WO2022247631A1

WO2022247631A1 - Time determination method and apparatus, medium, and device

Info

Publication number: WO2022247631A1
Application number: PCT/CN2022/092078
Authority: WO
Inventors: 刘家甫; 许迎春
Original assignee: 北京车和家信息技术有限公司
Priority date: 2021-05-27
Filing date: 2022-05-10
Publication date: 2022-12-01
Also published as: CN113267795B; CN113267795A

Abstract

A time determination method and apparatus, a medium, and a device. The method comprises: receiving a pulse per second (PPS) signal (S11); receiving a time signal sent by a satellite (S12); parsing the time signal to obtain a satellite time (S13); and adjusting the satellite time according to a duration between a time for receiving the PPS signal and a time for receiving the time signal, so as to obtain a finally determined time (S14).

Description

Time Determination Method, Apparatus, Medium and Equipment

Cross References to Related Applications

This application is based on a Chinese patent application with application number 202110587601.7 and a filing date of May 27, 2021, and claims the priority of this Chinese patent application. The entire content of this Chinese patent application is hereby incorporated by reference into this application.

technical field

The present disclosure relates to the technical field of vehicle automatic control, and in particular, to a time determination method, device, medium and equipment.

Background technique

In the field of vehicle automatic driving and advanced driving assistance system (Advanced Driving Assistance System, ADAS), due to the introduction of a large number of sensors, it is necessary to match and process the data generated by each sensor. Providing accurate time stamps for each sensor can provide highly reliable and high-quality data for subsequent algorithms and reduce errors.

Contents of the invention

The purpose of the present disclosure is to provide an accurate and efficient time determination method, device, medium and equipment.

In order to achieve the above purpose, an embodiment of the present disclosure provides a method for determining time, the method including:

Receive second pulse PPS signal;

Receive the time signal sent by the satellite;

Analyzing the time signal to obtain satellite time;

According to the timing between receiving the PPS signal and receiving the time signal, the satellite time is adjusted to obtain the final determined time.

In some embodiments, adjusting the satellite time according to the timing between receiving the PPS signal and receiving the time signal to obtain the final determined time includes:

If the PPS signal is received, start counting until the time signal is received;

The satellite time is added to the timing result to obtain the final determined time.

In some embodiments, if the PPS signal is received, start counting until the time signal is received, including: if the rising edge of the PPS signal is detected, start counting until the time signal is received time signal.

In some embodiments, the method further includes: denoising the PPS signal.

In some embodiments, the denoising the PPS signal includes:

If the number of times the PPS signal is detected in the sliding window is greater than or equal to two times, the last PPS signal detected in the sliding window is regarded as a valid PPS signal.

In some embodiments, after receiving the time signal sent by the satellite, the method further includes: determining the state of the satellite system according to the state bit of the time signal;

The analyzing the time signal to obtain the satellite time includes: if the state of the satellite system is locked, then analyzing the time signal to obtain the satellite time.

In some embodiments, the method further includes: if the state of the satellite system is out of lock, using local time as the final determined time.

In some embodiments, the receiving the time signal sent by the satellite includes: using a UART to receive the time signal sent by the satellite.

Embodiments of the present disclosure also provide a device for determining time, the device comprising:

The first receiving module is used to receive the second pulse PPS signal;

The second receiving module is used to receive the time signal sent by the satellite;

An analysis module, configured to analyze the time signal to obtain satellite time;

An adjustment module, configured to adjust the satellite time according to the timing between receiving the PPS signal and receiving the time signal, to obtain a final determined time.

In some embodiments, the adjustment module includes:

A timing submodule, configured to start timing until the time signal is received if the PPS signal is received;

The calculation sub-module is used to add the satellite time to the timing result to obtain the final determined time.

In some embodiments, the timing sub-module is configured to: if a rising edge of the PPS signal is detected, start timing until the time signal is received.

In some embodiments, the device further includes: a denoising module, configured to denoise the PPS signal.

In some embodiments, the denoising module is used to: if the number of times the PPS signal is detected in the sliding window is greater than or equal to twice, then the last PPS signal detected in the sliding window is used as a valid PPS signal .

Embodiments of the present disclosure also provide a non-transitory computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method provided by the present disclosure are implemented.

Embodiments of the present disclosure also provide an electronic device, including:

a memory on which a computer program is stored;

A processor, configured to execute the computer program in the memory, so as to implement the steps of the above method provided by the present disclosure.

Embodiments of the present disclosure further provide a computer program product, the computer program product includes computer program code, and when the computer program code is run on a computer, the above method is executed.

An embodiment of the present disclosure further provides a computer program, the computer program includes computer program code, and when the computer program code is run on a computer, the computer is made to execute the above-mentioned method.

Through the above technical solution, the satellite time is obtained by analyzing the time signal sent by the satellite, and the satellite time is adjusted according to the timing between receiving the PPS signal and the time signal to obtain the final time. In this way, on the basis of the satellite time, the timing between the PPS signal and the time signal is added, so that the accuracy of the final determined time is improved from the second level to a higher level such as microseconds, and the accuracy of the time is improved. After the final determined time is matched with the data generated by the sensors in the vehicle, more reliable data can be provided for the assisted driving of the vehicle, and the error is reduced.

Other features and advantages of the present disclosure will be described in detail in the detailed description that follows.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the description, together with the following specific embodiments, are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the attached picture:

Fig. 1 is a flowchart of a time determination method provided by an exemplary embodiment;

Fig. 2 is a flowchart of a time determination method provided by another exemplary embodiment;

Fig. 3 is a schematic diagram of the time difference between receiving the PPS signal and receiving the time signal sent by the satellite provided by an exemplary embodiment;

Fig. 4 is a flow chart of a time determination method provided by yet another exemplary embodiment;

Fig. 5 is a schematic diagram of PPS signal denoising provided by an exemplary embodiment;

Fig. 6 is a block diagram of a device for determining time provided by an exemplary embodiment;

Fig. 7 is a block diagram of an electronic device shown in an exemplary embodiment.

Detailed ways

Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

Fig. 1 is a flowchart of a method for determining time provided by an exemplary embodiment. As shown in FIG. 1 , the time determination method may include the following steps S11 to S14.

Step S11, receiving a Pulse Per Second (PPS) signal. PPS is the number of pulses per second.

Step S12, receiving the time signal sent by the satellite. The time signal includes data in a recommended positioning information (GPRMC) format, for example, a time signal sent by a satellite can be received by a Universal Asynchronous Receiver/Transmitter (UART).

Step S13, analyzing the time signal to obtain satellite time. In some embodiments, information such as year, month, day, hour, minute, second, etc. can be parsed out using the PIPE LINE idea according to the GPRMC format. Usually the time can be parsed to a precision of one second.

Step S14, according to the timing between receiving the PPS signal and receiving the time signal, adjust the satellite time to obtain the final time.

Wherein, the time signal sent by the satellite may be a signal sent by a Global Navigation Satellite System (Global Navigation Satellite System, GNSS) or a Global Positioning System (Global Positioning System, GPS) signal.

In the related art, the satellite time obtained by analyzing the received time signal sent by the satellite is directly applied. Due to the characteristics of the satellite signal transmission mechanism itself, receiving the time signal sent by the satellite has a certain delay compared with receiving the PPS signal, and there is a time difference between receiving the PPS signal and receiving the time signal sent by the satellite. The time signal sent by the satellite can only be received from the UART for a period of time (for example, 100ms) after receiving the PPS signal. In the present disclosure, the adjustment of the satellite time is added in consideration of the timing between the reception of the PPS signal and the reception of the time signal.

Through the above technical solution, the satellite time is obtained by analyzing the time signal sent by the satellite, and the satellite time is adjusted according to the timing between receiving the PPS signal and the time signal to obtain the final time. In this way, on the basis of the satellite time, the timing between the PPS signal and the time signal is added, so that the accuracy of the final determined time is improved from the second level to a higher level such as microseconds, and the accuracy of the time is improved. After the final determined time is matched with the data generated by the sensors in the vehicle, more reliable data can be provided for the assisted driving of the vehicle, and errors can be reduced.

Fig. 2 is a flowchart of a time determination method provided by another exemplary embodiment. As shown in FIG. 2 , the step S14 of adjusting the satellite time to obtain the final determined time according to the timing between the received PPS signal and the received time signal may include the following steps S141 and S142.

Step S141, if the PPS signal is received, start timing until the time signal sent by the satellite is received.

Step S142, adding the satellite time to the timing result to obtain the final determined time.

That is, start timing from receiving the PPS signal, and end timing when receiving the time signal sent by the satellite, and obtain the timing result. The satellite time obtained by analyzing the time signal sent by the satellite, on this basis, adding the above timing results, the time obtained is the final determined time, which can be determined as the system local time.

The satellite time obtained by analysis usually includes year, month, day, hour, minute, and second. The timing from receiving the PPS signal can include recording milliseconds or even microseconds, so that the time including year, month, day, and hour can be determined. , minutes, seconds, milliseconds, microseconds.

Subsequent detection of a valid PPS pulse signal, on the basis of the year, month, day, hour, minute, second, millisecond, and microsecond of the current system local time, add 1 to the second place, if it reaches 59 seconds , the minute is carried, the second is 0, the digits of the hour, day, month, and year are deduced by analogy.

In some embodiments, if the PPS signal is received, start timing until the time signal is received. Step S141 includes: if a rising edge of the PPS signal is detected, start timing until the time signal is received.

That is, timing starts from the rising edge of the PPS signal, not from the falling edge or high level. Compared with the high level period, the duration of the rising edge is shorter, and compared with the high level and falling edge, the rising edge is the period at the beginning of the signal. In this way, on the one hand, the rising edge is used to start timing, so that the timing starts earlier , on the other hand, the duration of the rising edge is short, the timing is more accurate, and it is easy to obtain a more accurate time difference in the end.

Fig. 3 is a schematic diagram of the time difference between receiving a PPS signal and receiving a time signal sent by a satellite provided by an exemplary embodiment. As shown in FIG. 3, the graph of the system clock signal C shows 15 clock signals. In the curve of PPS signal A, timing starts from point a on the rising edge of the PPS signal and ends at point b when time signal B is received, and the time difference (timing result) is T. Add the time difference T to the satellite time to get the final time.

When the environment is more complex, it may cause "glitch" or "noise" in the receiving process of the PPS signal, which will cause a time error in the process of detecting the rising edge of the signal.

Fig. 4 is a flow chart of a time determination method provided by yet another exemplary embodiment. As shown in Figure 4, on the basis of Figure 1, the method further includes step S110: denoising the PPS signal.

The denoising can be performed using methods in the related art. Using the denoised PPS signal to adjust the satellite time can make the result more accurate.

In some embodiments, the step S110 of denoising the received PPS signal may include: if the number of times the PPS signal is detected in the sliding window is greater than or equal to two times, the last PPS signal detected in the sliding window as a valid PPS signal.

Because different devices have different causes of "burrs" or "noises", the locations of "burrs" or "noises" are also different, and the common locations of "burrs" or "noises" can be determined in advance based on experiments , and then determine the appropriate sliding window width, for example, 500ns.

Wherein, the sliding window is a window in the signal timing diagram. The width of the sliding window can be set so that theoretically there is only one PPS signal within the duration of a sliding window. If there is only one PPS signal, it is considered that this pulse is valid. If the number of times the PPS signal is detected in the sliding window is greater than or equal to two times, it is considered that the last time is valid. Since the sliding window is always sliding, effective PPS signals can be continuously and stably filtered, thereby ensuring the reliability and accuracy of time.

Fig. 5 is a schematic diagram of denoising a PPS signal provided by an exemplary embodiment. As shown in FIG. 5, the graph of the system clock signal C shows 15 clock signals. The clock signal A1 before denoising has two pulse signals in the sliding window (shown in a dotted line box), at this time, only the next pulse is considered valid, and the clock signal A2 after denoising has only one pulse signal in the sliding window .

In addition to analyzing the year, month, day, hour, minute, and second, the time signal sent by the satellite can also be analyzed to obtain the status bit. For example, if the analyzed status bit is "A", it can be considered that the data in the time signal sent by the satellite (the status of the satellite system) is locked (valid). If the analyzed status bit is not "A", it can be considered that the data in the time signal sent by the satellite is in an out-of-lock (invalid) status.

In some embodiments, after the step S12 of receiving the time signal sent by the satellite, the method may further include: determining the state of the satellite system according to the state bit of the time signal.

In this embodiment, the step S13 of analyzing the received time signal to obtain the satellite time may include: if the state of the satellite system is locked, then analyzing the received time signal to obtain the satellite time.

That is, the analysis is performed only when the state of the satellite system is locked. In this way, errors caused by using invalid data to determine the time are avoided, and the accuracy of time determination is improved.

In some embodiments, when the state obtained by parsing the time signal is the locked state (that is, the state of the satellite system is the locked state), the satellite time can be obtained by parsing, and the satellite time can be adjusted as the final time, or the The adjusted time of the satellite time is fused with the local time of the system to obtain the final time.

If the receiver of the satellite signal is installed on the vehicle, when the vehicle drives into a tunnel or between buildings, it may cause the satellite system to lose lock. In some embodiments, the method may further include: if the state of the satellite system is out of lock, adopting local time as the final determined time. If the local time is used, the time accuracy can be maintained at the level of milliseconds or even microseconds.

For example, when the receiver is turned on, the program is in the IDLE state by default. After receiving the GPS data for the first time, the program judges whether the GPS is locked. If it is locked, the program will jump to the "GPS locked state", and then adjust the satellite time. If the GPS is not locked, the program will jump to "GPS Unlocked State", the program maintains the local time, and waits for the next GPS lock to perform calibration.

Fig. 6 is a block diagram of an apparatus for determining time provided by an exemplary embodiment. As shown in FIG. 6 , the device for determining time may include a first receiving module 601 , a second receiving module 602 , an analyzing module 603 and an adjusting module 604 .

The first receiving module 601 is used for receiving a pulse per second PPS signal.

The second receiving module 602 is used for receiving the time signal sent by the satellite.

The parsing module 603 is used for parsing the received time signal to obtain satellite time.

The adjustment module 604 is configured to adjust the satellite time according to the timing between the received PPS signal and the received time signal to obtain the final determined time.

In some embodiments, the adjustment module 604 may include a timing sub-module and a calculation sub-module.

The timing sub-module is used to start timing if the PPS signal is received until the time signal is received.

In some embodiments, the timing sub-module is configured to start timing if a rising edge of the PPS signal is detected until the time signal sent by the satellite is received.

In some embodiments, the apparatus 600 may further include a denoising module.

The denoising module is used to denoise the PPS signal.

In some embodiments, the denoising module is configured to use the last PPS signal detected in the sliding window as a valid PPS signal if the number of times the PPS signal is detected in the sliding window is greater than or equal to two times.

In some embodiments, the apparatus 600 may further include a determining module. The determination module is used for determining the status of the satellite system according to the status bit of the time signal sent by the satellite.

In this embodiment, the analysis module 603 is configured to analyze the time signal sent by the satellite to obtain the satellite time if the state of the satellite system is locked.

In some embodiments, the apparatus 600 may further include a switching module.

The switching module is used for adopting the local time as the final determined time if the state of the satellite system is out of lock.

In some embodiments, the second receiving module 602 is configured to use a UART to receive a time signal sent by a satellite.

Regarding the apparatus in the foregoing embodiments, the specific manner in which each module executes operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

Through the above technical solution, the satellite time is obtained by analyzing the time signal sent by the satellite, and the satellite time is adjusted according to the timing between receiving the PPS signal and the time signal to obtain the final time. In this way, on the basis of the satellite time, the timing between the PPS signal and the time signal is added, so that the accuracy of the final determined time is improved from the second level to a higher level such as microseconds, and the accuracy of the time is improved. After the final determined time is matched with the data generated by the sensors in the vehicle, more reliable data can be provided for the assisted driving of the vehicle, and the error can be reduced.

An embodiment of the present disclosure also provides an electronic device, including a memory and a processor.

A computer program is stored on the memory. The processor is used to execute the computer program in the memory, so as to realize the method described in any one of the embodiments of the present disclosure.

Fig. 7 is a block diagram of an electronic device 700 shown in an exemplary embodiment. As shown in FIG. 7 , the electronic device 700 may include: a processor 701 and a memory 702 . The electronic device 700 may also include one or more of a multimedia component 703 , an input/output (I/O) interface 704 , and a communication component 705 .

Wherein, the processor 701 is used to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the above-mentioned method for determining the time. The memory 702 is used to store various types of data to support the operation of the electronic device 700, for example, these data may include instructions for any application or method operating on the electronic device 700, and application-related data, Such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or their combination, such as Static Random Access Memory (Static Random Access Memory, referred to as SRAM), Electrically Erasable Programmable Read-Only Memory (EPROM) Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read-Only Memory, referred to as EPROM), Programmable Read-Only Memory (Programmable Read-Only Memory, referred to as PROM), read-only Memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. Multimedia components 703 may include screen and audio components. The screen can be, for example, a touch screen, and the audio component is used for outputting and/or inputting audio signals. For example, an audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in memory 702 or sent via communication component 705 . The audio component also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, which may be a keyboard, a mouse, buttons, and the like. These buttons can be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or more of them Combinations are not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module and the like.

In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), digital signal processors (Digital Signal Processor, DSP for short), digital signal processing devices (Digital Signal Processing Device, referred to as DSPD), programmable logic device (Programmable Logic Device, referred to as PLD), field programmable gate array (Field Programmable Gate Array, referred to as FPGA), controller, microcontroller, microprocessor or other electronic components to achieve , which is used to implement the above-mentioned time determination method.

In an embodiment of the present disclosure, there is also provided a non-transitory computer-readable storage medium including program instructions. When the program instructions are executed by a processor, the steps of the above-mentioned method for determining time are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned method for determining time.

In an embodiment of the present disclosure, a computer program product is also provided, the computer program product includes a computer program executable by a programmable device, and the computer program has a function for performing the above-mentioned The code section of the time determination method.

The embodiment of the present disclosure also provides a computer program, the computer program includes computer program code, when the computer program code is run on the computer, so that the computer executes the time determination method described in any one of the embodiments of the present disclosure .

The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure. These simple modifications all belong to the protection scope of the present disclosure.

In addition, it should be noted that the various specific technical features described in the above specific implementation manners may be combined in any suitable manner if there is no contradiction. In order to avoid unnecessary repetition, various possible combinations are not further described in this disclosure.

In addition, various implementations of the present disclosure can also be combined in any way, as long as they do not violate the idea of the present disclosure, they should also be regarded as the content disclosed in the present disclosure.

All the embodiments of the present disclosure can be implemented independently or in combination with other embodiments, which are all regarded as the scope of protection required by the present disclosure.

Claims

A method for determining time, characterized in that the method comprises:

Receive second pulse PPS signal;

Receive the time signal sent by the satellite;

Analyzing the time signal to obtain satellite time;

According to the timing between receiving the PPS signal and receiving the time signal, the satellite time is adjusted to obtain the final determined time.
The method according to claim 1, wherein said adjusting the satellite time according to the timing between receiving the PPS signal and receiving the time signal to obtain the final determined time includes:

If the PPS signal is received, start counting until the time signal is received;

The satellite time is added to the timing result to obtain the final determined time.
The method according to claim 2, wherein, if the PPS signal is received, then start counting until the time signal is received, comprising:

If the rising edge of the PPS signal is detected, timing is started until the time signal is received.
The method according to any one of claims 1 to 3, wherein the method further comprises:

Denoising is performed on the PPS signal.
The method according to claim 4, wherein said denoising the PPS signal comprises:

If the number of times the PPS signal is detected in the sliding window is greater than or equal to two times, the last PPS signal detected in the sliding window is regarded as a valid PPS signal.
The method according to any one of claims 1 to 5, characterized in that, after receiving the time signal sent by the satellite, the method further comprises: determining the state of the satellite system according to the state bit of the time signal;

The analyzing the time signal to obtain the satellite time includes: if the state of the satellite system is locked, then analyzing the time signal to obtain the satellite time.
The method according to claim 6, further comprising:

If the state of the satellite system is out of lock, the local time is used as the final determined time.
The method according to any one of claims 1 to 7, wherein said receiving the time signal sent by the satellite comprises:

UART is used to receive the time signal sent by the satellite.
A time determination device, characterized in that the device comprises:

The first receiving module is used to receive the second pulse PPS signal;

The second receiving module is used to receive the time signal sent by the satellite;

An analysis module, configured to analyze the time signal to obtain satellite time;

An adjustment module, configured to adjust the satellite time according to the timing between receiving the PPS signal and receiving the time signal, to obtain a final determined time.
The device according to claim 9, wherein the regulating module comprises:

A timing submodule, configured to start timing until the time signal is received if the PPS signal is received;

The calculation sub-module is used to add the satellite time to the timing result to obtain the final determined time.
The device according to claim 10, wherein the timing submodule is used for:

If the rising edge of the PPS signal is detected, timing is started until the time signal is received.
The device according to any one of claims 9 to 11, wherein the device further comprises:

A denoising module, configured to denoise the PPS signal.
The device according to claim 12, wherein the denoising module is used for:

If the number of times the PPS signal is detected in the sliding window is greater than or equal to two times, the last PPS signal detected in the sliding window is regarded as a valid PPS signal.
A non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that, when the program is executed by a processor, the steps of the method in any one of claims 1-8 are implemented.
An electronic device, characterized in that it comprises:

a memory on which a computer program is stored;

A processor, configured to execute the computer program in the memory, so as to implement the steps of the method according to any one of claims 1-8.
A computer program product, characterized in that the computer program product includes computer program code, and when the computer program code is run on a computer, the method according to any one of claims 1 to 8 is executed.
A computer program, characterized in that the computer program includes computer program code, and when the computer program code is run on a computer, the computer executes the method according to any one of claims 1 to 8.