WO2022237502A1 - Appareil et procédé de synchronisation - Google Patents

Appareil et procédé de synchronisation Download PDF

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Publication number
WO2022237502A1
WO2022237502A1 PCT/CN2022/088573 CN2022088573W WO2022237502A1 WO 2022237502 A1 WO2022237502 A1 WO 2022237502A1 CN 2022088573 W CN2022088573 W CN 2022088573W WO 2022237502 A1 WO2022237502 A1 WO 2022237502A1
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WO
WIPO (PCT)
Prior art keywords
time
synchronization
subframe
roadside
time information
Prior art date
Application number
PCT/CN2022/088573
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English (en)
Chinese (zh)
Inventor
苏志伟
孙继忠
陈亮
Original Assignee
华为技术有限公司
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Publication of WO2022237502A1 publication Critical patent/WO2022237502A1/fr

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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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes

Definitions

  • the present application relates to communication technology, and is especially applied in the field of intelligent driving, automatic driving or Internet of Vehicles, and provides a synchronization method and device.
  • Vehicle-to-X The communication technology between the long-term evolution vehicle and X (Vehicle-to-X, V2X) mainly includes two working modes: cellular communication (Uu) and direct communication (PC5).
  • Vehicle to X (Vehicle-to-X, V2X) system includes Vehicle to Vehicle (V2V), Vehicle to Infrastructure (V2I), Vehicle to Human (Vehicle to Vehicle) Pedestrian, V2P), information exchange between vehicles and networks (Vehicle to Network, V2N).
  • V2V Vehicle to Vehicle
  • V2I Vehicle to Infrastructure
  • V2P Vehicle to Human
  • V2N Vehicle to Network
  • the Road Side Unit In V2X communication, the Road Side Unit (RSU) is usually placed on the roadside of the road, which can be used to collect, analyze, and distribute traffic information, and can also communicate with vehicle area equipment and some equipment in the road area, such as vehicle-mounted Unit (On board Unit, OBU) for communication.
  • OBU vehicle-mounted Unit
  • time information is the basic information of V2X applications, and in wireless communication networks, time synchronization plays a key role in maintaining consistent data traffic and exchanging precise real-time control messages.
  • the message of the application layer is sent, and the message of the application layer contains time information, so that the RSU can sort the received messages according to the time information.
  • the RSU and the OBU can usually obtain time information based on the Global Navigation Satellite System (GNSS) system to achieve time synchronization.
  • GNSS Global Navigation Satellite System
  • RSU and OBU can only rely on the initial time set by themselves, and use a crystal oscillator to maintain the clock, which may cause time synchronization between RSU and OBU. Therefore, the RSU cannot perform corresponding processing according to the time information carried in the OBU message.
  • the implementation of this application provides a synchronization method.
  • it can be executed by a second target device, such as a vehicle-mounted device (or other roadside devices except the first roadside device and the second roadside device)
  • the method is described.
  • the steps of the method include: receiving a first message from the first roadside device, the first message carrying first time information, the first time information indicating the synchronization calibration time corresponding to the second roadside device; obtaining the initial Time information, the initial time information indicating the initial time for communicating with the third roadside device; sending a second message to the third roadside device, the second message carrying second time information; wherein, the The second time information indicates a synchronization time obtained through the synchronization calibration time and the initial time.
  • the vehicle-mounted equipment or other roadside equipment can obtain the synchronization calibration time of the second roadside equipment through the first roadside equipment, and further obtain the synchronization calibration time of the second roadside equipment and communicate with the second roadside equipment. Accurate synchronization time is obtained from the initial time, so that the time synchronization between the vehicle-mounted equipment or other roadside equipment and the second roadside equipment can be realized.
  • the on-board equipment or other roadside equipment can also obtain the synchronization calibration time of the second roadside equipment through the first roadside equipment, and determine it according to the synchronization calibration time of the second roadside equipment and the initial time of communication with the first roadside equipment.
  • the third roadside device is the same device or different from the first roadside device; or the third roadside device is the same device as the second roadside device or a different device.
  • the third roadside device can be the same device or a different device from the first roadside device, or the third roadside device can be the same device or a different device from the second roadside device, so that the vehicle-mounted device or other roadside devices Time synchronization can be realized directly through the second roadside device, or time synchronization can be realized between the first roadside device and the second roadside device, which can improve the time synchronization between the second target device to be synchronized and the second roadside device flexibility.
  • the method before receiving the first message from the first roadside device, the method further includes: performing signal synchronization with the first roadside device through a synchronization sequence.
  • signal synchronization with the first roadside device is performed through a synchronization sequence, so that the subframe and radio frame used for receiving the message are the same as those used for sending the message by the first roadside device.
  • the subframe of the subframe is consistent with the wireless frame, so that the accuracy of receiving the message of the first roadside device can be improved.
  • the synchronization time is obtained from the synchronization calibration time, the initial time, and a preset reference time.
  • the synchronization time is obtained from the synchronization calibration time of the second roadside equipment, the initial time of communication with the first roadside equipment or the second roadside equipment, and the preset reference time. Therefore, the final The synchronization time can be used to realize time synchronization with the first roadside device or the second roadside device.
  • the initial time information includes the number of the first subframe and the number of the first radio frame where the first subframe is located; the synchronization time is based on The error between the absolute position in the first radio frame and the absolute position of the second subframe in the second radio frame is obtained by adjusting the synchronization calibration time.
  • the initial time includes the specific number of the first subframe and the number of the first wireless frame, and further determines the number and second subframe corresponding to the synchronization calibration time according to the synchronization calibration time and the preset reference time.
  • the number of the radio frame further calculate the error value between the absolute position of the first subframe in the first radio frame and the absolute position of the second subframe in the second radio frame, and effectively adjust the synchronization calibration time according to the error value , accurate synchronization time can be obtained, so that the time synchronization between the second target device (vehicle device or other roadside device) and the first roadside device or the second roadside device can be realized.
  • the synchronization calibration time, the preset reference time, the number of the second subframe, and the number of the second radio frame where the second subframe is located satisfy:
  • SubframeNumber Floor(Tcurrent-Tref) mod a3
  • the DFN represents the number of the second radio frame
  • the SubframeNumber represents the number of the second subframe
  • the Tcurrent represents the synchronization calibration time
  • Tref represents the preset reference time
  • Floor( ) function is used to round down to the nearest integer, mod means remainder; a1, a2 and a3 represent non-negative constant values.
  • the number of the second subframe and the number of the second radio frame where the second subframe is located can be efficiently calculated according to the synchronization calibration time and the preset reference time.
  • the implementation of this application provides a synchronization method.
  • the method can be executed by the first roadside device (or a fourth roadside device other than the first roadside device and the second roadside device) to describe.
  • the steps of the method include: receiving third time information, the third time information indicating the synchronization calibration time corresponding to the second roadside equipment; acquiring initial time information, the initial time information indicating the time used to communicate with the second roadside equipment The initial time of communication; sending a first message to the target device, the first message carrying first time information; wherein, the first time information indicates the synchronization time obtained by the synchronization calibration time and the initial time .
  • the third time information can be received by the first roadside device or roadside devices other than the first roadside device and the second roadside device, since the third time information indicates the corresponding time of the second roadside device Therefore, the first roadside device or roadside devices other than the first roadside device and the second roadside device can obtain accurate Synchronized time, so as to achieve time synchronization with the second roadside equipment, and other unsynchronized roadside equipment or vehicle-mounted equipment can also perform time synchronization with the synchronized roadside equipment, so that it can be flexibly implemented with the second roadside equipment Time synchronization of roadside equipment.
  • the target device is any one of the following: the first roadside device, the vehicle-mounted device, or a fourth roadside device other than the first roadside device and the second roadside device roadside equipment.
  • the first roadside device when the target device is the first roadside device, the first roadside device can perform time synchronization with the second roadside device through the above method;
  • the second roadside device implements time synchronization;
  • the target device when the target device is a fourth roadside device other than the first roadside device and the second roadside device, the fourth roadside device can also be synchronized with the second roadside device .
  • the method before receiving the third time information, the method further includes: performing signal synchronization with a roadside device that sends the third time information.
  • signal synchronization is performed with the roadside equipment that sends the third time information, so that the subframe and radio frame used to receive the third time information are the same as the roadside equipment that sends the third time information.
  • the subframe used by the information is consistent with the radio frame, so that the accuracy of receiving the third time information can be improved.
  • the third time information is carried in a third message, and the third message is received through the PC5 interface. Through this design, it can be ensured that the receiving device can effectively receive the third time information.
  • the synchronization time is obtained from the synchronization calibration time, the initial time, and a preset reference time.
  • the target device to be synchronized can obtain accurate synchronization time according to the synchronization calibration time of the second roadside device, the initial time of communication with the second roadside device, and the preset reference time, so that it can be synchronized with the second roadside device
  • the roadside equipment realizes time synchronization.
  • the initial time information includes the number of the third subframe and the number of the third radio frame where the third subframe is located; the synchronization calibration time and the preset reference time It is used to determine the number of the fourth subframe and the number of the fourth radio frame where the fourth subframe is located; the synchronization time is based on the absolute position of the third subframe in the third radio frame and the The error of the absolute position of the fourth subframe in the fourth radio frame is obtained by adjusting the synchronization calibration time.
  • the initial time includes the number of the specific third subframe and the number of the third wireless frame, and further according to the synchronization calibration time and the preset reference time, determine the number of the fourth subframe and the number of the fourth subframe corresponding to the synchronization calibration time The numbering of four radio frames; further calculate the error value of the absolute position of the third subframe in the third radio frame and the absolute position of the fourth subframe in the fourth radio frame, and perform effective synchronization calibration time according to the error value Adjust to obtain an accurate synchronization time, so that the target device to be synchronized can realize time synchronization with the second roadside device.
  • the synchronization calibration time, the preset reference time, the number of the fourth subframe, and the number of the fourth radio frame where the fourth subframe is located satisfy:
  • SubframeNumber Floor(Tcurrent-Tref) mod a3
  • the DFN represents the number of the fourth radio frame
  • the SubframeNumber represents the number of the fourth subframe
  • the Tcurrent represents the synchronization calibration time
  • Tref represents the preset reference time
  • Floor( ) function is used to round down to the nearest integer, mod means remainder; a1, a2 and a3 represent non-negative constant values.
  • the number of the second subframe and the number of the fourth radio frame where the fourth subframe is located can be effectively calculated according to the synchronization calibration time and the preset reference time.
  • this application provides a synchronization method.
  • a second target device such as a second roadside device (or a roadside device other than the first roadside device and the second roadside device) ) to execute the method for description.
  • the steps of the method include: generating a data packet, the data packet carrying synchronization time information; sending a data packet to the first roadside device, the synchronization time information being used for synchronization calibration.
  • the second roadside device or the roadside device that has time-synchronized with the second roadside device can generate a data packet, carry the synchronization time information in the data packet, and send it to the first roadside device . Therefore, in this method, the first roadside device can directly obtain the synchronization time through the second roadside device to perform time calibration and realize time synchronization with the second roadside device, or it can also obtain the synchronization time with the second roadside device
  • the time-synchronized roadside equipment obtains the synchronized time for time calibration, so as to flexibly implement time synchronization with the second roadside equipment.
  • the method before sending the data packet to the first roadside device, the method further includes: performing signal synchronization with the first roadside device through a synchronization sequence.
  • signal synchronization before receiving the third time information, signal synchronization is performed with the first roadside device through a synchronization sequence, so that the subframe and wireless frame used to send the data packet are the same as the subframe used by the first roadside device to receive the data packet It is consistent with the wireless frame, so that the accuracy of receiving the data packet by the first roadside device can be improved.
  • the sending the data packet to the first roadside device includes: periodically sending the data packet to the first roadside device through the PC5 interface.
  • sending the data packet to the first roadside device specifically includes: sending a data packet carrying synchronization time information to the first roadside device through the PC5 interface. Therefore, this method can ensure that the receiving device can accurately obtain the information of the synchronization time.
  • the present application provides a communication device, which can be applied to vehicle-mounted equipment or roadside equipment other than the first roadside equipment and the second roadside equipment, and has the ability to realize the above-mentioned first aspect or the above-mentioned first aspect
  • a communication device which can be applied to vehicle-mounted equipment or roadside equipment other than the first roadside equipment and the second roadside equipment, and has the ability to realize the above-mentioned first aspect or the above-mentioned first aspect
  • Any possible function of the method in the design may be realized by hardware, or may be realized by executing corresponding software by hardware.
  • the hardware or software includes one or more units corresponding to the functions described above. For example, it includes a receiving unit, a processing unit and a sending unit.
  • the present application provides a communication device, which can be applied to the first roadside device, the vehicle-mounted device, and other roadside devices except the first roadside device and the second roadside device, and has the ability to realize the above-mentioned second
  • the function of the method in any possible design of the aspect or the above-mentioned second aspect the function may be realized by hardware, or may be realized by executing corresponding software by hardware.
  • the hardware or software includes one or more units corresponding to the functions described above. For example, it includes a receiving unit, a processing unit and a sending unit.
  • the present application provides a communication device, which can be applied to the second roadside device or other roadside devices except the first roadside device and the second roadside device, and has the ability to realize the third aspect or the above-mentioned
  • the function of the first solution in any possible design of the third aspect may be realized by hardware, or may be realized by executing corresponding software by hardware.
  • the hardware or software includes one or more units corresponding to the functions described above. For example, it includes a processing unit and a sending unit.
  • the embodiment of the present application further provides a communication device, the device includes: at least one processor and an interface circuit; the interface circuit is used to provide the at least one processor with program or instruction input and/or Output: the at least one processor is used to execute the program or instruction so that the communication device implements the method provided by the first aspect or any one of the designs, or can realize the method provided by the second aspect or any one of the designs , or the method provided by the third aspect or any one of the designs may be implemented.
  • the embodiment of the present application also provides a non-volatile computer-readable storage medium, which is used to store a computer program, and when the computer program is read and executed by at least one processor, the first The method provided by the aspect or any one of the designs, or the method provided by the second aspect or any one of the designs can be realized, or the method provided by the third aspect or any one of the designs can be realized.
  • the embodiments of the present application also provide a computer program product containing instructions, which, when run on a computer, enable the method provided by the above-mentioned first aspect or any one of the designs to be executed, or make the above-mentioned second aspect Or the method provided by any one of the designs is executed, so that the method provided by the above third aspect or any one of the designs is executed.
  • an embodiment of the present application provides a system-on-a-chip, which includes a processor, configured to support a vehicle-mounted device to implement the functions involved in the above-mentioned first aspect, or to implement the functions involved in the above-mentioned fourth aspect.
  • the embodiment of the present application provides a chip system, the chip system includes a processor, and is used to support the first roadside device to realize the functions involved in the second aspect above, or to realize the functions involved in the fifth aspect above. the functions involved.
  • the embodiment of the present application provides a chip system, the chip system includes a processor, used to support the first roadside device to realize the functions involved in the above third aspect, or realize the functions mentioned in the above sixth aspect the functions involved.
  • the chip system further includes a memory, and the memory is configured to store necessary program instructions and data of the communication device.
  • the system-on-a-chip may consist of chips, or may include chips and other discrete devices.
  • the embodiment of the present application also provides a V2X communication system, the communication system includes a first synchronization device for performing the method provided by the above first aspect or any one of the designs, and a first synchronization device for performing the above second The second synchronization device for the method provided by the aspect or any one of the designs, and the third synchronization device for performing the method provided by the above third aspect or any one of the designs, and for implementing the first synchronization device and The first synchronization device, and a transmission channel for communication between the first synchronization device.
  • the technical effect that can be achieved in the above fourth aspect can be explained with reference to the technical effect that can be achieved by the above first aspect or any design in the first aspect; the technical effect that can be achieved in the above fifth aspect can be explained by referring to the above second aspect or the first aspect
  • FIG. 1A is a schematic diagram of an applicable communication system provided by an embodiment of the present application.
  • FIG. 1B is a schematic diagram of a specific and applicable communication system provided by the embodiment of the present application.
  • FIG. 2 is a schematic diagram of a hardware structure of a vehicle-mounted device provided in an embodiment of the present application
  • FIG. 3 is a schematic diagram of a software structure of a vehicle-mounted device provided in an embodiment of the present application
  • FIG. 4 is a schematic flowchart of a synchronization method provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of an example of the first synchronization method provided by the embodiment of the present application.
  • FIG. 6 is a schematic flowchart of an example of a second synchronization method provided by the embodiment of the present application.
  • FIG. 7 is a schematic flowchart of an example of a third synchronization method provided by the embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a synchronization device provided by an embodiment of the present application.
  • Embodiments of the present application provide a synchronization method and device.
  • the method and the device are conceived based on the same or similar technology. Since the principle of solving the problem of the method and the device is similar, the implementation of the device and the method can be referred to each other, and the repetition will not be repeated.
  • the at least one involved in the embodiments of the present application includes one or more; wherein, a plurality means greater than or equal to two.
  • words such as “first” and “second” are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or imply order.
  • references to "one embodiment” or “some embodiments” or the like in this specification means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application.
  • appearances of the phrases “in one embodiment,” “in some embodiments,” “in other embodiments,” “in other embodiments,” etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean “one or more but not all embodiments” unless specifically stated otherwise.
  • the terms “including”, “comprising”, “having” and variations thereof mean “including but not limited to”, unless specifically stated otherwise.
  • the vehicle-mounted equipment involved in the embodiment of the present application, and the equipment placed or installed on the vehicle can be considered as the vehicle-mounted equipment.
  • the in-vehicle devices may include devices that are factory-installed on the vehicle by the vehicle manufacturer before the vehicle leaves the factory and devices that are installed or placed in the vehicle by the user after the vehicle is sold.
  • car networking terminal box also known as telematics processor
  • car machine also known as telematics processor
  • smart rearview mirror car microphone
  • car speaker electronic control unit (ECU), etc.
  • ECU electronice control unit
  • Car machine refers to the abbreviation of in-vehicle infotainment products installed in the car.
  • the car machine can realize information communication between people and cars, cars and the outside world (cars and cars).
  • Electronic control unit ECU also known as “driving computer”, “vehicle computer” and so on. It should be understood that multiple ECUs may be included on the same vehicle.
  • the on-vehicle device placed or installed on the vehicle may also include a wearable device.
  • Wearable devices can also be called wearable smart devices or smart wearable devices, etc., which is a general term for the application of wearable technology to intelligently design daily wear and develop wearable devices, such as glasses, gloves, watches, clothing and shoes Wait.
  • a wearable device is a portable device that is worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not only a hardware device, but also achieve powerful functions through software support, data interaction, and cloud interaction.
  • Generalized wearable smart devices include full-featured, large-sized, complete or partial functions without relying on smart phones, such as smart watches or smart glasses, etc., and only focus on a certain type of application functions, and need to cooperate with other devices such as smart phones Use, such as various smart bracelets, smart helmets, smart jewelry, etc. for physical sign monitoring.
  • the roadside equipment involved in the embodiment of the present application can usually be installed in scenarios such as expressway and parking lot management. Identification of identity and electronic deduction, etc. Therefore, by installing roadside equipment on the roadside, an unattended express lane can be established.
  • the global navigation satellite system (global navigation satellite system, GNSS) involved in the embodiment of the present application: usually includes the global positioning system (global positioning system, GPS), the Beidou satellite navigation system (beidou navigation satellite system, BDS), the global Satellite navigation system (global navigation satellite system, GLONASS), Galileo satellite navigation system (galileo satellite navigation system, Galileo), etc.
  • the GNSS system can provide precise positioning, navigation and timing services.
  • GNSS is a high-precision clock source, and the precision can reach the microsecond level.
  • a specific message type carrying time information may be defined, for example, a specific EventType/SignType is defined to represent a time synchronization event. Specifically, it includes the following: (1). The value of EventType/SignType can be set to a certain value X. (2) Use RSI to send EventType/SignType X at a period T. In the RSI message, a character string is used in the Description to represent time. Time represents the clock synchronization time.
  • the time involved in the embodiment of the present application adopts Universal Time Coordinated (UTC), and the general format of UTC time is: YYYY-MM- DD, where HH:mm:ss.ms, YYYY means year, MM means month, DD means day, HH means hour, mm means minute, ss means second, ms means millisecond.
  • UTC time YYYY-MM- DD, where HH:mm:ss.ms, YYYY means year, MM means month, DD means day, HH means hour, mm means minute, ss means second, ms means millisecond.
  • the value range of ms can be 000 ⁇ 999.
  • the initial time involved in the embodiment of the present application indicates the initial time at which the device to be synchronized communicates with the synchronized device before time synchronization. For example, the corresponding time after the device to be synchronized and the device to be synchronized complete time synchronization through a synchronization sequence.
  • the synchronization calibration time involved in the embodiment of this application is expressed as the exact time after the synchronized device completes the time synchronization, and the synchronized device sends its own accurate time to the device to be synchronized as the synchronization calibration time of the device to be synchronized , the device to be synchronized can adaptively adjust the synchronization calibration time, and use the adjusted synchronization calibration time as the accurate time of the device to be synchronized, thereby realizing time synchronization.
  • the synchronization time involved in the embodiment of this application refers to the accurate time after the device to be synchronized adjusts the synchronization calibration time from the synchronized device, that is, the time after the device to be synchronized completes time synchronization, and can be based on this Synchronize time for communication.
  • the system architecture may include vehicles and terminal devices.
  • the vehicle may include on-board equipment.
  • On-board equipment refers to the installation on the vehicle in the Internet of Vehicles. It has computing, storage, input and output human-computer interaction interfaces and integrated communication modules, which can realize V2X communication and provide drivers and passengers with Electronic equipment for information services and control vehicles.
  • the on-board equipment may include an electronic control unit (Electronic Control Unit, ECU).
  • ECU Electronic Control Unit
  • FIG. 1A shows the wireless communication connection between the ECU and the vehicle equipment other than the ECU
  • the ECU and the vehicle equipment other than the ECU can also be connected through wired communication such as CAN bus/vehicle Ethernet/UART.
  • the vehicle-mounted device can be connected with an external terminal device (such as a mobile phone) to realize the interconnection between the mobile phone and the vehicle-mounted device, so that the data on the mobile phone can be transmitted to the vehicle-mounted device.
  • the vehicle-mounted device can also be connected to an external terminal device (such as a roadside device) to achieve communication between the vehicle-mounted device and the roadside device.
  • the roadside device receives information or data from the vehicle-mounted device, thereby realizing the collection, analysis, and distribution of traffic information, etc. .
  • the terminal device may be a device that provides voice and/or information and data connectivity to the user. Examples may include a handheld device with wireless connectivity, or a processing device connected to a wireless modem.
  • the terminal device can communicate with the core network via a radio access network (radio access network, RAN), and exchange voice and/or data with the RAN.
  • radio access network radio access network
  • the terminal equipment may include user equipment (user equipment, UE), mobile station (mobile station, MS), mobile terminal equipment (mobile terminal, MT), wireless terminal equipment, device-to-device communication (device-to-device, D2D) Terminal equipment, vehicle to everything (V2X) terminal equipment, machine-to-machine/machine-type communications (machine-to-machine/machine-type communications, M2M/MTC) terminal equipment, Internet of things (IoT) ) terminal equipment, subscriber unit (subscriber unit), subscriber station (subscriber station), mobile station (mobile station), remote station (remote station), access point (access point, AP), remote terminal equipment (remote terminal), Access terminal equipment (access terminal), user terminal equipment (user terminal), user agent (user agent), or user equipment (user device), etc.
  • IoT Internet of things
  • it may include mobile phones (or “cellular” phones), computers with mobile terminal equipment, portable, pocket, hand-held, computer built-in mobile devices, and the like.
  • PCS personal communication service
  • cordless telephone cordless telephone
  • session initiation protocol session initiation protocol
  • WLL wireless local loop
  • PDA personal digital assistant
  • constrained devices such as devices with low power consumption, or devices with limited storage capabilities, or devices with limited computing capabilities, etc.
  • it includes barcodes, radio frequency identification (radio frequency identification, RFID), sensors, global positioning system (global positioning system, GPS), laser scanners and other information sensing devices.
  • examples of some terminal devices are: mobile phone (mobile phone), tablet computer, notebook computer, palmtop computer, mobile internet device (mobile internet device, MID), wearable device, virtual reality (virtual reality, VR) device, enhanced Augmented reality (AR) devices, wireless terminal devices in industrial control, wireless terminal devices in self driving, wireless terminal devices in remote medical surgery, smart grid ( Wireless terminal devices in smart grid, wireless terminal devices in transportation safety, wireless terminal devices in smart city, wireless terminal devices in smart home, etc.
  • a synchronization method provided by the embodiment of the present application can be applied to the V2X system architecture, which includes the communication between vehicles, between vehicles and roads, between vehicles and people, and between vehicles and networks. Information exchange. This application does not make specific limitations.
  • FIG. 1B is a scenario in which the V2X communication system of the embodiment of the present application can be used.
  • the architecture of the V2X system includes on-board equipment and roadside equipment.
  • the vehicle-mounted equipment is installed in the vehicle, and the vehicle-mounted equipment has computing, storage, input and output human-computer interaction interfaces and an integrated communication module, which can realize V2X communication.
  • the roadside equipment is usually placed on the roadside of the road, and the roadside equipment includes roadside equipment A (RSU_A) and roadside equipment B (RSU_B) ...
  • roadside equipment N respectively for Collect, analyze, and distribute traffic information, and communicate with equipment in the vehicle area and some equipment in the road area, thereby improving traffic efficiency.
  • the roadside device can communicate with the on-board device in the vehicle to obtain vehicle information or data sent by the on-board device, so that the roadside The device can determine the driving condition of the vehicle according to the relevant information or data of the vehicle.
  • Time information is the basic information in the relevant information or data of the vehicle.
  • time synchronization plays a key role in keeping the data flow consistent and precise real-time control message exchange. For example, when a vehicle-mounted device communicates with a roadside device, and when the vehicle-mounted device transmits a message of its application layer to the roadside device, the message of the application layer needs to carry time information. Therefore, after receiving the message sent by the vehicle-mounted device, the roadside device can sort the messages with different time information according to the time information carried in the message.
  • the vehicle-mounted device can maintain time synchronization with roadside device A.
  • the vehicle-mounted device transmits a message to roadside device A
  • the message carries the time information of the message.
  • roadside device A perform corresponding processing according to the time information carried in the messages, for example, sort the messages accurately according to the time information carried in different messages, and accurately judge the timeliness of the messages.
  • the vehicle when the vehicle is driving in the tunnel, the vehicle is not within the communication coverage of the roadside equipment A (RSU_A) (as shown at position A), and the on-board equipment in the vehicle cannot maintain time synchronization with the roadside equipment A, thus After the roadside device A receives the message sent by the vehicle device, it cannot perform corresponding processing according to the time carried in the message.
  • RSU_A roadside equipment A
  • N roadside devices are also installed in the tunnel, such as RSU_B, RSU_C...RSU_N, the vehicle can communicate with the roadside devices in the tunnel during driving in the tunnel.
  • the roadside equipment and on-board equipment in the tunnel can only rely on the initial time set by itself, and use a crystal oscillator to maintain the clock. Therefore, the on-board equipment cannot maintain time synchronization with the roadside equipment in the tunnel.
  • the embodiment of the present application provides a synchronization method, in which the second target device (that is, the device to be synchronized) receives the first message sent by the first roadside device, and the first message carries the first time information,
  • the first time information indicates the synchronization calibration time corresponding to the second roadside device;
  • the second target device obtains the initial time information, and the initial time information indicates the initial time for communicating with the first roadside device or the second roadside device, and then
  • the first message carrying the second time information is sent to the first roadside device or the second roadside device, and the second time information indicates that the synchronization time is obtained by synchronizing the calibration time and the initial time.
  • the first roadside device and the second roadside device have been time-synchronized, and the second target device can obtain the synchronization calibration time corresponding to the second roadside device through the first roadside device.
  • the synchronization calibration time and the above initial Time to get accurate synchronization time The method enables the target device to be synchronized to realize time synchronization with the first roadside device, and can flexibly realize time synchronization with the second roadside device through the first roadside device.
  • the quantity of the vehicle-mounted device and the number of roadside devices there is no specific limitation on the quantity of the vehicle-mounted device and the number of roadside devices, and the introduction of software or hardware of one vehicle-mounted device and one roadside device in this embodiment of the present application is only an example.
  • the application scenario of a synchronization method provided in this application may not be limited to tunnels, but may also be in garages, or scenarios where it is difficult to obtain GNSS time information, which is not specifically limited in this application.
  • FIG. 2 shows a schematic diagram of a hardware structure of a vehicle-mounted device 200 according to an embodiment of the present application.
  • described in-vehicle device 200 comprises: processor 210, external memory interface 220, internal memory 221, universal serial bus (universal serial bus, USB) interface 230, bus 240, antenna 1, antenna 2, mobile A communication module 250, a wireless communication module 260, an audio module 270, a display screen 280, and a subscriber identification module (subscriber identification module, SIM) card interface 290, etc.
  • processor 210 external memory interface 220
  • internal memory 221 universal serial bus (universal serial bus, USB) interface 230
  • bus 240 antenna 1, antenna 2
  • mobile A communication module 250 a wireless communication module 260, an audio module 270, a display screen 280, and a subscriber identification module (subscriber identification module, SIM) card interface 290, etc.
  • SIM subscriber identification module
  • the processor 210 may include one or more processing units.
  • the processor 210 may include an application processor (application processor, AP), a modem processor, a graphics processing unit (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a memory , video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural network processor (neural-network processing unit, NPU), etc.
  • different processing units may be independent devices, or may be integrated in one or more processors.
  • the controller may be the nerve center and command center of the vehicle-mounted device 200 . The controller can generate an operation control signal according to the instruction opcode and timing signal, and complete the control of fetching and executing the instruction.
  • a memory may also be provided in the processor 210 for storing instructions and data.
  • the memory in processor 210 is a cache memory.
  • the memory may hold instructions or data that the processor 210 has just used or recycled. If the processor 210 needs to use the instruction or data again, it can be called directly from the memory. Repeated access is avoided, and the waiting time of the processor 210 is reduced, thereby improving the efficiency of the system.
  • the processor 210 is configured to process the acquired time information. Exemplarily, the processor 210 may acquire the information of the time it currently takes to transmit the message and the time it is sent by the roadside device, and adjust the time it is sent by the roadside device according to the time information it currently takes to transmit the message.
  • the processor 210 can judge whether the collected time information is credible (whether it comes from the roadside device after the signal of the vehicle device is synchronized). And when it is determined that the reliability of the time information is low, the time information with low reliability can be deleted.
  • the external memory interface 220 can be used to connect an external memory card to expand the storage capacity of the vehicle-mounted device 200 .
  • the external memory card communicates with the processor 210 through the external memory interface 220 to implement a data storage function. For example, save pictures, videos and other files in the external memory card.
  • the internal memory 221 may be used to store computer-executable program codes including instructions.
  • the processor 210 executes various functional applications and data processing of the in-vehicle device 200 by executing instructions stored in the internal memory 221 .
  • the internal memory 221 may include an area for storing programs and an area for storing data. Wherein, the storage program area can store an operating system, software codes of at least one application program, and the like.
  • the data storage area can store data (such as images, videos, etc.) generated during the use of the vehicle-mounted device 200 .
  • the internal memory 221 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, universal flash storage (universal flash storage, UFS) and the like.
  • the USB interface 230 is an interface conforming to the USB standard specification, specifically, it may be a Mini USB interface, a Micro USB interface, a USB Type C interface, and the like.
  • the USB interface 230 can be used to connect a charger to charge the vehicle-mounted device 200 , and can also be used to transmit data between the vehicle-mounted device 200 and peripheral devices.
  • the bus 240 may include a CAN bus, a vehicle Ethernet, and a universal asynchronous receiver transmitter (universal asynchronous receiver transmitter, UART) bus.
  • data may be transmitted through the bus 140 .
  • the wireless communication function of the in-vehicle device 200 can be realized by the antenna 1, the antenna 2, the mobile communication module 250, the wireless communication module 260, the modem processor and the baseband processor.
  • Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals.
  • Each antenna in the in-vehicle device 200 can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization of the antennas.
  • Antenna 1 can be multiplexed as a diversity antenna of a wireless local area network.
  • the antenna may be used in conjunction with a tuning switch.
  • the mobile communication module 250 can provide wireless communication solutions including 2G/3G/4G/5G and future communication systems, such as sixth generation (6th generation, 6G) systems, applied on the vehicle-mounted device 200 .
  • the mobile communication module 250 may include at least one filter, switch, power amplifier, low noise amplifier (low noise amplifier, LNA) and the like.
  • the mobile communication module 250 can receive electromagnetic waves through the antenna 1, filter and amplify the received electromagnetic waves, and send them to the modem processor for demodulation.
  • the mobile communication module 250 can also amplify the signal modulated by the modem processor, convert it into electromagnetic wave and radiate it through the antenna 1 .
  • at least part of the functional modules of the mobile communication module 250 may be set in the processor 210 .
  • at least part of the functional modules of the mobile communication module 250 and at least part of the modules of the processor 210 may be set in the same device.
  • the wireless communication module 260 can provide wireless local area networks (wireless local area networks, WLAN) (such as Wi-Fi network), Bluetooth (bluetooth, BT), GNSS, frequency modulation (frequency modulation, FM), near Wireless communication solutions such as near field communication (NFC), infrared technology (infrared, IR), etc.
  • the wireless communication module 260 may be one or more devices integrating at least one communication processing module.
  • the wireless communication module 260 receives electromagnetic waves via the antenna 2 , frequency-modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 210 .
  • the wireless communication module 260 can also receive the signal to be sent from the processor 210 , frequency-modulate it, amplify it, and convert it into electromagnetic waves through the antenna 2 to radiate out.
  • the antenna 1 of the vehicle-mounted device 200 is coupled to the mobile communication module 240, and the antenna 2 is coupled to the wireless communication module 260, so that the vehicle-mounted device 200 can communicate with the network and other devices through wireless communication technology.
  • the wireless communication technology may include global system for mobile communications (GSM), general packet radio service (general packet radio service, GPRS), code division multiple access (code division multiple access, CDMA), broadband Code division multiple access (wideband code division multiple access, WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (long term evolution, LTE) system, etc., BT, GNSS, WLAN , NFC, FM, and/or IR technology, etc.
  • the in-vehicle device 200 may implement audio functions through the audio module 270 and the application processor. Such as music playback, recording, etc.
  • the display screen 280 includes a display panel, and the display panel can be a liquid crystal display (liquid crystal display, LCD), an organic light-emitting diode (organic light-emitting diode, OLED), an active matrix organic light-emitting diode or an active matrix organic light-emitting diode Body (active-matrix organic light emitting diode, AMOLED), flexible light-emitting diode (flex light-emitting diode, FLED), Miniled, MicroLed, Micro-oLed, quantum dot light emitting diodes (quantum dot light emitting diodes, QLED), etc.
  • the vehicle-mounted device 200 may include 1 or N display screens 280 , where N is a positive integer greater than 1.
  • the display screen 280 may be used to display time information.
  • the SIM card interface 290 is used for connecting a SIM card.
  • the SIM card can be connected and separated from the vehicle-mounted device 200 by inserting it into the SIM card interface 290 or pulling it out from the SIM card interface 290 .
  • an eSIM card may also be embedded in the vehicle-mounted device 200, which is not limited in the present application.
  • the on-vehicle device may obtain the time from the base station through the SIM card interface or the eSIM card during the driving of the vehicle.
  • the components shown in FIG. 2 do not constitute a specific limitation on the vehicle-mounted device 200, and the vehicle-mounted device 200 may also include more or fewer components than those shown in the illustration.
  • the vehicle-mounted device 200 may also include a sensor module, Earphone jacks, speakers, etc., or combine some parts, or split some parts, or arrange different parts.
  • FIG. 3 it is a schematic diagram of a software structure of a vehicle-mounted device 300 according to an embodiment of the present application.
  • An in-vehicle device 300 includes a radio frequency unit 301, a baseband unit 302, and a clock unit 303; the radio frequency unit 301 is used to broadcast system information and communicate with the in-vehicle device OBU using configured channels and frequencies .
  • the baseband unit 302 is used to complete the baseband processing functions of the Uu interface (including encoding, multiplexing, modulation, spread spectrum, etc.), signaling processing, local and remote operation and maintenance functions, and functions such as system working status monitoring and information reporting .
  • the clock unit 303 can generate a clock signal through a crystal oscillator and obtain the corresponding time. In addition, by adjusting the clock signal, it can be ensured that the clock signal of the roadside device and the clock signal of the external source device (such as a vehicle-mounted device) are maintained. unanimous.
  • the units shown in FIG. 3 do not constitute a specific limitation on the in-vehicle device 300, and the in-vehicle device 300 may also include more or less units than shown in the figure, which is not specifically limited in this application.
  • the embodiment of the present application provides a synchronization method, which is applicable to but not limited to the communication system and the tunnel scenario as shown in FIG. 1B .
  • the structure of the vehicle-mounted device or the roadside device involved in the embodiment of the present application may refer to the structure of the vehicle-mounted device 200 shown in FIG. 2 , which is not limited in the present application.
  • this application takes the communication system and scenario shown in FIG. 1B as an example, and with reference to FIG. 4 , specifically describes the flow of a synchronization method provided by this application.
  • the first target device generates a data packet, where the data packet carries synchronization time information, and the synchronization time information is used for synchronization calibration.
  • the first target device may be a second roadside device (RSU_A as shown in Figure 1B) or other than the first roadside device (RSU_B as shown in Figure 1B) and the second roadside device other roadside equipment.
  • RSU_A as shown in Figure 1B
  • RSU_B as shown in Figure 1B
  • This application does not make specific limitations. However, in this application, it is necessary to ensure that the second roadside device (RSU_A as shown in FIG. 1B ) can obtain accurate time information sent by the GNSS system or the clock server. However, this application does not specifically limit how the second roadside device is arranged. For example, the second roadside device may be preferentially placed at a location with a better signal.
  • the roadside device ie RSU_N
  • RSU_N can obtain the GNSS system or clock server
  • the first target device sends a data packet to the first roadside device (that is, RSU_B), and the first roadside device receives the data packet.
  • the data packet may be a third message, and the synchronization time information carried in the data packet is equivalent to the third time information carried in the third message, and the third time information indicates the synchronization calibration time of the second roadside device).
  • step S402 before step S402 is performed, that is, before the first target device sends the data packet to the first roadside device (or the first roadside device receives the data packet sent by the first target device), the first target device Signal synchronization may be performed with the first roadside device through a synchronization sequence.
  • the first target device Signal synchronization may be performed with the first roadside device through a synchronization sequence.
  • the first target device sending the data packet to the first roadside device includes: periodically sending the data packet to the first roadside device through the PC5 interface (due to the data packet sent by the first target device).
  • the synchronization time information carried is equivalent to the third time information, that is, the first roadside device can receive the third message through the PC5 interface, and the third time information is carried in the third message).
  • step S402 when the first target device sends a data packet to the first roadside device, the first target device may also send the data packet to other roadside devices (such as RSU_C) to be synchronized,
  • RSU_C roadside devices
  • step S403 when the first roadside device executes step S403, it may specifically include the following steps:
  • First step the first roadside device acquires initial time information, which indicates the initial time for communicating with the first target device (eg, the second roadside device).
  • the initial time information includes the number of the third subframe and the number of the third radio frame where the third subframe is located.
  • the second step according to the synchronization calibration time and the preset reference time, determine the number of the fourth subframe and the number of the fourth radio frame where the fourth subframe is located;
  • the synchronization calibration time, the preset reference time, the number of the fourth subframe and the number of the fourth radio frame where the fourth subframe is located satisfy:
  • SubframeNumber Floor(Tcurrent-Tref) mod a3
  • DFN represents the number of the fourth radio frame
  • SubframeNumber represents the number of the fourth subframe
  • Tcurrent represents the synchronization calibration time
  • Tref represents the preset reference time
  • the Floor() function is used to round down to the maximum Approximate integers, mod means remainder; a1, a2 and a3 represent non-negative constant values.
  • the preset reference time is the UTC reference time, which corresponds to 1900-1-1 00:00:00 in the Gregorian calendar (the midnight time between Thursday 1899-12-31 and Friday 1900-1-1), the unit Can be ms.
  • the value of a1 can be 0.1
  • the value of a2 can be 1024
  • the value of a3 can be 10. This application does not specifically limit the values of a1, a2, and a3, which can be flexibly changed according to actual conditions.
  • the value range of DFN is: 0 ⁇ 1023; the value range of SubframeNumber is: 0 ⁇ 9; the period of DFN is: 10240ms.
  • Step 3 According to the error between the absolute position of the third subframe in the third radio frame and the absolute position of the fourth subframe in the fourth radio frame, adjust the synchronization calibration time to obtain the synchronization time.
  • the absolute position of the third subframe in the third radio frame satisfies the formula: DFN*10+SubframeNumber; wherein, DFN represents the number of the third radio frame, and SubframeNumber represents the number of the third radio subframe.
  • the absolute position of the fourth subframe in the fourth radio frame satisfies the formula: DFN_utc*10+SubframeNumber_utc; DFN_utc represents the number of the fourth radio frame, and SubframeNumber_utc represents the number of the fourth subframe.
  • the absolute position of the subframe is the absolute position of the subframe within the superframe where the radio frame where it is located.
  • the error value ⁇ 1 between the absolute position of the third subframe in the third radio frame and the absolute position of the fourth subframe in the fourth radio frame can satisfy: (DFN*10+SubframeNumber)-(DFN_utc*10+SubframeNumber_utc ).
  • Step 4 The first roadside device can adjust the synchronization calibration time according to the error value ⁇ 1 to obtain the synchronization time;
  • the first roadside device can also achieve time synchronization with the first target device through a precise clock signal. There is no need to perform the above steps S402-S403.
  • the first roadside device sends a first message to the second target device, the first message carries first time information, and the first time information indicates the synchronization time obtained in the above step S403 (that is, the synchronization time corresponding to the second roadside device synchronization calibration time).
  • the second target device receives the first message.
  • step S404 before step S404 is performed, that is, before the first roadside device sends the first message to the second target device, the second target device and the first roadside device may perform signal synchronization through a synchronization sequence.
  • the subframes and radio frames used by the first roadside device to send messages are consistent with the subframes and radio frames used by the second target device to receive messages, thus ensuring accurate reception by the second target device The first message sent by the first roadside device.
  • the first message may be sent through the PC5 interface.
  • the second target device may be an on-board device in a vehicle, or other roadside devices to be time-synchronized, and this application does not specifically limit the second target device.
  • the second target device obtains the synchronization time through the synchronization time in the above step S404 (that is, the synchronization calibration time corresponding to the second roadside device) and the initial time.
  • step S405 when the second target device executes step S405, it may specifically include the following steps:
  • First step the second target device acquires initial time information, where the initial time information indicates an initial time for communicating with the third roadside device.
  • the third roadside device may be the same device or a different device from the first roadside device; or the third roadside device may be the same device or a different device from the second roadside device. This application is not specifically limited.
  • the initial time information includes the number of the first subframe and the number of the first radio frame where the first subframe is located;
  • the second step according to the synchronization calibration time and the preset reference time, determine the number of the second subframe and the number of the second radio frame where the second subframe is located;
  • the synchronization calibration time, the preset reference time, the number of the second subframe and the number of the second radio frame where the second subframe is located satisfy:
  • SubframeNumber Floor(Tcurrent-Tref) mod a3
  • DFN represents the number of the second radio frame
  • SubframeNumber represents the number of the second subframe
  • Tcurrent represents the synchronization calibration time
  • Tref represents the preset reference time
  • the Floor() function is used to round down to the maximum Approximate integers, mod means remainder; a1, a2 and a3 represent non-negative constant values.
  • Step 3 According to the error between the absolute position of the first subframe in the first radio frame and the absolute position of the second subframe in the second radio frame, adjust the synchronization calibration time to obtain the synchronization time in step S405 .
  • step S405 For a specific example, reference may be made to the third step and the fourth step in the above step S403, which will not be described in detail here.
  • the method further includes: the second target device sending a second message to the third roadside device, the second message carrying second time information; wherein the second time information indicates The synchronization time obtained by synchronizing the calibration time with the initial time (that is, the synchronization time obtained in step S405).
  • the second target device receives the first message sent by the first roadside device, the first message carries the first time information, and the first time information
  • the synchronization calibration time corresponding to the second roadside device is indicated; the second target device obtains initial time information, and the initial time information indicates the initial time for communicating with the first roadside device or the second roadside device, and then sends the first roadside device
  • the side device or the second roadside device sends the first message carrying the second time information, and the second time information indicates that the synchronization time is obtained by synchronizing the calibration time and the initial time.
  • the first roadside device and the second roadside device have been time-synchronized, and the second target device can obtain the synchronization calibration time corresponding to the second roadside device through the first roadside device.
  • the synchronization calibration time and the above initial Time to obtain accurate synchronization time, so as to achieve time synchronization with the first roadside device or the second roadside device.
  • the second roadside device ie, RSU_A
  • RSU_A the second roadside device
  • the first roadside device ie, RSU_B
  • RSU_C other roadside equipment
  • the roadside devices involved in this application include but not limited to the first roadside device (ie RSU_B) and the fourth roadside device (ie RSU_C).
  • FIG. 1B when the vehicle travels to road A, the vehicle is located within the communication coverage of the second roadside device (ie, RSU_A). At this time, the on-board device in the vehicle can Communicate with the second roadside device (that is, RSU_A).
  • RSU_A the second roadside device
  • FIG. 5 is a flow chart of a synchronization method provided by an embodiment of the present application. The method includes the following steps:
  • the second roadside device (that is, RSU_A) sends a message carrying the synchronization calibration time to the vehicle-mounted device, and the vehicle-mounted device receives the message sent by the second roadside device, and obtains the synchronization calibration time in the message.
  • a second roadside device (that is, RSU_A) can be pre-installed, and it is ensured that the second roadside device can obtain the accurate time sent by the GNSS system or the clock server, and use the accurate time as the synchronization calibration time.
  • before the message carrying the synchronization calibration time sent by the second roadside device (that is, RSU_A) to the vehicle device further includes: performing signal synchronization with the vehicle device through a synchronization sequence.
  • the subframe and radio frame used by the vehicle-mounted device to receive messages are consistent with the subframes and radio frames used by the second roadside device to send messages .
  • the second roadside device that is, RSU_A
  • the vehicle-mounted device after the second roadside device (that is, RSU_A) and the vehicle-mounted device perform signal synchronization, the second roadside device periodically sends a message carrying the synchronization calibration time through the direct communication interface—PC5 interface, and the vehicle-mounted device can receive the message.
  • the second roadside device carries the synchronization calibration time in the message, which can be implemented in the following ways, but not limited to:
  • EventType/SignType this message can be used to represent a time synchronization event. For example, set the value of EventType/SignType to a certain value X.
  • the EventType/SignType can be sent at a period T by using the RSI message. That is, in the RSI message, use the character string in the Description to represent the synchronization calibration time time.
  • the time involved in this embodiment of the present application may use UTC time.
  • the in-vehicle device acquires an initial time, where the initial time information indicates an initial time for communicating with the second roadside device.
  • the initial time information includes the serial number of the initial subframe and the serial number of the initial radio frame where the initial subframe is located.
  • subframe and radio frame corresponding to the number of the initial subframe included in the initial time information and the number of the initial radio frame are subframes and radio frames after signal synchronization between the on-vehicle device and the second road-vehicle device.
  • S503 The on-vehicle device obtains a synchronized time by synchronizing the calibration time with the initial time.
  • the synchronization time is obtained by synchronizing the calibration time, the initial time, and a preset reference time.
  • the preset reference time is the UTC reference time, which corresponds to 1900-1-1 00:00:00 in the Gregorian calendar (the midnight time between Thursday 1899-12-31 and Friday 1900-1-1), the unit is ms.
  • the synchronization calibration time and the preset reference time can be used to determine the number of the calibration subframe and the number of the calibration radio frame where the calibration subframe is located.
  • the synchronization calibration time, the preset reference time, the number of the calibration subframe and the number of the second radio frame where the calibration subframe is located may satisfy the following formula:
  • SubframeNumber Floor(Tcurrent-Tref) mod a3
  • the DFN represents the number of the calibration radio frame
  • the SubframeNumber represents the number of the calibration subframe
  • the Tcurrent represents the synchronization calibration time
  • Tref represents the preset reference time
  • the Floor() function is used to round down to the maximum Approximate integers, mod means remainder; a1, a2 and a3 represent non-negative constant values.
  • a1 can be 0.1
  • the value of a2 can be 1024
  • the value of a3 can be 10. This application does not specifically limit the values of a1, a2, and a3, which can be flexibly changed according to actual conditions.
  • DFN is 0-1023; the value of SubframeNumber is 0-9; the period of DFN is 10240ms.
  • the synchronization time is obtained by adjusting the synchronization calibration time according to the error between the absolute position of the initial subframe in the initial radio frame and the absolute position of the calibration subframe in the calibration radio frame.
  • the error value ⁇ 1 between the absolute position of the initial subframe in the initial radio frame and the absolute position of the calibration subframe in the calibration radio frame may satisfy the following formula:
  • ⁇ 1 (DFN*10+SubframeNumber)-(DFN_utc*10+SubframeNumber_utc)
  • DFN indicates the number of the initial wireless frame
  • SubframeNumber indicates the number of the initial wireless subframe
  • DFN_utc indicates the number of the calibration wireless subframe
  • SubframeNumber_utc indicates the number of the calibration wireless subframe
  • DFN*10+SubframeNumber indicates that the initial subframe is in the initial wireless frame
  • the absolute position of DFN_utc*10+SubframeNumber_utc represents the absolute position of the calibration subframe in the calibration radio frame.
  • the synchronization calibration time is corrected (adjusted) according to the error value ⁇ 1 to obtain an accurate synchronization time.
  • the vehicle-mounted device sends a message carrying synchronization time to the second roadside device.
  • the in-vehicle device may carry the synchronization time in a specific message and send it to the second roadside device. How the in-vehicle device carries the synchronization time in the message can refer to the implementation of defining a specific message type in step S501, and details will not be repeated here.
  • the vehicle-mounted device can obtain accurate synchronization time, so that when the vehicle-mounted device sends a message to the second roadside device, the synchronization time is carried, so that the roadside device can ensure that the message is updated according to the time information in the message. Treat accordingly.
  • FIG. 6 is a flow chart of a synchronization method provided by an embodiment of the present application. The method includes the following steps:
  • the first roadside device that is, RSU_B
  • RSU_A The second roadside device
  • the first roadside device performs time synchronization with the second roadside device to obtain the first time information
  • the specific process includes the following steps:
  • Step 1 The first roadside device (that is, RSU_B) performs signal synchronization with the roadside device sending the third time information through a synchronization sequence.
  • the roadside equipment that sends the third time information may be the second roadside equipment (ie RSU_A), or the roadside equipment that sends the third time information is other roadside equipment after completing time synchronization with the second roadside equipment (ie RSU_A). roadside equipment.
  • the first roadside device that is, RSU_B
  • the roadside device that sent the third time information perform signal synchronization through a synchronization sequence
  • the first roadside device that is, RSU_B
  • the first roadside device can receive the third message through the PC5 interface, and the third message carries the Third time information.
  • Step 2 The first roadside device (that is, RSU_B) receives third time information, and the third time information indicates the synchronization calibration time of the second roadside device.
  • Step 3 The second roadside device acquires initial time information, and the initial time information indicates an initial time for communicating with the second roadside device.
  • Step 4 The first roadside device obtains the synchronization time according to the initial time information, the synchronization calibration time of the second roadside device, and the reference time information.
  • the first time information is used to indicate the synchronization time obtained in the fourth step.
  • the synchronization time is used as the synchronization calibration time in the following step S602.
  • the first roadside device and the second roadside device may implement time synchronization through a clock signal.
  • the first roadside device sends a first message to the vehicle-mounted device, the first message carries first time information, and the first time information indicates the synchronization calibration time obtained in the above step S601, and the vehicle-mounted device receives the first message .
  • the vehicle-mounted device and the first roadside device perform signal synchronization through a synchronization sequence.
  • the subframes and radio frames used by the vehicle equipment to receive messages are consistent with the subframes and radio frames used by the first roadside equipment to send messages .
  • the vehicle-mounted device can receive the third message sent by the first roadside device through the PC5 interface, and the third message carries the third time. information.
  • the vehicle-mounted device acquires initial time information, where the initial time information indicates an initial time for communicating with the third roadside device;
  • the third roadside device may be the first roadside device or the second roadside device.
  • the initial time information acquired by the vehicle-mounted device includes: the number of the first subframe and the number of the first radio frame where the first subframe is located.
  • the in-vehicle device can obtain a synchronization time according to the synchronization calibration time and the initial time.
  • the on-vehicle device determines the number of the second subframe and the number of the second radio frame where the second subframe is located according to the synchronization calibration time and the preset reference time. Then, the on-vehicle device adjusts the synchronization calibration time according to the error between the absolute position of the first subframe in the first radio frame and the absolute position of the second subframe in the second radio frame, to obtain the synchronization time.
  • step S503 For a specific execution formula, reference may be made to step S503 , which will not be described in detail here.
  • the vehicle-mounted device sends a second message to the first roadside device, where the second message carries second time information; where the second time information indicates a synchronization time.
  • the vehicle-mounted device can either send the second message to the first roadside device, or send the second message to the second roadside device, so that the first roadside device or the second roadside device
  • the second message may be processed accordingly according to the synchronization time carried in the second message. For example, after the vehicle-mounted device completes time synchronization, when the first roadside or the second roadside device receives the message sent by the vehicle-mounted device, it may Based on the time information carried in the messages, the messages can be accurately sorted or the order in which the messages are sent can be known.
  • the second time information specifically indicates the synchronization time obtained in the above step S604.
  • both the first roadside device and the vehicle-mounted device obtain accurate synchronization time, so that the vehicle-mounted device can send a message to the first roadside device or send a message to the second roadside device, and the vehicle-mounted device sends
  • the synchronization time is carried in the message, so as to ensure that the first roadside device or the second roadside device performs corresponding processing on the message sent by the vehicle-mounted device according to the time information in the message.
  • FIG. 7 is a flow chart of a synchronization method provided by an embodiment of the present application. The method includes the following steps:
  • the fourth roadside device (RSU_C) performs time synchronization with the first roadside device (RSU_B) and the second roadside device (RSU_A) to obtain fourth time information.
  • the fourth roadside unit (RSU_C) is farther away from the second roadside unit (RSU_A)
  • the first roadside unit (RSU_B) is closer to the second roadside unit (RSU_A).
  • the first roadside device first performs time synchronization with the second roadside device, and the process of time synchronization between the first roadside device and the second roadside device can refer to the above step S601, which will not be described in detail here. Then, the fourth roadside device performs time synchronization with the first roadside device.
  • the time synchronization process between the fourth roadside device and the first roadside device you can refer to the time synchronization process between the first roadside device and the second roadside device (that is, the above step S601), to obtain the time synchronization process of the fourth roadside device synchronised time.
  • the fourth roadside unit uses the fourth time information to indicate the synchronization time obtained in step S701, and the synchronization time obtained in step S701 is used as the synchronization calibration time in the next step.
  • the fourth roadside device sends a fourth message to the vehicle-mounted device, where the fourth message carries fourth time information, and the vehicle-mounted device receives the fourth message.
  • the in-vehicle device acquires initial time information, where the initial time information indicates an initial time for communicating with the fourth roadside device.
  • the vehicle-mounted device obtains the synchronization time of the vehicle-mounted device according to the fourth time information and the initial time information.
  • step S703 and step S704 For the specific execution process of step S703 and step S704, reference may be made to the above-mentioned steps S502 and S503, which will not be repeated here.
  • the vehicle-mounted device sends a fifth message to the fourth roadside device, where the fifth message carries information about the synchronization time of the vehicle-mounted device.
  • the vehicle-mounted device may send the fifth message to the fourth roadside device, or send the fifth message to the first roadside device and the second roadside device.
  • This application may not make specific limitations.
  • the first communication device may include a one-to-one corresponding module or unit for executing the methods/operations/steps/actions described in the above method embodiments.
  • the module or unit may be a hardware circuit, software, or a hardware circuit. Combined with software implementation.
  • the first communication device may have a structure as shown in FIG. 8 .
  • the apparatus 800 may include a receiving unit 801 , a processing unit 802 , and a sending unit 803 .
  • a storage unit 804 may also be included, and each unit will be described in detail below.
  • the receiving unit 801 is configured to receive a first message from the first roadside device, the first message carries first time information, and the first time information indicates the synchronization calibration time corresponding to the second roadside device;
  • the processing unit 802 is configured to acquire initial time information, where the initial time information indicates an initial time for communicating with a third roadside device;
  • the sending unit 803 is configured to send a second message to the third roadside device, where the second message carries second time information;
  • the second time information indicates a synchronization time obtained through the synchronization calibration time and the initial time.
  • the storage unit 804 is configured to store data and/or information.
  • the processing unit 802 may also be configured to: before the receiving unit 801 receives the first message from the first roadside device, pass a synchronization sequence with the first roadside device Perform signal synchronization.
  • the synchronization time is obtained from the synchronization calibration time, the initial time, and a preset reference time.
  • the initial time information includes the number of the first subframe and the number of the first radio frame where the first subframe is located;
  • the synchronization calibration time and the preset reference time are used to determine the number of the second subframe and the number of the second radio frame where the second subframe is located;
  • the synchronization time is based on the error between the absolute position of the first subframe in the first radio frame and the absolute position of the second subframe in the second radio frame, and the synchronization calibration time adjusted to get.
  • the synchronization calibration time, the preset reference time, the number of the second subframe, and the number of the second radio frame where the second subframe is located satisfy:
  • SubframeNumber Floor(Tcurrent-Tref) mod a3
  • the DFN represents the number of the second radio frame
  • the SubframeNumber represents the number of the second subframe
  • the Tcurrent represents the synchronization calibration time
  • Tref represents the preset reference time
  • Floor( ) function is used to round down to the nearest integer, mod means remainder; a1, a2 and a3 represent non-negative constant values.
  • the second communication device may include a one-to-one corresponding module or unit for executing the methods/operations/steps/actions described in the above method embodiments.
  • the module or unit may be a hardware circuit, software, or a hardware circuit. Combined with software implementation.
  • the second communication device may also have a structure as shown in FIG. 8 .
  • the receiving unit 801 is configured to receive third time information, and the third time information indicates the synchronization calibration time of the second roadside equipment;
  • the processing unit 802 is configured to acquire initial time information, where the initial time information indicates an initial time for communicating with the second roadside device;
  • the sending unit 803 is configured to send a first message to the target device, where the first message carries first time information
  • the first time information indicates a synchronization time obtained through the synchronization calibration time and the initial time.
  • the processing unit 802 may be further configured to perform signal synchronization with a roadside device that sends the third time information before the receiving unit 801 receives the third time information.
  • the storage unit 804 is configured to store data and/or information.
  • the third time information is carried in a third message, and the third message is received through the PC5 interface.
  • the synchronization time is obtained from the synchronization calibration time, the initial time, and a preset reference time.
  • the initial time information includes a number of a third subframe and a number of a third radio frame where the third subframe is located;
  • the synchronization calibration time and the preset reference time are used to determine the number of the fourth subframe and the number of the fourth radio frame where the fourth subframe is located;
  • the synchronization time is based on the error between the absolute position of the third subframe in the third radio frame and the absolute position of the fourth subframe in the fourth radio frame, and the synchronization calibration time adjusted to get.
  • the synchronization calibration time, the preset reference time, the number of the fourth subframe, and the number of the fourth radio frame where the fourth subframe is located satisfy:
  • SubframeNumber Floor(Tcurrent-Tref) mod a3
  • the DFN represents the number of the fourth radio frame
  • the SubframeNumber represents the number of the fourth subframe
  • the Tcurrent represents the synchronization calibration time
  • Tref represents the preset reference time
  • Floor( ) function is used to round down to the nearest integer, mod means remainder; a1, a2 and a3 represent non-negative constant values.
  • an embodiment of the present application provides a third communication device.
  • the third communication device may include a one-to-one corresponding module or unit for performing the methods/operations/steps/actions described in the above method embodiments.
  • the module or unit may be a hardware circuit, software, or a hardware circuit. Combined with software implementation.
  • the structure of the third communication device may also have the structure shown in FIG. 8 .
  • the processing unit 802 is configured to generate a data packet, and the data packet carries information about synchronization time;
  • the sending unit 803 is configured to send a data packet to the first roadside device, and the synchronization time information is used for synchronization calibration.
  • the embodiment of the present application also provides a first target device.
  • the first target device may be a vehicle-mounted device or other roadside devices except the first roadside device and the second roadside device.
  • the specific details of the first target device Reference may be made to the above-mentioned structure in FIG. 2 , and it should be noted that the first target device may be a chip or a chip system capable of supporting the master node to implement the above method.
  • the vehicle-mounted device 200 shown in FIG. 2 may include at least one processor 210, and the at least one processor 210 may be used to be coupled with an internal memory 221, and read and execute instructions in the internal memory 221 to implement the implementation of the present application. The steps involved in the first target device in the method provided by the example.
  • the vehicle-mounted device 200 may further include a communication module (mobile communication module 250 or wireless communication module 260 ), which may be used to support the vehicle-mounted device 200 to receive or send signaling or data.
  • the communication module in the vehicle-mounted device 200 can be used to implement the functions of the receiving unit 801 and/or the sending unit 803 of the above-mentioned device.
  • the communication module can be used for the vehicle-mounted device 200 to perform S402 in the synchronization method as shown in FIG. 4
  • the processor 210 can be used to implement the functions of the processing unit 802 of the above-mentioned device.
  • the processor 210 can be used for the vehicle-mounted device 200 to execute the step S401 in the synchronization method shown in FIG.
  • the communication module can be coupled with the antenna for supporting the in-vehicle device 200 to communicate.
  • the vehicle-mounted device 200 may include an internal memory 221, in which computer programs and instructions are stored, and the internal memory 221 may be coupled with the processor 210 and/or the communication module, for supporting the processor 210 to call the internal memory 221.
  • the embodiment of the present application also provides a first roadside device used in this application, the first roadside device may also have the structure shown in Figure 2, and the roadside device may also be used as a The first roadside device implements the chip or chip system of the above method.
  • the vehicle-mounted device 200 shown in FIG. 2 may include at least one processor 210, and the at least one processor 210 may be used to be coupled with an internal memory 221, and read and execute instructions in the internal memory 221 to implement the implementation of the present application. The steps involved in the first roadside device in the method provided by the example.
  • the vehicle-mounted device 200 may further include a communication module (a mobile communication module 250 and a wireless communication module 260 ), which may be used to support the vehicle-mounted device 200 to receive or send signaling or data.
  • the communication module in the vehicle-mounted device 200 can be used to implement the functions of the receiving unit 801 and/or the sending unit 803 of the above-mentioned first roadside device.
  • the communication module can be used for the vehicle-mounted device 200 to perform the synchronization method as shown in FIG. 4
  • the processor 210 can be used to implement the functions of the processing unit 802 of the above-mentioned first roadside device.
  • the processor 210 can be used for the vehicle-mounted device 200 to execute the synchronization method as shown in FIG. In S403, the step shown.
  • the communication module can be coupled with the antenna for supporting the in-vehicle device 200 to communicate.
  • the vehicle-mounted device 200 may include an internal memory 221, in which computer programs and instructions are stored, and the internal memory 221 may be coupled with the processor 210 and/or the communication module, for supporting the processor 210 to call the computer program in the internal memory 221 , instructions to implement the steps involved in the first roadside device in the method provided by the embodiment of the present application; in addition, the internal memory 221 can also be used to store the data involved in the method embodiment of the present application, for example, to store and support the implementation of the communication module Data and information necessary for interaction.
  • the embodiment of the present application also provides a second target device used in the present application.
  • the second target device may also have the structure shown in FIG. 2 , and the second target device may also be used as a 2.
  • the target device is a chip or chip system for implementing the above method.
  • the vehicle-mounted device 200 shown in FIG. 2 may include at least one processor 210, and the at least one processor 210 may be used to be coupled with an internal memory 221, and read and execute instructions in the internal memory 221 to implement the implementation of the present application. Steps involved in the second target device in the method provided by the example.
  • the vehicle-mounted device 200 may further include a communication module (a mobile communication module 250 and a wireless communication module 260 ), which may be used to support the vehicle-mounted device 200 to receive or send signaling or data.
  • the communication module in the vehicle-mounted device 200 can be used to implement the functions of the receiving unit 801 and/or the sending unit 803 of the above-mentioned second target device.
  • the communication module can be used in the vehicle-mounted device 200 to execute the synchronization method as shown in FIG. 4
  • the processor 210 can be used to implement the functions of the processing unit 802 of the second target device.
  • the processor 210 can be used for the vehicle-mounted device 200 to execute step S405 in the synchronization method as shown in FIG. 4 .
  • the communication module can be coupled with the antenna for supporting the in-vehicle device 200 to communicate.
  • the vehicle-mounted device 200 may include an internal memory 221, in which computer programs and instructions are stored, and the internal memory 221 may be coupled with the processor 210 and/or the communication module, for supporting the processor 210 to call the computer program in the internal memory 221 , instructions to implement the steps involved in the second target device in the method provided by the embodiment of the present application; in addition, the internal memory 221 can also be used to store the data involved in the method embodiment of the present application, for example, to store and support the implementation of the communication module Data and information necessary for interaction.
  • each functional module in each embodiment of the present application can be integrated into a processing In the controller, it can also be physically present separately, or two or more modules can be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.
  • An embodiment of the present application provides a computer-readable storage medium storing a computer program, where the computer program includes instructions for executing the foregoing method embodiments.
  • the embodiment of the present application provides a computer program product containing instructions, which, when run on a computer, causes the computer to execute the above method embodiment.
  • the embodiment of the present application also provides a terminal device, which may include a communication device corresponding to performing the methods/operations/steps/actions described in the above method embodiments, and the terminal device may be a vehicle, a robot, or the like.
  • Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another.
  • a storage media may be any available media that can be accessed by a computer.
  • computer readable media may include RAM, ROM, electrically erasable programmable read only memory (electrically erasable programmable read only memory, EEPROM), read-only disc (compact disc read-Only memory, CD- ROM) or other optical disk storage, magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. also. Any connection can suitably be a computer-readable medium.
  • disc (disk) and disc (disc) include compact disc (compact disc, CD), laser disc, optical disc, digital video disc (digital video disc, DVD), floppy disc and Blu-ray disc, wherein Disks usually reproduce data magnetically, while discs use lasers to reproduce data optically. Combinations of the above should also be included within the scope of computer-readable media.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
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Abstract

L'invention concerne un procédé et un appareil de synchronisation qui peuvent être appliqués au domaine de la conduite intelligente, au domaine de la conduite autonome ou au domaine de l'Internet des véhicules. Le procédé comprend les étapes suivantes : un second dispositif cible reçoit un premier message envoyé par un premier dispositif de bord de route, le premier message transportant des premières informations de temps, qui indiquent une heure d'étalonnage synchrone correspondant à un second dispositif de bord de route ; puis un second dispositif cible acquiert des informations de temps initiales, qui indiquent une heure initiale pour communiquer avec le premier dispositif de bord de route ou le second dispositif de bord de route ; et le second dispositif cible envoie, au premier dispositif de bord de route ou au second dispositif de bord de route, le premier message qui transporte des secondes informations de temps, les secondes informations de temps indiquant une heure synchronisée obtenue au moyen de l'heure d'étalonnage synchrone et de l'heure initiale. Selon la solution, une heure synchronisée précise est obtenue en fonction de l'heure d'étalonnage synchrone et de l'heure initiale, ce qui permet de réaliser une synchronisation temporelle.
PCT/CN2022/088573 2021-05-08 2022-04-22 Appareil et procédé de synchronisation WO2022237502A1 (fr)

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CN112040448A (zh) * 2020-09-08 2020-12-04 广州市埃特斯通讯设备有限公司 一种v2x设备应用于隧道的时间同步方法
CN112512111A (zh) * 2019-12-23 2021-03-16 上海中兴软件有限责任公司 一种时间的确定方法及装置、信号的发送方法及装置

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US20160195600A1 (en) * 2015-01-03 2016-07-07 Autotalks Ltd. Positioning enhancement through time-of-flight measurement in wlan
CN108352979A (zh) * 2015-11-06 2018-07-31 索尼公司 通信设备和通信方法
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