Clock synchronization method of control system and control system

Abstract

This application provides a clock synchronization method and a control system for a control system. The control system includes a first controller and a second controller. The first controller includes a first clock unit and a second clock unit, and the second controller includes a third clock unit. The clock of the first clock unit is different from the clock of the third clock unit, and the clock of the second clock unit is the same as the clock of the third clock unit. The method includes: the first controller and the second controller adding a timestamp to sensor data using a first clock, wherein the first clock is either the clock of the first clock unit or the clock of the third clock unit, ensuring clock consistency of the sensor data, thereby improving the accuracy of subsequent business processing.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a clocking method for a control system and a control system. Background Technology

[0002] In the field of autonomous driving, the control system of intelligent vehicles often deploys multiple clock units to provide clocks for the data collected by various sensors, such as UTC clocks and crystal oscillator clocks. The timestamps of the data collected by each sensor may correspond to the clocks of different clock units. Discrepancies in the times indicated by different clock units can lead to misalignment of the time based on the sensor data, causing malfunctions in autonomous driving and other functions of the intelligent vehicle. Therefore, ensuring clock consistency for the data collected by various sensors to avoid abnormal results in autonomous driving and other business processing of intelligent vehicles is a pressing problem that needs to be solved. Summary of the Invention

[0003] This application provides a clock synchronization method and control system for a control system, which can ensure that the clock of the data collected by each sensor is consistent, thereby avoiding abnormal business processing results.

[0004] In a first aspect, embodiments of this application provide a clock synchronization method for a control system. The control system includes a first controller and a second controller. The first controller includes a first clock unit and a second clock unit, and the second controller includes a third clock unit. The clock of the first clock unit is different from the clock of the third clock unit, and the clock of the second clock unit is the same as the clock of the third clock unit. The method includes: the first controller and the second controller adding a timestamp to sensor data through a first clock; wherein the first clock is either the clock of the first clock unit or the clock of the third clock unit.

[0005] Using the method provided in the first aspect, in this embodiment of the application, the first controller and the second controller add timestamps to the sensor data using the first clock, so that the timestamps of each sensor data are all based on the first clock, ensuring the clock consistency of the sensor data, thereby improving the accuracy of subsequent business processing.

[0006] In one possible implementation, the first clock is the clock of the first clock unit, and the first controller and the second controller add timestamps to the sensor data through the first clock, including: the second controller synchronizing the clock of the third clock unit to the clock of the first clock unit; and both the first controller and the second controller adding timestamps to the sensor data through the first clock.

[0007] The method provided by this embodiment can synchronize the clock of the third clock unit of the second controller with the clock of the first clock unit. Thus, both the first controller and the second controller can add timestamps to their respective sensor data through the first clock, thereby achieving clock consistency of sensor data collected by different sensors.

[0008] In one possible implementation, the second controller synchronizes the clock of the third clock unit to the clock of the first clock unit, including: in response to a trigger signal of a periodic pulse in each cycle, the first controller sends a first time T1 to the second controller, the first time T1 being the time indicated by the clock of the first clock unit at the trigger moment of the trigger signal; the second controller converts the time indicated by the clock of the third clock unit into a second time T2 in that cycle, the second time T2 being the time indicated by the clock of the first clock unit when the second controller receives the first time T1.

[0009] The method provided by this embodiment allows the first controller and the second controller to synchronize the clock of the third clock unit in the second controller with the clock of the first clock unit in the first controller based on periodic pulses, thereby ensuring that the sensor data collected by the sensor connected to the first controller is consistent with the clock of the sensor data collected by the sensor connected to the second controller.

[0010] In one possible implementation, the method further includes: the second controller converts the first time T1, the third time T3 and the fourth time T4 to obtain the second time T2, the third time T3 being the time indicated by the clock of the third clock unit at the trigger time, and the fourth time T4 being the time indicated by the clock of the third clock unit when the second controller receives the first time T1.

[0011] Optionally, the second time T2 satisfies the following formula 1, T2=T4-T3+T1(1).

[0012] Optionally, the periodic pulse is a second pulse.

[0013] In one possible implementation, the control system further includes an inertial navigation system (INS) connected to the first controller and the second controller, respectively, and the method further includes: the first controller and / or the second controller receiving second pulses sent by the INS.

[0014] The method provided by this embodiment can ensure that the second pulses received by the first controller and the second controller are consistent, and make the clock of the synchronized third clock unit more consistent with the clock of the first clock unit.

[0015] In one possible implementation, the second controller synchronizes the clock of the third clock unit to the clock of the first clock unit, comprising: the first controller sending a time synchronization message to the second controller according to a preset synchronization period, the time synchronization message carrying a first time T1, the first time T1 being the time indicated by the clock of the first clock unit at the time of sending the time synchronization message; the second controller determining a second time T2 based on the first time T1 and the transmission duration of the time synchronization message; and the second controller determining the time indicated by the clock of the third clock unit as the second time T2 during the synchronization period.

[0016] The method provided by this implementation allows the second controller to synchronize the clock of its third clock unit with the clock of the first clock unit based on the time synchronization message sent by the first controller, thereby ensuring that the sensor data collected by the sensor connected to the first controller is consistent with the clock of the sensor data collected by the sensor connected to the second controller.

[0017] Optionally, the synchronization period is 1 second.

[0018] In one possible implementation, the first clock is the clock of the first clock unit. The first controller and the second controller add timestamps to the sensor data through the first clock, including: the second controller sending second sensor data to the first controller, the second sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the third clock unit at the acquisition time of the second sensor data; the first controller converting the first time T1 carried by the second sensor data into a second time T2, the second time T2 being the time indicated by the clock of the first clock unit at the acquisition time of the second sensor data.

[0019] The method provided by this embodiment enables clock consistency of sensor data of sensors connected to each controller without clock synchronization of the third clock unit of the second controller.

[0020] In one possible implementation, the first controller converts the first time T1 carried by the second sensor data into a second time T2, including: the first controller converts the first time T1, the third time T3, and the fourth time T4 to obtain the second time T2, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the second sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the sensor data.

[0021] The method provided by this embodiment can accurately convert the timestamp of the second sensor data from the time indicated by the clock of the third clock unit to the time indicated by the clock of the first clock unit.

[0022] In one possible implementation, the second time T2 satisfies the following formula 2, T2 = T3 - (T4 - T1) (2).

[0023] In one possible implementation, the first clock is the clock of the third clock unit. The first controller and the second controller add timestamps to the sensor data through the first clock, including: the first controller receiving first sensor data, the first sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the first clock unit at the time of acquisition of the first sensor data; the first controller converting the first time T1 carried by the first sensor data into a second time T2, the second time T2 being the time indicated by the clock of the third clock unit at the time of acquisition of the first sensor data.

[0024] The method provided by this embodiment enables clock consistency of sensor data of sensors connected to each controller without clock synchronization of the first clock unit of the first controller.

[0025] In one possible implementation, the first controller converts the first time T1 carried by the first sensor data into a second time T2, including: the first controller determines the second time T2 based on the first time T1, the third time T3, and the fourth time T4, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the first sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0026] The method provided by this embodiment can accurately convert the timestamp of the first sensor data from the time indicated by the clock of the first clock unit to the time indicated by the clock of the third clock unit.

[0027] In one possible implementation, the second time T2 satisfies the following formula 3, T2 = T4 - (T3 - T1) (3).

[0028] In one possible implementation, the first clock is the clock of the third clock unit, and the first controller and the second controller add timestamps to the sensor data through the first clock, including: the first controller receiving the first sensor data; the first controller adding timestamps to the first sensor data according to a first time, wherein the first time is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0029] The method provided in this embodiment can be applied to different scenarios than the previous embodiment, and is more suitable for the timestamp of the first sensor data being the moment when the first controller receives the first sensor data.

[0030] In one possible implementation, the first clock is the clock of the third clock unit, and the first controller and the second controller add timestamps to the sensor data through the first clock, including: the first controller synchronizing the clock of the first clock unit to the clock of the second clock unit according to a preset synchronization period; and both the first controller and the second controller adding timestamps to the sensor data through the first clock.

[0031] The method provided by this embodiment achieves higher efficiency in synchronizing the clock of the first clock unit with the clock of the third clock unit.

[0032] Secondly, embodiments of this application provide a clock synchronization method for a control system. The control system includes a first controller and a second controller. The first controller includes a first clock unit and a second clock unit, and the second controller includes a third clock unit. The clock of the first clock unit is different from the clock of the third clock unit, and the clock of the second clock unit is the same as the clock of the third clock unit. The method includes:

[0033] The first controller adds timestamps to the sensor data using a first clock.

[0034] Wherein, the first clock is either the clock of the first clock unit or the clock of the third clock unit.

[0035] In one possible implementation, in response to a trigger signal of a periodic pulse in each cycle, the first controller sends a first time T1 to the second controller, the first time T1 being the time indicated by the clock of the first clock unit at the trigger moment of the trigger signal.

[0036] In one possible implementation, the periodic pulse is a second pulse.

[0037] In one possible implementation, the control system further includes an inertial navigation system (INS) connected to the first controller, and the method further includes the first controller receiving a second pulse sent by the INS.

[0038] In one possible implementation, the first clock is the clock of the first clock unit, and the first controller adds a timestamp to the sensor data using the first clock, including: the first controller receiving second sensor data sent by the second controller, the second sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the third clock unit at the acquisition time of the second sensor data; the first controller converting the first time T1 carried by the second sensor data into a second time T2, the second time T2 being the time indicated by the clock of the first clock unit at the acquisition time of the second sensor data.

[0039] In one possible implementation, the first controller converts the first time T1 carried by the second sensor data into a second time T2, including: the first controller converts the first time T1, the third time T3, and the fourth time T4 to obtain the second time T2, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the second sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the sensor data.

[0040] In one possible implementation, the second time T2 satisfies the following formula 2.

[0041] T2 = T3 - (T4 - T1) (2).

[0042] In one possible implementation, the first clock is the clock of the third clock unit, and the first controller adds a timestamp to the sensor data using the first clock, including: the first controller receiving first sensor data, the first sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the first clock unit at the time of acquisition of the first sensor data; the first controller converting the first time T1 carried by the first sensor data into a second time T2, the second time T2 being the time indicated by the clock of the third clock unit at the time of acquisition of the first sensor data.

[0043] In one possible implementation, the first controller converts the first time T1 carried by the first sensor data into a second time T2, including: the first controller determines the second time T2 based on the first time T1, the third time T3, and the fourth time T4, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the first sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0044] In one possible implementation, the second time T2 satisfies the following formula 3.

[0045] T2 = T4 - (T3 - T1)(3).

[0046] In one possible implementation, the first clock is the clock of the third clock unit, and the first controller adds a timestamp to the sensor data through the first clock, including: the first controller receiving the first sensor data; the first controller adding a timestamp to the first sensor data according to a first time, wherein the first time is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0047] In one possible implementation, the first clock is the clock of the third clock unit, and the first controller adds a timestamp to the sensor data using the first clock, including: the first controller synchronizing the clock of the first clock unit to the clock of the second clock unit according to a preset synchronization period; and the first controller adding a timestamp to the sensor data using the first clock.

[0048] Thirdly, embodiments of this application provide a clock synchronization method for a control system. The control system includes a first controller and a second controller. The first controller includes a first clock unit and a second clock unit, and the second controller includes a third clock unit. The clock of the first clock unit is different from the clock of the third clock unit, and the clock of the second clock unit is the same as the clock of the third clock unit. The method includes: the second controller adding a timestamp to sensor data using a first clock; wherein the first clock is either the clock of the first clock unit or the clock of the third clock unit.

[0049] In one possible implementation, the first clock is the clock of the first clock unit, and the second controller adds a timestamp to the sensor data using the first clock, including: the second controller synchronizing the clock of the third clock unit to the clock of the first clock unit; and the second controller adding a timestamp to the sensor data using the first clock.

[0050] In one possible implementation, the second controller synchronizes the clock of the third clock unit to the clock of the first clock unit, comprising: the second controller receiving a first time sent by the first controller, the first time being the time indicated by the clock of the first clock unit at the triggering moment of a trigger signal, the trigger signal being a signal for each cycle of a periodic pulse, the first controller including the first clock unit; the second controller converting the time indicated by the clock of the third clock unit into a second time during that cycle, the second time being the time indicated by the clock of the first clock unit when the second controller receives the first time, the second controller including the third clock unit.

[0051] In one possible implementation, the method further includes: the second controller converts the first time T1, the third time T3 and the fourth time T4 to obtain the second time T2, the third time T3 being the time indicated by the clock of the third clock unit at the trigger time, and the fourth time T4 being the time indicated by the clock of the third clock unit when the second controller receives the first time T1.

[0052] In one possible implementation, the second time T2 satisfies the following formula 1.

[0053] T2 = T4 - T3 + T1 (1).

[0054] In one possible implementation, the periodic pulse is a second pulse.

[0055] In one possible implementation, the control system further includes an inertial navigation system (INS) connected to the second controller, and the method further includes the second controller receiving second pulses transmitted by the INS.

[0056] In one possible implementation, the first clock is the clock of the first clock unit, and the second controller adds a timestamp to the sensor data through the first clock, including: the second controller sending second sensor data to the first controller, the second sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the third clock unit at the acquisition time of the second sensor data.

[0057] Fourthly, embodiments of this application provide a control system, including: a first controller and a second controller; the first controller includes a first clock unit and a second clock unit, and the second controller includes a third clock unit; the clock of the first clock unit is different from the clock of the third clock unit, and the clock of the second clock unit is the same as the clock of the third clock unit; the first controller is used to add timestamps to sensor data using the first clock; the second controller adds timestamps to sensor data using the first clock; wherein, the first clock is either the clock of the first clock unit or the clock of the third clock unit.

[0058] In one possible implementation, the first controller is specifically configured to: synchronize the clock of the third clock unit to the clock of the first clock unit; and add a timestamp to the sensor data using the first clock; the second controller is specifically configured to: add a timestamp to the sensor data using the first clock; wherein the first clock is the clock of the first clock unit.

[0059] In one possible implementation, the first controller is specifically configured to: in response to a trigger signal of a periodic pulse in each cycle, send a first time T1 to the second controller, the first time T1 being the time indicated by the clock of the first clock unit at the trigger moment of the trigger signal; the second controller is specifically configured to: in the cycle, convert the time indicated by the clock of the third clock unit into a second time T2, the second time T2 being the time indicated by the clock of the first clock unit when the second controller receives the first time T1.

[0060] In one possible implementation, the second controller is specifically used to: convert the first time T1, the third time T3 and the fourth time T4 to obtain the second time T2, the third time T3 being the time indicated by the clock of the third clock unit at the trigger time, and the fourth time T4 being the time indicated by the clock of the third clock unit when the second controller receives the first time T1.

[0061] In one possible implementation, the second time T2 satisfies the following formula 1, T2 = T4 - T3 + T1 (1).

[0062] In one possible implementation, the periodic pulse is a second pulse.

[0063] In one possible implementation, the control system further includes an inertial navigation system (INS) connected to the first controller and the second controller, respectively; the first controller is also configured to receive second pulses transmitted by the INS; and / or, the second controller is also configured to receive second pulses transmitted by the INS.

[0064] In one possible implementation, the second controller is specifically configured to: send second sensor data to the first controller, the second sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the third clock unit at the time of acquisition of the second sensor data; the first controller is specifically configured to: convert the first time T1 carried by the second sensor data into a second time T2, the second time T2 being the time indicated by the clock of the first clock unit at the time of acquisition of the second sensor data; wherein, the first clock is the clock of the first clock unit.

[0065] In one possible implementation, the first controller is specifically used to: convert the first time T1, the third time T3 and the fourth time T4 to obtain the second time T2, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the second sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the sensor data.

[0066] In one possible implementation, the second time T2 satisfies the following formula 2, T2 = T3 - (T4 - T1) (2).

[0067] In one possible implementation, the first controller is specifically configured to: receive first sensor data, the first sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the first clock unit at the time of acquisition of the first sensor data; convert the first time T1 carried by the first sensor data into a second time T2, the second time T2 being the time indicated by the clock of the third clock unit at the time of acquisition of the first sensor data; wherein, the first clock is the clock of the third clock unit.

[0068] In one possible implementation, the first controller is specifically configured to: determine the second time T2 based on the first time T1, the third time T3, and the fourth time T4, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the first sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0069] In one possible implementation, the second time T2 satisfies the following formula 3, T2 = T4 - (T3 - T1) (3).

[0070] In one possible implementation, the first controller is specifically configured to: receive first sensor data; add a timestamp to the first sensor data according to a first time, wherein the first time is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data; wherein the first clock is the clock of the third clock unit.

[0071] In one possible implementation, the first controller is specifically used to: synchronize the clock of the first clock unit to the clock of the second clock unit according to a preset synchronization period; and add a timestamp to the sensor data using the first clock; the second controller is specifically used to: add a timestamp to the sensor data using the first clock; wherein the first clock is the clock of the third clock unit.

[0072] Fifthly, embodiments of this application provide a control device applied to a control system, the control system including a first controller and a second controller, the first controller including a first clock unit and a second clock unit, the second controller including a third clock unit, the clock of the first clock unit being different from the clock of the third clock unit, the clock of the second clock unit being the same as the clock of the third clock unit, the control device being applied to the first controller, the control device including: a processing unit, used to add a timestamp to sensor data using a first clock; wherein, the first clock is either the clock of the first clock unit or the clock of the third clock unit.

[0073] In one possible implementation, the control device further includes: a transceiver unit, configured to send a first time T1 to the second controller in response to a trigger signal of a periodic pulse in each cycle, the first time T1 being the time indicated by the clock of the first clock unit at the trigger moment of the trigger signal, the first clock being the clock of the first clock unit.

[0074] In one possible implementation, the periodic pulse is a second pulse.

[0075] In one possible implementation, the control system further includes an inertial navigation system (INS) connected to the first controller, and the transceiver unit is also used to receive second pulses transmitted by the INS.

[0076] In one possible implementation, the control device further includes: a transceiver unit for receiving second sensor data sent by the second controller, the second sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the third clock unit at the time of acquisition of the second sensor data; the processing unit is specifically used to convert the first time T1 carried by the second sensor data into a second time T2, the second time T2 being the time indicated by the clock of the first clock unit at the time of acquisition of the second sensor data, the first clock being the clock of the first clock unit.

[0077] In one possible implementation, the processing unit is specifically used to: convert the first time T1, the third time T3 and the fourth time T4 to obtain the second time T2, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the second sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the sensor data.

[0078] In one possible implementation, the second time T2 satisfies the following formula 2, T2 = T3 - (T4 - T1) (2).

[0079] In one possible implementation, the control device further includes: a transceiver unit for receiving first sensor data, the first sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the first clock unit at the time of acquisition of the first sensor data; the processing unit is specifically configured to convert the first time T1 carried by the first sensor data into a second time T2, the second time T2 being the time indicated by the clock of the third clock unit at the time of acquisition of the first sensor data, the first clock being the clock of the third clock unit.

[0080] In one possible implementation, the processing unit is specifically configured to: determine the second time T2 based on the first time T1, the third time T3, and the fourth time T4, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the first sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0081] In one possible implementation, the second time T2 satisfies the following formula 3, T2 = T4 - (T3 - T1) (3).

[0082] In one possible implementation, the control device further includes: a transceiver unit for receiving first sensor data; and a processing unit for adding a timestamp to the first sensor data according to a first time, wherein the first time is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data, and the first clock is the clock of the third clock unit.

[0083] In one possible implementation, the processing unit is specifically used to: synchronize the clock of the first clock unit to the clock of the second clock unit according to a preset synchronization period, wherein the first clock is the clock of the third clock unit; and both the first controller and the second controller add a timestamp to the sensor data through the first clock.

[0084] In a sixth aspect, embodiments of this application provide a control device applied to a control system, the control system including a first controller and a second controller, the first controller including a first clock unit and a second clock unit, the second controller including a third clock unit, the clock of the first clock unit being different from the clock of the third clock unit, the clock of the second clock unit being the same as the clock of the third clock unit, the control device being applied to the second controller, the control device including: a processing unit, used to add a timestamp to sensor data using a first clock; wherein, the first clock is either the clock of the first clock unit or the clock of the third clock unit.

[0085] In one possible implementation, the processing unit is specifically configured to: synchronize the clock of the third clock unit to the clock of the first clock unit, wherein the first clock is the clock of the first clock unit; and add a timestamp to the sensor data using the first clock.

[0086] In one possible implementation, the control device further includes: a transceiver unit, configured to receive a first time sent by a first controller, the first time being the time indicated by the clock of a first clock unit at the triggering moment of a trigger signal, the trigger signal being a signal for each cycle of a periodic pulse, the first controller including the first clock unit; the processing unit is specifically configured to convert the time indicated by the clock of a third clock unit into a second time in that cycle, the second time being the time indicated by the clock of the first clock unit when the second controller receives the first time, the second controller including the third clock unit.

[0087] In one possible implementation, the processing unit is specifically used to convert the first time T1, the third time T3, and the fourth time T4 to obtain the second time T2, where the third time T3 is the time indicated by the clock of the third clock unit at the trigger moment, and the fourth time T4 is the time indicated by the clock of the third clock unit when the second controller receives the first time T1.

[0088] In one possible implementation, the second time T2 satisfies the following formula 1, T2 = T4 - T3 + T1 (1).

[0089] In one possible implementation, the periodic pulse is a second pulse.

[0090] In one possible implementation, the control system further includes an inertial navigation system (INS) connected to the second controller, and the transceiver unit is also used to receive second pulses transmitted by the INS.

[0091] In one possible implementation, the control device further includes a transceiver unit for sending second sensor data to the first controller. The second sensor data carries a first time T1, which is the time indicated by the clock of the third clock unit at the acquisition time of the second sensor data. The first clock is the clock of the first clock unit.

[0092] The clock synchronization method for the control system provided by the second to sixth aspects and various possible embodiments described above has the same beneficial effects as the first aspect and various possible embodiments described above, and will not be repeated here.

[0093] In a seventh aspect, embodiments of this application provide an electronic device, including: a processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to perform the methods as described in the second aspect or various possible implementations of the second aspect.

[0094] Eighthly, embodiments of this application provide an electronic device, including: a processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to perform the methods as described in the third aspect or various possible implementations of the third aspect.

[0095] Ninthly, embodiments of this application provide a chip, including: a processor, configured to retrieve and execute computer instructions from memory, causing a device on which the chip is mounted to perform the methods as described in the second aspect or various possible implementations of the second aspect.

[0096] In a tenth aspect, embodiments of this application provide a chip, including: a processor for retrieving and executing computer instructions from a memory, causing a device on which the chip is mounted to perform a method as described in the third aspect or various possible implementations of the third aspect.

[0097] Eleventhly, embodiments of this application provide a computer-readable storage medium for storing computer program instructions that cause a computer to perform methods as described in the second aspect or various possible implementations of the second aspect.

[0098] In a twelfth aspect, embodiments of this application provide a computer-readable storage medium for storing computer program instructions that cause a computer to perform methods as described in the third aspect or various possible implementations of the third aspect.

[0099] In a thirteenth aspect, embodiments of this application provide a computer program product including computer program instructions that cause a computer to perform the methods as described in the second aspect or various possible implementations of the second aspect.

[0100] In a fourteenth aspect, embodiments of this application provide a computer program product including computer program instructions that cause a computer to perform the methods as described in the third aspect or various possible implementations of the third aspect.

[0101] In a fifteenth aspect, embodiments of this application provide a mobile terminal comprising: two controllers and at least one sensor respectively connected to the two controllers. Attached Figure Description

[0102] Figure 1 This application provides a schematic diagram of the structure of a control system 100 according to an embodiment;

[0103] Figure 2 This application provides a schematic diagram of another control system structure.

[0104] Figure 3 This application provides a schematic diagram of another control system structure.

[0105] Figure 4 This application provides a schematic diagram of another control system structure.

[0106] Figure 5 This application provides a schematic diagram of another control system structure.

[0107] Figure 6 This application provides a schematic diagram of another control system structure.

[0108] Figure 7 This is a schematic diagram of the structure of a control device 200 provided in an embodiment of this application;

[0109] Figure 8 This is another schematic block diagram of the control device 300 provided in the embodiments of this application. Detailed Implementation

[0110] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0111] Figure 1 This application provides a schematic diagram of the structure of a control system 100. This control system can be deployed in any electronic device. The electronic device can be a terminal device, such as a smart vehicle, smart robot, smartphone, tablet computer, laptop computer, desktop computer, etc. Alternatively, the electronic device can be connected to any of the aforementioned terminal devices via wired or wireless means. In some embodiments, the electronic device can also be a server.

[0112] like Figure 1 As shown, the control system includes at least a first controller 110 and a second controller 120. Both the first controller 110 and the second controller 120 can be a chip, a chip system, or other functional module capable of calling and executing programs. For example, it can be a system on a chip (SOC).

[0113] The first controller 110 may be equipped with a dual-clock unit, and the second controller 120 may be equipped with a single-clock unit.

[0114] In some embodiments, the first controller 110 and the second controller 120 in the control system 100 can share the computing load; or they can be backup devices for each other. For example, the second controller 120 can be a backup device for the first controller 110, completing the computing load of the first controller 110 when the first controller 110 is disabled or malfunctions. As another example, the first controller 110 can be a backup device for the second controller 120, completing the computing load of the second controller 120 when the second controller 110 is disabled or malfunctions.

[0115] The first controller 110 may be equipped with dual clock units, such as a first clock unit 111 and a second clock unit 112. Generally, the two clock units use different clocks. For example, the clock of the first clock unit 111 may be a crystal oscillator clock, i.e., a clock that relies on a crystal oscillator to generate clock pulse signals; the clock of the second clock unit 112 may be a Coordinated Universal Time (UTC) clock. UTC is a time based on atomic seconds and can also be expressed as World Unified Time, Coordinated Universal Time, etc. Optionally, the clock of the first clock unit 111 can be used to record sensor data, and the clock of the second clock unit 112 can be used to record system logs.

[0116] The second controller 120 may be equipped with a single clock unit, such as a third clock unit 121. The clock of the third clock unit 121 is different from that of the first clock unit 111, but the same as that of the second clock unit 112. For example, the third clock unit may be a UTC clock. Optionally, the third clock unit 121 may be used to record the time of sensor data. It should be noted that the clock of the third clock unit 121 is the same as that of the second clock unit, that is, at the same time, the time indicated by the clock of the third clock unit is the same as the time indicated by the second clock unit.

[0117] The first controller 110 and the second controller 120 are typically connected to sensors 130, which include at least one of the following: image sensors, radar sensors (e.g., millimeter-wave radar, lidar, ultrasonic radar), and inertial measurement units (IMUs). The first controller 110 and the second controller 120 may each be connected to at least one sensor 130; this application does not limit the number of sensors 130.

[0118] For example, when the first controller 110 and the second controller 120 are used to share the computing load, the first clock unit 111 in the first controller 110 and the third clock unit 121 in the second controller 120 are each connected to different sensors, providing clocks for their respective connected sensors. When the first controller 110 and the second controller 120 are backup devices for each other, the sensors connected to the first clock unit 111 in the first controller 110 and the third clock unit 121 in the second controller 120 can be the same or different.

[0119] In some embodiments, the control system 100 further includes an inertial navigation system (INS) 140. Exemplarily, the INS may be connected to a second clock unit 112 in the first controller 110 and a third clock unit 121 in the second controller 120, respectively. It should be understood that the INS may also function as a sensor, connecting to the first clock unit 111 in the first controller 110 and / or the third clock unit 121 in the second controller 120, and recording sensor data using the clock provided by the connected clock unit.

[0120] Taking autonomous driving as an example, intelligent vehicles can execute relevant business programs based on sensor data, such as performing autonomous driving calculations. In the aforementioned control system, the first controller records the time when the connected sensors collect data using the clock of the first clock unit, and the second controller records the time when the connected sensors collect data using the clock of the third clock unit. If the clocks of the first and third clock units are inconsistent, the sensor data time cannot be aligned, which will lead to inaccurate calculation results in the business programs and affect the autonomous driving function. Therefore, ensuring the clock consistency of sensor data based on the above control system is an urgent problem to be solved.

[0121] To address the aforementioned issues, in this embodiment, both the first controller and the second controller use a first clock as a unified clock to add timestamps to the sensor data. This first clock can be either the clock of a first clock unit or the clock of a third clock unit. By recording the data collected by the sensors connected to each controller using the same clock, clock consistency of the sensor data is ensured.

[0122] It should be understood that the clock synchronization method for the control system provided in this application can be applied to the control system 100 described above. The technical solution of this application is described in detail below through specific embodiments.

[0123] The first controller adds a timestamp to the sensor data of its connected sensors using a first clock. For example, the first controller can add a timestamp to the sensor data at the moment of data acquisition using the first clock, or it can add a timestamp to the sensor data at the moment of data reception using the first clock. It should be noted that the moment of sensor data reception is the moment when the first controller receives the sensor data sent by the sensor.

[0124] For example, the control program of the first controller includes drivers for each sensor. When the sensor collects data, the first controller can use the driver corresponding to the sensor to record the time when the sensor collects data through a first clock, and use this time as the timestamp of the collected sensor data.

[0125] Similar to the first controller, the second controller adds timestamps to the sensor data of its connected sensors using a second clock. For example, the second controller can add timestamps to the sensor data at the moment of data acquisition using the first clock, or the second controller can add timestamps to the sensor data at the moment of data reception using the first clock.

[0126] For example, the control program of the second controller includes driver programs for each sensor. When the sensor collects data, the second controller can use the driver program of the sensor to record the time when the sensor collects data using a first clock, and use this time as the timestamp of the collected sensor data.

[0127] The first controller and the second controller add timestamps to the sensor data using a first clock, including two possible methods:

[0128] First, the first clock unit in the first controller and the third clock unit in the second controller synchronize their clocks to the first clock. For example, when the first clock is the clock of the first time unit, the third clock unit in the second controller synchronizes its clock to the clock of the first time unit; or when the first clock is the clock of the third clock unit, the first clock unit in the first controller synchronizes its clock to the clock of the third clock unit. Therefore, both the first and second controllers can add timestamps to the sensor data collected by their respective connected sensors according to the first clock.

[0129] Optionally, when the first clock unit and the third clock unit synchronize their clocks to the first clock, the first controller keeps the clock of the second clock unit unchanged. It should be noted that keeping the clock of the second clock unit unchanged means that the clock of the second clock unit is not synchronized with any other clock, but the clock of the second clock unit can still indicate the change of time. For example, the clock of the second clock unit is kept as a UTC clock and not synchronized with a crystal oscillator clock.

[0130] 2. The clocks of the first clock unit in the first controller and the third clock unit in the second controller both maintain their own clocks unchanged. For example, the first clock unit maintains a crystal oscillator clock, and the third clock unit maintains a UTC clock. In this case, the first controller or the second controller converts the timestamp of the sensor data into the timestamp of the first clock. For example, if the first clock is the clock of the first clock unit, the first controller converts the timestamp of the sensor data received by the second controller into the timestamp corresponding to the first clock according to the first clock. Or, if the first clock is the clock of the third clock unit, the second controller converts the timestamp of the sensor data received by the first controller into the timestamp corresponding to the first clock according to the first clock.

[0131] In this embodiment, the first controller and the second controller add timestamps to the sensor data using a first clock, so that the timestamps of all sensor data are based on the first clock, ensuring the clock consistency of the sensor data and thus improving the accuracy of subsequent business processing.

[0132] The following describes, through several specific implementation methods, how the first controller and the second controller in this application embodiment add timestamps to sensor data using a first clock.

[0133] Implementation Method 1:

[0134] See Figure 2 In this implementation, the clock of the third time unit in the second controller is synchronized with the clock of the first clock unit in the first controller based on the time synchronization message sent by the first controller. Specifically, this includes the following steps S11 to S13:

[0135] S11, the first controller sends a time synchronization message to the second controller according to a preset synchronization period. The time synchronization message carries a first time, which is the time indicated by the clock of the first clock unit at the time of sending the time synchronization message.

[0136] S12, the second controller determines the second time based on the transmission duration of the first time and the time synchronization message.

[0137] S13, during the synchronization cycle, the second controller determines the time indicated by the clock of the third clock unit as the second time.

[0138] Regarding S12, it should be noted that the first time carried in the time synchronization message sent by the first controller is the time indicated by the clock of the first clock unit at the time of sending the synchronization message. The time when the second controller receives the time synchronization message has a time difference from the first time. This time difference is the transmission duration of the time synchronization message. Therefore, the second controller can determine the time of the clock of the first clock unit at the time of receiving the time synchronization message, which is the second time, based on the first time and the transmission duration of the time synchronization message.

[0139] For example, the second time can be the sum of the transmission duration of the first time and the time synchronization message.

[0140] For example, the transmission duration of time synchronization messages can be measured by transmitting follow-up messages between the first controller and the second controller.

[0141] Optionally, the time synchronization message can be a Generalized Precision Time Protocol (gPTP) message.

[0142] For example, the preset synchronization period can be 1 second. That is, the first controller sends a time synchronization message to the second controller every second, and the second controller obtains a second time based on the first time in the time synchronization message every second, and uses the second time as the clock time of the third clock unit within that second. In this case, the second controller updates the second time of the third clock unit once every second to synchronize the clock of the third clock unit with the clock of the first clock unit.

[0143] In this first implementation, the second controller synchronizes the clock of its third clock unit with the clock of the first clock unit based on the time synchronization message sent by the first controller, thereby ensuring that the sensor data collected by the sensor connected to the first controller is consistent with the clock of the sensor data collected by the sensor connected to the second controller.

[0144] Implementation Method Two:

[0145] See Figure 3 In this implementation, the first controller and the second controller synchronize the clock of the third clock unit in the second controller with the clock of the first clock unit in the first controller based on periodic pulses. Specifically, this includes the following steps S21 to S22:

[0146] S21, in response to the trigger signal of the periodic pulse in each cycle, the first controller sends a first time T1 to the second controller, the first time T1 being the time indicated by the clock of the first clock unit at the trigger moment of the trigger signal;

[0147] S22, in this cycle, the second controller converts the clock indication time of the third clock unit into a second time T2, which is the clock indication time of the first clock unit when the second controller receives the first time T1.

[0148] In this implementation, the first controller sends a first time T1 to the second controller in each cycle of the periodic pulse. Correspondingly, the second controller receives the first time T1 sent by the first controller in each cycle of the periodic pulse. Furthermore, in each cycle of the periodic pulse, the second controller uses the time indicated by the clock of the first clock unit when the second controller receives the first time T1 as the time of the third clock unit in that cycle, thus synchronizing the clock of the third clock unit with the clock of the first clock unit.

[0149] For example, the second controller converts the first time T1 sent by the first controller into the second time T2, that is, the time indicated by the clock of the first clock unit at the trigger time of the trigger signal is converted into the time indicated by the clock of the first clock unit when the second controller receives the first time T1.

[0150] For example, the second controller can convert the first time T1 to the second time T2 using the following formula 1:

[0151] T2 = T4 - T3 + T1 (1);

[0152] Wherein, the third time T3 is the time indicated by the clock of the third clock unit at the trigger moment, and the fourth time T4 is the time when the second controller receives the clock indication of the third clock unit at the first time T1.

[0153] Optionally, the periodic pulse can be a pulse per second (PPS).

[0154] The PPS can be Figure 3 The INS sends PPS to the first controller and / or the second controller. For example, the INS is connected to the second clock unit in the first controller, and / or the INS is connected to the third clock unit in the second controller. This application embodiment uses the transmission of PPS by the INS as an example only and does not constitute any limitation on this application; the PPS can also be transmitted by any pulse generator.

[0155] For example, after the first controller and the second controller receive the trigger signal of PPS in one cycle, the first controller records the trigger time of the trigger signal through the clock of the first clock unit, i.e., the first time T1, and the second controller records the trigger time of the trigger signal through the clock of the third clock unit, i.e., the third time T3.

[0156] Optionally, the pulse signal of the periodic pulse can be a high-level signal or a low-level signal, and this application does not impose any restrictions on this.

[0157] In this second implementation, the first controller and the second controller synchronize the clock of the third clock unit in the second controller with the clock of the first clock unit in the first controller based on periodic pulses, thereby making the clock of the sensor data collected by the sensor connected to the first controller consistent with the clock of the sensor data collected by the sensor connected to the second controller.

[0158] Based on the above-described implementation methods two and three, the embodiments of this application can synchronize the clock of the third clock unit of the second controller with the clock of the first clock unit. Thus, both the first controller and the second controller can add timestamps to their respective sensor data through the first clock, thereby achieving clock consistency of sensor data collected by different sensors.

[0159] Implementation method three:

[0160] See Figure 4 In this implementation, the first controller synchronizes the clock of the first clock unit to the clock of the second clock unit according to a preset synchronization period. Then, both the first controller and the second controller add timestamps to the sensor data through the first clock.

[0161] In implementation method three, the first controller does not need to interact with the second controller to synchronize the clock of the first clock unit to the clock of the third clock unit.

[0162] For example, after entering the clock synchronization process, the first controller uses the time indicated by the clock of the second clock unit as the time of the first clock unit in each synchronization cycle. The clock of the second clock unit is the same as the clock of the third clock unit, meaning that the time indicated by the clock of the second clock unit is the same as the time indicated by the clock of the third clock unit at each moment. This achieves clock synchronization between the first clock unit and the third clock unit.

[0163] Optional, the synchronization period is 1 second.

[0164] In the above implementation methods one to three, the first clock unit in the first controller and the third clock unit in the second controller achieve clock synchronization. That is, the sensor data output by the first controller and the second controller both have timestamps under the same clock. Based on this, business programs (such as autonomous driving calculation modules) can be deployed in either controller.

[0165] In implementation methods four to six, the clocks of the first clock unit in the first controller and the third clock unit in the second controller both keep their own clocks unchanged. The first controller and the second controller achieve clock consistency of the sensor data by converting the timestamp of the sensor data.

[0166] Implementation Method 4:

[0167] See Figure 5 The first and second controllers use the clock of the first clock unit as a unified clock, and add timestamps to the sensor data without synchronizing with the third clock unit. Specifically, this includes S31 and S32:

[0168] S31, the second controller sends the second sensor data to the first controller. The second sensor data carries a first time T1, which is the time indicated by the clock of the third clock unit at the time of acquisition of the second sensor data.

[0169] S32, the first controller converts the first time T1 carried by the second sensor data into a second time T2, where the second time T2 is the time indicated by the clock of the first clock unit at the moment the second sensor data is acquired.

[0170] The second sensor data refers to the data collected by the sensor connected to the second controller.

[0171] It should be noted that the acquisition time of the second sensor data can be the time when the second sensor connected to the second controller acquires the second sensor data, or it can be the time when the second controller receives the second sensor data sent by the sensor.

[0172] In S32, the first controller converts the time indicated by the clock of the third clock unit carried by the second sensor data at the acquisition time into the time indicated by the clock of the first clock unit at the acquisition time, that is, adds a timestamp to the second sensor data by the clock of the first clock unit.

[0173] It should be understood that the first controller also timestamps the first sensor data using the clock of the first clock unit. The first sensor data refers to the data collected by the sensors connected to the first controller.

[0174] For example, the first controller can convert the first time T1 carried by the second sensor data into the second time T2 using the following formula 2:

[0175] T2 = T3 - (T4 - T1) (2);

[0176] Wherein, the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the second sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the sensor data.

[0177] For example, the moment when the first controller receives the data from the second sensor is the same as the moment when the clock indication of the first clock unit and the clock indication of the second clock unit are recorded.

[0178] This fourth implementation method achieves clock consistency for sensor data of sensors connected to each controller without synchronizing the clock of the third clock unit of the second controller.

[0179] Implementation Method 5:

[0180] See Figure 6 The first controller and the second controller use the clock of the third clock unit as the same clock, and add timestamps to the sensor data without synchronizing the clock of the first clock unit. Specifically, this includes S41 and S42:

[0181] S41, the first controller receives the first sensor data, which carries the first time T1. The first time T1 is the time indicated by the clock of the first clock unit at the time of acquisition of the first sensor data.

[0182] S42, the first controller converts the first time T1 carried by the first sensor data into a second time T2, which is the time indicated by the clock of the third clock unit at the time of acquisition of the first sensor data.

[0183] The first sensor data refers to the data collected by the sensor connected to the first controller.

[0184] In implementation method five, the acquisition time of the first sensor data is the time when the sensor connected to the first controller acquires the first sensor data.

[0185] In S42, the first controller converts the clock of the first clock unit carried by the first sensor data into the time indicated by the clock of the third clock unit at the time indicated by the clock of the first sensor data acquisition, that is, it adds a timestamp to the first sensor data by the clock of the third clock unit.

[0186] It should be understood that the second controller timestamps the second sensor data using the clock of the third clock unit. The second sensor data refers to the data collected by the sensors connected to the second controller.

[0187] For example, the first controller can convert the first time T1 carried by the first sensor data into a second time T2 using the following formula 3:

[0188] T2 = T4 - (T3 - T1) (3);

[0189] Wherein, the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the first sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0190] For example, when the first controller receives the first sensor data, it records the time indicated by the clock of the first clock unit, i.e., the third time T3, and the time indicated by the clock of the second clock unit, i.e., the fourth time T4.

[0191] This fifth implementation achieves clock consistency for sensor data of sensors connected to each controller without synchronizing the clock of the first clock unit of the first controller.

[0192] Implementation method six:

[0193] See also Figure 6 This implementation method six is ​​similar to the above implementation method five. The difference is that the first time T1 carried by the first sensor data is not the time of acquisition, but the time of reception of the first sensor data by the first controller.

[0194] S51, the first controller receives data from the first sensor;

[0195] S52, the first controller adds a timestamp to the first sensor data according to the first time, where the first time is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0196] The first sensor data refers to the data collected by the sensor connected to the first controller.

[0197] For example, when the first controller receives the data from the first sensor, it records the time indicated by the clock of the second clock unit. The clock of the second clock unit is the same as the clock of the third clock unit of the second controller, that is, at the same time, the time indicated by the clock of the second clock unit is the same as the time indicated by the third clock unit.

[0198] Furthermore, the first controller will add the data to the first sensor data as a timestamp.

[0199] It should be understood that the second controller timestamps the second sensor data using the clock of the third clock unit. The second sensor data refers to the data collected by the sensors connected to the second controller.

[0200] This implementation method six and the above implementation method five can be applied to different scenarios. Implementation method six is ​​more suitable for the timestamp of the first sensor data being the moment when the first controller receives the first sensor data.

[0201] Implementation method seven:

[0202] Unlike implementations one through six described above, implementation seven uses a time synchronization log to determine the timestamp of sensor data from different clocks in the first clock cycle. It should be noted that in implementation seven, the sensor data may be system log data.

[0203] For example, the first controller records the time of sensor data and the time of system log using clocks of different clock units. For instance, the first controller records the time of data acquisition by the connected sensor using the clock of the first clock unit (this time can be used as a timestamp of the sensor data), and the first controller records the time of system log using the clock of the second clock unit. If the clocks of the first clock unit and the second clock unit are inconsistent, the time of sensor data and the time of system log cannot be aligned, which will lead to inaccurate log problem analysis or even failure of log problem analysis.

[0204] To address the aforementioned issues, this implementation method seven introduces a time synchronization log, which converts the time of the sensor data recorded by the first clock unit (hereinafter referred to as the first time) into the time corresponding to the second clock unit (hereinafter referred to as the second time), so that the time of the sensor data and the system log time are the same time under the same clock.

[0205] For example, the first controller logs a time synchronization message at at least once in the following situations:

[0206] The time synchronization unit starts;

[0207] The clock transmission time jump of the second clock unit;

[0208] Each time period is recorded.

[0209] At at least one of the aforementioned times, the first controller records the time indicated by the clock of the first clock unit and the time indicated by the clock of the second clock unit to obtain a first correspondence. The first correspondence includes the time indicated by the clock of the first clock unit at multiple different times and the corresponding time recorded by the second clock unit.

[0210] The first controller can, based on a first correspondence, convert the time of the sensor data from a first time indicated by the clock of the first clock unit to a second time indicated by the clock of the second clock unit; or convert the system log time from a first time indicated by the clock of the second clock unit to a second time indicated by the clock of the first clock unit.

[0211] The time recording period can be any period. It should be understood that the shorter the period, the richer the correspondence recorded in the time synchronization log, and the more accurate the converted time, but the more storage space it occupies. As an example, the time recording period can be 10 minutes. Calculated based on a crystal oscillator error of 100ppm, the time deviation generated within 10 minutes is 60ms.

[0212] For example, the first controller converts the sensor data time from a first time to a second time by: the first controller determining a third time T3 based on the first time T1 in a first correspondence relationship, where the third time T3 is the time in the first correspondence relationship that is closest to and earlier than the first time T1; and the fourth time T4 is the time corresponding to the third time T3 in the first correspondence relationship. The second time T2 should satisfy formula 4:

[0213] T2 = T1 - T3 + T4 (4).

[0214] For example, as shown in Table 1 below, T1 is 1625946399.000000000s. In Table 1, T3, which is closest to and earlier than T1, is 1625946365.912041664s. The corresponding T4 is 1625946365.912030220s, which gives T2 as 1625946398.999988556s.

[0215] Table 1

[0216] Record 1625946275.906195164s 1625946275.906183720s Record 1625946365.912041664s 1625946365.912030220s Record 1625946455.917828083s 1625946455.917816639s

[0217] Optionally, time conversion of sensor data or system logs can be achieved using a time conversion tool, such as the method described above for converting the first time to the second time. This time conversion tool can be programmatically implemented.

[0218] For example, at least one time synchronization log can be obtained through a time conversion tool to obtain a first correspondence. Further, the first controller can input T1 into the time conversion tool and output T2.

[0219] For example, after the time conversion tool obtains the time synchronization log, it searches for keywords in the time synchronization log, such as "Record" in Table 1 above, and reads the time of the two clock records corresponding to the keyword to obtain the first correspondence.

[0220] In some embodiments, when the time conversion tool acquires multiple time synchronization logs, it can process the multiple time synchronization logs serially or in parallel to read the times recorded by the two clocks at each moment in each time synchronization log. Optionally, the time synchronization log can specifically be a log file, which can be generated by different software modules or by the same software module.

[0221] In some embodiments, if the first controller fails to find T4 using the time conversion tool, for example, if there is no clock indicating a time earlier than T1 in the first correspondence, the time conversion tool outputs T1. In some embodiments, the first controller can mark T1 with any error identifier, such as marking it in red, marking it with a strikethrough, etc.

[0222] In some embodiments, the first controller can convert the obtained T2 from seconds or nanoseconds into a date (e.g., year, month, day).

[0223] It should be noted that this implementation method seven only uses sensor data and system log data as an example for illustration, but it does not mean that it can only realize the time conversion of sensor data and log data. This embodiment only needs to obtain the first time to be converted, and can convert the first time indicated by the first clock unit into the second time indicated by the clock of the second clock unit.

[0224] It should be noted that in this implementation method seven, the time indicated by the clock of the second clock unit can also be converted into the time indicated by the clock of the first clock unit. The implementation method is similar to that of converting the time indicated by the clock of the first clock unit into the time indicated by the clock of the second clock unit, and will not be described in detail here.

[0225] The above, combined with Figures 2 to 6 The methods provided in the embodiments of this application are described in detail below. Figure 7 and Figure 8 The apparatus provided in the embodiments of this application will be described in detail.

[0226] Figure 7 This is a schematic diagram of the structure of a control device 200 provided in an embodiment of this application. Figure 7 As shown, the control device 200 may include a processing unit 210, and in some embodiments, it may also include a transceiver unit 220.

[0227] Optionally, the control device 200 can be applied to the first controller in the above method embodiments. The control device 200 may include a unit for executing the method executed by the first controller in any of the above method embodiments. Furthermore, each unit in the clock synchronization device 200 and the other operations and / or functions described above are respectively for implementing the corresponding processes of the methods in any of the above embodiments. For example, it may be a terminal device, or a component configured in the terminal device (e.g., a chip or chip system).

[0228] When the control device 200 is applied to the first controller, the processing unit 210 is used to add a timestamp to the sensor data using a first clock; wherein the first clock is the clock of the first clock unit or the clock of the third clock unit.

[0229] In some embodiments, the transceiver unit 220 is configured to: in response to a trigger signal of a periodic pulse in each cycle, the first controller sends a first time T1 to the second controller, the first time T1 being the time indicated by the clock of the first clock unit at the trigger moment of the trigger signal.

[0230] In some embodiments, the periodic pulse is a second pulse.

[0231] In some embodiments, the transceiver unit 220 is also used to receive second pulses sent by the INS, and the clock system also includes the INS, which is connected to the first controller.

[0232] In some embodiments, the transceiver unit 220 is further configured to receive second sensor data sent by the second controller, the second sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the third clock unit at the time of acquisition of the second sensor data; the processing unit 210 is specifically configured to: convert the first time T1 carried by the second sensor data into a second time T2, the second time T2 being the time indicated by the clock of the first clock unit at the time of acquisition of the second sensor data; wherein, the first clock is the clock of the first clock unit.

[0233] In some embodiments, the processing unit 210 is specifically configured to: convert the first time T1, the third time T3 and the fourth time T4 to obtain the second time T2, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the second sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the sensor data.

[0234] In some embodiments, the second time T2 satisfies the following formula 2.

[0235] T2 = T3 - (T4 - T1) (2).

[0236] In some embodiments, the transceiver unit 220 is further configured to: receive first sensor data, the first sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the first clock unit at the acquisition time of the first sensor data; the processing unit 210 is specifically configured to: convert the first time T1 carried by the first sensor data into a second time T2, the second time T2 being the time indicated by the clock of the third clock unit at the acquisition time of the first sensor data; wherein, the first clock is the clock of the third clock unit.

[0237] In some embodiments, the processing unit 220 is specifically configured to: the first controller determines the second time T2 based on the first time T1, the third time T3 and the fourth time T4, wherein the third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the first sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

[0238] In some embodiments, the second time T2 satisfies the following formula 3.

[0239] T2 = T4 - (T3 - T1) (3).

[0240] In some embodiments, the transceiver unit 220 is further configured to: receive first sensor data; the processing unit 210 is specifically configured to: add a timestamp to the first sensor data according to a first time, wherein the first time is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data; wherein the first clock is the clock of the third clock unit.

[0241] In some embodiments, the processing unit 210 is specifically configured to: synchronize the clock of the first clock unit to the clock of the second clock unit according to a preset synchronization period; and add a timestamp to the sensor data using the first clock; wherein the first clock is the clock of the third clock unit.

[0242] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0243] Optionally, the control device 200 can be applied to the second controller in the above method embodiments. The control device 200 may include a unit for executing the method performed by the second controller in any of the above method embodiments. Furthermore, each unit in the clock synchronization device 200 and the other operations and / or functions described above are respectively for implementing the corresponding processes of the methods in any of the above embodiments. For example, it may be a terminal device, or a component configured in the terminal device (e.g., a chip or chip system).

[0244] When the control device 200 is applied to the second controller, the processing unit 210 is used to add a timestamp to the sensor data using a first clock; wherein the first clock is the clock of the first clock unit or the clock of the third clock unit.

[0245] In one possible implementation, the processing unit 210 is specifically configured to: synchronize the clock of the third clock unit to the clock of the first clock unit; and add a timestamp to the sensor data using the first clock; wherein the first clock is the clock of the first clock unit.

[0246] In one possible implementation, the transceiver unit 220 is configured to: receive a first time sent by a first controller, the first time being the time indicated by the clock of a first clock unit at the triggering moment of a trigger signal, the trigger signal being a signal for each cycle of a periodic pulse, the first controller including the first clock unit; the processing unit 210 is further configured to: convert the time indicated by the clock of a third clock unit into a second time during that cycle, the second time being the time indicated by the clock of the first clock unit when the second controller receives the first time, the second controller including the third clock unit.

[0247] In one possible implementation, the processing unit 210 is specifically used to: convert the first time T1, the third time T3 and the fourth time T4 to obtain the second time T2, the third time T3 being the time indicated by the clock of the third clock unit at the trigger time, and the fourth time T4 being the time indicated by the clock of the third clock unit when the second controller receives the first time T1.

[0248] In one possible implementation, the second time T2 satisfies the following formula 1.

[0249] T2 = T4 - T3 + T1 (1).

[0250] In one possible implementation, the periodic pulse is a second pulse.

[0251] In one possible implementation, the transceiver unit 220 is also used to receive second pulses sent by the INS, the clock system including the INS, and the INS being connected to the second controller.

[0252] In one possible implementation, the transceiver unit 220 is further configured to send second sensor data to the first controller, the second sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the third clock unit at the time of acquisition of the second sensor data; wherein, the first clock is the clock of the first clock unit.

[0253] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0254] When the clock synchronization device 200 is a terminal device (such as a first controller and a second controller), the transceiver unit 220 in the control device 200 can be implemented by a transceiver, for example, it can correspond to... Figure 8 The transceiver 320 in the control device 300 shown, and the processing unit 210 in the control device 200, can be implemented by at least one processor, for example, corresponding to Figure 8 The processor 310 in the control device 300 shown in the figure.

[0255] When the clock synchronization device 200 is a chip or chip system configured in a terminal device (such as a first controller and a second controller), the transceiver unit 220 in the clock synchronization device 200 can be implemented through input / output interfaces, circuits, etc., and the processing unit 210 in the clock synchronization device 200 can be implemented through a processor, microprocessor, or integrated circuit integrated on the chip or chip system.

[0256] Figure 8 This is another schematic block diagram of the clock synchronization device 300 provided in the embodiments of this application. For example... Figure 8 As shown, the device 300 may include a processor 310, a transceiver 320, and a memory 330. The processor 310, transceiver 320, and memory 330 communicate with each other via an internal connection. The memory 330 stores instructions, and the processor 310 executes the instructions stored in the memory 330 to control the transceiver 320 to transmit and / or receive signals.

[0257] It should be understood that the controller 300 may correspond to the first controller or the second controller in the above method embodiments, and may be used to execute the various steps and / or processes executed by the first controller or the second controller in the above method embodiments. Optionally, the memory 330 may include read-only memory and random access memory, and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. The memory 330 may be a separate device or integrated into the processor 310. The processor 310 may be used to execute instructions stored in the memory 330, and when the processor 310 executes instructions stored in the memory, the processor 310 is used to execute the various steps and / or processes of the above method embodiments corresponding to the first controller or the second controller.

[0258] Optionally, the control device 300 is the first controller in the preceding embodiments.

[0259] Optionally, the control device 300 is the second controller in the preceding embodiment.

[0260] The transceiver 320 may include a transmitter and a receiver. The transceiver 320 may further include an antenna, and the number of antennas may be one or more. The processor 310 and memory 330 may be integrated with the transceiver 320 on different chips. For example, the processor 310 and memory 330 may be integrated in a baseband chip, and the transceiver 320 may be integrated in a radio frequency chip. Alternatively, the processor 310 and memory 330 may be integrated with the transceiver 320 on the same chip. This application does not limit this.

[0261] Optionally, the control device 300 is a component configured in the first controller, such as a chip, chip system, etc.

[0262] Optionally, the control device 300 is a component configured in the second controller, such as a chip, chip system, etc.

[0263] The transceiver 320 can also be a communication interface, such as an input / output interface or circuit. The transceiver 320, processor 310, and memory 320 can all be integrated into the same chip, such as within a baseband chip.

[0264] This application also provides a processing apparatus including at least one processor for executing a computer program stored in a memory, such that the processing apparatus performs the method executed by the first controller or the method executed by the second controller in the above method embodiments.

[0265] This application also provides a processing apparatus, including a processor and an input / output interface. The input / output interface is coupled to the processor. The input / output interface is used for inputting and / or outputting information. The information includes at least one of instructions and data. The processor is used to execute a computer program to cause the processing apparatus to perform the method executed by the first controller or the method executed by the second controller in the above method embodiments.

[0266] This application also provides a processing apparatus, including a processor and a memory. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the processing apparatus performs the method executed by the first controller or the method executed by the second controller in the above method embodiments.

[0267] It should be understood that the aforementioned processing device can be one or more chips. For example, the processing device can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0268] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The steps of the method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0269] It should be noted that the processor in the embodiments of this application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiments can be completed by the integrated logic circuitry in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above methods.

[0270] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0271] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute... Figure 2 , Figure 6 or Figure 7 The method executed by the first controller in the illustrated embodiment, or causing the computer to perform... Figure 2 or Figure 6 The method executed by the second controller in the illustrated embodiment.

[0272] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when executed on a computer, causes the computer to perform... Figure 2 , Figure 6 or Figure 7 The method executed by the first controller in the illustrated embodiment, or causing the computer to perform... Figure 2 or Figure 6 The method executed by the second controller in the illustrated embodiment.

[0273] According to the method provided in the embodiments of this application, this application also provides a mobile terminal, which may include two controllers, such as the aforementioned first controller and second controller, and the mobile terminal may also include sensors connected to the two controllers respectively. Optionally, the mobile terminal may be an intelligent vehicle, an intelligent robot, etc.

[0274] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A clock synchronization method for a control system, characterized in that, The control system includes a first controller and a second controller. The first controller includes a first clock unit and a second clock unit, and the second controller includes a third clock unit. The clock of the first clock unit is different from the clock of the third clock unit, and the clock of the second clock unit is the same as the clock of the third clock unit. The method includes: The first controller and the second controller add timestamps to the sensor data using a first clock. Wherein, the first clock is the clock of the first clock unit or the clock of the third clock unit.

2. The method according to claim 1, characterized in that, The first clock is the clock of the first clock unit. The first controller and the second controller add timestamps to the sensor data using the first clock, including: The second controller synchronizes the clock of the third clock unit with the clock of the first clock unit; Both the first controller and the second controller add timestamps to the sensor data using the first clock.

3. The method according to claim 2, characterized in that, The second controller synchronizes the clock of the third clock unit with the clock of the first clock unit, including: In response to the trigger signal of the periodic pulse in each cycle, the first controller sends a first time T1 to the second controller, the first time T1 being the time indicated by the clock of the first clock unit at the trigger moment of the trigger signal; During the cycle, the second controller converts the clock indication time of the third clock unit into a second time T2, where the second time T2 is the clock indication time of the first clock unit when the second controller receives the first time T1.

4. The method according to claim 3, characterized in that, The method further includes: The second controller converts the first time T1, the third time T3, and the fourth time T4 to obtain the second time T2. The third time T3 is the time indicated by the clock of the third clock unit at the trigger time, and the fourth time T4 is the time indicated by the clock of the third clock unit when the second controller receives the first time T1.

5. The method according to claim 4, characterized in that, The second time T2 satisfies the following formula 1, T2 = T4 - T3 + T1 (1).

6. The method according to any one of claims 3 to 5, characterized in that, The periodic pulse is a second pulse.

7. The method according to claim 6, characterized in that, The control system further includes an inertial navigation system (INS), which is connected to the first controller and the second controller respectively. The method further includes: The first controller and / or the second controller receive the second pulse sent by the INS.

8. The method according to claim 1, characterized in that, The first clock is the clock of the first clock unit. The first controller and the second controller add timestamps to the sensor data using the first clock, including: The second controller sends second sensor data to the first controller. The second sensor data carries a first time T1, which is the time indicated by the clock of the third clock unit at the time when the second sensor data is collected. The first controller converts the first time T1 carried by the second sensor data into a second time T2, where the second time T2 is the time indicated by the clock of the first clock unit at the time when the second sensor data is acquired.

9. The method according to claim 8, characterized in that, The first controller converts the first time T1 carried by the second sensor data into a second time T2, including: The first controller converts the first time T1, the third time T3, and the fourth time T4 to obtain the second time T2. The third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the second sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the sensor data.

10. The method according to claim 9, characterized in that, The second time T2 satisfies the following formula 2, T2 = T3 - (T4 - T1) (2).

11. The method according to claim 1, characterized in that, The first clock is the clock of the third clock unit. The first controller and the second controller add timestamps to the sensor data using the first clock, including: The first controller receives first sensor data, which carries a first time T1. The first time T1 is the time indicated by the clock of the first clock unit at the time when the first sensor data is collected. The first controller converts the first time T1 carried by the first sensor data into a second time T2, where the second time T2 is the time indicated by the clock of the third clock unit at the time of acquisition of the first sensor data.

12. The method according to claim 11, characterized in that, The first controller converts the first time T1 carried by the first sensor data into a second time T2, including: The first controller determines the second time T2 based on the first time T1, the third time T3, and the fourth time T4. The third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the first sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

13. The method according to claim 12, characterized in that, The second time T2 satisfies the following formula 3. T2 = T4 - (T3 - T1) (3).

14. The method according to claim 1, characterized in that, The first clock is the clock of the third clock unit. The first controller and the second controller add timestamps to the sensor data using the first clock, including: The first controller receives data from the first sensor; The first controller adds a timestamp to the first sensor data according to a first time, where the first time is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

15. The method according to claim 1, characterized in that, The first clock is the clock of the third clock unit. The first controller and the second controller add timestamps to the sensor data using the first clock, including: The first controller synchronizes the clock of the first clock unit to the clock of the second clock unit according to a preset synchronization period; Both the first controller and the second controller add timestamps to the sensor data using the first clock.

16. A clock synchronization method for a control system, characterized in that, The method includes: The second controller receives a first time sent by the first controller. The first time is the time indicated by the clock of the first clock unit at the triggering moment of the trigger signal. The trigger signal is the signal of each cycle of a periodic pulse. The first controller includes the first clock unit. During the cycle, the second controller converts the time indicated by the clock of the third clock unit into a second time, which is the time indicated by the clock of the first clock unit when the second controller receives the first time. The second controller includes the third clock unit, wherein the clock of the third clock unit is different from the clock of the first clock unit. The second controller adds timestamps to the sensor data using a first clock, wherein the first clock is the clock of the first clock unit, and the first clock is also used by the first controller to add timestamps to the sensor data.

17. A control system, characterized in that, include: First controller and second controller; The first controller includes a first clock unit and a second clock unit, and the second controller includes a third clock unit; The clock of the first clock unit is different from the clock of the third clock unit, and the clock of the second clock unit is the same as the clock of the third clock unit; The first controller is used to add a timestamp to the sensor data using the first clock; The second controller adds a timestamp to the sensor data using the first clock. Wherein, the first clock is the clock of the first clock unit or the clock of the third clock unit.

18. The system according to claim 17, characterized in that, The first controller is specifically used to: synchronize the clock of the third clock unit to the clock of the first clock unit; and add a timestamp to the sensor data using the first clock. The second controller is specifically used to: add a timestamp to the sensor data using the first clock; Wherein, the first clock is the clock of the first clock unit.

19. The system according to claim 18, characterized in that, The first controller is specifically configured to: in response to the trigger signal of the periodic pulse in each cycle, send a first time T1 to the second controller, wherein the first time T1 is the time indicated by the clock of the first clock unit at the trigger time of the trigger signal; The second controller is specifically configured to: convert the clock indication time of the third clock unit into a second time T2 during the period, wherein the second time T2 is the clock indication time of the first clock unit when the second controller receives the first time T1.

20. The system according to claim 19, characterized in that, The second controller is specifically used for: Based on the first time T1, the third time T3, and the fourth time T4, the second time T2 is obtained. The third time T3 is the time indicated by the clock of the third clock unit at the trigger time, and the fourth time T4 is the time when the second controller receives the clock indication of the third clock unit at the first time T1.

21. The system according to claim 20, characterized in that, The second time T2 satisfies the following formula 1, T2 = T4 - T3 + T1 (1).

22. The system according to any one of claims 19 to 21, characterized in that, The periodic pulse is a second pulse.

23. The system according to claim 22, characterized in that, The control system further includes an inertial navigation system (INS), which is connected to the first controller and the second controller respectively; The first controller is also configured to receive the second pulse sent by the INS; and / or, The second controller is also used to receive the second pulse sent by the INS.

24. The system according to claim 17, characterized in that, The second controller is specifically used to: send second sensor data to the first controller, the second sensor data carrying a first time T1, the first time T1 being the time indicated by the clock of the third clock unit at the time of acquisition of the second sensor data; The first controller is specifically used to: convert the first time T1 carried by the second sensor data into a second time T2, wherein the second time T2 is the time indicated by the clock of the first clock unit at the time of acquisition of the second sensor data; Wherein, the first clock is the clock of the first clock unit.

25. The system according to claim 24, characterized in that, The first controller is specifically used for: Based on the first time T1, the third time T3, and the fourth time T4, the second time T2 is obtained. The third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the second sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the sensor data.

26. The system according to claim 25, characterized in that, The second time T2 satisfies the following formula 2, T2 = T3 - (T4 - T1) (2).

27. The system according to claim 17, characterized in that, The first controller is specifically used for: Receive first sensor data, the first sensor data carries a first time T1, the first time T1 is the time indicated by the clock of the first clock unit at the time of acquisition of the first sensor data; The first time T1 carried by the first sensor data is converted into a second time T2, where the second time T2 is the time indicated by the clock of the third clock unit at the time when the first sensor data was collected. Wherein, the first clock is the clock of the third clock unit.

28. The system according to claim 27, characterized in that, The first controller is specifically used for: Based on the first time T1, the third time T3, and the fourth time T4, the second time T2 is determined. The third time T3 is the time indicated by the clock of the first clock unit when the first controller receives the first sensor data, and the fourth time T4 is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data.

29. The system according to claim 28, characterized in that, The second time T2 satisfies the following formula 3. T2 = T4 - (T3 - T1) (3).

30. The system according to claim 17, characterized in that, The first controller is specifically used for: Receive data from the first sensor; The first controller adds a timestamp to the first sensor data according to a first time, where the first time is the time indicated by the clock of the second clock unit when the first controller receives the first sensor data; Wherein, the first clock is the clock of the third clock unit.

31. The system according to claim 17, characterized in that, The first controller is specifically used to: synchronize the clock of the first clock unit to the clock of the second clock unit according to a preset synchronization period; and add a timestamp to the sensor data using the first clock. The second controller is specifically used to: add a timestamp to the sensor data using the first clock; Wherein, the first clock is the clock of the third clock unit.

32. A control device, characterized in that, include: A transceiver unit is configured to receive a first time transmitted by a first controller, wherein the first time is the time indicated by the clock of a first clock unit at the triggering moment of a trigger signal, and the trigger signal is a signal for each cycle of a periodic pulse, and the first controller includes the first clock unit; A processing unit is configured to convert the time indicated by the clock of a third clock unit into a second time during the period, the second time being the time indicated by the clock of the first clock unit when the second controller receives the first time, the second controller including the third clock unit, wherein the clock of the third clock unit is different from the clock of the first clock unit; The processing unit is further configured to add timestamps to the sensor data using a first clock, wherein the first clock is the clock of the first clock unit, and the first clock is also configured to add timestamps to the sensor data by the first controller.

33. A mobile terminal, characterized in that, The mobile terminal includes two controllers and at least one sensor connected to each of the two controllers, wherein the two controllers are the first controller and the second controller involved in the clock synchronization method of the control system according to any one of claims 1-16.

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