Clock synchronization method and vehicle-mounted device

Abstract

Embodiments of the present application disclose a clock synchronization method and a vehicle-mounted device. The method is applied to the vehicle-mounted device, and the vehicle-mounted device comprises a first communication module for acquiring system messages, a second communication module for acquiring satellite navigation signals, a vehicle-mounted main clock module and a reference clock module. The method comprises: if the satellite navigation signals cannot be acquired, the first communication module performs clock synchronization on the vehicle-mounted main clock module according to the system messages; if the system messages cannot be acquired, the second communication module performs clock synchronization on the vehicle-mounted main clock module according to the satellite navigation signals; and if the system messages cannot be acquired and the satellite navigation signals cannot be acquired, the vehicle-mounted main clock module performs counting according to signals provided by the reference clock module to perform clock synchronization, so that the vehicle-mounted main clock module is clock-synchronized in a joint manner of the first communication module, the second communication module and the reference clock module.

Description

Technical Field

[0001] This application relates to the field of communication technology, specifically to a clock synchronization method and an in-vehicle device. Background Technology

[0002] Automotive Ethernet is a new type of local area network (LAN) technology that connects different units within a vehicle using Ethernet. The Institute of Electrical and Electronics Engineers (IEEE) 802.1 standard defines Audio Video Bridging (AVB) networks and Time-Sensitive Networking (TSN) for automotive Ethernet. Clock synchronization in AVB networks or TSN follows the IEEE 802.1AS or IEEE 802.1AS-rev protocol.

[0003] The IEEE 802.1AS or IEEE 802.1AS-rev protocol defines a generalized precision time protocol (gPTP) for clock synchronization in AVB networks or TSNs. gPTP is used to synchronize the clocks of various nodes in an AVB network or TSN. gPTP defines a grandmaster clock from the clocks of each node, with the other clocks acting as slave clocks. The grandmaster clock provides a time base for the nodes in the AVB network or TSN and sends time information for synchronization, while the slave clocks synchronize their time according to this information to maintain synchronization with the grandmaster clock. It is important to note that clock synchronization is a hierarchical process; a slave clock can also serve as the grandmaster clock for the next layer of the network.

[0004] However, since the vehicle Ethernet is a closed internal vehicle network, the time information provided by the master clock to this internal vehicle network for synchronization may be inconsistent with the time information commonly used in the outside world. This cannot meet the needs of remote driving network systems, autonomous driving network systems, and other systems that require real-time time synchronization with the outside world. Therefore, how to provide time to the master clock so that the master clock can be synchronized with the external clock still needs to be studied and analyzed. Summary of the Invention

[0005] The first aspect is a clock synchronization method of this application, applied to an in-vehicle device, the in-vehicle device including a first communication module for acquiring system messages, a second communication module for acquiring satellite navigation signals, an in-vehicle master clock module, and a reference clock module;

[0006] Any two of the first communication module, the second communication module, and the vehicle master clock module are integrated into the same module; or, the first communication module, the second communication module, and the vehicle master clock module are all integrated into the same module; or, the first communication module, the second communication module, and the vehicle master clock module are not integrated into the same module.

[0007] The method includes:

[0008] If the satellite navigation signal cannot be obtained, the first communication module synchronizes the clock of the vehicle-mounted master clock module according to the system message;

[0009] If the system message cannot be obtained, the second communication module synchronizes the clock of the vehicle-mounted master clock module according to the satellite navigation signal;

[0010] If the system message cannot be obtained and the second communication module cannot obtain the satellite navigation signal, the vehicle-mounted main clock module counts according to the signal provided by the reference clock module to perform clock synchronization.

[0011] There is no specific order among the three steps above.

[0012] As can be seen, this application synchronizes the vehicle-mounted master clock module using a combination of a first communication module, a second communication module, and a reference clock module. Specifically, if the second communication module cannot obtain a satellite navigation signal, it switches to the first communication module, which synchronizes the vehicle-mounted master clock module based on system messages. If the first communication module also cannot obtain a system message, it switches to the second communication module, which synchronizes the vehicle-mounted master clock module based on satellite navigation signals. If both the first and second communication modules cannot obtain system messages or satellite navigation signals, it switches to the reference clock module, which performs clock synchronization by counting according to the reference clock module in the vehicle-mounted device.

[0013] Secondly, this application provides a clock synchronization method applied to an in-vehicle device, wherein the in-vehicle device includes a first communication module for acquiring system messages and an in-vehicle master clock module; the first communication module and the in-vehicle master clock module are integrated in the same module; or, the first communication module and the in-vehicle master clock module are not integrated in the same module.

[0014] If the first communication module and the vehicle master clock module are not integrated into the same module, the method includes:

[0015] The first communication module calibrates its clock based on the time information in the system message; and,

[0016] The clock information of the first communication module is synchronized with the vehicle master clock module through the transmission method of pulses per second (PPS) and universal asynchronous transceiver (UART).

[0017] If the first communication module and the vehicle-mounted master clock module are integrated into the same module, then the method includes:

[0018] The first communication module synchronizes the vehicle-mounted master clock module with time information and path transmission delay information in the system message.

[0019] As can be seen, this application synchronizes the vehicle master clock module solely through the first communication module and by determining whether the first communication module and the vehicle master clock are integrated into the same module. Specifically, if the first communication module and the vehicle master clock module are not integrated into the same module, the first communication module synchronizes the vehicle master clock module's clock time information via PPS and UART transmission. If the first communication module and the vehicle master clock module are integrated into the same module, the first communication module synchronizes the vehicle master clock module's clock based on the time information in the system message and the path transmission delay information of the system message.

[0020] Thirdly, this application provides a clock synchronization method applied to an in-vehicle device, wherein the in-vehicle device includes a first communication module for acquiring system messages, an in-vehicle master clock module, and a reference clock module.

[0021] The first communication module and the vehicle-mounted master clock module are integrated into the same module; or, the first communication module and the vehicle-mounted master clock module are not integrated into the same module.

[0022] The method includes:

[0023] If the system message can be obtained, the first communication module synchronizes the clock of the vehicle master clock module according to the system message;

[0024] If the system message cannot be obtained, the vehicle master clock module counts according to the signal provided by the reference clock module to perform clock synchronization;

[0025] There is no specific order between the two steps above.

[0026] As can be seen, this application synchronizes the vehicle-mounted master clock module using a combination of a first communication module and a reference clock module. Specifically, if the first communication module can obtain system messages, it synchronizes the vehicle-mounted master clock module based on these messages; if the first communication module cannot obtain system messages, it switches to the reference clock module, and the vehicle-mounted master clock module performs clock synchronization by counting according to the reference clock module in the vehicle-mounted device.

[0027] Fourthly, this application provides an in-vehicle device comprising a first communication module, a second communication module, an in-vehicle master clock module, and a reference clock module; wherein,

[0028] Any two of the first communication module, the second communication module, and the vehicle-mounted master clock module are integrated into the same module; or, the first communication module, the second communication module, and the vehicle-mounted master clock module are all integrated into the same module; or, none of the first communication module, the second communication module, and the vehicle-mounted master clock module are integrated into the same module.

[0029] The first communication module is used to acquire system messages;

[0030] The second communication module is used to acquire satellite navigation signals;

[0031] The reference clock module is used to provide a signal with a fixed frequency or a signal with a periodic oscillation frequency.

[0032] If the second communication module can acquire the satellite navigation signal, then the second communication module is further configured to synchronize the clock of the vehicle-mounted master clock module according to the satellite navigation signal; if the second communication module cannot acquire the satellite navigation signal, then the first communication module is further configured to synchronize the clock of the vehicle-mounted master clock module according to the system message; or,

[0033] If the first communication module can obtain the system message, the first communication module is further configured to synchronize the clock of the vehicle master clock module according to the system message; if the first communication module cannot obtain the system message, the second communication module is further configured to synchronize the clock of the vehicle master clock module according to the satellite navigation signal.

[0034] If the first communication module fails to obtain the system message and the second communication module fails to obtain the satellite navigation signal, the vehicle-mounted master clock module is used to count according to the signal provided by the reference clock module to perform clock synchronization.

[0035] Fifthly, this application provides an in-vehicle device comprising a first communication module and an in-vehicle master clock module; wherein,

[0036] The first communication module and the vehicle-mounted master clock module are integrated into the same module; or, the first communication module and the vehicle-mounted master clock module are not integrated into the same module.

[0037] The first communication module is used to acquire system messages;

[0038] If the first communication module and the vehicle master clock module are not integrated in the same module, the first communication module is also used to calibrate the clock of the first communication module according to the time information in the system message, and to synchronize the clock of the vehicle master clock module with the time information of the first communication module through the transmission method of pulses per second (PPS) and universal asynchronous transceiver (UART).

[0039] If the first communication module and the vehicle master clock module are integrated in the same module, the first communication module is further used to synchronize the vehicle master clock module with time information in the system message and path transmission delay information of the system message.

[0040] Sixthly, this application provides an in-vehicle device comprising a first communication module, an in-vehicle master clock module, and a reference clock module; wherein,

[0041] The first communication module and the vehicle-mounted master clock module are integrated into the same module; or, the first communication module and the vehicle-mounted master clock module are not integrated into the same module.

[0042] The first communication module is used to acquire system messages;

[0043] The reference clock module is used to provide a signal with a fixed frequency or a signal with a periodic oscillation frequency.

[0044] If the first communication module can obtain the system message, the first communication module is further configured to synchronize the vehicle master clock module according to the system message;

[0045] If the first communication module fails to obtain the system message, the vehicle master clock module is used to count according to the signal provided by the reference clock module to perform clock synchronization.

[0046] A seventh aspect is a computer-readable storage medium of this application, wherein it stores a computer program or instructions that, when executed, implement the steps of the methods designed in the first, second, or third aspects described above.

[0047] The eighth aspect is a computer program product of this application, comprising a computer program or instructions, wherein when the computer program or instructions are executed, they implement the steps in the methods designed in the first, second, or third aspects described above. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0049] Figure 1 This is a flowchart illustrating a clock synchronization method according to an embodiment of this application;

[0050] Figure 2 This is a block diagram of the module composition of an in-vehicle device according to an embodiment of this application;

[0051] Figure 3 This is a flowchart illustrating another clock synchronization method according to an embodiment of this application;

[0052] Figure 4 This is a block diagram of the module composition of another vehicle-mounted device according to an embodiment of this application;

[0053] Figure 5 This is a flowchart illustrating another clock synchronization method according to an embodiment of this application;

[0054] Figure 6 This is a block diagram of the module composition of another vehicle-mounted device according to an embodiment of this application;

[0055] Figure 7 This is a flowchart illustrating another clock synchronization method according to an embodiment of this application;

[0056] Figure 8 This is a block diagram of the module composition of another vehicle-mounted device according to an embodiment of this application;

[0057] Figure 9 This is a flowchart illustrating another clock synchronization method according to an embodiment of this application;

[0058] Figure 10 This is a block diagram of the module composition of another vehicle-mounted device according to an embodiment of this application;

[0059] Figure 11 This is a flowchart illustrating another clock synchronization method according to an embodiment of this application;

[0060] Figure 12 This is a block diagram of the module composition of another vehicle-mounted device according to an embodiment of this application;

[0061] Figure 13 This is a flowchart illustrating another clock synchronization method according to an embodiment of this application;

[0062] Figure 14 This is a flowchart illustrating another clock synchronization method according to an embodiment of this application;

[0063] Figure 15 This is a block diagram of the module composition of another vehicle-mounted device according to an embodiment of this application;

[0064] Figure 16 This is a flowchart illustrating another clock synchronization method according to an embodiment of this application;

[0065] Figure 17 This is a block diagram of the module composition of another vehicle-mounted device according to an embodiment of this application. Detailed Implementation

[0066] To help those skilled in the art better understand the technical solutions of this application, the technical solutions in the embodiments of this application are described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art without creative effort regarding the embodiments of this application are within the scope of protection of this application.

[0067] It should be understood that the terms "first," "second," etc., used in the embodiments of this application are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, software, product, or device that includes a series of steps or units is not limited to the listed steps or units, but also includes steps or units not listed, or other steps or units inherent to these processes, methods, products, or devices.

[0068] The term "embodiment" as used in the embodiments of this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0069] In the embodiments of this application, "at least one" refers to one or more, and "multiple" refers to two or more.

[0070] In this application's embodiments, "and / or" describes the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the following three cases: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. The character " / " can indicate that the preceding and following related objects are in an "or" relationship. Additionally, the symbol " / " can also represent a division sign, i.e., performing a division operation.

[0071] In the embodiments of this application, "at least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent the following seven cases: a, b, c, a and b, a and c, b and c, a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0072] In the embodiments of this application, "unit", "device", and "component" can be used to refer to the same concept as "module", and no specific restrictions are imposed on this.

[0073] In this application's embodiments, "acquire," "receive," and "detect" can be considered the same concept, and no specific limitations are imposed. Similarly, in this application's embodiments, "cannot acquire" can be expressed as the same concept as "cannot acquire," "cannot receive," "cannot detect," "not acquired," "not received," and "not detected," and no specific limitations are imposed.

[0074] In-vehicle Ethernet (IVE) is a new type of local area network (LAN) technology that connects different units within a vehicle via Ethernet. The IEEE 802.1 standard protocol defines AVB (Automatic Vehicle Network) and TSN (Transportation System Network) for IVE, and clock synchronization (or time synchronization) in the AVB network or TSN follows the IEEE 802.1AS or IEEE 802.1AS-rev protocol.

[0075] The IEEE 802.1AS or IEEE 802.1AS-rev protocol defines gPTP for clock synchronization in AVB networks or TSNs. The purpose of gPTP is to synchronize the clocks of various nodes in an AVB network or TSN. gPTP defines a master clock from the clocks of each node, with the other clocks acting as slave clocks. The master clock provides a time base for the nodes in the AVB network or TSN and sends time information for synchronization, while the slave clocks synchronize their time according to this information to maintain synchronization with the master clock. It is important to note that clock synchronization is a hierarchical process; a slave clock can also serve as the master clock for the next layer of the network.

[0076] However, since the vehicle Ethernet is a closed internal vehicle network, the time information provided by the master clock to this internal vehicle network for synchronization may be inconsistent with the time information commonly used in the outside world. This cannot meet the needs of remote driving network systems, autonomous driving network systems, and other systems that require real-time time synchronization with the outside world. Therefore, how to provide time to the master clock so that the master clock can be synchronized with the external clock still needs to be studied and analyzed.

[0077] Based on this, the following embodiments of this application will illustrate how to achieve clock synchronization between the master clock and the external clock by synchronizing the master clock module in the vehicle device.

[0078] 1. Vehicle-mounted equipment

[0079] In the embodiments of this application, the vehicle-mounted equipment may be a module (unit / device / component) installed or placed on a vehicle to provide vehicle-mounted functions (such as voice, video, navigation, display, automatic driving, braking, remote driving, communication, etc.), and to support vehicle-to-everything (V2X) communication, IEEE 802 protocol communication (such as gPTP communication, Wi-Fi communication), wireless mobile communication (such as 4G, 5G, etc.), satellite navigation system communication (such as GPS, GLONASS, GALILEO, BDS), controller area network (CAN), or automotive audio bus (A2B), etc.

[0080] In addition, in this application embodiment, all or part of the modules (units / devices / components) that provide the above-mentioned vehicle functions can be collectively referred to as vehicle equipment, without any specific limitation.

[0081] In terms of communication methods, vehicle-mounted equipment can communicate through vehicle-to-everything (V2X) communication technologies such as dedicated short-range communications (DSRC), long-term evolution vehicle (LTE-V), and new radio-V2X (NR-V2X). It can also communicate through wireless mobile communication technologies such as 2G / 3G / 4G / 5G / 6G, short-range communication technologies such as Bluetooth and Wi-Fi, satellite navigation system communication technologies such as GPS, GLONASS, GALILEO, and BDS, and through local interconnect network (LIN), CAN, A2B, pulse per second (PPS), universal asynchronous receiver / transmitter (UART), gPTP, etc. There are no specific restrictions on these methods.

[0082] In a hardware and software architecture, in-vehicle equipment can include a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system layer. The hardware layer can include microcontroller units (MCUs), central processing units (CPUs), memory management units (MMUs), and communication units (such as GPS communication chips and 5G communication chips). The operating system layer can be any one or more computer operating systems that implement business processing through processes, such as Linux, Unix, Android, iOS, or Windows.

[0083] 2. Clock synchronization in vehicle-mounted equipment

[0084] Vehicles typically require the installation of various modules (units / devices / components), such as electronic control units (ECUs), microcontroller units (MCUs), crystal oscillators, bridge modules, switch modules, clock modules, and communication modules, to provide driving functions, audio and video functions, screen display functions, vehicle control functions, and communication functions. In this application embodiment, devices that include all or some of the modules (units / devices / components) on a vehicle can be collectively referred to as vehicle-mounted devices, that is, vehicle-mounted devices include (contain) all or some of the modules (units / devices / components), without making specific limitations.

[0085] The various modules in the vehicle-mounted equipment can form a vehicle-mounted Ethernet network to facilitate communication and collaborative operation. Furthermore, within this vehicle-mounted Ethernet network, a module's clock needs to be selected or defined as the master clock. This master clock provides a common time reference for all modules within the network, ensuring they operate under the same clock system and promoting seamless collaboration.

[0086] 3. Master Clock Module

[0087] It should be noted that the master clock module in this application embodiment can be of the following two types:

[0088] One approach is to select or define the clock of one of several modules, each with certain in-vehicle functions, as the master clock. In this case, the module is called the master clock module, and in addition to providing certain in-vehicle functions, it also needs to provide a master clock.

[0089] Another approach is to define a master clock module that is only used to provide the master clock, without any specific restrictions on it.

[0090] 4. How to select or define the master clock module

[0091] It should be noted that the master clock module can be selected or defined by random selection, default specification, pre-configuration, or by the best master clock algorithm (BMCA).

[0092] For example, each module in an in-vehicle device can participate in the "election" for the master clock by sending an announcement message. This announcement message contains the clock information of the candidate module. Once a candidate device finds that its clock information is not advantageous (i.e., it finds that its own clock accuracy is not high through comparison), it will voluntarily withdraw from the master clock election, and the candidate module with a high-accuracy clock will be selected as the master clock module.

[0093] 5. How does the vehicle's master clock module provide a reference time for internal clock synchronization?

[0094] In this embodiment of the application, the vehicle master clock module can count according to the signal provided by the reference clock module in the vehicle device, and the cumulative count of the vehicle master clock module is the cumulative working time of the vehicle master clock module, and the working time is used as the reference time for clock synchronization.

[0095] It should be noted that the reference clock module can be a module used to provide a signal / clock signal with a fixed frequency or a signal with a periodic oscillation frequency. For example, the reference clock module can be an oscillator, a crystal oscillator (crystal oscillator), or a quartz crystal oscillator, etc.

[0096] For example, the reference clock module provides a signal with a fixed frequency shift of 100MHz. At this time, the vehicle-mounted master clock module counts according to this 100MHz signal, and the time for each count is 10ns, that is, the count is performed with an accuracy of 10ns, so that the accumulated count is used as the accumulated working time of the master clock module, and this is used as the reference time.

[0097] 6. How to synchronize the vehicle-mounted equipment with an external clock?

[0098] In-vehicle equipment can be viewed as a closed system. If we only consider the collaborative work of the various modules in the in-vehicle equipment, then we only need to provide the internal reference time through a high-precision master clock (obtained by the in-vehicle master clock module in the in-vehicle equipment through counting). However, the reference time provided is only a local time inside the vehicle, not the universal time of the outside world, which makes it impossible to provide some new functions such as remote driving and autonomous driving through this in-vehicle equipment.

[0099] Therefore, embodiments of this application can introduce a communication module with external communication functions (capabilities), and use this communication module to provide time synchronization to the vehicle master clock module in the vehicle device. That is, the communication module provides external time information to the vehicle master clock module, so that the vehicle master clock module can calibrate its own clock according to the external time information, thereby realizing the synchronization of the vehicle device (vehicle master clock module) with the external clock.

[0100] 7. A communication module with external communication capabilities, a first communication module, and a second communication module.

[0101] In this embodiment of the application, the communication module with external communication function may include at least one of the following:

[0102] ① A communication module with wireless mobile communication (such as 2G / 3G / 4G / 5G / 6G, etc.) function, namely the first communication module.

[0103] The first communication module can receive system information from network devices. This system information may include a Master Information Block (MIB) and a series of System Information Blocks (SIBs).

[0104] In addition, based on the content contained in the system message, system messages can be divided into minimum system messages (MinimumSI) and other system messages (Other SI).

[0105] Minimum SI can contain basic messages for initial access and obtaining other system information; that is, Minimum SI mainly includes MIB and SIB1.

[0106] Other SIs can contain all system messages not broadcast in the Minimum SI. For example, Other SIs include the following information:

[0107] SIB2 can contain cell reselection information, which is mainly related to the serving cell;

[0108] SIB3 covers frequency messages of the serving cell on the one hand, and co-frequency neighbor cell information for cell reselection on the other hand. It mainly includes common frequency parameters for cell reselection and dedicated parameters for cell reselection.

[0109] SIB4 covers messages from other frequencies and includes inter-frequency neighbor cell information for cell reselection, mainly including common frequency parameters for cell reselection and dedicated parameters for cell reselection.

[0110] SIB5 may contain frequency information for the Evolved-UMTS Terrestrial Radio Access (E-UTRA) system and E-UTRA neighbor cell messages for cell reselection, including common frequency parameters and cell reselection-specific parameters.

[0111] SIB6 can contain key notification information from the Earthquake and Tsunami Warning System (ETWS);

[0112] SIB7 can include ETWS's auxiliary transit information;

[0113] SIB8 can contain notification messages from Commercial Mobile Alert System (CMAS);

[0114] SIB9 can contain GPS time and Coordinated Universal Time (UTC) information.

[0115] In summary, the first communication module can be used to acquire (receive) system messages, calibrate its internal clock based on the time information in the system messages, and synchronize the vehicle's main clock module based on the time information in the system messages.

[0116] For example, taking the first communication module as a 5G communication module, the 5G communication module receives SIB9 and calibrates its own clock according to the GPS time (UTC information) in SIB9, or synchronizes the clock of the vehicle's main clock module according to the GPS time (UTC information) in SIB9.

[0117] It should be noted that the first communication module may include at least one of the following: filter, switch, power amplifier, low noise amplifier (LNA), modem, etc., without specific limitations.

[0118] ② A communication module with satellite navigation system communication functions (such as GPS / GLONASS / GALILEO / BDS, etc.), i.e., the second communication module.

[0119] The second communication module can receive satellite navigation signals from satellites. These satellite navigation signals can carry time information, such as GPS time carried in GPS signals.

[0120] Therefore, the second communication module can calibrate its internal clock based on the time information in the satellite navigation signal, and can also synchronize the on-board main clock module based on the time information in the satellite navigation signal.

[0121] For example, taking the second communication module as a GPS communication module, this GPS communication module receives GPS signals and calibrates its own clock according to the GPS time in the GPS signal, or synchronizes the clock of the vehicle's main clock module according to the GPS time in the GPS signal.

[0122] It should be noted that the second communication module may include filters, switches, power amplifiers, low noise amplifiers (LNAs), modems, etc., without specific limitations.

[0123] Furthermore, since the second communication module communicates with satellites, it suffers from issues such as long communication distances, significant data transmission delays, and susceptibility to environmental influences. For instance, GPS signals may be unreceived in some indoor environments (such as garages), causing the second communication module to lose real-time clock synchronization with the satellite and thus only providing time synchronization with lower accuracy when providing time synchronization to the vehicle's main clock module.

[0124] It is evident that, compared to the second communication module, the first communication module, being responsible for land-based communication, can provide more accurate time synchronization when transmitting time to the vehicle's main clock module.

[0125] 8. How to synchronize the vehicle's main clock module?

[0126] As described above, the embodiments of this application can synchronize the vehicle-mounted master clock module via the first communication module, via the second communication module, or by having the vehicle-mounted master clock module count the reference clock module to achieve clock synchronization. Therefore, the specific implementation of the embodiments of this application is as follows:

[0127] 1) Clock synchronization of the vehicle master clock module is performed only through the first communication module, as detailed in the subsequent "Scenario 1".

[0128] 2) Clock synchronization of the vehicle master clock module is performed only through the second communication module, as detailed in the subsequent "Scenario 2".

[0129] 3) The vehicle-mounted master clock module is synchronized by the first communication module and the second communication module, as detailed in the subsequent "Scenario 3".

[0130] 4) If the vehicle master clock module cannot be synchronized through the first communication module and the second communication module, the vehicle master clock module counts the reference clock module to achieve clock synchronization, as detailed in the subsequent "Scenario 4".

[0131] 5) The vehicle-mounted master clock module is synchronized through the joint operation of the first communication module, the second communication module and the reference clock module, as detailed in the subsequent "Scenario 5" description;

[0132] 6) The vehicle-mounted master clock module is synchronized by the first communication module and the reference clock module, as detailed in the subsequent "Scenario Six".

[0133] The following embodiments of this application will provide specific explanations of the various situations described above.

[0134] Scenario 1:

[0135] In “Scenario 1”, since the vehicle-mounted master clock module is synchronized only through the first communication module, the vehicle-mounted device may include the first communication module and the vehicle-mounted master clock module.

[0136] In addition, in "Scenario 1", the embodiments of this application also need to consider the following two situations:

[0137] 1) The first communication module and the vehicle master clock module are not integrated into the same module.

[0138] The fact that the first communication module and the vehicle master clock module are not integrated into the same module can be understood as the first communication module and the vehicle master clock module being two separate modules. The first communication module and the vehicle master clock module may need to communicate through specific signals (such as PPS signals, UART signals, etc.).

[0139] At this point, the on-board equipment also includes an application processing software (APSW) module, which is connected to both the first communication module and the on-board master clock module. This will be explained in detail later in "Sub-Scenario 1".

[0140] It should be noted that the AP SW module can be seen as a module that provides the various software executed by the in-vehicle equipment at the application layer.

[0141] 2) The first communication module and the vehicle-mounted master clock module are integrated into the same module.

[0142] When the first communication module and the vehicle master clock module are integrated into the same module, it can be understood that the first communication module and the vehicle master clock module are integrated into a single module (such as a chip). In this case, the first communication module directly connects to the vehicle master clock module via signal lines, meaning that communication does not require specific signals (such as PPS signals, UART signals, etc.). Compared to when the first communication module and the vehicle master clock module are not integrated into the same module, integration into the same module allows for faster communication and transmission between the first communication module and the vehicle master clock module. This will be explained in detail later through "Sub-Scenario 2".

[0143] Sub-case 1:

[0144] The following example illustrates the solution in "Sub-case 1". For example... Figure 1 The diagram shown is a flowchart of a clock synchronization method according to an embodiment of this application, used in an in-vehicle device. The in-vehicle device includes a first communication module for acquiring system messages and an in-vehicle master clock module.

[0145] The method specifically includes the following steps:

[0146] S110. If the first communication module and the vehicle master clock module are not integrated in the same module, the first communication module calibrates its clock according to the time information in the system message, and synchronizes the clock of the first communication module with the vehicle master clock module through the transmission method of pulses per second (PPS) and universal asynchronous transceiver (UART).

[0147] It is evident that if the first communication module and the vehicle master clock module are not integrated into the same module, the method of transmitting the clock time information of the first communication module through PPS and UART is beneficial for achieving clock synchronization of the vehicle master clock module using only the first communication module and by determining whether the first communication module and the vehicle master clock are integrated into the same module.

[0148] The relevant concepts and solutions involved are explained in detail below.

[0149] 1) The second time information t2 represented by pulses per second (PPS)

[0150] Pulses per second (PPS or 1PPS) is an electronic signal with a pulse width of less than one second. For example, the pulse width is 200-500ms, and when the pulse width is 500ms, the duty cycle of the PPS (1PPS) signal is 50%.

[0151] Since the rise time of the rising edge (or fall time of the falling edge) of the PPS signal does not exceed 10ns, and the rising edge (or falling edge) repeats once per second at a precise and fixed time, the embodiments of this application can use the time (or the corresponding time information) corresponding to the rising edge (or falling edge) of the PPS signal to represent the time information in the system message, and can also use the time (or the corresponding time information) corresponding to the rising edge (or falling edge) of the PPS signal to represent the time information of the clock of the first communication module, and the time information of the clock of the first communication module is also calibrated and synchronized according to the time information in the system message.

[0152] Furthermore, in this embodiment, the time (or corresponding time information) corresponding to the rising edge (or falling edge) of the PPS signal is also referred to as the time information t2 represented by PPS (such as the second time information represented by PPS). Therefore, the time information represented by the PPS signal can be the time information in the system message, or it can be the time information t2 of the clock of the first communication module.

[0153] It can be seen that the clock time information t2 of the first communication module can be transmitted via PPS.

[0154] 2) Universal Asynchronous Receiver / Transmitter

[0155] UART is a universal serial data bus used to convert signals between serial and parallel communication, and to convert parallel input signals into serial output signals. UART is typically integrated into the communication interface.

[0156] Therefore, in this embodiment, the first communication module may include a UART interface. The first communication module can transmit its own clock time information t2 through the UART interface; that is, the clock time information t2 of the first communication module can be transmitted via UART.

[0157] 3) Transmit the clock information of the first communication module via PPS and UART.

[0158] Based on the above, it can be seen that the clock time information t2 of the first communication module can be transmitted via PPS or UART.

[0159] Therefore, the transmission of the clock time information t2 of the first communication module via PPS and UART can include:

[0160] The first communication module sends a PPS signal (i.e., the first PPS signal) to the vehicle master clock module. The first PPS signal is used to trigger the vehicle master clock module to record its current time information t1 (i.e., the first time information) and transmit the first time information t1 to the first communication module. The time information t2 (i.e., the second time information) represented by the first PPS signal is the time information t2 of the clock of the first communication module; or, in other words, the first communication module triggers the vehicle master clock module to record the current time information to obtain the first time information t1 by transmitting the first PPS signal.

[0161] The first communication module sends first time information t1 and time information t2 (i.e., second time information, or the clock time information of the first communication module) represented by the first PPS signal to the APSW module through the UART interface; or, in other words, the first communication module sends the first time information t1 and the second time information t2 represented by the first PPS signal to the APSW module through the UART interface.

[0162] 4) How to synchronize the vehicle's master clock module?

[0163] Based on the above, if the first communication module and the vehicle master clock module are not integrated into the same module, the first communication module triggers the vehicle master clock through the first PPS signal to obtain the first time information t1, and then sends the first time information t1 and the second time information t2 to the AP SW module through the UART interface.

[0164] Then, the AP SW module calculates the time offset between the first time information t1 and the second time information t2 to obtain the time offset (i.e., the first time offset); where the first time offset can be expressed as offset_1=t1-t2, or offset_1=t2-t1.

[0165] Finally, the AP SW module sends the offset_1 to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization. At this time, the vehicle master clock module calibrates its current time information t1 to t2 through offset_1, and then transmits t2 to the vehicle master clock module through the first communication module, thereby realizing the synchronization of the vehicle master clock module with the external clock.

[0166] The above Figure 1The solution in "Sub-Scenario 1" is mainly described from a methodological perspective. It is understood that, to achieve the aforementioned functions, the in-vehicle device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should recognize that the methods, modules, units, or algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in hardware or a combination of hardware and computer software. Whether a method, function, module, unit, or step is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution.

[0167] The embodiments of this application can be based on the above. Figure 1 The method example illustrates the modularization of in-vehicle equipment. These modules can be implemented using either hardware or software. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division; in actual implementation, other division methods may be used.

[0168] The following embodiment of this application provides a block diagram of the module composition of the vehicle-mounted equipment in "Sub-Scenario 1", such as... Figure 2 As shown. The vehicle-mounted device 20 includes a first communication module 210 and a vehicle-mounted master clock module 220, which are not integrated into the same module.

[0169] The first communication module 210 is used to acquire system messages. If the first communication module 210 and the vehicle master clock module 220 are not integrated in the same module, the clock of the first communication module 210 is calibrated according to the time information in the system message, and the time information of the clock of the first communication module 210 is transmitted to the vehicle master clock module 220 through PPS and UART transmission methods to synchronize the clock.

[0170] It is evident that when the first communication module 210 and the vehicle master clock module 220 are not integrated into the same module, the method of transmitting the clock time information of the first communication module 210 through PPS and UART is beneficial for achieving clock synchronization of the vehicle master clock module 220 solely through the first communication module 210 and by determining whether the first communication module 210 and the vehicle master clock 220 are integrated into the same module.

[0171] In some possible embodiments, the vehicle-mounted device further includes an AP SW module; in synchronizing the clock information of the first communication module 210 to the vehicle-mounted master clock module 220 via PPS and UART transmission, the first communication module 210 is used for:

[0172] The vehicle-mounted master clock module 220 is triggered to record the current time information by transmitting the first PPS signal to obtain the first time information t1. The second time information t2 represented by the first PPS signal is the clock time information t2 of the first communication module 210; and

[0173] The first time information t1 and the second time information t2 are sent to the AP SW module via the UART interface.

[0174] At this time, the AP SW module is used for:

[0175] Calculate the time offset between the first time information t1 and the second time information t2 to obtain the first time offset amount offset_1; and

[0176] The first time offset_1 is sent to the vehicle master clock module 220 to trigger the vehicle master clock module 220 to perform clock synchronization.

[0177] It should be noted that the vehicle-mounted equipment 20 may also include other modules, such as ECU module, MCU module or MMU module, without specific limitations.

[0178] Sub-case 2:

[0179] The following example illustrates the solution in "Sub-case 1". For example... Figure 3 The diagram shown is a flowchart of another clock synchronization method according to an embodiment of this application, applied to an in-vehicle device. The in-vehicle device includes a first communication module for acquiring system messages and an in-vehicle master clock module.

[0180] The method specifically includes the following steps:

[0181] S310. If the first communication module and the vehicle-mounted main clock module are integrated in the same module, the first communication module synchronizes the vehicle-mounted main clock module with the clock based on the time information in the system message and the path transmission delay information of the system message.

[0182] It is evident that if the first communication module and the vehicle master clock module are integrated into the same module, then using the time information in the system message and the path transmission delay information of the system message is beneficial for achieving clock synchronization of the vehicle master clock module solely through the first communication module and by determining whether the first communication module and the vehicle master clock are integrated into the same module.

[0183] The relevant concepts and solutions involved are explained in detail below.

[0184] 1) System message path transmission delay information

[0185] It should be noted that the first communication module usually communicates with network devices, which may be responsible for radio resource management (RRM), quality of service (QoS) management, data compression and encryption, data transmission and reception, etc. on the air interface side, and the network devices will periodically send system messages.

[0186] For example, network equipment can be a base station (BTS) in a global system of mobile communication (GSM), a base station (nodeB, NB) in a wideband code division multiple access (WCDMA) communication system, an evolved Node B (eNB or eNodeB) in a long term evolution (LTE) communication system, a base station (gNB) in a new radio (NR) communication system, or equipment in a future communication system.

[0187] During the communication process between the first communication module and the network device, there is a timing advance (TA). TA_1 represents the path transmission delay of the signal from the network device to the first communication module and then from the first communication module to the network device.

[0188] Therefore, the path transmission delay information of the system message can be understood as the path transmission delay TA_1 / 2 of the system message from the network device to the first communication module, and the path transmission delay information of the system message can be obtained through channel evaluation / channel measurement.

[0189] 2) How to synchronize the vehicle's master clock module?

[0190] If the first communication module and the vehicle master clock module are integrated into the same module, since the first communication module can be directly connected to the vehicle master clock module through a signal line, the first communication module can synchronize the vehicle master clock module according to the time information in the system message and the path transmission delay information of the system message each time it obtains a system message.

[0191] The process of synchronizing the vehicle's master clock module based on the time information and path transmission delay information in the system message may include:

[0192] Upon receiving a system message, the first communication module sends a PPS signal (i.e., the second PPS signal) to the vehicle master clock module. This second PPS signal triggers the vehicle master clock module to record its current time information t4 (i.e., the fourth time information) and transmits this fourth time information t4 to the first communication module. The time information represented by the second PPS signal is the time information t3 (i.e., the third time information) in the system message. Alternatively, upon receiving a system message, the second PPS signal triggers the vehicle master clock module to record its current time information to obtain the fourth time information t4.

[0193] The first communication module calculates the sum of the third time information t3 and the path transmission delay information TA_1 / 2 of the system message to obtain the fifth time information T1, that is, T1=t3+TA_1 / 2;

[0194] The first communication module calculates the time offset between the fourth time information t4 and the fifth time information T1 to obtain the time offset amount, namely the second time offset amount; wherein, the second time offset amount can be expressed as offset_2=T1-t4, or offset_2=t4-T1;

[0195] The first communication module sends the second time offset_2 to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization. At this time, the vehicle master clock module calibrates its current time information t4 to t3 through offset_2, so that it can transmit t3 to the vehicle master clock module through the first communication module, thereby realizing the synchronization of the vehicle master clock module with the external clock.

[0196] The above Figure 3 The solution in "Sub-Scenario 2" is primarily described from a methodological perspective. It is understood that, to achieve the aforementioned functions, the in-vehicle device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should recognize that the methods, modules, units, or algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in hardware or a combination of hardware and computer software. Whether a method, function, module, unit, or step is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution.

[0197] The embodiments of this application can be based on the above. Figure 3 The method example illustrates the modularization of in-vehicle equipment. These modules can be implemented using either hardware or software. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division; in actual implementation, other division methods may be used.

[0198] The following embodiment of this application provides a block diagram of the module composition of the vehicle-mounted equipment in "Sub-Scenario 3", such as... Figure 4 As shown. The vehicle-mounted device 40 includes a first communication module 4101 and a vehicle-mounted master clock module 4102, which are integrated into the same module 410.

[0199] The first communication module 4101 is used to acquire system messages and synchronize the vehicle-mounted master clock module 4102 with the time information and path transmission delay information of the system messages.

[0200] It is evident that if the first communication module 4101 and the vehicle master clock module 4102 are integrated into the same module, then using the time information in the system message and the path transmission delay information of the system message is beneficial for achieving clock synchronization of the vehicle master clock module solely through the first communication module and by determining whether the first communication module 4101 and the vehicle master clock 4102 are integrated into the same module.

[0201] In some possible embodiments, the first communication module 4101 is used for clock synchronization of the vehicle master clock module 4102 based on the time information in the system message and the path transmission delay information of the system message, in order to:

[0202] While receiving the system message, the vehicle master clock module 4102 is triggered by the second PPS signal to record the current time information in order to obtain the fourth time information t4;

[0203] The sum of the time information t3 in the system message and the path transmission delay information TA_1 / 2 in the system message is calculated to obtain the fifth time information T1, that is, T1=t3+TA_1 / 2;

[0204] Calculate the time offset between the fifth time information T1 and the fourth time information t4 to obtain the second time offset offset_2; where offset_2 = T1 - t4, or offset_2 = t4 - T1;

[0205] The second time offset is sent to the vehicle master clock module 4102 to trigger the vehicle master clock module 4102 to perform clock synchronization.

[0206] It should be noted that the vehicle-mounted equipment 40 may also include other modules, such as ECU module, MCU module or MMU module, etc., without specific restrictions.

[0207] Scenario 2:

[0208] In “Scenario 2”, since the vehicle-mounted master clock module is synchronized only through the second communication module, the vehicle-mounted device may include the second communication module and the vehicle-mounted master clock module.

[0209] In addition, similar to "Scenario 1" above, in "Scenario 2", the embodiments of this application also need to consider the following two situations:

[0210] 1) The second communication module and the vehicle master clock module are not integrated into the same module.

[0211] The fact that the second communication module and the vehicle master clock module are not integrated into the same module can be understood as the second communication module and the vehicle master clock module being two separate modules. The second communication module and the vehicle master clock module may need to communicate through specific signals (such as PPS signals, UART signals, etc.).

[0212] At this point, the vehicle-mounted equipment also includes an AP SW module, which is connected to the second communication module and the vehicle-mounted master clock module respectively. This will be explained in detail in "Sub-Scenario 3".

[0213] 2) The second communication module and the vehicle master clock module are integrated into the same module.

[0214] When the second communication module and the vehicle master clock module are integrated into the same module, it can be understood that the second communication module and the vehicle master clock module are integrated into a single module (such as a chip). In this case, the second communication module directly connects to the vehicle master clock module via signal lines, meaning that communication does not require specific signals (such as PPS signals, UART signals, etc.). Compared to when the second communication module and the vehicle master clock module are not integrated into the same module, integration allows for faster communication and transmission between the two modules. This will be explained in detail in "Sub-case 4".

[0215] Sub-case 3:

[0216] The following example illustrates the solution in "Sub-case 3". For example... Figure 5 The diagram shown is a flowchart illustrating another clock synchronization method according to an embodiment of this application, which specifically includes the following steps:

[0217] S510. If the second communication module and the vehicle-mounted master clock module are not integrated into the same module, the second communication module calibrates its clock according to the time information in the satellite navigation signal, and synchronizes the clock information of the second communication module to the vehicle-mounted master clock module through the transmission method of pulses per second (PPS) and universal asynchronous transceiver (UART).

[0218] It is evident that if the second communication module and the vehicle master clock module are not integrated into the same module, then transmitting the time information of the second communication module's clock through PPS and UART is beneficial for achieving clock synchronization of the vehicle master clock module solely through the second communication module and by determining whether the second communication module and the vehicle master clock are integrated into the same module.

[0219] 1) Transmit the clock information of the second communication module via PPS and UART.

[0220] Since the clock information t7 of the second communication module can be transmitted via PPS and UART, the transmission methods for the clock information t7 of the second communication module via PPS and UART can include:

[0221] The second communication module sends a PPS signal (i.e., the third PPS signal) to the vehicle master clock module. This third PPS signal is used to trigger the vehicle master clock module to record its current time information t6 (i.e., the sixth time information) and transmit the sixth time information t6 to the second communication module. The time information t7 represented by the third PPS signal is the time information t7 of the clock of the second communication module; or, by transmitting the third PPS signal, the vehicle master clock module is triggered to record the current time information to obtain the time information t6.

[0222] The second communication module sends time information t7 and time information t6 to the AP SW module via the UART interface; or, in other words, the second communication module sends time information t7 and time information t6 to the AP SW module via the UART interface.

[0223] 2) How to synchronize the vehicle's master clock module?

[0224] Based on the above, if the second communication module and the vehicle master clock module are not integrated into the same module, the second communication module triggers the vehicle master clock through the PPS signal to obtain time information t6, and then sends the time information t6 and time information t7 to the AP SW module through the UART interface.

[0225] Then, the AP SW module calculates the time offset between time information t6 and time information t7 to obtain the time offset amount, i.e., the third time offset amount; where, the third time offset amount can be expressed as offset_3=t6-t7, or offset_3=t7-t6;

[0226] Finally, the AP SW module sends offset_3 to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization. At this time, the vehicle master clock module calibrates its current time information t6 to t7 through offset_3, and then sends t7 to the vehicle master clock module through the second communication module, so as to realize the synchronization between the vehicle master clock module and the external clock.

[0227] The embodiments of this application can be based on the above. Figure 6 The method example illustrates the modularization of in-vehicle equipment. These modules can be implemented using either hardware or software. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division; in actual implementation, other division methods may be used.

[0228] The following embodiment of this application provides a block diagram of the module composition of the vehicle-mounted equipment in "Sub-Scenario 3", such as... Figure 6 As shown. The vehicle-mounted device 60 includes a second communication module 610 and a vehicle-mounted master clock module 620, which are not integrated into the same module.

[0229] The second communication module 610 is used to acquire satellite navigation signals. If the second communication module 610 and the vehicle-mounted master clock module 620 are not integrated into the same module, the clock of the second communication module 610 is calibrated according to the time information in the satellite navigation signal, and the time information of the clock of the second communication module 610 is transmitted to the vehicle-mounted master clock module 620 through PPS and UART transmission methods to synchronize the clock.

[0230] It is evident that if the second communication module 610 and the vehicle master clock module 620 are not integrated into the same module, then transmitting the time information of the clock of the second communication module 610 through PPS and UART is beneficial for achieving clock synchronization of the vehicle master clock module 620 solely through the second communication module 610 and by determining whether the second communication module 610 and the vehicle master clock 620 are integrated into the same module.

[0231] In some possible embodiments, the vehicle-mounted device also includes an AP SW module. Regarding the synchronization of the clock time information of the second communication module 610 to the vehicle-mounted master clock module 620 via PPS and UART transmission, the second communication module 610 is used for:

[0232] The vehicle-mounted master clock module 620 is triggered by transmitting a PPS signal to record the current time information to obtain time information t6. The time information represented by the PPS signal is the time information t7 of the clock of the second communication module 610; and

[0233] Time information t6 and time information t7 are sent to the AP SW module via the UART interface.

[0234] At this time, the AP SW module is used for:

[0235] Calculate the time offset between time information t6 and time information t7 to obtain the time offset amount offset_3; and

[0236] The time offset_3 is sent to the vehicle master clock module 620 to trigger the vehicle master clock module 620 to perform clock synchronization.

[0237] It should be noted that the vehicle-mounted equipment 60 may also include other modules, such as ECU module, MCU module or MMU module, without specific limitations.

[0238] Sub-case 4:

[0239] The following example illustrates the solution in "Sub-case 4". For example... Figure 7 The diagram shown is a flowchart illustrating another clock synchronization method according to an embodiment of this application, which specifically includes the following steps:

[0240] S710. If the second communication module and the vehicle-mounted master clock module are integrated in the same module, the second communication module synchronizes the vehicle-mounted master clock module with the time information (i.e., the eighth time information) in the satellite navigation signal and the path transmission delay information of the satellite navigation signal.

[0241] It is evident that if the second communication module and the vehicle-mounted master clock module are integrated into the same module, using the time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal is beneficial for achieving clock synchronization of the vehicle-mounted master clock module solely through the second communication module and by determining whether the second communication module and the vehicle-mounted master clock are integrated into the same module.

[0242] The relevant concepts and solutions involved are explained in detail below.

[0243] 1) Path transmission delay information of satellite navigation signals

[0244] It should be noted that the second communication module typically communicates with a satellite, which operates along a fixed orbit. During the communication between the second communication module and the satellite, there is a timing advance (TA). TA_2 represents the path transmission delay of the signal from the satellite to the second communication module and then back to the satellite.

[0245] Therefore, the path transmission delay information of the satellite navigation signal in this embodiment can be understood as the path transmission delay TA_2 / 2 of the satellite navigation signal from the satellite to the second communication module, and the path transmission delay information of the satellite navigation signal is usually obtained through the satellite ephemeris and the current location information of the vehicle equipment.

[0246] 2) How to synchronize the vehicle's master clock module?

[0247] If the second communication module and the vehicle master clock module are integrated into the same module, since the second communication module can be directly connected to the vehicle master clock module through a signal line, the second communication module can synchronize the vehicle master clock module according to the time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal each time it obtains a satellite navigation signal.

[0248] In some possible embodiments, synchronizing the vehicle's master clock module based on the time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal may include:

[0249] The second communication module sends a PPS signal to the vehicle master clock module while acquiring the satellite navigation signal. The PPS signal is used to trigger the vehicle master clock module to record its current time information t9 and transmit the time information t9 to the second communication module. The time information represented by the PPS signal is the time information t8 (i.e., the eighth time information) in the satellite navigation signal; or, in other words, while acquiring the satellite navigation signal, the vehicle master clock module is triggered to record the current time information to obtain the time information t9 by using the fourth PPS signal.

[0250] The second communication module calculates the sum of the time information t8 in the satellite navigation signal and the path transmission delay information TA_2 / 2 in the satellite navigation signal to obtain the time information T2 (i.e. the tenth time information), that is, T2=t8+TA_2 / 2;

[0251] The second communication module calculates the time offset between time information T2 and time information t9 to obtain the time offset amount, namely the fourth time offset amount; where the fourth time offset amount can be expressed as offset_4=T2-t9, or offset_4=t9-T2;

[0252] The second communication module sends the fourth time offset_4 to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization. At this time, the vehicle master clock module calibrates its current time information t9 to t8 through offset_4, so that it can transmit t8 to the vehicle master clock module through the second communication module, thereby realizing the synchronization of the vehicle master clock module with the external clock.

[0253] The embodiments of this application can be based on the above. Figure 7 The method example illustrates the modularization of in-vehicle equipment. These modules can be implemented using either hardware or software. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division; in actual implementation, other division methods may be used.

[0254] The following embodiment of this application provides a block diagram of the module composition of the vehicle-mounted equipment in "Sub-Scenario 4", such as... Figure 8 As shown. The vehicle-mounted device 80 includes a second communication module 8101 and a vehicle-mounted master clock module 8102, which are integrated into the same module 810.

[0255] The second communication module 8101 is used to acquire satellite navigation signals. If the second communication module 8101 and the vehicle-mounted master clock module 8102 are integrated in the same module, the vehicle-mounted master clock module 8102 is clocked according to the time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal.

[0256] It is evident that if the second communication module 8101 and the vehicle-mounted master clock module 8102 are integrated into the same module, then using the time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal is beneficial for achieving clock synchronization of the vehicle-mounted master clock module 8102 solely through the second communication module 8101 and by determining whether the second communication module 8101 and the vehicle-mounted master clock 8102 are integrated into the same module.

[0257] In some possible embodiments, the second communication module 8101 is used for clock synchronization of the vehicle-mounted master clock module 8102 based on the time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal, in order to:

[0258] While acquiring satellite navigation signals, the vehicle's main clock module 8102 is triggered via PPS signal to record the current time information to obtain time information t9;

[0259] The time information T2 is obtained by summing the time information t8 in the satellite navigation signal and the path transmission delay information TA_2 / 2 in the satellite navigation signal.

[0260] Calculate the time offset between time information T2 and time information t9 to obtain the time offset amount; where, the time offset amount can be expressed as offset_4=T2-t9, or offset_4=t9-T2;

[0261] The time offset_4 is sent to the vehicle master clock module 8102 to trigger the vehicle master clock module 8102 to perform clock synchronization.

[0262] It should be noted that the vehicle-mounted equipment 80 may also include other modules, such as ECU modules, MCU modules or MMU modules, etc., without specific restrictions.

[0263] Scenario 3:

[0264] In “Scenario 1”, since the vehicle-mounted master clock module is synchronized by the first communication module and the second communication module, the vehicle-mounted device may include the first communication module, the second communication module and the vehicle-mounted master clock module.

[0265] In some possible embodiments, clock synchronization of the vehicle master clock module through a combination of the first communication module and the second communication module may include: synchronizing the vehicle master clock module according to the priority order of the first and second communication modules. In this case, the embodiments of this application have the following two situations:

[0266] 1) The first communication module has the highest priority.

[0267] At this point, the embodiment of this application first considers synchronizing the vehicle-mounted master clock module through the first communication module.

[0268] If the first communication module can obtain system messages, the embodiments of this application can use the content in "Scenario 1" above to synchronize the vehicle master clock module, which will not be elaborated further.

[0269] If the first communication module fails to obtain system messages, this embodiment of the application will then use the second communication module to synchronize the vehicle's main clock module, which will be explained in detail in "Sub-case 5".

[0270] 2) The second communication module has the highest priority.

[0271] At this point, in this embodiment of the application, the vehicle-mounted master clock module is first synchronized via the second communication module.

[0272] If the second communication module can obtain satellite navigation signals, the embodiments of this application can use the content in "Scenario 2" above to synchronize the vehicle-mounted master clock module, which will not be elaborated further.

[0273] If the second communication module cannot obtain satellite navigation signals, this embodiment of the application will then synchronize the vehicle-mounted main clock module through the first communication module, which will be explained in detail in "Sub-case 6".

[0274] Sub-case 5:

[0275] The following example illustrates the solution in "Sub-case 5". For example... Figure 9 The diagram shown is a flowchart illustrating another clock synchronization method according to an embodiment of this application, which specifically includes the following steps:

[0276] S910. If the first communication module cannot obtain system messages, the second communication module synchronizes the on-board main clock module with the satellite navigation signal.

[0277] It is evident that if the first communication module cannot obtain system messages, the second communication module can be used to synchronize the vehicle's main clock module based on satellite navigation signals. This method is beneficial for achieving clock synchronization of the vehicle's main clock module through the joint operation of the first and second communication modules.

[0278] 1) How to notify the second communication module to perform clock synchronization with the vehicle's master clock module?

[0279] In "Sub-Scenario 5", since the first communication module cannot obtain system messages, it cannot synchronize the vehicle's master clock module. Therefore, it is necessary to notify the second communication module to synchronize the vehicle's master clock module. In this case, this embodiment of the application needs to introduce an AP SW module, that is, the vehicle device also includes an AP SW module. The AP SW module is connected to both the first and second communication modules, and the AP SW module is used to notify the second communication module to perform clock synchronization of the vehicle's master clock module.

[0280] For example, if the first communication module cannot obtain system messages, it will proactively notify the AP SW module that it cannot obtain system messages and is unable to synchronize the time of the vehicle master clock module, and the second communication module will be required to synchronize the time. Then, the AP SW module will notify the second communication module that it needs to synchronize the time.

[0281] Alternatively, if the first communication module cannot obtain system messages, it sends information (i.e., the third information) to the AP SW module. This third information is used to notify the AP SW module that the first communication module cannot obtain system messages. The AP SW module receives the third information and sends information (i.e., the fourth information) to the second communication module. This fourth information is used to notify the second communication module to synchronize the vehicle's main clock module.

[0282] 2) The second communication module synchronizes the onboard master clock module with the satellite navigation signal.

[0283] After receiving the notification from the AP SW module, the second communication module needs to synchronize the clock of the vehicle's main clock module according to the satellite navigation signal.

[0284] At this point, similar to "Scenario Two" above, the embodiments of this application also need to consider the following two situations:

[0285] ① The second communication module and the vehicle-mounted master clock module are not integrated into the same module.

[0286] In some possible embodiments, as can be seen from the above "sub-scenario 3", if the second communication module and the vehicle-mounted master clock module are not integrated into the same module, clock synchronization of the vehicle-mounted master clock module based on satellite navigation signals may include:

[0287] The second communication module calibrates its clock based on the time information in the satellite navigation signal, and synchronizes the time information of the second communication module's clock with the vehicle's main clock module via PPS and UART transmission methods.

[0288] As can be seen, the first communication module cannot obtain system messages, and the second communication module and the vehicle main clock module are not integrated into the same module. Therefore, the method of transmitting the clock information of the second communication module through PPS and UART is beneficial to realize clock synchronization of the vehicle main clock module by combining the first and second communication modules and by judging whether the second communication module and the vehicle main clock module are integrated into the same module.

[0289] Furthermore, in conjunction with the above "sub-scenario 3", it can be seen that synchronizing the clock information of the second communication module with the vehicle's main clock module via PPS and UART transmission can include:

[0290] The second communication module sends a PPS signal (i.e., the third PPS signal) to the vehicle master clock module. This third PPS signal is used to trigger the vehicle master clock module to record its current time information t6 (i.e., the sixth time information) and transmit the sixth time information t6 to the second communication module. The time information t7 represented by the third PPS signal is the time information t7 of the clock of the second communication module; or, by transmitting the third PPS signal, the vehicle master clock module is triggered to record the current time information to obtain the time information t6.

[0291] The second communication module sends time information t7 and time information t6 to the AP SW module via the UART interface; or, in other words, the second communication module sends time information t7 and time information t6 to the AP SW module via the UART interface.

[0292] The AP SW module calculates the time offset between time information t6 and time information t7 to obtain the time offset amount, i.e., the third time offset amount; where, the third time offset amount can be expressed as offset_3=t6-t7, or offset_3=t7-t6.

[0293] The AP SW module sends offset_3 to the vehicle master clock module to trigger the vehicle master clock module to synchronize the clock. At this time, the vehicle master clock module calibrates its current time information t6 to t7 through offset_3, and then sends t7 to the vehicle master clock module through the second communication module, so as to realize the synchronization between the vehicle master clock module and the external clock.

[0294] ②The second communication module and the vehicle-mounted master clock module are integrated into the same module.

[0295] In some possible embodiments, as can be seen from the above "sub-scenario 4", if the second communication module and the vehicle-mounted master clock module are integrated in the same module, then clock synchronization of the vehicle-mounted master clock module based on satellite navigation signals may include:

[0296] The second communication module synchronizes the vehicle-mounted master clock module with the time information (i.e., the eighth time information) in the satellite navigation signal and the path transmission delay information of the satellite navigation signal.

[0297] It is evident that if the first communication module cannot obtain system messages, and the second communication module and the vehicle-mounted main clock module are integrated into the same module, then using the time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal is beneficial for achieving clock synchronization of the vehicle-mounted main clock module by combining the first and second communication modules and by determining whether the second communication module and the vehicle-mounted main clock module are integrated into the same module.

[0298] Furthermore, in conjunction with the above "sub-scenario 4," it can be seen that clock synchronization of the vehicle's main clock module based on the time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal can include:

[0299] The second communication module sends a PPS signal to the vehicle master clock module while acquiring the satellite navigation signal. The PPS signal is used to trigger the vehicle master clock module to record its current time information t9 and transmit the time information t9 to the second communication module. The time information represented by the PPS signal is the time information t8 in the satellite navigation signal; or, while acquiring the satellite navigation signal, the vehicle master clock module is triggered to record the current time information through the fourth PPS signal to obtain the ninth time information t9.

[0300] The second communication module calculates the sum of the time information t8 in the satellite navigation signal and the path transmission delay information TA_2 / 2 in the satellite navigation signal to obtain the time information T2 (i.e. the tenth time information), that is, T2=t8+TA_2 / 2;

[0301] The second communication module calculates the time offset between time information T2 and time information t9 to obtain the time offset amount, namely the fourth time offset amount; where the fourth time offset amount can be expressed as offset_4=T2-t9, or offset_4=t9-T2;

[0302] The second communication module sends the fourth time offset_4 to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization. At this time, the vehicle master clock module calibrates its current time information t9 to t8 through offset_4, so that it can transmit t8 to the vehicle master clock module through the second communication module, thereby realizing the synchronization of the vehicle master clock module with the external clock.

[0303] The embodiments of this application can be based on the above. Figure 9 The method example illustrates the modularization of in-vehicle equipment. These modules can be implemented using either hardware or software. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division; in actual implementation, other division methods may be used.

[0304] The following embodiment of this application provides a block diagram of the module composition of the vehicle-mounted equipment in "Sub-Scenario 5", such as... Figure 10 As shown. The vehicle-mounted device 1000 includes a first communication module 1010, a second communication module 1020, and a vehicle-mounted master clock module 1030. Among them,

[0305] The first communication module 1010 is used to acquire system messages and synchronize the vehicle-mounted master clock module 1030 according to the system messages.

[0306] The second communication module 1020 is used to acquire satellite navigation signals, and if the first communication module 1010 cannot acquire system messages, it synchronizes the vehicle-mounted master clock module 1030 according to the satellite navigation signals.

[0307] It is evident that if the first communication module 1010 fails to obtain system messages, the second communication module 1020 uses satellite navigation signals to synchronize the vehicle's main clock module 1030, which is beneficial for achieving clock synchronization of the vehicle's main clock module 1030 through the joint operation of the first communication module 1010 and the second communication module 1020.

[0308] In some possible embodiments, the vehicle-mounted device 1000 further includes an AP SW module, and the first communication module 1010 is used for:

[0309] If the first communication module 1010 cannot obtain system messages, it sends a third message to the AP SW module. This third message is used to notify the AP SW module that the first communication module 1010 cannot obtain system messages.

[0310] At this time, the AP SW module is used for:

[0311] The system receives the third information and sends a fourth information to the second communication module 1020, which is used to notify the second communication module 1020 to synchronize the vehicle master clock module 1030.

[0312] In some possible embodiments, if the second communication module 1020 and the vehicle master clock module 1030 are not integrated into the same module, then in terms of synchronizing the vehicle master clock module 1030 with respect to satellite navigation signals, the second communication module 1020 is used for:

[0313] The clock of the second communication module 1020 is calibrated based on the time information in the satellite navigation signal, and the time information of the clock of the second communication module 1020 is transmitted to the vehicle master clock module 1030 via PPS and UART for clock synchronization.

[0314] Furthermore, in synchronizing the clock information of the second communication module 1020 to the vehicle master clock module 1030 via PPS and UART transmission, the second communication module 1020 is used for:

[0315] The vehicle-mounted master clock module 1030 is triggered to record the current time information by transmitting the third PPS signal to obtain the sixth time information. The seventh time information represented by the third PPS signal is the time information of the clock of the second communication module 1020.

[0316] The sixth time information and the seventh time information represented by the third PPS signal are sent to the APSW module via the UART interface.

[0317] At this time, the AP SW module is used for:

[0318] Receive sixth and seventh time information;

[0319] Calculate the time offset between the sixth and seventh time information to obtain the third time offset;

[0320] The third time offset is sent to the vehicle master clock module 1030 to trigger the vehicle master clock module 1030 to perform clock synchronization.

[0321] In some possible embodiments, if the second communication module 1020 and the vehicle master clock module 1030 are integrated in the same module, then the second communication module 1020 is used for clock synchronization of the vehicle master clock module 1030 according to satellite navigation signals as follows:

[0322] The vehicle-mounted master clock module 1030 is clocked based on the eighth time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal.

[0323] Furthermore, in synchronizing the vehicle-mounted master clock module 1030 based on the eighth time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal, the second communication module 1020 is used for:

[0324] While acquiring satellite navigation signals, the vehicle's main clock module 1030 is triggered by the fourth PPS signal to record the current time information in order to obtain the ninth time information;

[0325] The tenth time information is obtained by summing the eighth time information and the path transmission delay information of the satellite navigation signal;

[0326] Calculate the time offset between the ninth and tenth time information to obtain the fourth time offset;

[0327] The fourth time offset is sent to the vehicle master clock module 1030 to trigger the vehicle master clock module 1030 to perform clock synchronization.

[0328] Sub-case 6:

[0329] The following example illustrates the solution in "Sub-case 6". For example... Figure 11 The diagram shown is a flowchart illustrating another clock synchronization method according to an embodiment of this application, which specifically includes the following steps:

[0330] S1110. If the second communication module cannot obtain satellite navigation signals, the first communication module synchronizes the clock of the vehicle-mounted main clock module according to the system message.

[0331] It is evident that if the second communication module cannot obtain satellite navigation signals, the method of using the first communication module to synchronize the vehicle's main clock module according to system messages is beneficial for achieving clock synchronization of the vehicle's main clock module through the joint operation of the first and second communication modules.

[0332] 1) How to notify the first communication module to perform clock synchronization with the vehicle's main clock module?

[0333] In "Sub-Scenario 6", since the second communication module cannot obtain satellite navigation signals, it cannot synchronize the time of the vehicle-mounted master clock module. Therefore, it is necessary to notify the first communication module to synchronize the time of the vehicle-mounted master clock module. In this case, this embodiment of the application needs to introduce an AP SW module, that is, the vehicle-mounted device also includes an AP SW module. The AP SW module is connected to the first communication module and the second communication module respectively, and the AP SW module is used to notify the first communication module to perform clock synchronization of the vehicle-mounted master clock module.

[0334] For example, if the second communication module cannot obtain satellite navigation signals, it will proactively notify the AP SW module that it cannot obtain satellite navigation signals and is unable to provide time synchronization to the vehicle's main clock module, and the first communication module will be required to provide time synchronization. Then, the AP SW module will notify the first communication module that it needs to provide time synchronization.

[0335] Alternatively, if the second communication module cannot obtain satellite navigation signals, the second communication module sends information (i.e., first information) to the AP SW module. This first information is used to notify the AP SW module that the second communication module cannot obtain satellite navigation signals. The AP SW module receives the first information and sends information (i.e., second information) to the first communication module. This second information is used to notify the first communication module to synchronize the vehicle's main clock module.

[0336] 2) The first communication module synchronizes the clock with the vehicle's main clock module based on system messages.

[0337] After receiving the notification from the AP SW module, the first communication module needs to synchronize the clock of the vehicle master clock module according to the system message.

[0338] At this point, similar to "Scenario 1" above, the embodiments of this application also need to consider the following two situations:

[0339] ① The first communication module and the vehicle-mounted master clock module are not integrated into the same module.

[0340] In some possible embodiments, as can be seen from the above "sub-scenario 1", if the first communication module and the vehicle master clock module are not integrated into the same module, then clock synchronization of the vehicle master clock module according to system messages may include:

[0341] The first communication module calibrates its clock based on the time information in the system message, and synchronizes the clock information of the first communication module with the vehicle master clock module through PPS and UART transmission methods.

[0342] It is evident that if the second communication module cannot obtain satellite navigation signals, and the first communication module and the vehicle-mounted main clock module are not integrated into the same module, then using the transmission method of the clock time information of the first communication module through PPS and UART is beneficial for achieving clock synchronization of the vehicle-mounted main clock module by combining the first and second communication modules and by determining whether the first communication module and the vehicle-mounted main clock module are integrated into the same module.

[0343] Furthermore, in conjunction with the above "sub-scenario 1", it can be seen that synchronizing the clock information of the first communication module with the vehicle's main clock module via PPS and UART transmission can include:

[0344] The first communication module sends a PPS signal (i.e., the first PPS signal) to the vehicle master clock module. The first PPS signal is used to trigger the vehicle master clock module to record its current time information t1 (i.e., the first time information) and transmit the first time information t1 to the first communication module. The time information t2 (i.e., the second time information) represented by the first PPS signal is the time information t2 of the clock of the first communication module; or, in other words, the first communication module triggers the vehicle master clock module to record the current time information to obtain the first time information t1 by transmitting the first PPS signal.

[0345] The first communication module sends first time information t1 and time information t2 (i.e., second time information, or the clock time information of the first communication module) represented by the first PPS signal to the APSW module through the UART interface; or, in other words, the first communication module sends the first time information t1 and the second time information t2 represented by the first PPS signal to the APSW module through the UART interface.

[0346] The AP SW module calculates the time offset between the first time information t1 and the second time information t2 to obtain the time offset (i.e., the first time offset); where the first time offset can be expressed as offset_1=t1-t2, or offset_1=t2-t1;

[0347] The AP SW module sends offset_1 to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization. At this time, the vehicle master clock module calibrates its current time information t1 to t2 through offset_1, and then transmits t2 to the vehicle master clock module through the first communication module, thereby realizing the synchronization of the vehicle master clock module with the external clock.

[0348] ② The first communication module and the vehicle-mounted master clock module are integrated into the same module.

[0349] In some possible embodiments, as can be seen from the above "sub-scenario 2", if the first communication module and the vehicle master clock module are integrated in the same module, then clock synchronization of the vehicle master clock module according to system messages may include:

[0350] The first communication module synchronizes the onboard master clock module with the third time information in the system message and the path transmission delay information of the system message.

[0351] It is evident that if the second communication module cannot obtain satellite navigation signals, and the first communication module and the vehicle-mounted main clock module are integrated into the same module, then using the third time information in the system message and the path transmission delay information of the system message is beneficial for achieving clock synchronization of the vehicle-mounted main clock module through the joint operation of the first and second communication modules.

[0352] Furthermore, in conjunction with the above "sub-scenario 2," it can be seen that clock synchronization of the vehicle master clock module based on the third time information in the system message and the path transmission delay information of the system message can include:

[0353] Upon receiving a system message, the first communication module sends a PPS signal (i.e., the second PPS signal) to the vehicle master clock module. This second PPS signal triggers the vehicle master clock module to record its current time information t4 (i.e., the fourth time information) and transmits this fourth time information t4 to the first communication module. The time information represented by the second PPS signal is the time information t3 (i.e., the third time information) in the system message. Alternatively, upon receiving a system message, the second PPS signal triggers the vehicle master clock module to record its current time information to obtain the fourth time information t4.

[0354] The first communication module calculates the sum of the time information t3 and the path transmission delay information TA_1 / 2 of the system message to obtain the fifth time information T1, that is, T1=t3+TA_1 / 2;

[0355] The first communication module calculates the time offset between the fourth time information t4 and the fifth time information T1 to obtain the time offset amount, namely the second time offset amount; wherein, the second time offset amount can be expressed as offset_2=T1-t4, or offset_2=t4-T1;

[0356] The first communication module sends the second time offset_2 to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization. At this time, the vehicle master clock module calibrates its current time information t4 to t3 through offset_2, so that it can transmit t3 to the vehicle master clock module through the first communication module, thereby realizing the synchronization of the vehicle master clock module with the external clock.

[0357] The embodiments of this application can be based on the above. Figure 11 The method example illustrates the modularization of in-vehicle equipment. These modules can be implemented using either hardware or software. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division; in actual implementation, other division methods may be used.

[0358] The following embodiment of this application provides a block diagram of the module composition of the vehicle-mounted equipment in "Sub-Scenario 6", such as... Figure 12 As shown. The vehicle-mounted device 1200 includes a first communication module 1210, a second communication module 1220, and a vehicle-mounted master clock module 1230. Among them,

[0359] The second communication module 1220 is used to acquire satellite navigation signals and synchronize the vehicle-mounted main clock module 1230 according to the satellite navigation signals.

[0360] The first communication module 1210 is used to acquire system messages, and if the second communication module 1220 cannot acquire satellite navigation signals, it synchronizes the vehicle-mounted master clock module 1230 according to the system messages.

[0361] It is evident that if the second communication module 1220 fails to acquire satellite navigation signals, the first communication module 1210 synchronizes the vehicle's main clock module 1230 according to system messages. This method facilitates clock synchronization of the vehicle's main clock module 1230 through the joint operation of the first communication module 1210 and the second communication module 1220.

[0362] In some possible embodiments, the vehicle-mounted device 1200 further includes an AP SW module, and the second communication module 1220 is used for:

[0363] If the second communication module 1220 cannot obtain satellite navigation signals, it sends a first message to the AP SW module. The first message is used to notify the AP SW module that the second communication module 1220 cannot obtain satellite navigation signals.

[0364] At this time, the AP SW module is used for:

[0365] The system receives the first information and sends a second information to the first communication module 1210. The second information is used to notify the first communication module 1210 to synchronize the vehicle master clock module 1230.

[0366] As can be seen, if the second communication module 1220 cannot obtain satellite navigation signals, this embodiment of the application uses the AP SW module to notify the first communication module 1210.

[0367] In some possible embodiments, if the first communication module 1210 and the vehicle master clock module 1230 are not integrated into the same module, then in terms of synchronizing the vehicle master clock module 1230 according to system messages, the first communication module 1210 is used for:

[0368] The clock of the first communication module is calibrated based on the time information in the system message, and the time information of the clock of the first communication module is transmitted to the vehicle master clock module 1230 via PPS and UART to synchronize the clock.

[0369] It is evident that if the second communication module 1220 cannot obtain satellite navigation signals, and the first communication module 1210 and the vehicle master clock module 1230 are not integrated into the same module, then the method of transmitting the time information of the clock of the first communication module 1210 through PPS and UART is beneficial to realize the clock synchronization of the vehicle master clock module 1230 by combining the first communication module 1210 and the second communication module 1220 and by determining whether the first communication module 1210 and the vehicle master clock module 1230 are integrated into the same module.

[0370] Furthermore, in synchronizing the clock information of the first communication module with the vehicle master clock module 1230 via PPS and UART transmission, the first communication module 1210 is used for:

[0371] The vehicle master clock module 1230 is triggered to record the current time information by transmitting the first PPS signal to obtain the first time information;

[0372] The first time information and the second time information represented by the first PPS signal are sent to the APSW module via the UART interface.

[0373] At this time, the AP SW module is used for:

[0374] Receive first-time information and second-time information;

[0375] Calculate the time offset between the first time information and the second time information to obtain the first time offset amount;

[0376] The first time offset is sent to the vehicle master clock module 1230 to trigger the vehicle master clock module 1230 to perform clock synchronization.

[0377] In some possible embodiments, if the first communication module 1210 and the vehicle master clock module 1230 are integrated in the same module, then in terms of synchronizing the vehicle master clock module 1230 according to system messages, the first communication module 1210 is used for:

[0378] The vehicle-mounted master clock module 1230 is clocked based on the third time information in the system message and the path transmission delay information of the system message.

[0379] It is evident that if the second communication module 1220 cannot obtain satellite navigation signals, and the first communication module 1210 and the vehicle-mounted main clock module 1230 are integrated into the same module, then using the third time information in the system message and the path transmission delay information of the system message is beneficial for achieving clock synchronization of the vehicle-mounted main clock module 1230 by combining the first communication module 1210 and the second communication module 1220 and by determining whether the first communication module 1210 and the vehicle-mounted main clock module 1230 are integrated into the same module.

[0380] Furthermore, in synchronizing the vehicle-mounted master clock module 1230 based on the third time information in the system message and the path transmission delay information of the system message, the first communication module 1210 is used for:

[0381] While receiving system messages, the vehicle master clock module 1230 is triggered by the second PPS signal to record the current time information in order to obtain the fourth time information;

[0382] The fifth time information is obtained by summing the path transmission delay information of the third time information and the system message;

[0383] Calculate the time offset between the fourth and fifth time information to obtain the second time offset;

[0384] The second time offset is sent to the vehicle master clock module 1230 to trigger the vehicle master clock module 1230 to perform clock synchronization.

[0385] Scenario 4:

[0386] In “Scenario 4”, since it is impossible to synchronize the vehicle master clock module through the first communication module and the second communication module, and the vehicle master clock module counts the reference clock module to achieve clock synchronization, the vehicle equipment may include the first communication module, the second communication module, the vehicle master clock module and the reference clock module.

[0387] The following example illustrates the solution in "Scenario Four". Figure 13 The diagram shown is a flowchart illustrating another clock synchronization method according to an embodiment of this application, which specifically includes the following steps:

[0388] S1310. If the first communication module cannot obtain system messages and the second communication module cannot obtain satellite navigation signals, the vehicle-mounted master clock module counts according to the signal provided by the reference clock module in the vehicle-mounted equipment to perform clock synchronization.

[0389] It is evident that if the first communication module cannot obtain system messages and the second communication module cannot obtain satellite navigation signals, then using the method of counting the reference clock in the vehicle-mounted equipment is beneficial for achieving clock synchronization by counting the reference clock module through the vehicle-mounted master clock module.

[0390] It should be noted that, Figure 13 For details on the relevant content, please refer to the above-mentioned "5. How the vehicle-mounted master clock module provides a reference time for internal clock synchronization" and other related content, which will not be repeated here.

[0391] To address how to notify the vehicle-mounted master clock module to perform clock synchronization by timing according to the signal provided by the parameter clock module, this application embodiment requires the introduction of an AP SW module. That is, the vehicle-mounted device also includes an AP SW module, which is connected to the first communication module, the second communication module, and the vehicle-mounted master clock module respectively. The AP SW module is used to notify the vehicle-mounted master clock module to perform timing according to the signal provided by the parameter clock module.

[0392] For example, if the first communication module cannot obtain system messages and the second communication module cannot obtain satellite navigation signals, the first communication module will proactively notify the AP SW module that it cannot obtain system messages and is unable to synchronize the time with the vehicle's main clock module, and the second communication module will proactively notify the AP SW module that it cannot obtain satellite navigation signals and is unable to synchronize the time with the vehicle's main clock module; then, the AP SW module will notify the vehicle's main clock module that it needs to synchronize the time.

[0393] Alternatively, if the first communication module cannot obtain system messages and the second communication module cannot obtain satellite navigation signals, the first communication module sends information (i.e., the seventh information) to the AP SW module to notify the AP SW module that the first communication module cannot obtain system messages, and the second communication module sends information (i.e., the eighth information) to the AP SW module to notify the AP SW module that the second communication module cannot obtain satellite navigation signals. The APSW module receives the seventh and eighth information and sends information (i.e., the ninth information) to the vehicle master clock module to notify the vehicle master clock module to perform clock synchronization according to the signal provided by the parameter clock module.

[0394] Scenario 5:

[0395] In “Scenario 5”, since the vehicle-mounted master clock module is synchronized by the first communication module, the second communication module and the reference clock module, the vehicle-mounted device may include the first communication module, the second communication module, the vehicle-mounted master clock module and the reference clock module.

[0396] In some possible embodiments, clock synchronization of the vehicle-mounted master clock module is performed through a joint approach of the first communication module, the second communication module, and the reference clock module. This may include synchronizing the vehicle-mounted master clock module according to the priority order of the first communication module, the second communication module, and the reference clock module. In this case, the embodiments of this application present the following two situations:

[0397] 1) The first communication module has the highest priority, and the second communication module has a lower priority.

[0398] In this embodiment, the clock synchronization of the vehicle master clock module is first performed through the first communication module, and then through the second communication module.

[0399] If the first communication module can obtain system messages, the embodiments of this application can use the content in "Scenario 1" above to synchronize the vehicle master clock module, which will not be elaborated further.

[0400] If the first communication module fails to obtain system messages, this embodiment of the application will then synchronize the vehicle's main clock module via the second communication module. In this case, the content of "Sub-Scenario 5" above can be used to synchronize the vehicle's main clock module, which will not be elaborated further.

[0401] If the first communication module fails to obtain system messages and the second communication module fails to obtain satellite navigation signals, then this embodiment of the application will synchronize the vehicle-mounted main clock module via a reference clock module. In this case, the synchronization of the vehicle-mounted main clock module can be performed using the methods described in "Scenario Four" above, which will not be elaborated further.

[0402] 2) The second communication module has the highest priority, and the first communication module has a lower priority.

[0403] In this embodiment, the vehicle-mounted master clock module is first synchronized via the second communication module, and then via the first communication module.

[0404] If the second communication module can obtain satellite navigation signals, the embodiments of this application can use the content in "Scenario 2" above to synchronize the vehicle-mounted master clock module, which will not be elaborated further.

[0405] If the second communication module fails to obtain satellite navigation signals, this embodiment of the application will then synchronize the vehicle-mounted master clock module via the first communication module. In this case, the content of "Sub-Scenario 6" above can be used to synchronize the vehicle-mounted master clock module, which will not be elaborated further.

[0406] If the second communication module fails to obtain satellite navigation signals and the first communication module fails to obtain system messages, then this embodiment of the application will synchronize the vehicle's main clock module via a reference clock module. In this case, the synchronization of the vehicle's main clock module can be performed using the methods described in "Scenario Four" above, which will not be elaborated further.

[0407] 3) The reference clock module has the highest priority.

[0408] At this point, the above-mentioned "Scenario 4" method can be used to synchronize the vehicle's master clock module, which will not be elaborated further.

[0409] The following example illustrates the solution in "Scenario Five". Figure 14 The diagram shown is a flowchart illustrating another clock synchronization method according to an embodiment of this application, applied to an in-vehicle device. The in-vehicle device includes a first communication module for acquiring system messages, a second communication module for acquiring satellite navigation signals, an in-vehicle master clock module, and a reference clock module. Any two of the first communication module, the second communication module, and the in-vehicle master clock module are integrated into the same module; or, the first communication module, the second communication module, and the in-vehicle master clock module are all integrated into the same module; or, the first communication module, the second communication module, and the in-vehicle master clock module are not integrated into the same module.

[0410] The method specifically includes the following steps:

[0411] S1410. If satellite navigation signals cannot be obtained, the first communication module synchronizes the clock of the vehicle's main clock module according to the system message.

[0412] At this point, the above-mentioned "Sub-Scenario 6" can be used to synchronize the vehicle's main clock module, which will not be elaborated further.

[0413] S1420. If system messages cannot be obtained, the second communication module synchronizes the onboard master clock module with the satellite navigation signal.

[0414] At this point, the above-mentioned "Sub-Scenario 5" can be used to synchronize the vehicle's main clock module, which will not be elaborated further.

[0415] S1430. If system messages and satellite navigation signals cannot be obtained, the vehicle-mounted master clock module counts according to the signal provided by the reference clock module to perform clock synchronization.

[0416] At this point, the above-mentioned "Scenario 4" method can be used to synchronize the vehicle's master clock module, which will not be elaborated further.

[0417] As can be seen, this application synchronizes the vehicle-mounted master clock module using a combination of a first communication module, a second communication module, and a reference clock module. Specifically, if the second communication module cannot obtain a satellite navigation signal, it switches to the first communication module, which synchronizes the vehicle-mounted master clock module based on system messages. If the first communication module also cannot obtain a system message, it switches to the second communication module, which synchronizes the vehicle-mounted master clock module based on satellite navigation signals. If both the first and second communication modules cannot obtain system messages or satellite navigation signals, it switches to the reference clock module, which performs clock synchronization by counting according to the reference clock module in the vehicle-mounted device.

[0418] It should be noted that there is no strict execution order among S1410, S1420, and S1430. For example, S1410 can be executed first, then S1420 and finally S1430; S1420 can be executed first, then S1410 and finally S1430; or S1430 can be executed first, then S1420 and finally S1410, etc. There are no specific restrictions on this.

[0419] The embodiments of this application can be based on the above. Figure 14 The method example illustrates the modularization of in-vehicle equipment. These modules can be implemented using either hardware or software. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division; in actual implementation, other division methods may be used.

[0420] The following embodiment of this application provides a block diagram of the module composition of the vehicle-mounted equipment in "Scenario Five", such as... Figure 15 As shown. The vehicle-mounted device 1500 includes a first communication module 1510, a second communication module 1520, a vehicle-mounted master clock module 1530, and a reference clock module 1540. Among them,

[0421] Any two of the first communication module 1510, the second communication module 1520, and the vehicle-mounted master clock module 1530 are integrated into the same module; or, the first communication module 1510, the second communication module 1520, and the vehicle-mounted master clock module 1530 are all integrated into the same module; or, the first communication module 1510, the second communication module 1520, and the vehicle-mounted master clock module 1530 are not integrated into the same module.

[0422] The first communication module 1510 is used to acquire system messages;

[0423] The second communication module 1520 is used to acquire satellite navigation signals;

[0424] The reference clock module 1540 is used to provide a signal of fixed frequency or a signal of periodic oscillation frequency, so that the vehicle master clock module 1530 counts according to the signal provided by the reference clock module 1540 to perform clock synchronization.

[0425] If the second communication module 1520 can acquire the satellite navigation signal, then the second communication module 1520 is also used to synchronize the clock of the vehicle master clock module 1530 according to the satellite navigation signal; if the second communication module 1520 cannot acquire the satellite navigation signal, then the first communication module 1510 is also used to synchronize the clock of the vehicle master clock module 1530 according to the system message; or,

[0426] If the first communication module 1510 can obtain the system message, then the first communication module 1510 is also used to synchronize the clock of the vehicle master clock module 1530 according to the system message; if the first communication module 1510 cannot obtain the system message, then the second communication module 1520 is also used to synchronize the clock of the vehicle master clock module 1530 according to the satellite navigation signal.

[0427] If the first communication module 1510 fails to obtain the system message and the second communication module 1520 fails to obtain the satellite navigation signal, the vehicle-mounted master clock module 1530 is used to count according to the signal provided by the reference clock module 1540 to perform clock synchronization.

[0428] As can be seen, this application synchronizes the vehicle-mounted master clock module using a combination of a first communication module, a second communication module, and a reference clock module. Specifically, if the second communication module cannot obtain a satellite navigation signal, it switches to the first communication module, which synchronizes the vehicle-mounted master clock module based on system messages. If the first communication module also cannot obtain a system message, it switches to the second communication module, which synchronizes the vehicle-mounted master clock module based on satellite navigation signals. If both the first and second communication modules cannot obtain system messages or satellite navigation signals, it switches to the reference clock module, which performs clock synchronization by counting according to the reference clock module in the vehicle-mounted device.

[0429] It should be noted that the specific implementation of each operation performed by the vehicle-mounted device 1500 can be found in the corresponding description of the above embodiments, and will not be repeated here.

[0430] Scenario Six:

[0431] In “Scenario Six”, since the vehicle-mounted master clock module is synchronized by the first communication module and the reference clock module, the vehicle-mounted device may include the first communication module, the vehicle-mounted master clock module and the reference clock module.

[0432] In some possible embodiments, clock synchronization of the vehicle-mounted master clock module is performed through a joint approach of the first communication module, the second communication module, and the reference clock module. This may include synchronizing the vehicle-mounted master clock module according to the priority order of the first communication module, the second communication module, and the reference clock module. In this case, the embodiments of this application present the following two situations:

[0433] 1) The first communication module has the highest priority.

[0434] At this point, the embodiment of this application first considers synchronizing the vehicle-mounted master clock module through the first communication module.

[0435] If the first communication module can obtain system messages, the embodiments of this application can use the content in "Scenario 1" above to synchronize the vehicle master clock module, which will not be elaborated further.

[0436] If the first communication module fails to obtain system messages, this embodiment of the application will then synchronize the vehicle's main clock module via the reference clock module. In this case, the content of "Scenario 4" above can be used to synchronize the vehicle's main clock module, which will not be elaborated further.

[0437] 2) The reference clock module has the highest priority.

[0438] At this point, the above-mentioned "Scenario 4" method can be used to synchronize the vehicle's master clock module, which will not be elaborated further.

[0439] The following example illustrates the solution in "Scenario Six". Figure 16 The diagram shown is a flowchart of another clock synchronization method according to an embodiment of this application, applied to an in-vehicle device. The in-vehicle device includes a first communication module for acquiring system messages, an in-vehicle master clock module, and a reference clock module; the first communication module and the in-vehicle master clock module are integrated in the same module; or, the first communication module and the in-vehicle master clock module are not integrated in the same module.

[0440] The method specifically includes the following steps:

[0441] S1610. If a system message is obtained, the first communication module synchronizes the on-board main clock module according to the system message.

[0442] At this point, the above-mentioned "Scenario 1" method can be used to synchronize the vehicle's master clock module, which will not be elaborated further.

[0443] S1620. If a system message cannot be obtained, the on-board master clock module counts according to the signal provided by the reference clock module to perform clock synchronization.

[0444] At this point, the above-mentioned "Scenario 4" method can be used to synchronize the vehicle's master clock module, which will not be elaborated further.

[0445] As can be seen, this application synchronizes the vehicle-mounted master clock module using a combination of a first communication module and a reference clock module. Specifically, if the first communication module can obtain system messages, it synchronizes the vehicle-mounted master clock module based on these messages; if the first communication module cannot obtain system messages, it switches to the reference clock module, and the vehicle-mounted master clock module performs clock synchronization by counting according to the reference clock module in the vehicle-mounted device.

[0446] It should be noted that there is no strict execution order between S1610 and S1620.

[0447] The embodiments of this application can be based on the above. Figure 16 The method example illustrates the modularization of in-vehicle equipment. These modules can be implemented using either hardware or software. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division; in actual implementation, other division methods may be used.

[0448] The following embodiment of this application provides a block diagram of the module composition of the vehicle-mounted equipment in "Scenario Six", such as Figure 17 As shown. The vehicle-mounted device 1700 includes a first communication module 1710, a vehicle-mounted master clock module 1720, and a reference clock module 1730. Among them,

[0449] The first communication module 1710 and the vehicle master clock module 1720 are integrated in the same module; or, the first communication module 1710 and the vehicle master clock module 1720 are not integrated in the same module.

[0450] The first communication module 1710 is used to acquire system messages;

[0451] Reference clock module 1730 is used to provide a signal of fixed frequency or a signal of periodic oscillation frequency;

[0452] If the first communication module 1710 can obtain the system message, the first communication module 1710 is also used to synchronize the vehicle master clock module 1720 according to the system message.

[0453] If the first communication module 1710 fails to obtain the system message, the vehicle master clock module 1720 is used to count according to the signal provided by the reference clock module 1730 to perform clock synchronization.

[0454] As can be seen, this application synchronizes the vehicle-mounted master clock module using a combination of a first communication module and a reference clock module. Specifically, if the first communication module can obtain system messages, it synchronizes the vehicle-mounted master clock module based on these messages; if the first communication module cannot obtain system messages, it switches to the reference clock module, and the vehicle-mounted master clock module performs clock synchronization by counting according to the reference clock module in the vehicle-mounted device.

[0455] It should be noted that the specific implementation of each operation performed by the vehicle-mounted device 1700 can be found in the corresponding description of the above embodiments, and will not be repeated here.

[0456] This application also provides a computer-readable storage medium, wherein a computer program or instructions are stored on the computer-readable storage medium, which, when executed by a processor, implements the steps described in the above embodiments.

[0457] This application also provides a computer program product, including a computer program or instructions, wherein the computer program or instructions, when executed by a processor, implement the steps described in the above embodiments. For example, the computer program product may be a software installation package.

[0458] It should be noted that, for the sake of simplicity, the above embodiments are all described as a series of actions. Those skilled in the art should understand that this application is not limited to the described order of actions, as some steps in the embodiments of this application can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions, steps, modules, or units involved are not necessarily essential to the embodiments of this application.

[0459] In the above embodiments, the descriptions of each embodiment in this application have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0460] Those skilled in the art should understand that the functions of the methods, steps, or related modules / units described in the embodiments of this application can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product, or by a processor executing computer program instructions. The computer program product includes at least one computer program instruction, which can be composed of corresponding software modules. These software modules can be stored in RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, portable hard disk, read-only optical disc (CD-ROM), or any other form of storage medium well known in the art. The computer program instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer program instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media, or semiconductor media (e.g., SSDs).

[0461] The modules / units included in the various devices or products described in the above embodiments can be software modules / units, hardware modules / units, or a combination of software and hardware modules / units. For example, for devices or products applied to or integrated into a chip, all of their modules / units can be implemented using hardware methods such as circuits; or, some of their modules / units can be implemented using software programs that run on a processor integrated within the chip, while other (if any) modules / units can be implemented using hardware methods such as circuits. The same principle applies to devices or products applied to or integrated into chip modules, or devices or products applied to or integrated into terminals.

[0462] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above descriptions are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made based on the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A clock synchronization method, characterized in that, The device is applied to vehicle-mounted equipment, which includes a first communication module for acquiring system messages, a second communication module for acquiring satellite navigation signals, a vehicle-mounted master clock module, a reference clock module, and an application processing software (AP SW) module. The method includes: If the second communication module fails to obtain the satellite navigation signal, the first communication module synchronizes the clock of the vehicle-mounted master clock module according to the system message; Wherein, if the first communication module and the vehicle master clock module are not integrated into the same module, the first communication module performs clock synchronization on the vehicle master clock module according to the system message, including: The first communication module calibrates its clock based on the time information in the system message; The first communication module triggers the vehicle-mounted master clock module to record the current time information by transmitting a first pulse per second (PPS) signal, thereby obtaining the first time information. The second time information represented by the first PPS signal is the time information of the clock of the first communication module. The first communication module sends the first time information and the second time information to the AP SW module through the Universal Asynchronous Receiver / Transmitter (UART) interface; The AP SW module calculates the time offset between the first time information and the second time information to obtain the first time offset amount; The AP SW module sends the first time offset to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization.

2. A clock synchronization method, characterized in that, The device is applied to vehicle-mounted equipment, which includes a first communication module for acquiring system messages, a second communication module for acquiring satellite navigation signals, a vehicle-mounted master clock module, a reference clock module, and an application processing software (AP SW) module. The method includes: If the second communication module fails to obtain the satellite navigation signal, the first communication module synchronizes the clock of the vehicle-mounted master clock module according to the system message; Wherein, if the first communication module and the vehicle master clock module are integrated in the same module, the first communication module performs clock synchronization with the vehicle master clock module according to the system message, including: While acquiring the system message, the first communication module triggers the vehicle master clock module to record the current time information via the second PPS signal, thereby obtaining the fourth time information; The first communication module calculates the sum of the third time information in the system message and the path transmission delay information of the system message to obtain the fifth time information; The first communication module calculates the time offset between the fourth time information and the fifth time information to obtain the second time offset. The first communication module sends the second time offset to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization.

3. The method according to claim 1 or 2, characterized in that, If the second communication module cannot obtain the satellite navigation signal, the method further includes: The second communication module sends a first message to the AP SW module, the first message being used to notify the AP SW module that the second communication module cannot obtain the satellite navigation signal; The AP SW module receives the first information and sends the second information to the first communication module. The second information is used to notify the first communication module to synchronize the clock of the vehicle master clock module.

4. A clock synchronization method, characterized in that, The device is applied to vehicle-mounted equipment, which includes a first communication module for acquiring system messages, a second communication module for acquiring satellite navigation signals, a vehicle-mounted master clock module, a reference clock module, and an application processing software (AP SW) module. The method includes: If the first communication module fails to obtain the system message, the second communication module synchronizes the clock of the vehicle-mounted master clock module according to the satellite navigation signal; Wherein, if the second communication module and the vehicle-mounted master clock module are not integrated into the same module, the second communication module performs clock synchronization of the vehicle-mounted master clock module according to the satellite navigation signal, including: The second communication module calibrates its clock based on the time information in the satellite navigation signal; The second communication module triggers the vehicle master clock module to record the current time information by transmitting the third PPS signal, thereby obtaining the sixth time information. The seventh time information represented by the third PPS signal is the time information of the clock of the second communication module. The second communication module sends the sixth and seventh time information to the AP SW module via the UART interface; The AP SW module calculates the time offset between the sixth time information and the seventh time information to obtain the third time offset. The AP SW module sends the third time offset to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization.

5. A clock synchronization method, characterized in that, The device is applied to vehicle-mounted equipment, which includes a first communication module for acquiring system messages, a second communication module for acquiring satellite navigation signals, a vehicle-mounted master clock module, a reference clock module, and an application processing software (AP SW) module. The method includes: If the first communication module fails to obtain the system message, the second communication module synchronizes the clock of the vehicle-mounted master clock module according to the satellite navigation signal; Wherein, if the second communication module and the vehicle-mounted master clock module are integrated in the same module, the second communication module performs clock synchronization of the vehicle-mounted master clock module according to the satellite navigation signal, including: While acquiring the satellite navigation signal, the second communication module triggers the vehicle-mounted master clock module to record the current time information via the fourth PPS signal to obtain the ninth time information; The second communication module calculates the sum of the eighth time information in the satellite navigation signal and the path transmission delay information of the satellite navigation signal to obtain the tenth time information; The second communication module calculates the time offset between the ninth time information and the tenth time information to obtain the fourth time offset. The second communication module sends the fourth time offset to the vehicle master clock module to trigger the vehicle master clock module to perform clock synchronization.

6. The method according to claim 4 or 5, characterized in that, If the first communication module cannot obtain the system message, the method further includes: The first communication module sends a third message to the AP SW module, the third message being used to notify the AP SW module that the first communication module cannot obtain the system message; The AP SW module receives the third information and sends a fourth information to the second communication module. The fourth information is used to notify the second communication module to synchronize the vehicle master clock module.

7. A vehicle-mounted device, characterized in that, Includes a module for performing the method according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, It stores a computer program or instructions that, when executed, implement the steps of the method described in any one of claims 1-6.

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