455498A CN 202310308401 A CN202310308401 A CN 202310308401A CN 116455498 A CN116455498 A CN 116455498A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
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- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0676—Mutual
Abstract
The invention provides a time service method, a time service system and intelligent driving equipment, which comprise the following steps: the method comprises the steps that first time service equipment sends first time information to first bridging equipment, wherein the first time information comprises time information indicating that the first time information leaves the first time service equipment; the first bridging device performs time service based on the first time information sent by the first time service device; the first bridge device sends second time information to peripheral devices of the first bridge device, wherein the second time information comprises time information indicating that the second time information leaves the first bridge device; and the peripheral equipment performs time service based on the second time information sent by the first bridging equipment. According to the time service method provided by the invention, the domains comprising the first time service equipment, the first bridging equipment and the peripheral equipment have unified clocks, so that the instantaneity of operations such as data acquisition, processing and control is ensured, and the safety of intelligent driving is improved.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a time service method, a time service system and intelligent driving equipment.
Background
With the development of the intelligent driving industry, people have higher requirements on intelligent driving technology. The intelligent driving function automobile is a large adult of tens of highly complex systems, and the most advanced technology is integrated into electronic hardware, sensors, software and the like to meet the intelligent driving requirements of people. In order to realize the tasks such as intelligent driving or automatic driving, such as perception, planning, positioning, decision making and the like, and complete the real-time control of the vehicle, and the requirements of strong calculation force and ensuring the functional safety of all the tasks, the intelligent driving domain controller is generated.
In order to realize real-time control and driving safety of the vehicle, very high-precision time service must be achieved between processors inside the domain controller and between electronic appliances connected with the domain controller. If high-precision time service cannot be achieved, the failure rate, accident rate and the like in the landing application of the intelligent driving system can be greatly improved, and even irrecoverable losses can be caused. Therefore, a time service scheme satisfying intelligent driving needs to be proposed.
Disclosure of Invention
In view of the above, the present invention aims to provide a time service method, a system and an intelligent driving device.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, a time service method according to an embodiment of the present invention includes:
the method comprises the steps that first time service equipment sends first time information to first bridging equipment, wherein the first time information comprises time information indicating that the first time information leaves the first time service equipment;
the first bridging device performs time service based on the first time information sent by the first time service device;
the first bridge device sends second time information to peripheral devices of the first bridge device, wherein the second time information comprises time information indicating that the second time information leaves the first bridge device;
and the peripheral equipment performs time service based on the second time information sent by the first bridging equipment.
Further, the time service performed by the first bridging device based on the first time information sent by the first time service device includes:
the first bridging device determining third time information for receiving the first time information;
the first bridging device determines a first information transmission time between the first time service device and the first bridging device according to the first time information, the third time information and the local time of the first bridging device;
The first bridging device performs time service based on the first time information and the first information transmission time.
Further, the time service performed by the peripheral device based on the second time information sent by the first bridge device includes:
the peripheral equipment determines fourth time information for receiving the second time information;
the peripheral device determines second information transmission time between the first bridge device and the peripheral device according to the second time information, the fourth time information and the local time of the peripheral device;
and the peripheral equipment performs time service based on the second time information and the second information transmission time.
Further, the first bridge device includes a first switch and a second switch, and correspondingly, the sending, by the first time service device, the first time information to the first bridge device includes: the first time service device sends the first time information to the first switch;
correspondingly, the time service performed by the first bridging device based on the first time information sent by the first time service device includes:
the first switch determining third time information for receiving the first time information;
The first switch determines a first information transmission time between the first time service device and the first switch according to the first time information, the third time information and the local time of the first switch;
the first switch performs time service based on the first time information and the first information transmission time;
the first switch sends fifth time information to the second switch;
the second switch determining sixth time information for receiving the fifth time information;
the second switch determines a third information transmission time between the first switch and the second switch according to the fifth time information, the sixth time information and the local time of the second switch;
the second switch performs time service based on the fifth time information and the third information transmission time.
Further, the method further comprises:
the second time service equipment sends seventh time information to the microcontroller, wherein the seventh time information comprises GPS information and second pulse signal information, the first time service equipment is inertial navigation equipment with a combined inertial navigation function, and the second time service equipment is inertial navigation equipment without the combined inertial navigation function;
The microcontroller performs time service based on the seventh time information sent by the second time service device;
the microcontroller sends eighth time information to the first bridge device, the eighth time information including time information indicating that the eighth time information left the microcontroller,
wherein the first bridging device performs time service based on the first time information and one of the eighth time information.
Further, the time service performed by the microcontroller based on the seventh time information sent by the second time service device further includes:
the microcontroller determines world standard time according to the GPS information;
the microcontroller responds to the second pulse signal information and statistically determines the time used by the world standard time;
the microcontroller time-transfers based on the world standard time and the time taken to determine the world standard time.
Further, the first bridge device includes a first switch and a second switch, and correspondingly, the microcontroller sending the eighth time information to the first bridge device includes: the microcontroller sends the eighth time information to the first switch;
Correspondingly, the time service of the first bridging device based on the eighth time information sent by the microcontroller comprises:
the first switch determining ninth time information for receiving the eighth time information;
the first switch determines fourth information transmission time between the microcontroller and the first switch according to the eighth time information and the ninth time information;
the first switch performs time service based on the fourth information transmission time and the local time of the first switch;
the first switch sends tenth time information to the second switch;
the second switch determining eleventh time information for receiving the tenth time information;
the second switch determines a fifth information transmission time between the first switch and the second switch according to the tenth time information, the eleventh time information and the local time of the second switch;
the second switch performs time service based on the tenth time information and the fifth information transmission time.
Further, the method further comprises:
the second switch sends twelfth time information to the first switch;
The first switch determining thirteenth time information for receiving the twelfth time information;
the first switch determines a sixth information transmission time between the second switch and the first switch according to the twelfth time information, the thirteenth time information and the local time of the first switch;
the first switch performs time service based on the twelfth time information and the sixth information transmission time.
In a second aspect, a time service system according to an embodiment of the present invention includes: the first time service device is in communication connection with the first bridging device, the first bridging device is in communication connection with the peripheral device, wherein,
the first time service device is configured to send first time information to the first bridge device, where the first time information includes time information indicating that the first time information leaves the first time service device;
the first bridging device is used for carrying out time service based on the first time information sent by the first time service device; the method also comprises the steps of sending second time information to the peripheral equipment, wherein the second time information comprises time information indicating that the second time information leaves the first bridging equipment;
And the peripheral equipment performs time service based on the second time information sent by the first bridging equipment.
In a third aspect, according to an embodiment of the present invention, an intelligent driving apparatus includes a time service system as provided in the second aspect.
According to the time service method, the time service system and the intelligent driving device, the first bridging device is time-serviced through the first time service device with the time service function, and the time service is performed on the peripheral devices connected to the first bridging device through the time-serviced first bridging device, so that the domains comprising the first time service device, the first bridging device and the peripheral devices have unified clocks, the real-time performance of operations such as data acquisition, processing and control is guaranteed, and the safety of intelligent driving is improved.
Drawings
FIG. 1 is a schematic diagram of a timing system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a data flow of a subsystem of the time service system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a data flow of another subsystem of the time service system according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a time service method according to an embodiment of the present invention;
Fig. 5 is a schematic diagram of a time service process performed on two switches in the time service process provided in fig. 4;
fig. 6 is a schematic flow chart of a time service performed by a second time service device on a device in a system in a time service method according to another embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures 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 the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the detailed description and specific examples, while indicating the embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The technical scheme of the embodiment of the invention obtains, stores, uses, processes and the like the data, and accords with the relevant regulations of national laws and regulations.
Referring to fig. 1 of the specification, a schematic diagram of an application system of a time service method according to an embodiment of the present invention is shown. It should be noted that fig. 1 is only an example of a time service system to which the embodiments of the present invention may be applied to help those skilled in the art understand the technical content of the present invention, and does not mean that the embodiments of the present invention may not be used in other devices, systems, environments, or scenarios. As shown in fig. 1, the system may include at least a first time service device 10, a second time service device 20, a first bridge device 30, a second bridge device 40, a sensor 50, a data preprocessing chip 60, a data fusion and planning chip 70, and a microcontroller 80. The first time service device 10 and the first bridge device 30 and the second time service device 20 and the microcontroller 80 may be connected by a wired or wireless communication manner, and the first bridge device 30 and the second bridge device 40, the data fusion and planning chip 70 and the microcontroller 80 may be connected by a wired or wireless communication manner. The second bridge device 40 may be directly connected to the sensor 50 and the data preprocessing chip 60 through wired or wireless communication, and in particular, may be connected through an ethernet communication interface. The sensor 50 and the data preprocessing chip 60, the data preprocessing chip 60 and the data fusion and planning chip 70, and the data fusion and planning chip 70 and the microcontroller 80 may be directly connected through wired or wireless communication modes, and in particular may be connected through a bus communication interface, for example, buses such as CAN, CANFD and FlexRay, which are not limited in this embodiment of the present invention.
Specifically, the first time service device 10 may be a combined inertial navigation device, which is a device applicable to a satellite and inertial navigation combined positioning system. Satellite-inertial navigation combined positioning system, i.e. a directional positioning navigation system comprising a satellite positioning system (GPS (global positioning system)/beidou satellite navigation system/GNSS (global navigation satellite system)) and an inertial directional positioning navigation system (INS). According to the complementary characteristics of navigation functions of the INS and the satellite, the INS and the satellite are combined by a proper method to improve the overall navigation precision and navigation performance of the system and the air alignment and realignment capability.
The satellite positioning navigation system has the characteristics of high precision and communication, but the system can not provide navigation parameters such as carrier gesture and the like, and when the satellite positioning navigation system is used on a flight carrier, a receiver is not easy to capture and track carrier signals of satellites due to the maneuvering movement of the carrier, and even the tracked signals are unlocked; the inertial directional positioning navigation system obtains the current position information through an internal inertial device (a gyroscope and an accelerometer), is airtight and does not need to communicate with the outside, so that the inertial directional positioning navigation system has strong independence, and has the defect that as navigation continues, the inertial navigation can deviate (caused by temperature change and vibration, and deviation compensation can be performed through an algorithm).
In the embodiment of the invention, the first time service equipment is preferably vehicle-mounted north cloud x2c combined inertial navigation. The X2 integrated navigation system is internally provided with a GNSS high-precision positioning and orientation board card and a tactical IMU, is designed in a vehicle-gauge level, is provided with a safety level ASIL (automobile safety integrity level) B level, supports double-antenna RTK positioning and orientation, supports a deep coupling integrated navigation algorithm, can effectively cope with harsh environments such as satellite signal interference, loss and the like, and provides stable, continuous and credible high-precision position and posture information.
The X2 integrated navigation system consists of an RTK (Real-time kinematic) high-precision positioning and orientation board card platform and a tactical IMU, and combines a GNSS and an INS system in a deep coupling mode. GNSS positioning has the characteristics of high precision and long interval, INS dead reckoning has the characteristics of low precision and short interval, X2 organically combines the GNSS system and the INS system in a deep coupling mode, exerts advantages and makes up disadvantages, thereby constructing a high-precision and high-reliability real-time positioning system, and has the characteristics of high performance, strong practicability, strong pertinence and the like.
In the embodiment of the present invention, the second time service device 20 may be a device with a satellite positioning function, for example, may be a device with a GNSS time service function. GNSS navigation is a system that directs a user to travel based on location information provided by GPS/BD and a route planned prior to navigation. GNSS signals may provide atomic clock level timing accuracy for IoT (IoT) applications. The time service unit of the GNSS signals can determine its x, y and z coordinates and absolute time from the signals from the GNSS satellites carrying the atomic clock, and has therefore become the preferred solution for the infrastructure of synchronous mobile communication networks and is well suited for wide area applications.
The first bridging device 30 and the second bridging device 40 in the embodiment of the present invention may be switches, preferably ethernet switches used in the in-vehicle ethernet. In-vehicle ethernet is a wired network that connects electronic components in an automobile. The vehicle-mounted Ethernet technology can achieve the technical index of the automobile conducted interference EMI. Currently, automotive manufacturers use a variety of different proprietary standards to provide communication functions; most components use a dedicated line or cable. While in-vehicle ethernet is a unified standard supporting all communications. The connection between each electronic component and the Ethernet switch can be realized through cables.
The sensor 50 in the embodiment of the present invention may include a sensor that may be directly connected to a switch, such as a laser radar or a forward laser radar, or may include a sensor that may be indirectly connected to an intelligent chip, such as a camera.
The data preprocessing chip 60 in the embodiment of the present invention may be an intelligent chip for performing image processing such as redundancy and noise removal on the data such as the camera and the radar acquired by the data preprocessing chip. The data preprocessing chip 60 in the embodiment of the invention preferably adopts a J5 series chip of a Bayesian framework BPU (Brain Processor Unit brain processor) based on a Linux system, and can be connected with more than 16 paths of high-definition video input; by relying on powerful heterogeneous computing resources, the method is not only suitable for acceleration of the most advanced image sensing algorithm, but also can support multi-sensor fusion of laser radar, millimeter wave radar and the like; the prediction planning and the H.265/JPEG real-time encoding and decoding are supported, and the high-level automatic driving requirement can be met.
The data fusion and planning chip 70 in the embodiment of the present invention may be a chip that performs fusion processing on the data processed by the data preprocessing chip 60 and performs path planning according to, for example, a map tool and a user's demand. The data fusion and planning chip 70 can be a system-level SOC chip in practical application, provides calculation power support for fusion processing of AI data calculated by the data preprocessing chip 60, controls the intelligent driving function based on the fusion result, and not only can realize efficient fusion processing of mass data, but also can meet the safety standard of the intelligent driving field. The time cost of data transmission can be reduced, and the intelligent driving safety is improved. The data fusion and planning chip 70 is preferably a chip X9 series chip in practical application, including X9 HP and X9U chips, and the calculation power reaches 100KDMIPS, so that the related calculation power requirements of parking, cabins and the like can be met. In practice, the data fusion planning chip 70 may include a plurality of sub-chips, for example, a plurality of data fusion sub-chips and a plurality of navigation/path planning sub-chips.
The microcontroller 80 in the embodiment of the present invention is responsible for high requirements on the safety level of the function, and can be used to afford the vehicle control function during the activation of the autopilot function, afford the degradation strategy during the failure of the autopilot system, detect the running state of the system in the intelligent driving domain, and afford the gateway function for communication with the vehicle. In practical applications, the microcontroller 80 preferably adopts an Infineon Tricore series chip, such as a chip Chi E3 and a Texas instrument TI397 series chip, and has hardware redundancy technical measures of dual-core lock step (dual-core lock step) processor structure, a self-test function (BIST) of software and hardware, and a memory error correction and check (ECC, error correcting code) technology, so as to ensure the safety characteristic of the processor.
In the embodiment of the present invention, the first time service device 10 is used as a master clock, that is, all time or the source of clock time service, and preferably time service is performed on the first bridge device 30 by using a gPTP (gPTP is a short term for general precise time protocol) hardware clock, then the first bridge device 30 uses the sensor 50, the data preprocessing chip 60, the data fusion and planning chip 70 and the microcontroller 80 directly or indirectly connected thereto as slave clock devices, and performs direct or indirect time service on the sensor 50, the data preprocessing chip 60, the data fusion and planning chip 70 and the microcontroller 80 connected thereto based on local time. Thereby ensuring that the first bridging device 30, the sensor 50, the data preprocessing chip 60, the data fusion and planning chip 70 and the microcontroller 80 realize clock synchronization, and the time service precision is within 1 micro. The gPTP hardware clock time is not influenced by network load, and is easy to deploy and expand. And no additional PPS time service line is needed, GPRMC data (a standard format message containing UTC time (accurate to seconds)) is not needed to be parsed on the microcontroller 80, so that economic cost is reduced and data processing delay is reduced.
Further, by providing the second bridge device 40 to share part/all of the work of the first bridge device 30, the occurrence of a driving unsafe problem caused when the first bridge device 30 fails can be prevented, and the service life of the first bridge device 30 can be increased. The timing of the second bridging device 40 may also be provided by the first bridging device 30. In practical applications (as shown in fig. 2, where the solid line double-headed arrow indicates a network data flow and the dashed line double-headed arrow indicates a time service data flow), the first time service device may perform time service for the data fusion and planning chip 70, the microcontroller 80 and the second bridge device 40 through the first bridge device 30, and the first bridge device performs time service for the sensor 50 and the data preprocessing chip 60 through the second bridge device 40. Fig. 2 is a diagram depicting the data flow direction when the first time service apparatus is available, and thus the second time service apparatus 20 is not shown.
Further, when the first time service device 10 fails and the time service cannot be performed, the second navigation device 20 performs time service for the microcontroller 80, and the microcontroller 80 is used as a master clock, and then the first bridging device 30 performs time service for other devices connected with the first navigation device. Also, by providing the second bridge device 40 to share part/all of the operation of the first bridge device 30, it is possible to prevent a problem of unsafe driving when the first bridge device 30 fails or to increase the service life of the first bridge device 30. The timing of the second bridging device 40 may also be provided by the first bridging device 30. In practical applications (as shown in fig. 3, where a solid line double-headed arrow indicates a network data flow and a dashed line double-headed arrow indicates a time service data flow), it may be that the second time service device 20 provides time service for the microcontroller 80, the microcontroller 80 performs time service for the data fusion and planning chip 70 through the first bridge device 30, and the first bridge device 30 performs time service for the sensor 50 and the data preprocessing chip 60 through the second bridge device 40. Therefore, when the combined inertial navigation service of the first time service device 10 is not available, the clock unification of all devices or units in the current gPTP domain can still be realized by the microcontroller 80 through the second time service device 20, so that the safety of intelligent driving domain control is improved, and the floor application of the intelligent driving domain control is promoted. Fig. 3 is a diagram illustrating the flow of data when the second time service apparatus is available, and thus the first time service apparatus 20 is not shown.
It should be noted that fig. 1-3 are merely examples of the present invention. It will be appreciated by those skilled in the art that although only one sensor 50 and two chips 60 and 70 are shown in fig. 1, they are not limiting of the embodiments of the present invention, and the variety or use or number of the sensors and chips may be modified or replaced according to actual needs.
The time service method is mainly applied to time service of devices or units such as chips, sensors and the like in the intelligent driving field shown in fig. 1-3. As shown in fig. 4, an embodiment of the present invention provides a time service method, including:
step 401: the first time service device sends first time information to the first bridging device, wherein the first time information comprises time information indicating that the first time information leaves the first time service device.
The time provided by the first time service device is used as the master clock time of the current domain. The first time information in this step may include an outgoing time of the first time service device when the first time service device sends the first time information, and may further include a first information transmission time required for the first time service device to transmit the first time information to the first bridge device, where the time may be obtained according to a priori data statistics. In practical application, the first timing device may first send a first timing message, and according to the first timing message, the first bridge device obtains time of receiving the first timing message, so as to obtain a first information transmission time required for transmitting the message from the first timing device to the first bridge device.
Step 402: and the first bridging device performs time service based on the first time information sent by the first time service device.
Specifically, when the first time information in step 401 includes the sending time of the first time information and the first information transmission time, the sending time of the first time information plus the first information transmission time may obtain the time of the first time service device when the first time information is received, and then the clock of the first bridge device is adjusted to the time of the first time service device when the first time information is received.
When the first time information in step 401 does not include the first information transmission time, the first bridge device determines third time information for receiving the first time information, and the first bridge device determines a first information transmission time between the first time service device and the first bridge device according to the first time information, the third time information and the local time of the first bridge device, and the first bridge device performs time service based on the first time information and the first information transmission time.
In practical application, for example, in order to obtain the transmission delay between the first bridge device and the first time service device, before the first time service device sends the first timing message, the first bridge device further sends a transmission delay calculation request message to the first time service device, where the message carries the time t1 when the first bridge device leaves the first bridge device, and when the first bridge device receives the transmission delay calculation request message, the first bridge device records the time t2 when the first bridge device receives the transmission delay calculation request message. When the first time service device sends first time information to the first bridge device, t2 and time t3 when the first time information leaves the first time service device are carried in the first time information, and the first bridge device records time t4 when receiving the first time information sent by the first time service device. The first bridging device obtains the first information transmission time of the first time service device and the first bridging device through the formula [ (t 4-t 1) - (t 3-t 2) ]/2. When the first information transmission time is determined, the first bridging device performs time service in a calculation mode with the first information transmission time carried in the first time information.
In the intelligent driving field, the time accuracy requirement is very high, and the transmission delay between the devices or units cannot be ignored, so that the time service is performed on the first bridging device based on the transmission delay after the transmission time between the first bridging device and the first time service device is calculated, and the accuracy and the synchronism of the time service are improved.
Step 403: the first bridge device sends second time information to peripheral devices of the first bridge device, wherein the second time information comprises time information indicating that the second time information leaves the first bridge device.
In this step, the time information included in the second time information sent by the first bridge device is time that passes through the time service in steps 401-402, that is, the time is unified with the time of the first time service device, so that the result of time service performed by the first bridge device to the peripheral device, that is, the time of the peripheral device after time service is also unified. Wherein the peripheral devices include all devices that can be connected to the first bridge device, including but not limited to other bridge devices, sensor devices, chip devices, domain control devices, etc.
In this step, the time information included in the second time information and indicating that the second time information leaves the first bridge device may specifically be a clock time of the first bridge device when the second time information leaves, or may be a time obtained by adding a time t4 recorded by the first bridge device when the first time information is received to a data processing time of the first bridge device, where the data processing time of the first bridge device may be preset or may be obtained by statistical calculation according to historical data.
Step 404: and the peripheral equipment performs time service based on the second time information sent by the first bridging equipment.
The time service performed by the peripheral device based on the second time information sent by the first bridge device specifically includes: the peripheral equipment determines fourth time information for receiving the second time information, the peripheral equipment determines second information transmission time between the first bridging equipment and the peripheral equipment according to the second time information, the fourth time information and local time of the peripheral equipment, and the peripheral equipment performs time service based on the second time information and the second information transmission time.
It should be noted that, the other details of the steps 403 to 404 may refer to details of the method provided in the embodiments shown in the steps 401 to 402, and the embodiments of the present invention are not described herein again.
According to the embodiment of the intelligent driving method, the first time service device with the time service function is used for time service for the first bridging device, and the time service is carried out for the peripheral device connected to the first bridging device through the time service device, so that the domains comprising the first time service device, the first bridging device and the peripheral device have unified clocks, the instantaneity of operations such as data acquisition, processing and control is guaranteed, and the safety of intelligent driving is improved.
Accordingly, the time service system provided in the embodiment of the present application includes: the device comprises first time service equipment, first bridging equipment and peripheral equipment of the first bridging equipment, wherein the first time service equipment is in communication connection with the first bridging equipment, and the first bridging equipment is in communication connection with the peripheral equipment, wherein the first time service equipment is used for sending first time information to the first bridging equipment, and the first time information comprises time information indicating that the first time information leaves the first time service equipment; the first bridging device is used for carrying out time service based on the first time information sent by the first time service device; the method also comprises the steps of sending second time information to the peripheral equipment, wherein the second time information comprises time information indicating that the second time information leaves the first bridging equipment; and the peripheral equipment performs time service based on the second time information sent by the first bridging equipment.
It should be noted that other specific contents of the method specifically implemented by each device or unit in the time service system are consistent with the specific contents described in the foregoing method in the present application, and this embodiment is not repeated here.
As shown in fig. 5, in order to prevent a problem of domain control caused by failure or power failure of the bridge device, the first bridge device of the present application includes a first switch and a second switch. When one switch stops working, the switch is automatically switched to the other switch, and network interruption is not caused; and one part of service can be arranged on one exchanger, and the other part of service can be arranged on the other exchanger, so that equipment resources are reasonably utilized. When the system comprises two exchanges, the time service method specifically comprises the following steps:
step 501: the first time service device sends first time information to the first switch, wherein the first time information comprises time information indicating that the first time information leaves the first time service device.
It should be noted that, the specific content of step 501 may refer to the specific content of the method provided in the embodiment shown in step 401, and the embodiment of the present invention is not described herein again.
Step 502: the first switch determines third time information to receive the first time information.
Step 503: the first switch determines a first information transmission time between the first time service device and the first switch according to the first time information, the third time information and the local time of the first switch.
Step 504: the first switch performs time service based on the first time information and the first information transmission time.
It should be noted that, the specific content of the steps 502 to 504 may refer to the specific content of the method provided in the embodiment shown in step 402, and this embodiment is not described herein again.
Step 505: the first switch sends fifth time information to the second switch;
in this step, the time information included in the fifth time information sent by the first switch is time that passes through the time service in steps 501-504, that is, the time is unified with the time of the first time service device, so that the result of time service performed by the first bridge device to the second switch, that is, the time of the peripheral device after time service is also unified.
The time information, included in the fifth time information, indicating that the fifth time information leaves the first switch may specifically be a clock time of the first switch when the fifth time information leaves, or may be a time obtained by adding a time recorded by the first switch when the first time information is received to a data processing time of the first switch, where the data processing time of the first switch may be preset or may be obtained by statistical calculation according to historical data.
Step 506: the second switch determines sixth time information to receive the fifth time information.
Step 507: the second switch determines a third information transmission time between the first switch and the second switch according to the fifth time information, the sixth time information and the local time of the second switch.
Step 508: the second switch performs time service based on the fifth time information and the third information transmission time.
It should be noted that, the other details of the steps 506-508 may refer to the details of the method provided in the embodiment shown in step 402, and this embodiment is not described herein again.
Further, the second switch is further configured to time service a peripheral device connected to the second switch. The specific content of the specific time service method may refer to the specific content of the first switch for time service of the peripheral device in steps 403-404, and this embodiment is not described herein.
According to the embodiment of the intelligent driving method, the first time service equipment with the time service function is used for time service of the first switch, the first switch which is used for time service of the second switch which is accessed to the first switch is used for time service of the second switch, and the second switch is used for time service of the peripheral equipment which is accessed to the second switch, so that the domains comprising the first time service equipment, the first switch, the second switch and the peripheral equipment which is respectively accessed to the first switch and the second switch are provided with unified clocks, the real-time performance of operations such as data acquisition, processing and control is guaranteed, and the safety of intelligent driving is improved. In addition, two (or more) exchanges are time-shared with each other from one master to one slave, so that the stability of time-shared operation is ensured, or one part of equipment is time-shared by one exchange, and the other part of equipment is time-shared by the other exchange (or exchanges), so that the time-shared and network load of the exchanges are balanced, and the equipment resources can be reasonably utilized.
In addition, the embodiment of the application further provides a time service method, which increases time information (eighth time information) which is provided for the first bridging device and can be used for time service based on the time information of the second time service device, so that the first bridging device can perform time service in one of the first time information and the eighth time information. For example, when the first bridging device cannot accept the first time information, time service is performed by the eighth time information; when both of the time information are acceptable, time service may be performed with the first time information by default, or the like. Taking a case where the first time service device fails and the time service cannot be performed, for example, the following description will be given with reference to fig. 6:
step 601: the second time service equipment sends seventh time information to the microcontroller, wherein the seventh time information comprises GPS information and second pulse signal information, and the second time service equipment is inertial navigation equipment without a combined inertial navigation function.
In this step, the second time service device may obtain GPS information based on the GNSS global navigation satellite system, and may generate GPRMC data according to the GNSS, for example. PPS english is known collectively as Pulse per second, which is an abbreviation of the number of pulses per second, i.e., pulses per second. The second pulse is a physical level output, and the time for receiving and processing the PPS signal is in the nanosecond level. By sending the GPS information and the pulse-per-second signal information to the microcontroller, the microcontroller can adjust the local time according to the GPS information and the pulse-per-second signal information.
Before step 601, the time service method in the embodiment of the present application further includes when the first bridge device does not receive the time service interaction information of the first time service device within a preset time, the first bridge device sends a time service request of the second time service device to the microcontroller, the microcontroller responds to the time service request of the second time service device to send the time service interaction information to the second time service device, and when the microcontroller receives the time service interaction information sent by the second time service device, the time service time of the microcontroller by the first bridge device is replaced with the time determined by the time service interaction information sent by the second time service device.
Step 602: the microcontroller performs time service based on the seventh time information sent by the second time service device;
specifically, the microcontroller determines world standard time according to the GPS information; the microcontroller responds to the second pulse signal information and statistically determines the time used by the world standard time; the microcontroller time-transfers based on the world standard time and the time taken to determine the world standard time.
Specifically, GPRMC data is generally sent through a serial port with baud rate 9600, where sending, receiving, and processing time tx is in the millisecond level and is the key of time synchronization, and PPS pulse receiving and processing time is in the nanosecond level and can be ignored. When the microcontroller receives the PPS second pulse signal, the microcontroller clears the time of millisecond and below in the current local time taking the crystal oscillator as a clock source, and starts to calculate millisecond time. And then, after the microcontroller receives the GPRMC data, extracting time, minute, second, year, month and day UTC (universal time) time in the message. And finally, adding the time from the second pulse to the UTC time in the GPRMC, and synchronizing the time with the UTC whole second time to the local time, namely updating and timing the local time, so as to finish time synchronization once. The same procedure is performed again for the next second, with accurate calibration once per second.
Step 603: the microcontroller sends eighth time information to the first bridge device, the eighth time information including time information indicating that the eighth time information left the microcontroller,
step 604: the first bridging device performs time service based on the eighth time information.
Here, it should be noted that, in practical application, the first bridge device may perform time service based on one of the first time information and the eighth time information, and specifically, a rule may be preset to help the first bridge device confirm which time service means is adopted, for example, when the first time service device is available, time service is performed based on the first time information, and when the first time service device is unavailable, time service is performed based on the eighth time information.
The PTP (precise time protocol, precision time protocol) protocol can reach sub microsecond precision, and the basic principle of the PTP protocol is as follows: the master clock and the slave clock exchange synchronous information periodically, and simultaneously accurately capture the sending and receiving time of the information packet and seal time stamp information. Once the slave clock receives the synchronous information packet, the time stamp information can be extracted from the synchronous information packet, and the time difference between the slave clock and the master clock and the transmission delay in the network are calculated according to the time stamp information, so that the local clock calibration is performed.
Compared with the network time protocol (network time protocol, NTP), the PTP protocol can directly use master-slave clocks, the clocks of all nodes in the network are periodically corrected and synchronized through the synchronizing signals, the distributed system based on the Ethernet can achieve accurate synchronization, and a redundant server and a plurality of network paths are not needed to be utilized to obtain high accuracy and high reliability of time.
The generalized accurate time protocol gPTP is optimized based on the PTP (IEEE 1588v 2) protocol, a more targeted time synchronization mechanism is formed, and the synchronization precision of a subtle level can be realized. Therefore, the first time service device in the embodiment of the application preferably adopts an external vehicle-mounted north cloud x2c combined inertial navigation device, the external vehicle-mounted north cloud x2c combined inertial navigation device is used as a gpptamaster Master clock, the second time service device is used for realizing a network time protocol, at the moment, the microcontroller is time-serviced through the second time service device, and the microcontroller is used as the gpptamaster, so that when the first time service device is unavailable, the time of other devices in the current domain can be kept consistent with that of the microcontroller.
It should be noted that, the other details of the steps 603-604 may refer to the details of the method provided in the embodiments shown in the steps 403-404, and this embodiment is not described herein again.
Further, as in the embodiment shown in fig. 5, in order to prevent a problem in domain control caused by failure or power failure of the bridge device, the first bridge device of the present embodiment includes a first switch and a second switch. When one switch stops working, the switch is automatically switched to the other switch, and network interruption is not caused; and one part of service can be arranged on one exchanger, and the other part of service can be arranged on the other exchanger, so that equipment resources are reasonably utilized. When the system includes two switches, the time service method of the embodiment specifically includes the following steps:
for details of steps 701-708, reference may be made to the foregoing steps 501-508, which are not described herein.
For details of steps 709-7012, reference may be made to steps 601-604 described above, which are not repeated here.
When the first switch performs the authorization based on the eighth time information in step 7012, it specifically includes: the first switch determining ninth time information for receiving the eighth time information; the first switch determines fourth information transmission time between the microcontroller and the first switch according to the eighth time information and the ninth time information; the first switch performs time service based on the fourth information transmission time and the local time of the first switch. Then, the first switch sends tenth time information to the second switch; the second switch determining eleventh time information for receiving the tenth time information; the second switch determines a fifth information transmission time between the first switch and the second switch according to the tenth time information, the eleventh time information and the local time of the second switch; the second switch performs time service based on the tenth time information and the fifth information transmission time.
In the method, the time service method of the first switch to the second switch through the interaction of the time service related information is consistent with the time service method of the first switch to the second switch through the interaction of the time service related information when the first bridge equipment is taught by the first time service equipment, but the method realizes that all clocks in the current domain are unified with the clock of the microcontroller.
Further, when the situation that the time service cannot be continued occurs in the first switch, the time service method further comprises the step that the microcontroller performs time service on the second switch, and specific content of the specific time service method refers to specific content of the microcontroller performing time service on the first switch. Before the microcontroller performs time service on the second switch, the time service method further comprises the steps that when the second switch does not receive time service interaction information of the first switch within preset time, the second switch sends a time service request of second time service equipment to the microcontroller, the microcontroller responds to the time service request of the second time service equipment to send the time service interaction information to the second time service equipment, when the microcontroller receives the time service interaction information sent by the second time service equipment, the time service time of the first switch to the microcontroller is replaced by time service interaction information sent by the second time service equipment, and the time service interaction information is sent to the second switch, so that time service on the second switch is achieved. Next, the second switch transmits twelfth time information to a first switch, the first switch determines thirteenth time information for receiving the twelfth time information, the first switch determines sixth information transmission time between the second switch and the first switch according to the twelfth time information, the thirteenth time information and local time of the first switch, and the first switch performs time service based on the twelfth time information and the sixth information transmission time.
It should be noted that, other specific contents of the method specifically implemented by each device or unit in the time service system provided in the embodiment of the present application are consistent with the specific contents described in the foregoing method in the present application, and are not repeated herein.
The embodiment of the application also provides intelligent driving equipment, which comprises the system.
The following are to be described: the foregoing sequence of the embodiments of the present application is only for describing, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to the particular embodiments of the present application.
Claims (10)
1. A method of timing, the method comprising:
the method comprises the steps that first time service equipment sends first time information to first bridging equipment, wherein the first time information comprises time information indicating that the first time information leaves the first time service equipment;
the first bridging device performs time service based on the first time information sent by the first time service device;
the first bridge device sends second time information to peripheral devices of the first bridge device, wherein the second time information comprises time information indicating that the second time information leaves the first bridge device;
And the peripheral equipment performs time service based on the second time information sent by the first bridging equipment.
2. The time service method as claimed in claim 1, wherein the first bridge device performing time service based on the first time information sent by the first time service device comprises:
the first bridging device determining third time information for receiving the first time information;
the first bridging device determines a first information transmission time between the first time service device and the first bridging device according to the first time information, the third time information and the local time of the first bridging device;
the first bridging device performs time service based on the first time information and the first information transmission time.
3. The time service method as claimed in claim 2, wherein the time service performed by the peripheral device based on the second time information sent by the first bridge device includes:
the peripheral equipment determines fourth time information for receiving the second time information;
the peripheral equipment determines second information transmission time between the first bridging equipment and the peripheral equipment according to the second time information, the fourth time information and the local time of the peripheral equipment;
And the peripheral equipment performs time service based on the second time information and the second information transmission time.
4. The time service method of claim 3, wherein the first bridging device comprises a first switch and a second switch, and wherein the first time service device transmitting the first time information to the first bridging device comprises: the first time service device sends the first time information to the first switch;
correspondingly, the time service performed by the first bridging device based on the first time information sent by the first time service device includes:
the first switch determining third time information for receiving the first time information;
the first switch determines a first information transmission time between the first time service device and the first switch according to the first time information, the third time information and the local time of the first switch;
the first switch performs time service based on the first time information and the first information transmission time;
the first switch sends fifth time information to the second switch;
the second switch determining sixth time information for receiving the fifth time information;
The second switch determines a third information transmission time between the first switch and the second switch according to the fifth time information, the sixth time information and the local time of the second switch;
the second switch performs time service based on the fifth time information and the third information transmission time.
5. A time service method as defined in claim 1, further comprising:
the second time service equipment sends seventh time information to the microcontroller, wherein the seventh time information comprises GPS information and second pulse signal information, the first time service equipment is inertial navigation equipment with a combined inertial navigation function, and the second time service equipment is inertial navigation equipment without the combined inertial navigation function;
the microcontroller performs time service based on the seventh time information sent by the second time service device;
the microcontroller sends eighth time information to the first bridge device, the eighth time information including time information indicating that the eighth time information left the microcontroller,
wherein the first bridging device performs time service based on the first time information and one of the eighth time information.
6. The timing method of claim 5, wherein the microcontroller timing based on the seventh time information sent by the second timing device further comprises:
the microcontroller determines world standard time according to the GPS information;
the microcontroller responds to the second pulse signal information and statistically determines the time used by the world standard time;
the microcontroller time-transfers based on the world standard time and the time taken to determine the world standard time.
7. The time service method of claim 6, wherein the first bridging device comprises a first switch and a second switch, and wherein the microcontroller transmitting the eighth time information to the first bridging device comprises: the microcontroller sends the eighth time information to the first switch;
correspondingly, the time service of the first bridging device based on the eighth time information sent by the microcontroller comprises:
the first switch determining ninth time information for receiving the eighth time information;
the first switch determines fourth information transmission time between the microcontroller and the first switch according to the eighth time information and the ninth time information;
The first switch performs time service based on the fourth information transmission time and the local time of the first switch;
the first switch sends tenth time information to the second switch;
the second switch determining eleventh time information for receiving the tenth time information;
the second switch determines a fifth information transmission time between the first switch and the second switch according to the tenth time information, the eleventh time information and the local time of the second switch;
the second switch performs time service based on the tenth time information and the fifth information transmission time.
8. A time service method as defined in claim 7, further comprising:
the second switch sends twelfth time information to the first switch;
the first switch determining thirteenth time information for receiving the twelfth time information;
the first switch determines a sixth information transmission time between the second switch and the first switch according to the twelfth time information, the thirteenth time information and the local time of the first switch;
The first switch performs time service based on the twelfth time information and the sixth information transmission time.
9. A time service system, the system comprising: the first time service device is in communication connection with the first bridging device, the first bridging device is in communication connection with the peripheral device, wherein,
the first time service device is configured to send first time information to the first bridge device, where the first time information includes time information indicating that the first time information leaves the first time service device;
the first bridging device is used for carrying out time service based on the first time information sent by the first time service device; the method also comprises the steps of sending second time information to the peripheral equipment, wherein the second time information comprises time information indicating that the second time information leaves the first bridging equipment;
and the peripheral equipment performs time service based on the second time information sent by the first bridging equipment.
10. An intelligent driving apparatus, characterized in that it comprises the system according to claim 9.
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| WO2021138779A1 (en) * | 2020-01-06 | 2021-07-15 | 华为技术有限公司 | Clock switching method, device, and storage medium |
| CN113396553A (en) * | 2020-01-06 | 2021-09-14 | 华为技术有限公司 | Clock switching method, equipment and storage medium |
| US20210367696A1 (en) * | 2020-05-19 | 2021-11-25 | Realtek Semiconductor Corp. | Control method and time aware bridge device for seamless precision time protocol |
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