Automobile sensor time synchronization method based on PTP protocol as well as system

A technology of time synchronization system and PTP protocol, which is applied in the direction of time division multiplexing system, electrical components, multiplexing communication, etc., can solve the problems of time loss at the millisecond level and cannot meet the needs of unmanned driving, and achieve The effect of meeting the time synchronization, improving the timing synchronization index, and meeting the requirements of clock synchronization

Inactive Publication Date: 2019-03-12
武汉环宇智行科技有限公司
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Problems solved by technology

For high-speed vehicles, the loss of time at the millisecond level will have disa

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  • Automobile sensor time synchronization method based on PTP protocol as well as system
  • Automobile sensor time synchronization method based on PTP protocol as well as system

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Embodiment Construction

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0030] Such as figure 1 Shown, a kind of automobile sensor time synchronization method based on PTP agreement of the present invention, it comprises the steps:

[0031] S1. Connect multiple CPU computing units on the vehicle to form a local area network through a switch supporting the PTP protocol, set one CPU as the master clock, and other CPUs as slave clocks;

[0032] S2. Through the exchange of time messages between the master clock and the sl...

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Abstract

The invention provides an automobile sensor time synchronization method based on a PTP protocol as well as a system. Multiple CPU computing units are mutually connected by virtue of a switch, a localarea network is formed, a master clock and multiple slave clocks are defined, the master clock is utilized for periodically sending a message, so as to determine precise message transceiving times ofthe slave clocks and the master clock, thus clock skew and network delay are obtained through calculation, and a local clock of each CPU computing unit is corrected by virtue of the clock skew and thenetwork delay. By combining hardware and software, synchronization of an internal clock of network equipment with a master clock of a main control computer is realized, an application with synchronization build time of 10 microseconds is provided, compared with Ethernet delay time executing an NTP protocol, a timing synchronization index of the whole network is obviously improved, and requirementof automatic driving on clock synchronization can be met.

Description

technical field [0001] The invention relates to the field of unmanned driving technology, in particular to a method and system for time synchronization of automobile sensors based on the PTP protocol. Background technique [0002] In the field of unmanned driving technology, automatic driving requires many sensors. If the time of multiple sensors is independent of each other, when the data needs to be fused, the system will be confused. [0003] The traditional time synchronization method between multiple CPUs is generally based on the NTP protocol. In the NTP protocol, as long as a UDP-based ntp request is sent to an NTP server on the public network, the remote NTP server can return a time-containing reply, this time is corrected by the client's evaluation of the network time delay, and a corrected time is obtained, which is the required time. The above method is suitable for users who are not so sensitive to time precision. For high-speed vehicles, the loss of time at th...

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Application Information

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IPC IPC(8): H04J3/06
CPCH04J3/0667
Inventor 干志斌
Owner 武汉环宇智行科技有限公司
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