The present disclosure relates to a
time synchronization method, device, equipment, storage medium and vehicle. The method is applied to a controller of a
time synchronization device, the
time synchronization device further comprising a first
crystal oscillator and a second
crystal oscillator, and the method comprises: receiving a message transceiving time and a local time collected by the first
crystal oscillator; calculating a
delay time between the time synchronization device and a
master clock device according to the message transceiving time; calculating a
master clock time of the
master clock device based on the
delay time and the message transceiving time; and sending the master
clock time and the local time to the second
crystal oscillator, the second
crystal oscillator being configured to synchronize the local time with the master
clock time. The time collected by the first
crystal oscillator is accurate time, and thus the master
clock time obtained is of high accuracy. Therefore, the above-mentioned time synchronization method applies
double crystal oscillators, improves the accuracy of the calculation of the master
clock time, further improves the time synchronization accuracy, and meets the demand for precise control of the vehicle.