CN117970996A

CN117970996A - Time synchronization method and device for domain controller and storage medium

Info

Publication number: CN117970996A
Application number: CN202410210461.5A
Authority: CN
Inventors: 俞涵涛; 李�瑞
Original assignee: Foss Hangzhou Intelligent Technology Co Ltd
Current assignee: Foss Hangzhou Intelligent Technology Co Ltd
Priority date: 2024-02-26
Filing date: 2024-02-26
Publication date: 2024-05-03

Abstract

The application discloses a time synchronization method and device of a domain controller and a storage medium. Wherein the method comprises the following steps: receiving a vehicle wake-up request, wherein the vehicle wake-up request is used for requesting to activate each vehicle-mounted hardware functional module in a vehicle; responding to a vehicle awakening request, and acquiring first time information provided by an external clock source and second time information provided by an internal clock source; under the condition that the first time information is in an effective state, synchronizing the first time information to a first type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules; and under the condition that the second time information reaches the synchronous period condition, synchronizing the second time information to a second type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules. The application solves the technical problem of lower time synchronization efficiency caused by the fact that the domain controller in the related art only depends on a single external time source in the prior art.

Description

Time synchronization method and device for domain controller and storage medium

Technical Field

The application relates to the field of driving control, in particular to a time synchronization method and device of a domain controller and a storage medium.

Background

With the popularization and application of vehicles, in order to meet the use requirements of different users, a plurality of unit modules with different functions are added. And the unit modules with different functions can be realized only after the time of the unit modules is synchronized by the domain controller in the vehicle.

It is common practice in the prior art to acquire the outside world coordinated time (Universal Time Coordinated, abbreviated UTC) by the autopilot domain controller and time synchronize with its associated sensors. However, since the UTC time source needs to be obtained from the outside again when the system is restarted, the UTC time is obtained slowly in some abnormal scenes, so that the UTC time synchronization cannot be completed in the period of the ignition start of the vehicle, thereby affecting all automatic driving processes and functions and further bringing about the problem of low starting efficiency of the automatic driving function. That is, since the domain controller in the related art relies only on a single external time source, it has a problem in that the time synchronization efficiency thereof is low.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The embodiment of the application provides a time synchronization method and device of a domain controller and a storage medium, which at least solve the technical problem that the time synchronization efficiency of the domain controller is low because the domain controller in the related art only depends on a single external time source.

According to an aspect of the embodiment of the present application, there is provided a time synchronization method based on a domain controller, including: receiving a vehicle wake-up request, wherein the vehicle wake-up request is used for requesting to activate each vehicle-mounted hardware functional module in a vehicle; responding to the vehicle awakening request, and acquiring first time information provided by an external clock source and second time information provided by an internal clock source; under the condition that the first time information is in an effective state, synchronizing the first time information to a first type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules; and under the condition that the second time information reaches the synchronous period condition, synchronizing the second time information to a second-type vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules.

Optionally, in an embodiment of the present application, the obtaining, in response to the vehicle wake-up request, first time information provided by an external clock source and second time information provided by an internal clock source includes: responding to the vehicle awakening request, and acquiring external time data transmitted by the external clock source through a bus of the vehicle, wherein the external time data comprises the first time information and an effective identifier matched with the first time information, and the effective identifier is used for indicating whether the first time information is in an effective state or not; and acquiring the second time information periodically transmitted by the internal clock source maintained by the vehicle-mounted system in the vehicle.

Optionally, in an embodiment of the present application, the acquiring, by the bus of the vehicle, the external time data input by the external clock source includes at least one of: acquiring first external time data sent by the external clock source corresponding to the global positioning system through the bus; acquiring second external time data sent by the external clock source corresponding to an external network through the bus; and acquiring bus time corresponding to the bus as third external time data sent by the external clock source.

Optionally, in an embodiment of the present application, after the acquiring, by the bus of the vehicle, external time data input by the external clock source, the method further includes: determining an acquisition time stamp of each external time data under the condition that the effective identification in the external time data transmitted by at least two external clock sources indicates that the first time information is in an effective state; and determining the use priority of the first time information according to the acquisition time stamp, and determining the use sequence of the first time information according to the use priority, wherein the use priority is higher as the acquisition time indicated by the acquisition time stamp is earlier.

Optionally, in an embodiment of the present application, after the acquiring, by the bus of the vehicle, external time data input by the external clock source, the method further includes: and determining the use sequence of the first time information according to a pre-configured use priority when the effective identifiers in the external time data transmitted by at least two external clock sources indicate that the first time information is in an effective state, wherein the use priority of the external clock source corresponding to the global positioning system is higher than the use priority of the external clock source corresponding to an external network, and the use priority of the external clock source corresponding to the external network is higher than the use priority of the bus time.

Optionally, in an embodiment of the present application, synchronizing the first time information to a first type of on-board hardware functional module in the on-board hardware functional modules when the first time information is in a valid state includes: the vehicle-mounted hardware functional module which performs data interaction with a server outside the vehicle is taken as the first-type vehicle-mounted hardware functional module from the vehicle-mounted hardware functional modules in the vehicle; and synchronously transmitting the first time information to the first-class vehicle-mounted hardware functional module under the condition that the first time information is in an effective state.

Optionally, in an embodiment of the present application, synchronizing the second time information to a second type of on-vehicle hardware functional module in the on-vehicle hardware functional module when the second time information reaches a synchronization period condition includes: taking an on-vehicle hardware functional module in the vehicle domain controller and a control sensor associated with the vehicle as the second-type on-vehicle hardware functional module from the on-vehicle hardware functional modules in the vehicle; and synchronously transmitting the second time information to the second-class vehicle-mounted hardware functional module under the condition that the second time information reaches a synchronous period condition.

According to another aspect of the embodiments of the present application, there is also provided a domain-based controller apparatus, including: the vehicle wake-up system comprises a receiving unit, a vehicle wake-up unit and a control unit, wherein the receiving unit is used for receiving a vehicle wake-up request, and the vehicle wake-up request is used for requesting to activate each vehicle-mounted hardware functional module in a vehicle; the acquisition unit is used for responding to the vehicle awakening request and acquiring first time information provided by an external clock source and second time information provided by an internal clock source; the first synchronization unit is used for synchronizing the first time information to a first type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules under the condition that the first time information is in an effective state; and the second synchronization unit is used for synchronizing the second time information to a second type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules under the condition that the second time information reaches a synchronization period condition.

Optionally, in an embodiment of the present application, the acquiring unit includes: the first acquisition module is used for responding to the vehicle awakening request and acquiring external time data transmitted by the external clock source through a bus of the vehicle, wherein the external time data comprises the first time information and an effective identifier matched with the first time information, and the effective identifier is used for indicating whether the first time information is in an effective state or not; and a second acquisition module configured to acquire the second time information periodically transmitted by the internal clock source maintained by the in-vehicle system in the vehicle.

Optionally, in an embodiment of the present application, the first obtaining module includes at least one of: the first acquisition sub-module is used for acquiring first external time data sent by the external clock source corresponding to the global positioning system through the bus; the second acquisition submodule is used for acquiring second external time data sent by the external clock source corresponding to the external network through the bus; and the third acquisition submodule is used for acquiring bus time corresponding to the bus as third external time data sent by the external clock source.

Optionally, in an embodiment of the present application, the acquiring unit further includes: a first determining module, configured to determine an acquisition timestamp of each external time data when a valid identifier in the external time data transmitted from each of the at least two external clock sources is acquired after the external time data transmitted from the external clock source is acquired through the bus of the vehicle; and the second determining module is used for determining the use priority of the first time information according to the acquisition time stamp and determining the use sequence of the first time information according to the use priority, wherein the earlier the acquisition time indicated by the acquisition time stamp is, the higher the use priority is.

Optionally, in an embodiment of the present application, the acquiring unit further includes: and a third determining module, configured to determine, after the external time data input by the external clock sources are acquired through the bus of the vehicle, a use order of the first time information according to a pre-configured use priority when the valid identifier in the external time data input by each of the at least two external clock sources indicates that the first time information is in a valid state, where the use priority of the external clock source corresponding to the global positioning system is higher than the use priority of the external clock source corresponding to the external network, and the use priority of the external clock source corresponding to the external network is higher than the use priority of the bus time.

Optionally, in an embodiment of the present application, the first synchronization unit includes: the first processing module is used for taking the vehicle-mounted hardware functional module which performs data interaction with a server outside the vehicle as the first type vehicle-mounted hardware functional module from the vehicle-mounted hardware functional modules in the vehicle; and the first synchronization module is used for synchronously transmitting the first time information to the first-class vehicle-mounted hardware functional module under the condition that the first time information is in an effective state.

Optionally, in an embodiment of the present application, the second synchronization unit includes: the second processing module is used for taking the vehicle-mounted hardware functional module in the vehicle middle-area controller and the control sensor related to the vehicle as the second type vehicle-mounted hardware functional module from the vehicle-mounted hardware functional modules in the vehicle; and the second synchronization module is used for synchronously transmitting the second time information to the second-class vehicle-mounted hardware functional module under the condition that the second time information reaches a synchronization period condition.

According to yet another aspect of the embodiments of the present application, there is also provided a computer readable storage medium having a computer program stored therein, wherein the computer program is configured to perform the time synchronization method of the domain controller provided in any of the previous embodiments when running.

According to yet another aspect of the embodiments of the present application, there is also provided an electronic device including a memory, in which a computer program is stored, and a processor configured to execute the time synchronization method of the domain controller provided in any of the foregoing embodiments by the computer program.

In the embodiment of the application, a wake-up request for requesting to activate each vehicle-mounted hardware function module in a vehicle is received, and first time information provided by an external clock source and second time information provided by an internal clock source are acquired in response to the vehicle wake-up request. And under the condition that the first time information is in a valid state, synchronizing the first time information to a first type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules. And under the condition that the second time information reaches the synchronous period condition, synchronizing the second time information to a second type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules. That is, the domain controller obtains the first time information provided by the external clock source, obtains the second time information provided by the internal clock source, and then synchronizes the obtained two time information to the respective required modules, so that the problem that the time synchronization efficiency is low due to the fact that the domain controller only depends on a single external time source in the prior art due to the fact that the external time source is obtained slowly under abnormal scenes because the internal clock source is not affected by the scenes is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a schematic diagram of an alternative domain controller-based time synchronization method provided in accordance with an embodiment of the present application;

FIG. 2 is a schematic diagram of another alternative domain controller based time synchronization method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of yet another alternative domain controller based time synchronization method in accordance with an embodiment of the present application;

FIG. 4 is a schematic diagram of yet another alternative domain controller based time synchronization method in accordance with an embodiment of the present application;

FIG. 5 is a schematic diagram of yet another alternative domain controller based time synchronization method in accordance with an embodiment of the present application;

FIG. 6 is a schematic diagram of yet another alternative domain controller based time synchronization method in accordance with an embodiment of the present application;

FIG. 7 is a schematic diagram of yet another alternative domain controller based time synchronization method in accordance with an embodiment of the present application;

FIG. 8 is a schematic diagram of yet another alternative domain controller based time synchronization method in accordance with an embodiment of the present application;

fig. 9 is a schematic structural diagram of an alternative domain controller-based time synchronization device according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application 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 application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application 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 application 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, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In one embodiment, a domain controller-based time synchronization method is provided, as shown in fig. 1, where the domain controller-based time synchronization method includes:

S102, receiving a vehicle awakening request, wherein the vehicle awakening request is used for requesting to activate each vehicle-mounted hardware functional module in the vehicle;

S104, responding to a vehicle awakening request, and acquiring first time information provided by an external clock source and second time information provided by an internal clock source;

s106, synchronizing the first time information to a first type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules under the condition that the first time information is in an effective state;

s108, synchronizing the second time information to a second type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules under the condition that the second time information reaches the synchronization period condition.

Optionally, in the embodiment of the present application, the domain controller may include a System On Chip (SOC), a micro controller unit (Microcontroller Unit, MCU), etc., where the SOC refers to a Chip that integrates a processor, a memory, an input/output interface, and other related functions. In autopilot, the SOC may be used to process various sensor data, execute decision algorithms, and control the behavior of the vehicle. The MCU is responsible for controlling and managing the various functions and operations of the autopilot system, including the processing of sensor data, decision making, and performing driving tasks. The SOC and the MCU are different in that the SOC is generally used to process complex sensing, decision and control tasks, while the MCU is used to implement simple control and detection tasks, and in practical applications, the SOC and the MCU are generally combined to implement the overall functions of the autopilot system.

The wake-up of the whole automobile is to wake up the automatic driving system through a specific signal or operation under the parking state of the automobile, so that the automobile can restart the automatic driving mode. The function can enable the vehicle to quickly switch to an automatic driving mode when needed, and the convenience and safety of driving are improved. The vehicle can wake up in a mode of remote control, voice instruction, object perception and the like, and once the vehicle is waken up, the vehicle can perform operations such as autonomous navigation, obstacle avoidance, parking and the like.

The time acquired by the external clock source may be UTC time, which is a time standard used internationally for coordinating time around the world and is not affected by daylight saving time and thus remains unchanged throughout the year. The time acquired by the internal clock source can be the Linux system time which starts to count based on 1970 after the controller is powered up.

In an autopilot, there are a plurality of controllers responsible for different functions, such as sensor control, navigation control, brake control, etc. The controllers need to work in coordination with each other to ensure that the vehicle is able to accurately perceive the environment, make decisions and perform actions. Through time synchronization, each controller can exchange data and coordinate operation at the same time, and errors and confusion caused by time difference are avoided.

Further by way of example, after receiving a vehicle wake-up request, the domain controller may acquire a plurality of external times from a plurality of external clock sources by using the internal and external child nodes of the domain controller, where the external times carry valid identifiers, and the valid external time acquired first is used as first time information, and when a plurality of valid external times are acquired at the same time, the external time with a high priority is used as the first time information according to a priority order set in advance. After the first time information is determined, the first time information is synchronized to a first type of vehicle-mounted hardware functional module which can normally operate only when external time is acquired. After the domain controller receives the vehicle wake-up request, the main chip in the domain controller can acquire the system time from the internal clock source as second time information, and time-service the second time information to the second type of vehicle-mounted hardware functional module in a fixed period, wherein the second type of vehicle-mounted hardware functional module only needs to be kept under a uniform time scale with other sensors.

According to the embodiment of the application, the wake-up request for requesting to activate each vehicle-mounted hardware function module in the vehicle is received, and the first time information provided by the external clock source and the second time information provided by the internal clock source are obtained in response to the vehicle wake-up request. And under the condition that the first time information is in a valid state, synchronizing the first time information to a first type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules. And under the condition that the second time information reaches the synchronous period condition, synchronizing the second time information to a second type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules. That is, the domain controller obtains the first time information provided by the external clock source, obtains the second time information provided by the internal clock source, and then synchronizes the obtained two time information to the respective required modules, so that all the vehicle-mounted hardware functional modules are prevented from being dependent on the external clock source, and the obtaining of the internal clock source is not affected by the scene, so that under some abnormal scenes, part of the vehicle-mounted hardware functional modules can perform time synchronization based on the internal clock source without waiting for the external clock source, and the time synchronization efficiency is improved.

As an alternative, in response to a vehicle wake-up request, acquiring first time information provided by an external clock source and second time information provided by an internal clock source includes:

s1, responding to a vehicle awakening request, and acquiring external time data transmitted by an external clock source through a bus of a vehicle, wherein the external time data comprises first time information and an effective identifier matched with the first time information, and the effective identifier is used for indicating whether the first time information is in an effective state or not;

s2, acquiring second time information periodically transmitted by an internal clock source maintained by an in-vehicle system in the vehicle.

Optionally, in the embodiment of the present application, external time data input by the external clock source may be acquired through a child node in the domain controller, or external time data input by the external clock source may be acquired through a child node outside the domain controller. Two independent clocks are simultaneously operated in the domain controller, one is first time information acquired from the outside of the system and the other is second time information acquired from the inside of the system.

Further by way of example, when the domain controller of the autopilot receives the wake-up request, an external sub-node of the domain controller, such as the autopilot positioning unit (Autonomous Driving Position Unit, ADPU for short), may also be referred to as an inertial navigation system, may obtain the first time information carrying the valid identifier, and an internal sub-node of the domain controller, such as the MCU, may also obtain the first time information carrying the valid identifier. Wherein, the valid identifier may be represented by 0,1, for example, 1 indicates that the acquired time is valid, and 0 indicates that the acquired time is invalid. The domain controller may obtain the second time information from the internal clock source by calling a system function (e.g., a time () function, gettimeofday () function, etc.), or may obtain the second time information from the internal clock source by using a system command (e.g., date).

According to the embodiment of the application, in response to a vehicle awakening request, external time data transmitted by an external clock source is acquired through a bus of a vehicle, wherein the external time data comprises first time information and an effective identifier matched with the first time information, and the effective identifier is used for indicating whether the first time information is in an effective state or not. And acquiring second time information periodically transmitted by an internal clock source maintained by an in-vehicle system in the vehicle. That is, the domain controller obtains two pieces of time information, one is the first time information obtained from the external clock source and the other is the second time information obtained from the internal clock source, and the two pieces of time information are independent of each other and do not affect each other, so that a part of vehicle-mounted hardware functional modules in the automatic driving system do not need to depend on the external clock source, can perform time synchronization according to the internal clock source, and starts a process function, thereby improving the time synchronization efficiency of the domain controller.

As an alternative, the acquiring, by the bus of the vehicle, the external time data entered by the external clock source includes at least one of:

s1, acquiring first external time data sent by an external clock source corresponding to a global positioning system through a bus;

S2, acquiring second external time data sent by an external clock source corresponding to an external network through a bus;

s3, obtaining bus time corresponding to the bus as third external time data sent by an external clock source.

Optionally, in an embodiment of the present application, the external time data acquired by the domain controller may be acquired at least by: through the global positioning system, through the network time protocol and through the controller local network bus.

By way of further example, as shown in fig. 2, S202, the internal host chip MCU of the domain controller may obtain a bus time from the first external clock source through the controller area network bus, where the bus time carries a valid identifier. And S204, the MCU sends the acquired bus Time to a UTC Time2 module in the SOC1 through inter-chip communication, wherein the UTC Time2 module is an independent clock and is used for running and maintaining the UTC Time acquired from an external clock source. The SOC1 judges the effective identification of the bus Time acquired from the external clock source, and when the effective identification is effective, the SOC1 synchronizes the Time of the UTC Time2 module to the acquired bus Time, and the MCU stops transmitting the bus Time.

S206, the external child node ADPU of the domain controller may obtain GPS time from the second external clock source through the global positioning system (Global Positioning System, abbreviated as GPS). ADPU may also obtain the network time from the second external clock source via a network time protocol. S208, the ADPU then sends the acquired GPS Time to the UTC Time2 module in SOC 1. ADPU also sends the acquired network Time to the UTC Time2 module in SOC 1. And then the SOC1 judges the effective identification of the GPS Time acquired from the external clock source, and when the effective identification is effective, the SOC1 synchronizes the Time of the UTC Time2 module to the acquired GPS Time, and ADPU stops transmitting the GPS Time. The SOC1 also determines the valid identifier of the network Time obtained from the external clock source, and when the valid identifier is valid, the SOC1 synchronizes the UTC Time2 module Time to the obtained network Time, ADPU stops sending the network Time. It should be noted that the bus time, the GPS time, and the network time are UTC time, but the acquisition modes are different. The UTC Time2 module performs Time synchronization only once in one ignition cycle.

According to the embodiment of the application, the first external time data sent by the external clock source corresponding to the global positioning system is obtained through the bus, the second external time data sent by the external clock source corresponding to the external network is obtained through the bus, and the bus time corresponding to the bus is obtained as the third external time data sent by the external clock source. That is, the time data is obtained from the external clock source in a plurality of modes, when the effective identifier of one time data is invalid, the other time data can be received quickly, so that the efficiency of obtaining the external time data can be improved, and the time synchronization efficiency of the domain controller can be further improved.

As an alternative, after acquiring the external time data input from the external clock source through the bus of the vehicle, the method further includes:

S1, under the condition that effective identifiers in external time data transmitted by at least two external clock sources respectively are obtained to indicate that first time information is in an effective state, determining an obtaining time stamp of each external time data;

s2, determining the use priority of the first time information according to the acquisition time stamp, and determining the use sequence of the first time information according to the use priority, wherein the use priority is higher as the acquisition time indicated by the acquisition time stamp is earlier.

Optionally, in the embodiment of the present application, when the internal and external child nodes of the domain controller simultaneously acquire external time data from the external clock source, the first valid identifier received by the domain controller indicates valid external time data as the first time information.

By way of further illustration, as shown in fig. 3, S302, the domain controller receives a wake-up request, S304, and the internal and external child nodes of the domain controller obtain external time data from an external clock source in a number of ways. And S306, the domain controller effectively judges the received external time data, determines the timestamp of the external time data obtained by the domain controller when the effective identification indication in the external time data is effective, and continuously obtains the external time data from the external clock source when the effective identification indication in the external time data is ineffective. And S308, using the effective external Time data acquired first as first Time information, updating the Time in the UTC Time2 module maintained by the main chip SOC1 of the domain controller by using the first Time information, and then self-maintaining the acquired Time by the UTC Time2 module in the current ignition period. S310, after the second functional module of the main chip SOC1 of the domain controller acquires the Time in the UTC Time2 module, starting to use.

According to the embodiment of the application, under the condition that the effective identification in the external time data transmitted by at least two external clock sources indicates that the first time information is in the effective state, the acquisition time stamp of each external time data is determined. And determining the use priority of the first time information according to the acquisition time stamp, and determining the use sequence of the first time information according to the use priority, wherein the use priority is higher as the acquisition time indicated by the acquisition time stamp is earlier. That is, the domain controller acquires the external time data respectively transmitted by the external clock sources at the same time, and takes the effective external time data acquired first as the first time information, so that the speed of acquiring the external time data by the domain controller is improved, the time synchronization efficiency of the domain controller is further improved, and the starting efficiency of the functions and processes of the internal and external child nodes of the domain controller is further improved.

Under the condition that effective identifiers in the external time data transmitted by at least two external clock sources respectively indicate that the first time information is in an effective state, determining the use sequence of the first time information according to the pre-configured use priority, wherein the use priority of the external clock source corresponding to the global positioning system is higher than that of the external clock source corresponding to the external network, and the use priority of the external clock source corresponding to the external network is higher than that of the bus time.

Further by way of example, as shown in fig. 4, the domain controller receives a wake-up request, S402. S404, when the UTC Time2 module in the main chip SOC1 of the domain controller acquires a plurality of external times from the external clock source at the same Time, the acquired external times are effectively judged according to the appointed priority such as that the GPS Time priority is larger than the network Time priority, and the network Time priority is larger than the bus Time priority. S406, the UTC Time2 module in the main chip SOC1 of the domain controller first makes an effective determination of the GPS Time acquired from the second external clock source by the global positioning system. When the valid flag indication corresponding to the GPS Time is valid, S412, the Time maintained by the UTC Time2 module in the main chip SOC1 of the domain controller is updated to the GPS Time. After that, S414, the UTC Time2 module in the main chip SOC1 of the domain controller sends the UTC Time2 (i.e. GPS Time) to the second functional module in the main chip SOC1 of the domain controller, and the second functional module in the main chip SOC1 of the domain controller starts to start to use according to the acquired UTC Time 2. When the valid flag indication corresponding to the GPS Time is invalid, S408, the UTC Time2 module in the main chip SOC1 of the domain controller makes a valid determination on the network Time acquired from the second external clock source through the network Time protocol. When the valid flag indication corresponding to the network Time is valid, S412, the Time maintained by the UTC Time2 module in the main chip SOC1 of the domain controller is updated to the network Time. After that, S414, the UTC Time2 module in the main chip SOC1 of the domain controller sends the UTC Time2 (i.e. the network Time) to the second functional module in the main chip SOC1 of the domain controller, and the second functional module in the main chip SOC1 of the domain controller starts to start to use according to the acquired UTC Time 2. When the valid identifier indication corresponding to the network Time is invalid, S410, the UTC Time2 module in the main chip SOC1 of the domain controller performs valid judgment on the bus Time obtained from the first external clock source through the controller local network bus. When the valid flag corresponding to the bus Time indicates valid, S412, the Time maintained by the UTC Time2 module in the main chip SOC1 of the domain controller is updated to the bus Time. After that, S414, the UTC Time2 module in the main chip SOC1 of the domain controller sends the UTC Time2 (i.e. bus Time) to the second functional module in the main chip SOC1 of the domain controller, and the second functional module in the main chip SOC1 of the domain controller starts to start to use according to the acquired Time. When the valid identification indication corresponding to the bus Time is invalid, the UTC Time Time2 module in the main chip SOC1 of the domain controller continues to acquire the external Time from the first external clock source and the second external clock source simultaneously.

In addition, the UTC Time2 module has a Time calibration mechanism, as shown in fig. 5, in which the domain controller self-maintains the UTC Time2 during the current ignition period, S502, and monitors the UTC Time2 and the external Time acquired from the external clock source. That is, S504, UTC Time2 is compared with the external Time acquired from the external clock source, and it is determined whether or not UTC Time2 and the external Time acquired from the external clock source exceed a predetermined threshold, for example, 60 seconds, and if the predetermined threshold is not exceeded, UTC Time2 and the external Time acquired from the external clock source are continuously monitored. If the predetermined threshold is exceeded, S506, it is continuously determined whether the second functional module of the main chip SOC1 of the domain controller is in an active state, and if the second functional module is in an active state, it is continuously monitored the UTC Time2 and the external Time acquired from the external clock source. If the second function module is in an inactive state, S508, the Time of the UTC Time Time2 module is updated.

According to the embodiment of the application, under the condition that the effective identifiers in the external time data transmitted by at least two external clock sources respectively indicate that the first time information is in an effective state, the use sequence of the first time information is determined according to the pre-configured use priority, wherein the use priority of the external clock source corresponding to the global positioning system is higher than that of the external clock source corresponding to the external network, and the use priority of the external clock source corresponding to the external network is higher than that of the bus time. Thereby making the external time acquired by the domain controller from the external clock source more accurate.

As an alternative, synchronizing the first time information to a first type of on-board hardware functional module in the on-board hardware functional modules when the first time information is in a valid state includes:

S1, taking a vehicle-mounted hardware functional module which performs data interaction with a server outside a vehicle as a first type of vehicle-mounted hardware functional module from various vehicle-mounted hardware functional modules in the vehicle;

S2, synchronously transmitting the first time information to the first-class vehicle-mounted hardware functional module under the condition that the first time information is in an effective state.

Optionally, in the embodiment of the present application, the first type of vehicle-mounted hardware functional module may be a hardware functional module that needs to perform authentication interaction, data storage uploading and downloading interaction, software updating and upgrading interaction, and the like by using external time acquired from an external clock source.

Further by way of example, as shown in fig. 6, S602, the internal child node MCU of the domain controller obtains the external time from the first external clock source. S604, the internal child node MCU of the domain controller sends the acquired external Time to a UTC Time2 module of the internal chip SOC1 of the domain controller. S606, the external child node ADPU of the domain controller acquires external time from the second external clock source. S608, the external child node ADPU of the domain controller also transmits the acquired external Time to the UTC Time2 module of the internal child node SOC1 of the domain controller. After the Time of the UTC Time2 module is updated to the external Time, S610, the UTC Time2 module in the main chip SOC1 of the domain controller synchronously sends the updated UTC Time2 to the second functional module of the main chip SOC1 of the domain controller. The second functional module may be a certificate authentication module, a log upload module, or a OTA (Over The Air) module, where the OTA module refers to software updating and upgrading of the autopilot system over a wireless network without physical connection or vehicle recycling.

According to the embodiment of the application, the vehicle-mounted hardware functional module which performs data interaction with the server outside the vehicle is taken as the first type of vehicle-mounted hardware functional module from the vehicle-mounted hardware functional modules in the vehicle. And synchronously transmitting the first time information to the first-class vehicle-mounted hardware functional module under the condition that the first time information is in an effective state. Therefore, the hardware functional module which needs to use external time in the automatic driving system is normally started for use, and the accuracy of normal operation of the automatic driving system is improved.

As an alternative, synchronizing the second time information to the second type of on-vehicle hardware functional module in the on-vehicle hardware functional module when the second time information reaches the synchronization period condition includes:

s1, taking a vehicle-mounted hardware functional module in a vehicle middle-domain controller and a control sensor associated with the vehicle as a second-class vehicle-mounted hardware functional module from various vehicle-mounted hardware functional modules in the vehicle;

And S2, synchronously transmitting the second time information to the second-class vehicle-mounted hardware functional module under the condition that the second time information reaches the synchronous period condition.

Optionally, in the embodiment of the present application, the second type of on-board hardware functional module may be a functional module that can be used by only needing to be operated with other sensors under a unified time scale, such as basic communication, inter-chip communication, automatic emergency braking system (Automatic Emergency Braking, abbreviated as AEB), adaptive cruise control (Adaptive Cruise Control, abbreviated as ACC), and the like.

Further by way of example, as shown in FIG. 6, the domain controller's master chip SOC1 self-maintains a default system Time Time1, the system Time Time1 authorizes the domain controller's internal master chip and external child nodes at fixed cycles. S612, the first functional module of SOC1 may obtain Time from system Time 1. S614-1 to S614-4, the system Time Time1 is simultaneously given to the MCU, the ADPU, the angular radar and the SOC2. In S616, the MCU may send the received system Time1 to the pre-radar for Time service. The application is not limited to simultaneously giving Time to MCU, ADPU, angle radar and SOC2 by system Time1, but also can give MCU, ADPU, angle radar and SOC2 in sequence with fixed Time interval, and does not limit the sequence of Time giving. The time service mode CAN be time synchronization of a controller area network (Controller Area Network, CAN for short), time service of a network time protocol (Network Time Protocol, NTP for short) and the like. Fig. 7 is a schematic diagram of an alternative domain controller-based Time synchronization method according to an embodiment of the present application, S702, the domain controller receives a vehicle wake-up request, S704, the domain controller main chip SOC1 self-maintains the system Time1, S706, synchronizes the system Time1 to a first functional module inside the domain controller, S708, synchronizes the system Time1 to the sensor and the external subnode, S710, and the first functional module is operated for use.

According to the embodiment of the application, the vehicle-mounted hardware functional module in the vehicle domain controller and the vehicle-associated control sensor are taken as the second type of vehicle-mounted hardware functional module from the vehicle-mounted hardware functional modules in the vehicle. And synchronously transmitting the second time information to the second-class vehicle-mounted hardware functional module under the condition that the second time information reaches the synchronous period condition. That is, some hardware functional modules of the autopilot system do not depend on an external clock source, and by independently running an internal clock to periodically time-service some hardware functional modules, it is ensured that under some abnormal scenes, the external clock source can not influence the normal starting and use of part of functions of the autopilot system even if the external clock source is obtained slowly, so that the time synchronization efficiency of the domain controller is improved.

Alternatively, as an alternative embodiment, the above method is illustrated integrally by the following steps:

As shown in fig. 8, the specific function of automatic driving is divided into a first functional module and a second functional module according to whether external UTC time is needed, where the first functional module does not need external UTC time, only needs to unify time scales with data sources of other sensors, and may include, but is not limited to: basic communication, inter-chip communication, AEB function, ACC function, etc., the second function module needs to obtain external UTC time for function use or certificate verification, which may include but is not limited to: OTA, log upload, certificate authentication, etc.

S802, waking up the whole vehicle. The controller unit MCU obtains the first external clock source from the bus, and the SOC1 obtains the second external clock source from ADPU. SOC1 maintains two times respectively: system Time1 (system default Time), UTC Time2. S804, the MCU receives UTC time and valid bits thereof from the external clock source. And S806, the MCU sends the UTC Time and the valid bit thereof received by the inter-chip communication mode to the SOC1, meanwhile, the SOC1 judges the valid bit of the Time source, when the valid bit is valid, the SOC1 synchronizes the internal clock Time2 with the first external clock source, and when the Time2 of the SOC1 is synchronized to the UTC Time, the MCU stops transmitting the UTC Time thoroughly. And S808, the SOC1 gives Time to the maintained UTC Time2 for use by a second kinetic energy module with interaction requirements to the outside, and the second functional module is not activated until the UTC Time2 completes synchronization. UTC Time2 is synchronized only once in one ignition cycle. Self-maintaining default system Time Time1 after the SOC1 wakes up, and using Time1 for periodic Time service (Time service modes comprise CN Time synchronization, NTP and the like) of an inside main chip and an outside subnode, specifically, S810, acquiring Time from the system Time Time1 by an internal related functional module first functional module of the SOC 1; s812-1 to S812-4, time-giving the system Time Time1 maintained by the SOC1 to the SOC2, the MCU, the angle radar and ADPU; s814, the MCU gives the acquired system Time Time1 to the radar Time service before the external node. The domain controller obtains multiple UTC times simultaneously from an external clock source including, but not limited to, GPS time, network time, bus time. First, according to the valid bit of the external Time acquired from the external clock source, the controller selects the valid external Time acquired first as the reference of the internal UTC Time2, and then the controller self-maintains the UTC Time2 in the current ignition period. Secondly, if a plurality of external Time valid bits are acquired simultaneously, the GPS Time is taken as the highest priority Time, the controller takes the GPS Time as the reference of UTC Time Time2, and then the controller self-maintains UTC Time Time2 in the current ignition period, and the priority is ordered as GPS Time > network Time > bus Time.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

According to another aspect of the embodiment of the present application, there is also provided a domain controller-based time synchronization apparatus for implementing the domain controller-based time synchronization method described above. As shown in fig. 9, the apparatus includes:

a receiving unit 902, configured to receive a vehicle wake-up request, where the vehicle wake-up request is used to request activation of each vehicle-mounted hardware function module in the vehicle;

An obtaining unit 904, configured to obtain, in response to a vehicle wake-up request, first time information provided by an external clock source, and second time information provided by an internal clock source;

A first synchronization unit 906, configured to synchronize the first time information to a first type of on-vehicle hardware functional module in the on-vehicle hardware functional modules when the first time information is in a valid state;

the second synchronization unit 908 is configured to synchronize the second time information to a second type of on-vehicle hardware functional module of the on-vehicle hardware functional modules if the second time information reaches the synchronization period condition.

Optionally, in an embodiment of the present application, the domain controller may include a System On Chip (SOC), a micro controller unit (Microcontroller Unit, MCU), etc., where the SOC refers to a chip that integrates a processor, a memory, an input/output interface, and other related functions. In autopilot, the SOC may be used to process various sensor data, execute decision algorithms, and control the behavior of the vehicle. The MCU is responsible for controlling and managing the various functions and operations of the autopilot system, including the processing of sensor data, decision making, and performing driving tasks. The SOC and the MCU are different in that the SOC is generally used to process complex sensing, decision and control tasks, while the MCU is used to implement simple control and detection tasks, and in practical applications, the SOC and the MCU are generally combined to implement the overall functions of the autopilot system.

The embodiment in this scheme may, but is not limited to, reference to the above-described method embodiment, and this is not limited in any way in the embodiment of the present application.

According to the embodiment of the application, a wake-up request for requesting to activate each vehicle-mounted hardware functional module in the vehicle is received, the first time information provided by the external clock source and the second time information provided by the internal clock source are obtained in response to the vehicle wake-up request, the first time information is synchronized to the first type of vehicle-mounted hardware functional modules in the vehicle-mounted hardware functional modules under the condition that the first time information is in an effective state, and the second time information is synchronized to the second type of vehicle-mounted hardware functional modules in the vehicle-mounted hardware functional modules under the condition that the second time information reaches a synchronization period condition. That is, the domain controller obtains the first time information provided by the external clock source, obtains the second time information provided by the internal clock source, and then synchronizes the obtained two time information to the respective required modules, so that all the vehicle-mounted hardware functional modules are prevented from being dependent on the external clock source, and the obtaining of the internal clock source is not influenced by the scene, so that under some abnormal scenes, part of the vehicle-mounted hardware functional modules can perform time synchronization based on the internal clock source without waiting for the external clock source, and the time synchronization efficiency of the domain controller is improved.

As an alternative, the acquiring unit 904 includes:

The first acquisition module is used for responding to the vehicle awakening request and acquiring external time data transmitted by the external clock source through a bus of the vehicle, wherein the external time data comprises the first time information and an effective identifier matched with the first time information, and the effective identifier is used for indicating whether the first time information is in an effective state or not;

And a second acquisition module configured to acquire the second time information periodically transmitted by the internal clock source maintained by the in-vehicle system in the vehicle.

As an alternative, the first obtaining module includes at least one of:

the first acquisition sub-module is used for acquiring first external time data sent by the external clock source corresponding to the global positioning system through the bus;

the second acquisition submodule is used for acquiring second external time data sent by the external clock source corresponding to the external network through the bus;

and the third acquisition submodule is used for acquiring bus time corresponding to the bus as third external time data sent by the external clock source.

As an alternative, the acquiring unit 904 further includes:

A first determining module, configured to determine an acquisition timestamp of each external time data when a valid identifier in the external time data transmitted from each of the at least two external clock sources is acquired after the external time data transmitted from the external clock source is acquired through the bus of the vehicle;

And the second determining module is used for determining the use priority of the first time information according to the acquisition time stamp and determining the use sequence of the first time information according to the use priority, wherein the earlier the acquisition time indicated by the acquisition time stamp is, the higher the use priority is.

As an alternative, the acquiring unit 904 further includes:

And a third determining module, configured to determine, after the external time data input by the external clock sources are acquired through the bus of the vehicle, a use order of the first time information according to a pre-configured use priority when the valid identifier in the external time data input by each of the at least two external clock sources indicates that the first time information is in a valid state, where the use priority of the external clock source corresponding to the global positioning system is higher than the use priority of the external clock source corresponding to the external network, and the use priority of the external clock source corresponding to the external network is higher than the use priority of the bus time.

As an alternative, the first synchronization unit 906 includes:

the first processing module is used for taking the vehicle-mounted hardware functional module which performs data interaction with a server outside the vehicle as the first type vehicle-mounted hardware functional module from the vehicle-mounted hardware functional modules in the vehicle;

And the first synchronization module is used for synchronously transmitting the first time information to the first-class vehicle-mounted hardware functional module under the condition that the first time information is in an effective state.

As an alternative, the second synchronization unit 908 includes:

the second processing module is used for taking the vehicle-mounted hardware functional module in the vehicle middle-area controller and the control sensor related to the vehicle as the second type vehicle-mounted hardware functional module from the vehicle-mounted hardware functional modules in the vehicle;

And the second synchronization module is used for synchronously transmitting the second time information to the second-class vehicle-mounted hardware functional module under the condition that the second time information reaches a synchronization period condition.

The embodiment numbers of the present application are merely for description and do not represent advantages or disadvantages of the embodiments.

Alternatively, in this embodiment, it will be understood by those skilled in the art that all or part of the steps in the methods of the above embodiments may be performed by a program for instructing a terminal device to execute the steps, where the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.

The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the above-described method of the various embodiments of the present application.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In several embodiments provided by the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the above, is merely a logical function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application 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.

While the foregoing is directed to the preferred embodiments of the present application, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the application, and such changes and modifications are intended to be included within the scope of the application.

Claims

1. A domain controller-based time synchronization method, comprising:

receiving a vehicle wake-up request, wherein the vehicle wake-up request is used for requesting to activate each vehicle-mounted hardware functional module in a vehicle;

Responding to the vehicle awakening request, and acquiring first time information provided by an external clock source and second time information provided by an internal clock source;

Under the condition that the first time information is in an effective state, synchronizing the first time information to a first type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules;

And under the condition that the second time information reaches a synchronous period condition, synchronizing the second time information to a second type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules.

2. The method of claim 1, wherein the obtaining, in response to the vehicle wake request, first time information provided by an external clock source and second time information provided by an internal clock source comprises:

Responding to the vehicle awakening request, and acquiring external time data transmitted by the external clock source through a bus of the vehicle, wherein the external time data comprises the first time information and an effective identifier matched with the first time information, and the effective identifier is used for indicating whether the first time information is in an effective state or not;

And acquiring the second time information which is periodically transmitted by the internal clock source and maintained by the vehicle-mounted system in the vehicle.

3. The method of claim 2, wherein the obtaining, via the bus of the vehicle, the external time data incoming by the external clock source comprises at least one of:

acquiring first external time data sent by the external clock source corresponding to the global positioning system through the bus;

Acquiring second external time data sent by the external clock source corresponding to an external network through the bus;

And acquiring bus time corresponding to the bus as third external time data sent by the external clock source.

4. The method of claim 2, further comprising, after the acquiring the external time data incoming by the external clock source via the bus of the vehicle:

Determining an acquisition time stamp of each external time data under the condition that effective identifiers in the external time data transmitted by at least two external clock sources indicate that the first time information is in a valid state;

And determining the use priority of the first time information according to the acquisition time stamp, and determining the use sequence of the first time information according to the use priority, wherein the use priority is higher as the acquisition time indicated by the acquisition time stamp is earlier.

5. The method of claim 2, further comprising, after the acquiring the external time data incoming by the external clock source via the bus of the vehicle:

And under the condition that the effective identifiers in the external time data transmitted by at least two external clock sources respectively indicate that the first time information is in an effective state, determining the use sequence of the first time information according to the pre-configured use priority, wherein the use priority of the external clock source corresponding to the global positioning system is higher than that of the external clock source corresponding to an external network, and the use priority of the external clock source corresponding to the external network is higher than that of the bus time.

6. The method according to any one of claims 2 to 5, wherein synchronizing the first time information to a first type of on-board hardware functional module of the on-board hardware functional modules in a case where the first time information is in an active state comprises:

taking a vehicle-mounted hardware functional module which performs data interaction with a server outside the vehicle as the first type vehicle-mounted hardware functional module from all vehicle-mounted hardware functional modules in the vehicle;

And synchronously transmitting the first time information to the first-class vehicle-mounted hardware functional module under the condition that the first time information is in an effective state.

7. The method according to any one of claims 2 to 5, wherein synchronizing the second time information to a second one of the on-board hardware functional modules if the second time information reaches a synchronization cycle condition comprises:

Taking the vehicle-mounted hardware functional module in the vehicle middle-area controller and the control sensor associated with the vehicle as the second-type vehicle-mounted hardware functional module from the vehicle-mounted hardware functional modules in the vehicle;

And synchronously transmitting the second time information to the second-class vehicle-mounted hardware functional module under the condition that the second time information reaches a synchronous period condition.

8. A domain controller based time synchronization apparatus, comprising:

the vehicle wake-up system comprises a receiving unit, a vehicle wake-up unit and a control unit, wherein the receiving unit is used for receiving a vehicle wake-up request, and the vehicle wake-up request is used for requesting to activate each vehicle-mounted hardware functional module in a vehicle;

the acquisition unit is used for responding to the vehicle awakening request and acquiring first time information provided by an external clock source and second time information provided by an internal clock source;

The first synchronization unit is used for synchronizing the first time information to a first type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules under the condition that the first time information is in an effective state;

And the second synchronization unit is used for synchronizing the second time information to a second type of vehicle-mounted hardware functional module in the vehicle-mounted hardware functional modules under the condition that the second time information reaches a synchronization period condition.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when executed by a processor, performs the method of any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of the claims 1 to 7 by means of the computer program.