Device and method for synchronizing clocks of multiple domain controllers

Abstract

The present disclosure relates to a device and method for synchronizing the clocks of multiple domain controllers. The device comprises: a positioning module, which is used to receive a PPS signal and GPS time; a synchronization module, which is connected to the positioning module and is used to correct and enhance the PPS signal in the current cycle according to a feedback signal corresponding to the PPS signal in the current cycle, wherein the feedback signal is a signal output after the PPS signal is processed by the synchronization module; a module to be synchronized, which comprises a sensor unit, at least two cascaded domain controllers and a communication unit, which are respectively connected to the synchronization module and are used to receive the processed PPS signal and GPS time, so as to achieve clock synchronization among the sensor unit, at least two cascaded domain controllers and the communication unit, and can improve the driving capability of the PPS signal through signal enhancement under the premise of ensuring the consistency of the edge triggering before and after the signal enhancement processing, thereby solving the problem of cascaded time synchronization of multiple controllers.

Description

Technical Field

[0001] The present disclosure relates to the technical field of clock synchronization, and in particular to a device and method for synchronizing clocks of multi-domain controllers. Background Art

[0002] Existing unmanned driving domain controllers generally use the 1PPS (pulse per second) of the GNSS (Global Navigation Satellite System) module as the clock synchronization source of the domain controller, and the GNSS outputs the UTC (Universal Time) time for data application processing.

[0003] When the computing power of a single autonomous driving domain controller is limited and cannot meet the needs of high-computing sensor-mounted applications, a multi-level domain controller cascade is used to improve the overall computing power. At this time, the multi-level domain controllers face clock synchronization problems, and the use of network time PTP (Precision Time Protocol) synchronization will increase the delay.

[0004] When multiple domain controllers work in cascade and share a RTK (Real Time Kinematic, carrier phase differential technology) or GNSS module, the PPS signal driving capability is limited and cannot provide timing for all domain controllers.

[0005] Therefore, how to ensure time synchronization by relying on the cascading of multiple domain controllers to increase the computing power of autonomous driving without the technical support of higher computing power is an urgent problem to be solved. Summary of the invention

[0006] In order to solve the above technical problem or at least partially solve the above technical problem, an embodiment of the present disclosure provides a device and method for synchronizing clocks of multiple domain controllers.

[0007] In a first aspect, an embodiment of the present disclosure provides a device for synchronizing clocks of multiple domain controllers, the device comprising:

[0008] A positioning module, which is used to receive PPS signals and GPS time and send them to the synchronization module;

[0009] A synchronization module, which is connected to the positioning module, and is used to correct and enhance the PPS signal in the current cycle according to the feedback signal corresponding to the PPS signal in the current cycle, and send the processed PPS signal and GPS time to the module to be synchronized, wherein the feedback signal is a signal output after the PPS signal is processed by the synchronization module;

[0010] The module to be synchronized includes a sensor unit, at least two cascaded domain controllers and a communication unit. Each of the sensor unit, at least two cascaded domain controllers and the communication unit is respectively connected to the synchronization module and is respectively used to receive the processed PPS signal and GPS time, so as to realize clock synchronization among the sensor unit, at least two cascaded domain controllers and the communication unit.

[0011] In a possible implementation, the synchronization module includes:

[0012] A phase-locked loop module, which is connected to the positioning module, is used to receive the PPS signal, correct the PPS signal in the current cycle according to a feedback signal corresponding to the PPS signal in the current cycle, and send the corrected PPS signal to the operational amplifier;

[0013] A plurality of operational amplifiers, each of which is disposed between a signal output terminal of the phase-locked loop module and an input terminal of a corresponding sensor unit, at least two cascaded domain controllers, and one of the communication units, and each of which is used to perform signal enhancement processing on the corrected PPS signal and send it to the corresponding sensor unit, at least two cascaded domain controllers, and one of the communication units; and

[0014] The feedback circuit has an input end connected to the output end of the operational amplifier and an output end connected to the phase-locked loop module. The feedback circuit is used to send the feedback signal obtained after the PPS signal in the current cycle is input into the operational amplifier for processing to the phase-locked loop module.

[0015] In a possible implementation, the positioning module is a GNSS module or an RTK module; the synchronization module sends the GPS time to the sensor unit, at least two cascaded domain controllers and one of the communication units respectively by wire, and the synchronization module sends the processed PPS signal to the corresponding sensor unit, at least two cascaded domain controllers and one of the communication units respectively by wire.

[0016] In a second aspect, an embodiment of the present disclosure provides a method for synchronizing clocks of multiple domain controllers, the method comprising:

[0017] Receive PPS signal and GPS time sent by GNSS module;

[0018] Correcting and enhancing the PPS signal in the current cycle according to a feedback signal corresponding to the PPS signal in the current cycle, wherein the feedback signal is a signal output after the PPS signal is processed;

[0019] The processed PPS signal and GPS time are respectively sent to each of the sensor unit, at least two cascaded domain controllers and the communication unit to synchronize the clocks of the sensor unit, at least two cascaded domain controllers and the communication unit according to the processed PPS signal and GPS time.

[0020] In a possible implementation manner, the correcting and signal enhancement processing of the PPS signal in the current cycle according to the feedback signal corresponding to the PPS signal in the current cycle includes:

[0021] A PPS signal is received by a phase-locked loop module, the PPS signal in the current cycle is corrected according to a feedback signal corresponding to the PPS signal in the current cycle, and the corrected PPS signal is sent to an operational amplifier, wherein the feedback signal is a signal output after the PPS signal is processed by the phase-locked loop module and the operational amplifier;

[0022] The corrected PPS signal is enhanced by using each of the plurality of operational amplifiers.

[0023] In a possible implementation manner, the correcting the PPS signal in the current period according to the feedback signal corresponding to the PPS signal in the current period includes:

[0024] Determine whether the PPS signal in the current cycle has a corresponding feedback signal:

[0025] When there is a feedback signal corresponding to the PPS signal in the current cycle, the PPS signal in the current cycle is corrected according to the feedback signal;

[0026] When there is no corresponding feedback signal for the PPS signal in the current cycle, the PPS signal in the current cycle is directly input into the operational amplifier for signal enhancement processing, and the processed PPS signal is used as the feedback signal to perform the step of correcting the PPS signal in the current cycle.

[0027] In a possible implementation manner, determining whether a PPS signal in a current cycle has a corresponding feedback signal includes:

[0028] After a portion of the PPS signal of the current cycle is input to the operational amplifier for processing, it is monitored in real time whether the PPS signal processed by the operational amplifier is output:

[0029] When the PPS signal processed by the output operational amplifier is monitored, it is determined that the PPS signal in the current cycle has a corresponding feedback signal;

[0030] When the PPS signal processed by the output operational amplifier is not monitored, it is determined that the PPS signal in the current cycle does not have a corresponding feedback signal.

[0031] In a possible implementation manner, the correcting the PPS signal in the current cycle according to the feedback signal includes:

[0032] Compare the feedback signal with the time point defined by the clock edge of the PPS signal in the current cycle;

[0033] The time point defined by the clock edge of the PPS signal in the current cycle is corrected according to the time point defined by the clock edge of the feedback signal, so that the PPS signal processed by the operational amplifier is consistent with the time point defined by the clock edge of the PPS signal in the current cycle.

[0034] In a possible implementation manner, the correcting the PPS signal in the current cycle according to the feedback signal includes:

[0035] Receiving multiple feedback signals at intervals of a preset time period in the current cycle;

[0036] According to the receiving timing of the feedback signal, the time point defined by the clock edge of the PPS signal in the current cycle is corrected multiple times according to the time point defined by the clock edge of each feedback signal, so that the PPS signal processed by the operational amplifier is consistent with the time point defined by the clock edge of the PPS signal in the current cycle, wherein the relationship between two adjacent feedback signals is: the latter feedback signal is obtained by correcting the original PPS signal using the previous feedback signal and then inputting it into the operational amplifier for processing.

[0037] In a possible implementation, the method further includes:

[0038] When the PPS signal in the current cycle has a corresponding feedback signal, compare the current strength of the feedback signal with the current strength of the PPS signal in the current cycle;

[0039] The amplification factor of the operational amplifier for the current intensity of the PPS signal in the current cycle is determined according to the proportional relationship between the feedback signal and the current intensity of the PPS signal in the current cycle.

[0040] The above technical solution provided by the embodiment of the present disclosure has at least some or all of the following advantages compared with the prior art:

[0041] The device for synchronizing the clocks of multiple domain controllers described in the embodiment of the present disclosure includes: a positioning module, which is used to receive a PPS signal and a GPS time, and send them to a synchronization module; a synchronization module, which is connected to the positioning module, and is used to correct and enhance the PPS signal in the current period according to a feedback signal corresponding to the PPS signal in the current period, and send the processed PPS signal and the GPS time to a module to be synchronized, wherein the feedback signal is a signal output after the PPS signal is processed by the synchronization module; the module to be synchronized includes a sensor unit, at least two cascaded domain controllers and a communication unit, each of the sensor unit, the at least two cascaded domain controllers and the communication unit is respectively connected to the synchronization module, and is respectively used to receive the processed PPS signal and the GPS time, so as to realize the clock synchronization between the sensor unit, the at least two cascaded domain controllers and the communication unit, and can improve the driving ability of the PPS signal through signal enhancement on the premise of ensuring the consistency of the edge triggering before and after the signal enhancement processing, so as to solve the problem of cascaded time synchronization of multiple controllers. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 The structure block diagram of the device for synchronizing the clocks of multiple domain controllers according to an embodiment of the present disclosure is schematically shown;

[0045] Figure 2 A structural block diagram of a driver in a device for synchronizing clocks of multiple domain controllers according to an embodiment of the present disclosure is schematically shown;

[0046] Figure 3 A schematic diagram of signal interaction between a driver and a multi-domain controller in a device for synchronizing a multi-domain controller clock according to an embodiment of the present disclosure is schematically shown;

[0047] Figure 4 A schematic flowchart of a method for synchronizing clocks of multiple domain controllers according to an embodiment of the present disclosure is schematically shown;

[0048] Figure 5 A detailed flow chart of step S42 of the method for synchronizing the clocks of multiple domain controllers according to an embodiment of the present disclosure is schematically shown;

[0049] Figure 6 A detailed flow chart of step S51 of the method for synchronizing the clocks of multiple domain controllers according to an embodiment of the present disclosure is schematically shown;

[0050] Figure 7 A detailed flow chart of step S61 of the method for synchronizing the clocks of multiple domain controllers according to an embodiment of the present disclosure is schematically shown;

[0051] Figure 8 A detailed flow chart schematically shows step S62 of the method for synchronizing the clocks of multiple domain controllers according to an embodiment of the present disclosure; and

[0052] Fig. 9 The detailed flowchart of step S62 of the method for synchronizing the clocks of multiple domain controllers according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0054] See also Figure 1 , an embodiment of the present disclosure provides a device for synchronizing clocks of multiple domain controllers, including:

[0055] A positioning module, which is used to receive PPS signals and GPS time and send them to the synchronization module;

[0056] A synchronization module, which is connected to the positioning module, and is used to correct and enhance the PPS signal in the current cycle according to the feedback signal corresponding to the PPS signal in the current cycle, and send the processed PPS signal and GPS time to the module to be synchronized, wherein the feedback signal is a signal output after the PPS signal is processed by the synchronization module;

[0057] The module to be synchronized includes a sensor unit, at least two cascaded domain controllers and a communication unit. Each of the sensor unit, at least two cascaded domain controllers and the communication unit is respectively connected to the synchronization module and is respectively used to receive the processed PPS signal and GPS time, so as to realize clock synchronization among the sensor unit, at least two cascaded domain controllers and the communication unit.

[0058] In this embodiment, the synchronization module may be a driver. The positioning module is a GNSS module or an RTK (Real-time kinematic) module; the synchronization module sends the GPS time to the sensor unit, at least two cascaded domain controllers and one of the communication units respectively by wired means, and the synchronization module sends the processed PPS signal to the corresponding sensor unit, at least two cascaded domain controllers and one of the communication units respectively by wired means, wherein the sensor unit may be a radar (LADAR) and the like, and the communication unit may be an OBU (Onboard Unit) and the like.

[0059] The GPS time may be the UTC (Universal Time) time in the GPRMC signal (a type of GPS signal).

[0060] The embodiments of the present disclosure simultaneously transmit a 1PPS signal and a GPRMC signal including UTC time to a sensor unit, at least two cascaded domain controllers and a communication unit, and send a clock signal to the sensor unit, at least two cascaded domain controllers and a communication unit through a synchronization module, so as to achieve time synchronization of the sensor unit, at least two cascaded domain controllers and the communication unit and normal operation of the autonomous driving.

[0061] In the embodiment of the present disclosure, the 1PPS and GPRMC signals of RTK are divided into three domain controllers, three radars and one OBU device through a driver, and the clocks synchronously output UTC time and 1PPS signal, so as to ensure that the domain controller and other devices can normally obtain the 1PPS signal and UTC time, so that communication is normal and the purpose of normal operation of sensors on the autonomous driving vehicle is achieved.

[0062] See also Figure 2 , the synchronization module provided by the embodiment of the present disclosure includes:

[0063] A phase-locked loop module, which is connected to the positioning module, is used to receive the PPS signal, correct the PPS signal in the current cycle according to a feedback signal corresponding to the PPS signal in the current cycle, and send the corrected PPS signal to the operational amplifier;

[0064] A plurality of operational amplifiers, each of which is disposed between a signal output terminal of the phase-locked loop module and an input terminal of a corresponding sensor unit, at least two cascaded domain controllers, and one of the communication units, and each of which is used to perform signal enhancement processing on the corrected PPS signal and send it to the corresponding sensor unit, at least two cascaded domain controllers, and one of the communication units; and

[0065] The feedback circuit has an input end connected to the output end of the operational amplifier and an output end connected to the phase-locked loop module. The feedback circuit is used to send the feedback signal obtained after the PPS signal in the current cycle is input into the operational amplifier for processing to the phase-locked loop module.

[0066] In order to prevent the 1PPS and GPRMC signals from being directly input into the domain controller and radar and other loads, which may cause signal distortion and delay due to the different impedance and capacitance of different loads, affecting the stability of GPS timing and the accuracy of time synchronization, the driver of this embodiment adopts external power supply, divides the input 1PPS and GPRMC into branches, and outputs feedback in one channel to ensure that each output signal is independent of each other, is not interfered with by each other, and has no attenuation, thereby ensuring the stability of timing and the accuracy of synchronization.

[0067] In this embodiment, PPS_IN in the GPS signal is output to multiple operational amplifiers after being timed by a phase-locked loop (PLL). The multiple operational amplifiers process the clock signal respectively to ensure phase consistency, ensure the driving ability of the clock signal and the independence of each signal, but delay is inevitable. Therefore, the 1PPS_OUT output signal is fed back (FBIN) to the input end of the PLL. The feedback signal is processed by the phase-locked loop to ensure that the clock edge of the clock signal before and after the phase-locked loop and the operational amplifier are aligned. Multiple operational amplifiers follow the signal output by the phase-locked loop to ensure signal stability and driving ability.

[0068] See also Figure 3 The signal interaction process between the driver and the multi-domain controller provided by the embodiment of the present disclosure includes: the driver sends the GPS time to each domain controller in the multi-domain controller by wired means, and the driver sends the processed PPS signal to each domain controller (BOX1, BOX2, BOX3) in the multi-domain controller by wired means, wherein the driver can send the GPS time to each domain controller in the multi-domain controller by a serial interface, and the driver can send the processed PPS signal to each domain controller in the multi-domain controller by a physical connection device such as a LAN (Local Area Network) line. Figure 3The PPS signal and GPRMC signal are divided into 1 and 7, and sent to the domain controller and radar (LADAR) and other devices respectively. Each domain controller reasonably allocates computing power according to the computing power requirements of different sensors, and designs and plans the algorithm structured data flow of different sensors to meet the data transmission bandwidth requirements between the domain controller CPUs. The driver can send the GPS time and other information contained in the GPRMC signal to each domain controller in the multi-domain controller through wired methods such as common ports com0 and com1. For the same domain controller, the communication channels for receiving GPS time and processed PPS signals are different.

[0069] In this embodiment, when the computing power of a single domain controller is insufficient and multiple domain controllers are cascaded, a 1PPS GPRMC signal is output to the clock demand device in a 1-to-many manner, and a signal driver and a phase-locked loop are used in the middle to ensure the driving capability of 1PPS and GPRMC while also ensuring the time synchronization accuracy.

[0070] The embodiments of the present disclosure have low cost and short development cycle. All time points are derived from one clock source and are driven by a driver, which ensures low latency while achieving higher synchronization consistency and accuracy. When the computing power of a single-domain controller is insufficient, a multi-domain controller cascade solution can be adopted, using a 1PPS GPRMC signal 1-to-many method. The driver ensures the stable driving capability of the clock signal, ensures the time synchronization of each module, and realizes rapid hardware deployment and algorithm transplantation.

[0071] See also Figure 4 , an embodiment of the present disclosure provides a method for synchronizing clocks of multiple domain controllers, the method comprising:

[0072] S41, receiving PPS signal and GPS time;

[0073] S42, performing correction and signal enhancement processing on the PPS signal in the current cycle according to a feedback signal corresponding to the PPS signal in the current cycle, wherein the feedback signal is a signal output after the PPS signal is processed;

[0074] S43, sending the processed PPS signal and GPS time to each of the sensor unit, at least two cascaded domain controllers and the communication unit respectively, so as to synchronize the clocks of the sensor unit, at least two cascaded domain controllers and the communication unit according to the processed PPS signal and GPS time.

[0075] In this embodiment, the clock synchronization of the sensor unit, at least two cascaded domain controllers and the communication unit according to the processed PPS signal and GPS time includes:

[0076] According to the voltage requirements of the sensor unit, each domain controller and the communication unit in the multi-domain controller, the voltage of the processed PPS signal is adjusted, and the GPS time and the PPS signal that meets the voltage requirements of the sensor unit, each domain controller and the communication unit are sent to the sensor unit, each domain controller and the communication unit respectively, and the clock of the sensor unit, at least two domain controllers and the communication unit are synchronized.

[0077] See also Figure 5 In this embodiment, step S42, the correction and signal enhancement processing of the PPS signal in the current cycle according to the feedback signal corresponding to the PPS signal in the current cycle includes:

[0078] S51, using a phase-locked loop module to receive a PPS signal, correcting the PPS signal in the current cycle according to a feedback signal corresponding to the PPS signal in the current cycle, and sending the corrected PPS signal to an operational amplifier, wherein the feedback signal is a signal output after the PPS signal is processed by the phase-locked loop module and the operational amplifier;

[0079] S52, using each of the plurality of operational amplifiers to perform signal enhancement processing on the corrected PPS signal.

[0080] See also Figure 6 In this embodiment, step S51, correcting the PPS signal in the current cycle according to the feedback signal corresponding to the PPS signal in the current cycle, includes:

[0081] S61, determining whether there is a corresponding feedback signal for the PPS signal in the current cycle:

[0082] If yes, execute step S62;

[0083] If not, execute step S63;

[0084] S62, correcting the PPS signal in the current cycle according to the feedback signal, and determining the amplification factor of the operational amplifier for the current intensity of the PPS signal in the current cycle according to the proportional relationship between the feedback signal and the current intensity of the PPS signal in the current cycle;

[0085] S63, directly inputting the PPS signal in the current cycle into the operational amplifier for signal enhancement processing, and using the processed PPS signal as a feedback signal to perform a step of correcting the PPS signal in the current cycle.

[0086] See also Figure 7 In this embodiment, step S61, determining whether there is a corresponding feedback signal for the PPS signal in the current cycle includes:

[0087] S71, after a part of the PPS signal of the current cycle is input to the operational amplifier for processing, real-time monitoring is performed to determine whether the PPS signal processed by the operational amplifier is output:

[0088] If yes, execute step S72;

[0089] If not, execute step S73;

[0090] S72, determining whether there is a corresponding feedback signal for the PPS signal in the current cycle;

[0091] S73, determining that there is no corresponding feedback signal for the PPS signal in the current cycle.

[0092] See also Figure 8 In this embodiment, step S62, correcting the PPS signal in the current cycle according to the feedback signal, includes:

[0093] S81, comparing the feedback signal with the time point defined by the clock edge of the PPS signal in the current cycle;

[0094] S82, correct the time point defined by the clock edge of the PPS signal in the current cycle according to the time point defined by the clock edge of the feedback signal, so that the PPS signal processed by the operational amplifier is consistent with the time point defined by the clock edge of the PPS signal in the current cycle.

[0095] See also Fig. 9 In this embodiment, step S62, correcting the PPS signal in the current cycle according to the feedback signal, includes:

[0096] S91, receiving multiple feedback signals at intervals of a preset time period in the current cycle;

[0097] S92, according to the receiving timing of the feedback signal, multiple corrections are made to the time point defined by the clock edge of the PPS signal in the current cycle according to the time point defined by the clock edge of each feedback signal, so that the PPS signal processed by the operational amplifier is consistent with the time point defined by the clock edge of the PPS signal in the current cycle, wherein the relationship between two adjacent feedback signals is: the latter feedback signal is obtained by correcting the original PPS signal using the former feedback signal and then inputting it into the operational amplifier for processing.

[0098] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0099] The foregoing is merely a specific embodiment of the present disclosure, which enables those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A device for synchronizing clocks of multiple domain controllers, characterized in that: The device comprises: A positioning module, which is used to receive PPS signals and GPS time and send them to the synchronization module; A synchronization module, which is connected to the positioning module, and is used to correct and enhance the PPS signal in the current cycle according to the feedback signal corresponding to the PPS signal in the current cycle, and send the processed PPS signal and GPS time to the module to be synchronized, wherein the feedback signal is a signal output after the PPS signal is processed by the synchronization module; The module to be synchronized includes a sensor unit, at least two cascaded domain controllers and a communication unit, each of which is connected to the synchronization module and is used to receive the processed PPS signal and GPS time, respectively, to achieve clock synchronization between the sensor unit, at least two cascaded domain controllers and the communication unit. Wherein, the synchronization module includes: A phase-locked loop module, which is connected to the positioning module, is used to receive the PPS signal, correct the PPS signal in the current cycle according to a feedback signal corresponding to the PPS signal in the current cycle, and send the corrected PPS signal to the operational amplifier; A plurality of operational amplifiers, each of which is disposed between a signal output terminal of the phase-locked loop module and an input terminal of a corresponding sensor unit, at least two cascaded domain controllers, and one of the communication units, and each of which is used to perform signal enhancement processing on the corrected PPS signal and send it to the corresponding sensor unit, at least two cascaded domain controllers, and one of the communication units; and The feedback circuit has an input end connected to the output end of the operational amplifier, and an output end connected to the phase-locked loop module. The feedback circuit is used to input the PPS signal of the current cycle into the operational amplifier and then process the obtained feedback signal and send it to the phase-locked loop module. When the PPS signal in the current cycle has a corresponding feedback signal, compare the current strength of the feedback signal with the current strength of the PPS signal in the current cycle; The amplification factor of the operational amplifier for the current intensity of the PPS signal in the current cycle is determined according to the proportional relationship between the feedback signal and the current intensity of the PPS signal in the current cycle.

2. The device according to claim 1, characterized in that The positioning module is a GNSS module or an RTK module; the synchronization module sends the GPS time to the sensor unit, at least two cascaded domain controllers and one of the communication units respectively in a wired manner, and the synchronization module sends the processed PPS signal to the corresponding sensor unit, at least two cascaded domain controllers and one of the communication units respectively in a wired manner.

3. A method for synchronizing clocks of multiple domain controllers, characterized in that: The method comprises: Receive PPS signal and GPS time sent by GNSS module; Correcting and enhancing the PPS signal in the current cycle according to a feedback signal corresponding to the PPS signal in the current cycle, wherein the feedback signal is a signal output after the PPS signal is processed; sending the processed PPS signal and GPS time to each of the sensor unit, at least two cascaded domain controllers, and the communication unit, respectively, so as to synchronize the clocks of the sensor unit, at least two cascaded domain controllers, and the communication unit according to the processed PPS signal and GPS time, The correcting and signal enhancement processing of the PPS signal in the current cycle according to the feedback signal corresponding to the PPS signal in the current cycle includes: A PPS signal is received by a phase-locked loop module, the PPS signal in the current cycle is corrected according to a feedback signal corresponding to the PPS signal in the current cycle, and the corrected PPS signal is sent to an operational amplifier, wherein the feedback signal is a signal output after the PPS signal is processed by the phase-locked loop module and the operational amplifier; The corrected PPS signal is enhanced by using each of the plurality of operational amplifiers. The method further comprises: When the PPS signal in the current cycle has a corresponding feedback signal, compare the current strength of the feedback signal with the current strength of the PPS signal in the current cycle; The amplification factor of the operational amplifier for the current intensity of the PPS signal in the current cycle is determined according to the proportional relationship between the feedback signal and the current intensity of the PPS signal in the current cycle.

4. The method according to claim 3, characterized in that The correcting the PPS signal in the current cycle according to the feedback signal corresponding to the PPS signal in the current cycle includes: Determine whether the PPS signal in the current cycle has a corresponding feedback signal: When there is a feedback signal corresponding to the PPS signal in the current cycle, the PPS signal in the current cycle is corrected according to the feedback signal; When there is no corresponding feedback signal for the PPS signal in the current cycle, the PPS signal in the current cycle is directly input into the operational amplifier for signal enhancement processing, and the processed PPS signal is used as the feedback signal to perform the step of correcting the PPS signal in the current cycle.

5. The method according to claim 4, characterized in that The determining whether there is a corresponding feedback signal for the PPS signal in the current cycle includes: After a portion of the PPS signal of the current cycle is input to the operational amplifier for processing, it is monitored in real time whether the PPS signal processed by the operational amplifier is output: When the PPS signal processed by the output operational amplifier is monitored, it is determined that the PPS signal in the current cycle has a corresponding feedback signal; When the PPS signal processed by the output operational amplifier is not monitored, it is determined that the PPS signal in the current cycle does not have a corresponding feedback signal.

6. The method according to claim 4, characterized in that The correcting the PPS signal in the current cycle according to the feedback signal includes: Compare the feedback signal with the time point defined by the clock edge of the PPS signal in the current cycle; The time point defined by the clock edge of the PPS signal in the current cycle is corrected according to the time point defined by the clock edge of the feedback signal, so that the PPS signal processed by the operational amplifier is consistent with the time point defined by the clock edge of the PPS signal in the current cycle.

7. The method according to claim 4, characterized in that The correcting the PPS signal in the current cycle according to the feedback signal includes: Receiving multiple feedback signals at intervals of a preset time period in the current cycle; According to the receiving timing of the feedback signal, the time point defined by the clock edge of the PPS signal in the current cycle is corrected multiple times according to the time point defined by the clock edge of each feedback signal, so that the PPS signal processed by the operational amplifier is consistent with the time point defined by the clock edge of the PPS signal in the current cycle, wherein the relationship between two adjacent feedback signals is: the latter feedback signal is obtained by correcting the original PPS signal using the previous feedback signal and then inputting it into the operational amplifier for processing.

Images