CN116527190A - Method and device for synchronizing vehicle time, vehicle and storage medium - Google Patents
Method and device for synchronizing vehicle time, vehicle and storage medium Download PDFInfo
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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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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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
- H04J3/0673—Clock or time synchronisation among packet nodes using intermediate nodes, e.g. modification of a received timestamp before further transmission to the next packet node, e.g. including internal delay time or residence time into the packet
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Abstract
The invention provides a method and device for synchronizing vehicle time, a vehicle and a storage medium. The method comprises the following steps: acquiring reference time, setting the reference time as service plane time, and synchronizing the service plane time to each device in a service plane system; and setting the service surface time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time at different operation stages of the domain controller, and synchronizing the calculated domain time to each sensor. According to the invention, when the jump occurs in the reference data due to the difference of the T-BOX time service mechanisms, the calculated domain time of the domain controller can not jump along with the service plane time, so that the running stability of the automatic driving function of the vehicle is ensured, and the automatic driving fault is prevented.
Description
Technical Field
The present invention relates to the field of intelligent driving technologies, and in particular, to a method and apparatus for time synchronization of a vehicle, and a storage medium.
Background
Various sensors are provided on an autonomous vehicle. The time difference from sensor to data is finally consumed by the automatic driving computing platform, so that most of the sensors can timestamp own data for downstream algorithm. In order for the time stamps of the different sensors themselves to be meaningful, it is necessary that the clocks between the sensors and the domain controller are aligned, i.e. synchronized, in order to make the clocks using the own clock sensor as consistent as possible to the clocks of the domain controller.
Currently, in the automatic driving field, a T-BOX is used as a master time service source of time synchronization, a domain controller is used as a slave time service source, the same reference time is provided for each sensor through a unified clock source, the domain controller receives the time service source of the T-BOX and transmits the time service source to each sensor, and each sensor calibrates the respective clock time according to the reference time provided by the domain controller, so that time synchronization is realized from hardware.
However, the T-BOX is used as a main time service source, time service to the domain controller is completed through a switching mechanism under different environments such as no network, no GPS and the like, the time service source has different scenes, jump exists in the time service of the T-BOX, the reference time of each sensor is different, and the operation of the automatic driving function of the vehicle is affected.
Disclosure of Invention
The embodiment of the invention provides a method, a device, a vehicle and a storage medium for time synchronization of a vehicle, which are used for solving the problem that time service jump is generated when time synchronization is carried out in the prior art.
In a first aspect, an embodiment of the present invention provides a method for time synchronization of a vehicle, where a time domain resource of a domain controller of the vehicle includes: service surface time and calculation domain time, wherein the calculation domain time is corresponding to data processing related to each calculation node of vehicle automatic driving, and the service surface time is corresponding to data processing of equipment except for the calculation nodes of vehicle automatic driving; the method for synchronizing the vehicle time comprises the following steps:
acquiring reference time, setting the reference time as the service plane time, and synchronizing the service plane time to each device in a service plane system;
and setting the service surface time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time at different operation stages of the domain controller, and synchronizing the calculated domain time to each sensor.
In one possible implementation manner, in different operation phases of the domain controller, the service plane time or the first crystal oscillator time corresponding to the domain controller is set as a calculated domain time, and is synchronized to each sensor, including:
setting the service plane time as the calculated domain time and synchronizing the calculated domain time to each sensor when the domain controller is initialized;
after the domain controller is initialized, acquiring first crystal oscillator time of crystal oscillator in the domain controller, setting the first crystal oscillator time as calculated domain time, and synchronizing the calculated domain time to each sensor.
In one possible implementation manner, the acquiring the reference time includes:
when time service of a vehicle networking control unit (T-BOX) is successful, acquiring reference time from the T-BOX;
and when the T-BOX time service is unsuccessful, acquiring second crystal vibration time from crystal vibration in a central electronic control module (Central Electronic Control Module, CEM) connected with the T-BOX, and taking the second crystal vibration time as reference time.
In one possible implementation manner, when the time service of the T-BOX is successful, acquiring a reference time from the T-BOX includes:
when a T-BOX time service is successful, a GNSS time or a network time is acquired from the T-BOX, wherein the network time comprises a network time protocol (Network Time Protocol, NTP) time or a time synchronization protocol (Time Synchronization Protocol, TSP) time.
In one possible implementation manner, setting the reference time to the service plane time, and synchronizing the service plane time to each device in the service plane system includes:
setting the reference time as the traffic plane time, synchronizing the traffic plane time into a multipoint control unit (Multi Control Unit, MCU) of the domain controller;
and the MCU of the domain controller synchronizes the service plane time to each device in the service plane system.
In one possible implementation manner, in different operation phases of the domain controller, the service plane time or the first crystal oscillator time corresponding to the domain controller is set as a calculated domain time, and is synchronized to each sensor, including:
and in different operation stages of the domain controller, the MCU of the domain controller sets the service surface time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time and synchronizes the calculated domain time to each sensor.
In one possible implementation manner, after setting the service plane time according to the reference time, the method further includes:
and storing the service plane time so that the stored service plane time is used as the calculated domain time when the domain controller is initialized when the domain controller is restarted.
In a second aspect, an embodiment of the present invention provides a device for time synchronization of a vehicle, including:
the system comprises a dividing module, a calculating module and a processing module, wherein the dividing module is used for dividing time domain resources of a domain controller into service face time and calculating domain time according to different applications of data of the domain controller, the calculating domain time is corresponding to data processing related to each calculating node of automatic driving of a vehicle, and the service face time is corresponding to data processing of equipment except the calculating nodes of automatic driving of the vehicle;
the time synchronization module is used for acquiring reference time after the vehicle is started, setting the reference time as the service surface time and synchronizing the service surface time to each device in a service surface system;
the time synchronization module is further configured to set the service plane time or the first crystal oscillator time corresponding to the domain controller as a calculated domain time at different operation phases of the domain controller, and synchronize the calculated domain time to each sensor.
In a third aspect, embodiments of the present invention provide a vehicle comprising a domain controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method of vehicle time synchronization as described above in the first aspect or any one of the possible implementations of the first aspect when the computer program is executed.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method of vehicle time synchronization as described above in the first aspect or any one of the possible implementations of the first aspect.
The embodiment of the invention provides a method, a device, a vehicle and a storage medium for synchronizing vehicle time, wherein the service surface time is synchronized to all equipment in a service surface system by acquiring reference time and setting the reference time as the service surface time; and setting the service surface time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time at different operation stages of the domain controller, and synchronizing the calculated domain time to each sensor, so that the synchronization time of each sensor for controlling the automatic driving performance of the vehicle is divided into the service surface time or the first crystal oscillator time corresponding to the domain controller through different operation stages of the domain controller, and therefore, when jump occurs to the reference data due to different T-BOX timing mechanisms, the calculated domain time of the domain controller can not jump along with the service surface time, thereby ensuring the running stability of the automatic driving function of the vehicle and preventing automatic driving faults.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method implementation of vehicle time synchronization provided by an embodiment of the present invention;
FIG. 2-1 is a schematic diagram of vehicle time synchronization provided by an embodiment of the present invention;
2-2 are schematic diagrams of prior art vehicle time synchronization provided by embodiments of the present invention;
fig. 3 is a schematic structural diagram of a vehicle time synchronization device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a domain controller according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.
Fig. 1 is a flowchart of an implementation of a method for vehicle time synchronization according to an embodiment of the present invention, where an execution body of the method for vehicle time synchronization in the embodiment of the present invention is a domain controller, and the domain controller is an intelligent driving domain controller, and performs time synchronization with respect to intelligent driving time. The embodiment of the invention particularly relates to a time synchronization method aiming at the internal setting of a domain controller.
In this embodiment, the time domain resources of the domain controller of the vehicle include: service plane time and computation domain time. Therefore, before the vehicle time synchronization operation is executed and before the vehicle time synchronization operation is executed for the first time, the time domain resources of the domain controller are divided into service plane time and calculated domain time according to different applications of the data of the domain controller, and when the vehicle time synchronization is executed again, the time domain resources of the domain controller can be directly applied to the service plane time and the calculated domain time without being divided.
In this embodiment, time domain resources of the domain controller are divided into two levels according to different application scenarios, and master-slave classification time synchronization is performed, including a master time service time T-master and a slave time service time T-slave inside the domain controller, where the master time service time is service plane time, and the slave time service time is computation domain time.
The calculation domain time is the time corresponding to the data processing related to each calculation node of the automatic driving of the vehicle, and the service plane time is the time corresponding to the data processing of equipment except for the calculation nodes of the automatic driving of the vehicle. The calculation domain time is the time corresponding to the data processing related to each calculation node of the automatic driving of the vehicle, is used for meeting the data synchronization of the sensor perception fusion service, and can perform time synchronization to the calculation nodes participating in the intelligent driving algorithm, wherein the calculation nodes can comprise sensors and a chassis system, the sensors mainly refer to the sensors related to the intelligent driving, such as an on-vehicle camera, a radar, an inertial measurement unit and the like, and the radar can comprise: ultrasonic radar, millimeter wave radar, laser radar, etc., which provide functions of image acquisition, speed measurement, distance measurement, etc. for intelligent driving, so that the calculated domain time must be strictly consistent and cannot jump with the change of coordinated universal time (Universal Time Coordinated, UTC) time, otherwise, the automatic driving performance will be affected. Referring to fig. 2-1, each sensor corresponding to the calculated domain time requires time synchronization of each sensor when data fusion is performed, otherwise, autopilot performance is affected, and thus synchronization time of each sensor is required to be strictly consistent. Referring to fig. 2-2, in the prior art, the domain controller directly synchronizes all devices with the time synchronized from the T-Box, so that when the synchronization time acquired by the T-Box jumps due to different application scenarios, the jump of the synchronization time of each sensor is caused, thereby affecting the operation of the vehicle. The T-BOX is used as a master time service source (grandmaster) of the synchronous system, the domain controller is used as a slave time service source of the synchronous system, and the domain controller acquires synchronous data from the T-BOX. In fig. 2-1, by separating the service plane time from the calculation domain time, the synchronization time of the device with less strict requirements on the synchronization time and the T-Box is kept consistent, and the synchronization time of each sensor device with strict requirements on the synchronization time and the T-Box is kept consistent only when the device is initialized, so that each sensor device can be prevented from jumping along with the jump of the synchronization time of the T-Box, and the safe operation of the vehicle is kept.
The service surface time is the time corresponding to the data processing of the equipment except the automatic driving calculation node of the vehicle. The time synchronization of the service plane time application on the log is focused on operation and maintenance, and when the judgment of the automatic driving vehicle control is not involved, the time stamp is required to be consistent with the UTC time. Referring to fig. 2-1, the traffic plane time is applied to public key infrastructure (Public Key Infrastructure, PKI) and closed loop data related devices. The PKI is a device corresponding to information security processing, for example, when performing certificate verification, the reference time synchronized from the T-Box by the CEM may be sent to the PKI for performing time verification, where the requirement of the synchronization time is not very strict, and may be consistent with the reference time synchronized from the T-Box. The equipment relevant to closed-loop data processing is uploaded to the cloud, for example, the accident data is uploaded, and the synchronization time is carried in the process of uploading the data, so that the synchronization time can be consistent with the reference time synchronized on the T-Box.
UTC, also referred to herein as universal time, international coordinated time, is the master clock of the synchronous network, set based on the rotation of the earth around the sun.
Step 101, obtaining a reference time, setting the reference time as a service plane time, and synchronizing the service plane time to each device in the service plane system.
The reference time is a base time for determining the service plane time and the calculation domain time, and can be obtained from the T-BOX or from a crystal oscillator in a CEM connected with the T-BOX.
The crystal oscillator is an on-board crystal oscillator, and can generate pulses through being connected with other components and parts to play a role of a signal source, so that the circuit board can work in a product. The crystal oscillator is arranged on each device, for example, the T-BOX, the CEM, the domain controller and the like, and the crystal oscillator can count the initial time only by acquiring the initial time.
In one embodiment, the operation time of this step is after the vehicle is started, so that the vehicle is controlled based on the vehicle time synchronization while the vehicle is running.
In an embodiment, obtaining the reference time may include: when the T-BOX time service is successful, acquiring a reference time from the T-BOX; and when the T-BOX time service is unsuccessful, acquiring second crystal vibration time from crystal vibration in a CEM connected with the T-BOX, and taking the second crystal vibration time as reference time.
Whether the T-BOX time service is successful or not is detected, whether the T-BOX can acquire time service time can be detected, when the T-BOX can acquire the time service time, the reference time is successfully acquired, and when the T-BOX can not acquire the time service time, the second crystal oscillation time in the CEM is used as the reference time.
Alternatively, the synchronization Time of the T-BOX may be obtained from multiple Time service sources, for example, satellite Time is received from a GNSS receiver disposed inside the T-BOX for Time service, and Time service is performed through network Time service and through Real Time Clock (RTC) of the MCU.
It should be noted that, the T-BOX configures time service rules for different time sources, that is, time service is performed according to the priority of the time service source, where the GNSS level is the highest, the network time service level is the second, and the RTC time service level is the lowest. Because RTC timing is inaccurate, only GNSS timing sources and network timing sources are used in this embodiment.
If the GNSS time synchronization is completed, the T-BOX adopts the global navigation satellite system (Global Navigation Satellite System, GNSS) time, and the process is ended; if the GNSS time synchronization is not completed in the preset time, starting network time service including NTP time or TSP time, and if the network time service is completed, adopting the network time service by the T-BOX, and ending the flow.
Thus, in this embodiment, when the time service of the T-BOX is successful, the reference time is obtained from the T-BOX, including: when the T-BOX time service is successful, GNSS time or network time is acquired from the T-BOX, wherein the network time comprises NTP time or TSP time. And when the T-BOX time is not successfully given, adopting a second crystal oscillation time corresponding to the CEM.
Referring to fig. 2-1, the time of the T-BOX is transmitted to the domain controller through the CEM, and the crystal oscillator in the CEM obtains the time of the time as an initial time to time, so that when the time of the T-BOX is not successful, a second crystal oscillator time can be obtained from the CEM as a reference time to time synchronize the domain controller. The CEM may synchronize the timing time to a multimedia Host (HUT) and a power domain related device.
After the vehicle is started, the domain controller acquires reference time every preset time interval, and sets the acquired reference time as service surface time in real time. When the reference time is hopped, for example, the T-BOX currently uses the network time for time service, when the GNSS has signals, the reference time is obtained through the GNSS time service source, the domain controller sets the received GNSS time as service plane time, and one hop exists from the network time to the GNSS time, so that the service plane time is hopped, but the hop of the service plane time does not influence the data processing on each device in the service plane system and the automatic driving performance of the vehicle.
In an embodiment, setting the reference time to be the service plane time, and synchronizing the service plane time to each device in the service plane system may include:
setting the reference time as service plane time, and synchronizing the service plane time to an MCU of the domain controller; the MCU of the domain controller synchronizes the service plane time to each device in the service plane system.
The domain controller comprises an MCU with a control function. The reference time transmitted to the domain controller by the T-BOX is firstly received by a time synchronization module in the domain controller, the reference time is set to be service plane time through a GPTP protocol, then the reference time is synchronized to an MCU in the domain controller through a SOMEIP protocol, and then the service plane time is synchronized to each device in a service plane system from the MCU in the domain controller.
Referring to fig. 2-1, the service plane system, that is, a system formed by devices corresponding to service plane time, includes devices corresponding to PKI and closed loop data.
Step 102, setting the service plane time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time at different operation stages of the domain controller, and synchronizing the calculated domain time to each sensor.
In order to prevent the jump of the calculated domain time along with the service plane time, the service plane time is set to be the calculated domain time only in the initialization stage of the domain controller, and then the time of the crystal oscillator arranged in the domain controller is adopted in the operation process of the domain controller. The calculated domain time is not synchronized with the reference time in real time, but is synchronized with the reference time only when the domain controller is initialized, so that the calculated domain time does not jump along with the service plane time, the algorithm is kept stable, the jump of the intelligent driving time in the domain controller is avoided, and the stable operation of the automatic driving function is kept.
It should be noted that, when the domain controller is initialized, the calculated domain time is synchronized to the crystal oscillator in the domain controller, so as to give an initial time to the crystal oscillator, and the subsequent crystal oscillator is clocked with the initial time.
In an embodiment, in different operation phases of the domain controller, setting the service plane time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time, and synchronizing the calculated domain time to each sensor may include:
setting the service plane time as the calculated domain time and synchronizing the calculated domain time to each sensor when the domain controller is initialized; after the domain controller is initialized, acquiring first crystal oscillator time of crystal oscillator in the domain controller, setting the first crystal oscillator time as calculated domain time, and synchronizing the calculated domain time to each sensor.
Optionally, when the domain time is set, in different operation phases of the domain controller, the MCU of the domain controller sets the service plane time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time, and synchronizes the calculated domain time to each sensor. Namely, when the domain controller is initialized, the MCU of the domain controller sets the service plane time as the calculated domain time and synchronizes the calculated domain time to each sensor; after the domain controller is initialized, the MCU of the domain controller acquires the first crystal oscillator time of the crystal oscillator in the domain controller, sets the first crystal oscillator time as calculated domain time and synchronizes the calculated domain time to each sensor.
Referring to fig. 2, each sensor may include a Radar (Lidar), a camera (camera), an inertial measurement unit (Inertial Measurement Unit, IMU), an ultrasonic sensor on a vehicle, where the ultrasonic sensor may be a Radar or USS.
In an embodiment, after the service plane time is acquired in the running process of the domain controller, the current service plane time is stored in the file system in real time, so that the stored service plane time is used as the calculated domain time when the domain controller is initialized when the domain controller is restarted.
According to the embodiment of the invention, the service surface time is synchronized to each device in the service surface system by acquiring the reference time and setting the reference time as the service surface time; and setting the service surface time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time at different operation stages of the domain controller, and synchronizing the calculated domain time to each sensor. In this embodiment, the calculated domain time is only kept synchronous with the reference time in the initialization stage of the domain controller, and the first crystal oscillator time in the domain controller is adopted in the operation stage, so that when the reference time jumps with different time service mechanisms of the T-BOX, the service plane time also jumps, and the calculated domain time does not jump with the jump of the service plane time, thereby ensuring the operation stability of the automatic driving function of the vehicle and preventing the automatic driving fault.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
The following are device embodiments of the invention, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.
Fig. 3 is a schematic structural diagram of a device for time synchronization of a vehicle according to an embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown, where time domain resources of a domain controller of the vehicle include: service plane time and calculation domain time, wherein the calculation domain time is the time corresponding to the data processing related to each calculation node of the automatic driving of the vehicle, and the service plane time is the time corresponding to the data processing of equipment except for the calculation nodes of the automatic driving of the vehicle. The details are as follows:
as shown in fig. 3, the apparatus 3 for vehicle time synchronization includes: a traffic plane time synchronization module 31 and a computation domain time synchronization module 32.
The service plane time synchronization module 31 is configured to acquire a reference time, set the reference time as a service plane time, and synchronize the service plane time to each device in the service plane system;
the domain time calculating synchronization module 32 is configured to set the service plane time or the first crystal oscillator time corresponding to the domain controller as the domain time during different operation phases of the domain controller, and synchronize the domain time with each sensor.
In one possible implementation, the calculating domain time synchronization module 32 sets the service plane time or the crystal oscillator time corresponding to the domain controller as the calculating domain time at different operation phases of the domain controller, and is configured to, when synchronizing the calculated domain time to each sensor:
setting the service plane time as the calculated domain time and synchronizing the calculated domain time to each sensor when the domain controller is initialized;
after the domain controller is initialized, acquiring first crystal oscillator time of crystal oscillator in the domain controller, setting the first crystal oscillator time as calculated domain time, and synchronizing the calculated domain time to each sensor.
In one possible implementation, when the service plane time synchronization module 31 obtains the reference time, the service plane time synchronization module is configured to:
when the T-BOX time service is successful, acquiring a reference time from the T-BOX;
and when the T-BOX time service is unsuccessful, acquiring second crystal vibration time from crystal vibration in a CEM connected with the T-BOX, and taking the second crystal vibration time as reference time.
In one possible implementation, when the T-BOX timing is successful, the service plane time synchronization module 31 is configured to, when acquiring the reference time from the T-BOX:
when the T-BOX time service is successful, GNSS time or network time is acquired from the T-BOX, wherein the network time comprises NTP time or TSP time.
In one possible implementation, the service plane time synchronization module 31 sets the reference time as the service plane time, and is configured to, when synchronizing the service plane time to each device in the service plane system:
synchronizing the service plane time to the MCU in the service plane time synchronization module 31 according to the reference time set as the service plane time;
the MCU in the service plane time synchronization module 31 synchronizes the service plane time to each device in the service plane system.
In one possible implementation, the calculating domain time synchronization module 32 sets the service plane time or the first crystal oscillator time corresponding to the domain controller as the calculating domain time at different operation phases of the domain controller, and is configured to, when synchronizing the calculated domain time to each sensor:
and setting the service surface time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time at different operation stages of the domain controller, and synchronizing the calculated domain time to each sensor.
In one possible implementation, after being set to the service plane time according to the reference time, the service plane time synchronization module 31 is further configured to:
and storing the service plane time so that the stored service plane time is used as the calculated domain time when the domain controller is initialized when the domain controller is restarted.
According to the vehicle time synchronization device, the reference time is acquired through the service surface time synchronization module, the reference time is set as the service surface time, and the service surface time is synchronized to each device in the service surface system; in different operation stages of the domain controller, the calculated domain time synchronization module sets the service plane time or the crystal oscillator time corresponding to the domain controller as the calculated domain time and synchronizes the calculated domain time to each sensor. In this embodiment, the calculated domain time is only kept synchronous with the reference time in the initialization stage of the domain controller, and the first crystal oscillator time in the domain controller is adopted in the operation stage, so that when the reference time jumps with different time service mechanisms of the T-BOX, the service plane time also jumps, and the calculated domain time does not jump with the jump of the service plane time, thereby ensuring the operation stability of the automatic driving function of the vehicle and preventing the automatic driving fault.
An embodiment of the present invention provides a vehicle, which includes a domain controller, such as the schematic diagram of the domain controller shown in fig. 4. As shown in fig. 4, the domain controller 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in the memory 41 and executable on the processor 40. The processor 40, when executing the computer program 42, performs the steps of the method embodiments described above for time synchronization of the respective vehicles, for example steps 101 to 102 shown in fig. 1. Alternatively, the processor 40, when executing the computer program 42, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules/units 31-32 shown in fig. 3.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to complete the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions describing the execution of the computer program 42 in the domain controller 4. For example, the computer program 42 may be split into the modules/units 31 to 32 shown in fig. 3.
The domain controller 4 may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of a domain controller 4 and does not constitute a limitation of the domain controller 4, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the domain controller may further include input-output devices, network access devices, buses, etc.
The processor 40 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the domain controller 4, such as a hard disk or a memory of the domain controller 4. The memory 41 may be an external storage device of the domain controller 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the domain controller 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the domain controller 4. The memory 41 is used for storing the computer program and other programs and data required by the domain controller. The memory 41 may also be used for temporarily storing data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/domain controller and method may be implemented in other manners. For example, the apparatus/domain controller embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units 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 may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
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 on 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.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may also be implemented by implementing all or part of the flow of the method of the above embodiment, or by instructing the relevant hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the method embodiment of time synchronization of each vehicle when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. A method of vehicle time synchronization, wherein the time domain resources of the domain controller of the vehicle comprise: service surface time and calculation domain time, wherein the calculation domain time is corresponding to data processing related to each calculation node of vehicle automatic driving, and the service surface time is corresponding to data processing of equipment except for the calculation nodes of vehicle automatic driving; the method for synchronizing the vehicle time comprises the following steps:
acquiring reference time, setting the reference time as the service plane time, and synchronizing the service plane time to each device in a service plane system;
and setting the service surface time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time at different operation stages of the domain controller, and synchronizing the calculated domain time to each sensor.
2. The method of vehicle time synchronization according to claim 1, wherein setting the service plane time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time and synchronizing the calculated domain time to each sensor at different operation phases of the domain controller comprises:
setting the service plane time as the calculated domain time and synchronizing the calculated domain time to each sensor when the domain controller is initialized;
after the domain controller is initialized, acquiring first crystal oscillator time of crystal oscillator in the domain controller, setting the first crystal oscillator time as calculated domain time, and synchronizing the calculated domain time to each sensor.
3. The method of vehicle time synchronization according to claim 1 or 2, characterized in that the acquiring the reference time includes:
when the T-BOX time service is successful, acquiring a reference time from the T-BOX;
and when the T-BOX time service is unsuccessful, acquiring second crystal vibration time from crystal vibration in a central electronic control module connected with the T-BOX, and taking the second crystal vibration time as reference time.
4. A method of vehicle time synchronization according to claim 3, wherein said obtaining a reference time from said T-BOX when said T-BOX time service is successful comprises:
and when the T-BOX time service is successful, acquiring GNSS time or network time from the T-BOX, wherein the network time comprises network time protocol time or time synchronization protocol time.
5. The method of vehicle time synchronization according to claim 1, wherein setting the reference time as the traffic plane time, synchronizing the traffic plane time to each device in a traffic plane system, comprises:
setting the reference time as the service plane time, and synchronizing the service plane time to the MCU of the domain controller;
and the MCU of the domain controller synchronizes the service plane time to each device in the service plane system.
6. The method according to claim 5, wherein setting the service plane time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time and synchronizing the calculated domain time to each sensor at different operation phases of the domain controller comprises:
and in different operation stages of the domain controller, the MCU of the domain controller sets the service surface time or the first crystal oscillator time corresponding to the domain controller as the calculated domain time and synchronizes the calculated domain time to each sensor.
7. The method of vehicle time synchronization according to claim 1, characterized by further comprising, after setting the reference time to the traffic plane time:
and storing the service plane time so that the stored service plane time is used as the calculated domain time when the domain controller is initialized when the domain controller is restarted.
8. An apparatus for time synchronization of vehicles, wherein time domain resources of domain controllers of the vehicles comprise: service surface time and calculation domain time, wherein the calculation domain time is corresponding to data processing related to each calculation node of vehicle automatic driving, and the service surface time is corresponding to data processing of equipment except for the calculation nodes of vehicle automatic driving; the device for synchronizing the time of the vehicle comprises:
the service plane time synchronization module is used for acquiring reference time, setting the reference time as the service plane time and synchronizing the service plane time to each device in a service plane system;
the domain time calculating synchronization module is used for setting the service plane time or the first crystal oscillator time corresponding to the domain controller as the domain time calculating in different operation phases of the domain controller and synchronizing the domain time to each sensor.
9. A vehicle comprising a domain controller, the domain controller comprising a memory for storing a computer program and a processor for calling and running the computer program stored in the memory, characterized in that the processor, when executing the computer program, carries out the steps of the method of vehicle time synchronization according to any of the preceding claims 1 to 7.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor realizes the steps of the method of vehicle time synchronization according to any one of the preceding claims 1 to 7.
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| CN202310568981.9A CN116527190A (en) | 2023-05-19 | 2023-05-19 | Method and device for synchronizing vehicle time, vehicle and storage medium |
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| CN202310568981.9A CN116527190A (en) | 2023-05-19 | 2023-05-19 | Method and device for synchronizing vehicle time, vehicle and storage medium |
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