A method and apparatus for synchronizing a cluster of roadside unit devices

Abstract

The application discloses a synchronization method and device of a roadside unit device cluster, which is used to realize synchronization of the roadside unit device cluster when GNSS signals of any roadside unit device in the roadside unit device cluster are poor. The synchronization method of the roadside unit device cluster provided by the application comprises the following steps: when a message of informing a local roadside unit device to serve as a relay device of global navigation satellite system (GNSS) universal asynchronous receiver-transmitter (UART) information is received, determining GNSS UART information, and establishing a 5G transmission channel between the local roadside unit device and other roadside unit devices; and transmitting the GNSS UART information to the other roadside unit devices through the 5G transmission channel, so that a roadside unit device with poor GNSS signals can obtain GNSS UART information through the relay device with good GNSS signals, and synchronization of the roadside unit device cluster is realized.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a synchronization method and apparatus for a roadside unit equipment cluster. Background Technology

[0002] In the field of vehicle-to-everything (V2X) communication, Roadside Units (RSUs) are responsible for broadcasting traffic information processed by MECs (Multi-access Edge Computing) and traffic signals to surrounding On-Board Units (OBUs) to alert nearby vehicles to drive safely. For example, if a vehicle in a lane breaks down and cannot move, the RSU will use Vehicle-to-Everything (V2X) communication messages to alert other vehicles in the same lane to give way. Clearly, the more timely such contextual messages are (the farther the effective information is communicated), the more time vehicles have to react. An OBU is a physical unit installed on a vehicle that is capable of collecting, processing, and transmitting V2X wireless information; an RSU is an entity installed on either side of the road or on a gantry that sends roadside messages to the OBU via V2X wireless communication technology. Summary of the Invention

[0003] This application provides a synchronization method and apparatus for a roadside unit equipment cluster, which is used to achieve synchronization of the roadside unit equipment cluster when the global satellite navigation communication system signal of any roadside unit equipment in the cluster is poor, by having the roadside unit equipment, which acts as a relay device, forward GNSS UART information via a 5G network.

[0004] On the roadside unit equipment side, an embodiment of this application provides a synchronization method for a roadside unit equipment cluster, including:

[0005] When a local roadside unit receives a message notifying it that it is acting as a relay device for GNSS Universal Asynchronous Receiver / Transmitter (UART) information, it determines the GNSS UART information and establishes a 5G transmission channel with other roadside unit devices.

[0006] The GNSS UART information is transmitted to the other roadside unit devices via the 5G transmission channel.

[0007] This method involves determining the GNSS UART information when a local roadside unit receives a notification that it is acting as a relay device for GNSS Universal Asynchronous Receiver / Transmitter (UART) information, and establishing a 5G transmission channel with other roadside unit devices. The GNSS UART information is then transmitted to these other roadside unit devices via this 5G channel. This allows roadside unit devices with poor GNSS signals to obtain the GNSS UART information through a relay device with a better GNSS signal, avoiding the problem of other roadside unit devices being unable to obtain the GNSS UART information when the GNSS signal is poor, thus achieving synchronization of the roadside unit device cluster.

[0008] In some embodiments, before receiving the message notifying the local roadside unit device as a relay device, the method further includes:

[0009] The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine the local roadside unit device as the relay device based on the GNSS positioning information.

[0010] In some embodiments, the method further includes:

[0011] When a local roadside unit receives a notification that it needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information, a 5G transmission channel is established between the local roadside unit and the relay device.

[0012] The 5G transmission channel receives GNSS UART information forwarded by the relay device.

[0013] In some embodiments, when a message is received notifying a local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device acting as a GNSS UART information relay, the method further includes:

[0014] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0015] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0016] In some embodiments, when a message is received notifying a local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device acting as a GNSS UART information relay, the method further includes:

[0017] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0018] The timing information is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0019] In some embodiments, the method further includes:

[0020] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0021] On the roadside unit equipment side, another synchronization method for a roadside unit equipment cluster provided in this application embodiment includes:

[0022] When a local roadside unit device receives a notification that it needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information, a 5G transmission channel is established between the local roadside unit device and the relay device.

[0023] The 5G transmission channel receives GNSS UART information forwarded by the relay device.

[0024] In some embodiments, when a message is received notifying a local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device acting as a GNSS UART information relay, the method further includes:

[0025] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0026] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0027] In some embodiments, when a message is received notifying a local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device acting as a GNSS UART information relay, the method further includes:

[0028] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0029] The timing information is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0030] In some embodiments, before receiving the message that the local roadside unit device needs to forward the message for obtaining GNSS UART information via a relay device acting as GNSS UART information, the method further includes:

[0031] The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine, based on the GNSS positioning information, that the local roadside unit device needs to obtain GNSS UART information by forwarding it through a relay device that acts as a relay for GNSS UART information.

[0032] In some embodiments, the method further includes:

[0033] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0034] Accordingly, on the edge server side, the synchronization method for a roadside unit device cluster provided in this application embodiment includes:

[0035] The system receives GNSS positioning information sent by multiple roadside unit devices, and based on the GNSS positioning information sent by the multiple roadside unit devices, determines at least one first roadside unit device as a relay device for GNSS UART information, and at least one second roadside unit device that needs to forward and obtain GNSS UART information through the relay device.

[0036] A first message is sent to the first roadside unit device, and a second message is sent to the second roadside unit device, wherein the first message is used to notify the first roadside unit device to act as the relay device, and the second message is used to notify the second roadside unit device to forward GNSS UART information through the relay device.

[0037] In some embodiments, the method further includes:

[0038] When it is determined, based on the GNSS positioning information sent by the plurality of roadside unit devices, that there is no need to select the relay device, each of the roadside unit devices is notified to use the raw GNSS information as a synchronization source.

[0039] This application provides a synchronization device for a roadside unit equipment cluster, including a memory, a transceiver, and a processor.

[0040] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and executing any of the methods described.

[0041] In some embodiments, when the device is a roadside unit device, the device further includes a GNSSUART switch; the processor is provided with a UART pin;

[0042] The processor switches to the processor's UART pin by controlling the GNSS UART switch, and sends the GNSS UART information forwarded by the relay device to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the processor's UART pin.

[0043] In some embodiments, when the device is a roadside unit device, the device further includes a 1PPS (1 second pulse) switching switch; the processor is provided with a virtual 1PPS pin;

[0044] When the processor obtains timing information through the 5G network and generates a 1PPS signal using the timing information, it controls the 1PPS switch to switch to the virtual 1PPS pin and sends the 1PPS signal to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin.

[0045] In some embodiments, when the device is a roadside unit device, the device further includes a GNSS UART switch and a 1PPS (1 second pulse) switch; the processor is provided with a UART pin and a virtual 1PPS pin;

[0046] When the processor receives a message from the transceiver notifying the local roadside unit device to use raw GNSS information as a synchronization source, it controls the GNSS UART switch to switch to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the processor controls the 1PPS switch to switch to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0047] On the roadside unit equipment side, an embodiment of this application provides a synchronization device for a roadside unit equipment cluster, comprising:

[0048] The first unit is used to determine the GNSS UART information and establish a 5G transmission channel with other roadside unit devices when it receives a message notifying that the local roadside unit device is a relay device for GNSS Universal Asynchronous Receiver / Transmitter (UART) information of the Global Navigation Satellite System.

[0049] The second unit is used to transmit the GNSS UART information to the other roadside unit devices through the 5G transmission channel.

[0050] In some embodiments, the apparatus further includes:

[0051] The third unit is used to establish a 5G transmission channel between the local roadside unit device and the relay device when it receives a message that the local roadside unit device needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information.

[0052] The fourth unit is used to receive GNSS UART information forwarded by the relay device through the 5G transmission channel.

[0053] On the roadside unit equipment side, another synchronization device for a roadside unit equipment cluster provided in this application embodiment includes:

[0054] The third unit is used to establish a 5G transmission channel between the local roadside unit device and the relay device when it receives a message that the local roadside unit device needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information.

[0055] The fourth unit is used to receive GNSS UART information forwarded by the relay device through the 5G transmission channel.

[0056] On the edge server side, an embodiment of this application provides a synchronization device for a roadside unit device cluster, comprising:

[0057] An information receiving unit is configured to receive GNSS positioning information sent by multiple roadside unit devices, and based on the GNSS positioning information sent by the multiple roadside unit devices, determine at least one first roadside unit device as a relay device for GNSS UART information, and at least one second roadside unit device that needs to forward and obtain GNSS UART information through the relay device.

[0058] The notification unit is used to send a first message to the first roadside unit device and a second message to the second roadside unit device, wherein the first message is used to notify the first roadside unit device as the relay device, and the second message is used to notify the second roadside unit device that it needs to forward and obtain GNSSUART information through the relay device.

[0059] Another embodiment of this application provides a processor-readable storage medium storing a computer program for causing the processor to perform any of the methods described above. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a schematic diagram of an RSU device cluster application scenario provided in an embodiment of this application;

[0062] Figure 2 This is a schematic diagram of the structure of the RSU device provided in the embodiments of this application;

[0063] Figure 3 This is a schematic diagram of the symbol waveform of the B code provided in the embodiments of this application;

[0064] Figure 4A waveform diagram of a 1PPS signal provided in an embodiment of this application;

[0065] Figure 5 A flowchart illustrating the method for achieving RSU equipment cluster synchronization under uneven GNSS signal coverage provided in this application embodiment;

[0066] Figure 6 This is a flowchart illustrating a method for achieving RSU device cluster synchronization under uniform GNSS signal coverage conditions, as provided in an embodiment of this application.

[0067] Figure 7 This is a schematic flowchart of a method for generating a 1PPS signal using B code, provided in an embodiment of this application.

[0068] Figure 8 A schematic flowchart illustrating a synchronization method for a roadside unit device cluster provided in an embodiment of this application;

[0069] Figure 9 A flowchart illustrating another synchronization method for a roadside unit device cluster provided in this application embodiment;

[0070] Figure 10 A flowchart illustrating a synchronization method for a roadside unit device cluster on the edge server side, provided in an embodiment of this application;

[0071] Figure 11 A schematic diagram of the structure of a synchronization device for a roadside unit equipment cluster provided in an embodiment of this application;

[0072] Figure 12 A schematic diagram of the structure of a synchronization device for a roadside unit equipment cluster provided in an embodiment of this application;

[0073] Figure 13 A schematic diagram of the structure of a synchronization device for another roadside unit equipment cluster provided in an embodiment of this application;

[0074] Figure 14 This is a schematic diagram of the structure of a synchronization device for a roadside unit device cluster on the edge server side, provided in an embodiment of this application. Detailed Implementation

[0075] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0076] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0077] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0078] This application provides a synchronization method and apparatus for a roadside unit equipment cluster, which is used to achieve synchronization of the roadside unit equipment cluster when the global satellite navigation communication system signal of any roadside unit equipment in the cluster is poor, by having the roadside unit equipment, which acts as a relay device, forward GNSS UART information via a 5G network.

[0079] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0080] The terms "first," "second," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0081] The following examples and embodiments are to be understood as illustrative only. While this specification may refer to "a," "an," or "some" examples or embodiments in several places, this does not mean that every such reference relates to the same example or embodiment, nor does it mean that the feature applies only to a single example or embodiment. Individual features of different embodiments may also be combined to provide other embodiments. Furthermore, terms such as "comprising" and "including" should be understood not to limit the described embodiments to consisting only of those features mentioned; such examples and embodiments may also include features, structures, units, modules, etc., not specifically mentioned.

[0082] The technical solutions provided in this application can be applied to various systems, especially 5G systems. For example, applicable systems include Global System for Mobile communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA) General Packet Radio Service (GPRS), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Long Term Evolution Advanced (LTE-A), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), and 5G New Radio (NR). All of these systems include terminal equipment and network equipment. The system may also include a core network component, such as the Evolved Packet System (EPS) or the 5G system (5GS).

[0083] The terminal devices involved in the embodiments of this application can be devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. The names of the terminal devices may differ in different systems; for example, in a 5G system, a terminal device can be called User Equipment (UE). Wireless terminal devices can communicate with one or more core networks (CNs) via the RAN. Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, for example, portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the radio access network. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), and other devices. Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device, but is not limited to these terms in the embodiments of this application.

[0084] The network device involved in this application embodiment can be a base station, which may include multiple cells. Depending on the specific application, a base station may also be called an access point, or it may refer to a device in the access network that communicates with a wireless terminal device through one or more sectors on the air interface, or other names. The network device can be used to convert received air frames to and from Internet Protocol (IP) packets, and act as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network equipment involved in the embodiments of this application can be a base transceiver station (BTS) in a Global System for Mobile Communications (GSM) or Code Division Multiple Access (CDMA), a node B in a bandwidth code division multiple access (WCDMA), an evolved Node B (eNB or e-NodeB) in a Long Term Evolution (LTE) system, a 5G base station in a 5G network architecture (next generation system), a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of this application. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may also be geographically separated.

[0085] Network devices and terminal devices can each use one or more antennas for multiple-input multiple-output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multiple-user MIMO (MU-MIMO). Depending on the configuration and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, and can also be diversity transmission, precoding transmission, or beamforming transmission, etc.

[0086] The various embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be noted that the order in which the embodiments are presented in this application represents only a chronological order and does not represent the superiority or inferiority of the technical solutions provided by the embodiments.

[0087] See Figure 1The embodiments of this application use Figure 1 The system shown is used as an example for explanation. Figure 1 The image shows a typical use case for RSUs, namely, under highways with tunnel coverage, by deploying them in the tunnels ( Figure 1 Multiple RSUs (Rolling Units) within the cylinder (shown by the dashed line) broadcast vehicle information to ensure driving safety.

[0088] See Figure 2 The RSU device provided in this embodiment includes a Global Navigation Satellite System (GNSS) module. The GNSS module is a receiving module that can receive satellite information from high altitudes, process the data, and output current location information, time information, and 1PPS (1 Pulse Per Second) pulse information. The 1PPS refers to outputting one pulse every second, commonly used for time synchronization.

[0089] The RSU device can transmit Global Positioning System (GPS) signals to the clock synchronization module via the GNSS module. Figure 2 (Not shown in the image), wherein the GPS signal includes at least: the number of pulses per second (PPS) of the GPS and Universal Time Coordinated (UTC) time; the clock synchronization module forwards the number of PPS and UTC time as a set of clock signals to the V2X communication module; if the clock synchronization module does not receive the clock signal within a preset reception period, it generates a set of compensation clock signals based on the number of PPS of the GPS and its own time in the clock synchronization module and sends them to the V2X communication module; if the clock synchronization module continues to receive the clock signal in the next preset reception period, it sends the clock signal to the V2X communication module to ensure that the V2X communication module can normally obtain the PPS (Pulse Per Second) signal and time, so that the V2X air interface communication is normal.

[0090] Obviously, in scenarios such as tunnels and basements, the GNSS module cannot provide UTC time, and it is very likely that it also cannot provide the pulse signal per second. These can only be provided if the satellite communication is good. Therefore, when the GNSS signal is poor, the solution of using the pulse signal per second of the GNSS module is not usable in many scenarios. Furthermore, the compensation based on the device's own time requires high clock signal accuracy, which is prone to deviation and leads to inaccurate V2X data transmission and reception.

[0091] Therefore, because GNSS signals cannot provide good coverage inside the tunnel, such as Figure 1As shown, an RSU (Radio Unit) can be deployed at the tunnel entrance, such as RSU A. Because RSU A is exposed outside the tunnel, it has good GNSS signal and can quickly complete satellite positioning. RSUs located further inside the tunnel (such as RSU B and RSU C) are unable to transmit signals into the tunnel due to mountain cover and other factors. Consequently, RSU B and RSU C inside the tunnel cannot complete satellite positioning, and the 1PPS signal generated based on the satellite signal cannot be output. This results in the V2X communication module inside the RSU not receiving accurate clock information (the 1PPS signal is the clock source for the V2X communication module), ultimately leading to a failure to synchronize V2X signals between different RSU devices and inaccurate data transmission.

[0092] In order to effectively solve the problem of RSU equipment clusters being unable to synchronize when GNSS signal coverage is poor in tunnels and basements, the embodiments of this application provide the following technical solutions.

[0093] It should be noted that, in the embodiments of this application, although some RSU devices may have poor GNSS signals, their 5G signals are relatively good. Therefore, different RSU devices can transmit signals through a 5G module.

[0094] Therefore, regardless of GNSS signal coverage, each RSU device, upon startup, first initializes its GNSS and 5G modules, and then registers with a Multi-access Edge Computing (MEC) platform (also known as an edge server) via the 5G network. After registration, each RSU device sends its GNSS positioning information to the MEC platform. This information includes GNSS positioning status and positioning time. The GNSS positioning status includes three types: GNSS positioned, GNSS unable to position, and GNSS positioning in progress. The MEC platform can determine the strength of the RSU's GNSS signal based on this positioning information.

[0095] Obviously, for Figure 1 RSU B and RSU C shown cannot complete positioning due to satellite signal coverage issues, while RSU A can quickly complete satellite positioning.

[0096] like Figure 2As shown, in addition to the 5G module, DSP (main processor), GNSS module and V2X communication module mentioned above, the RSU device provided in this application embodiment also includes a GNSS UART switch and a 1PPS switch, where UART (Universal Asynchronous Receiver-Transmitter) represents a universal asynchronous transceiver.

[0097] For non-tunnel scenarios, if the positioning status of all RSU devices in the RSU device cluster (including multiple RSU devices) is good, the GNSS UART switch and 1PPS switch can be controlled so that the GNSS UART information and 1PPS information of the V2X communication module are obtained through the GNSS module.

[0098] In tunnel scenarios, RSU devices that cannot be located, such as RSU B and RSU C, cannot provide accurate positioning information due to their built-in GNSS modules. Therefore, it is necessary to adjust the GNSS UART and 1PPS switches of these RSU devices to enable the V2X communication module to obtain GNSS UART and 1PPS information from other modules. The GNSS UART switch is adjusted to the UART pin 1 side of the Digital Signal Processor (DSP), and the 1PPS switch is adjusted to the DSP's virtual 1PPS pin 2. This allows the DSP to provide accurate GNSS UART and 1PPS information to the V2X communication module. The virtual 1PPS pin is simulated using the DSP's GPIO (General Purpose Input Output) interface.

[0099] For RSU A devices located at tunnel entrances with good GNSS signal coverage, the built-in V2X communication module of the RSU A device continues to use the GNSS UART information and 1PPS information provided by the GNSS module.

[0100] In some embodiments, the MEC platform determines the relay device based on the location information reported by each RSU device, for example, for Figure 1In the scenario shown, the MEC platform selects RSU A, which has good GNSS positioning, as a relay device to forward GNSS-related information to other devices, thereby achieving V2X synchronization among multiple RSUs. After receiving relay device notification information from the MEC platform (carrying notification information about RSU A as a relay device, or carrying notification information about information forwarding via a relay device), RSU B and RSU C devices' DSPs control the 5G modules to activate a real-time receiving channel (i.e., establishing a 5G transmission channel with the relay device) to receive GNSS UART information (including GNRMC and GNGGA) forwarded by the relay device. This GNSS UART information is then output to the V2X communication module via the DSP's UART pin (controlled by a GNSS UART switch). The real-time receiving channel can be implemented using 5G slicing or a 5G LAN (Local Area Network). A 5G LAN is a 5G LAN technology that enables communication between 5G devices with lower latency, eliminating the need to send data to the public network and then forward it back via the platform. 5G slicing is also a software technology that can ensure high-priority, low-latency data transmission and reception by prioritizing the allocation of base station and core network resources.

[0101] Similarly, after receiving the relay command from the MEC platform (i.e., a message notifying RSU A to act as a relay device) via its 5G module, the DSP within RSU A, upon learning that its local RSU A is acting as a relay device, begins filtering the GNSS UART information read by the GNSS module (retaining the GNRMC and GNGGA information required by the V2X communication module while discarding other information). It then transmits the GNSS UART information (including GNRMC and GNGGA information) required for V2X communication module synchronization to other non-relay devices via the 5G low-latency channel, i.e., the aforementioned real-time receiving channel. This 5G low-latency channel is an information transmission channel established between the 5G modules of different RSU devices using 5G slicing technology or 5G LAN technology, thereby enabling the transmission of GNSS UART information between different RSU devices.

[0102] The specific implementation method for the 1PPS signal output of RSU B and RSU C devices is as follows:

[0103] The GNSS signals of RSU B and RSU C devices cannot cover the area, but the 5G signals deployed inside the tunnel and the timing function of the 5G base station (there are many timing protocols, one of the mainstream ones is the B-code protocol) can be used to forward the 1PPS signal. The 5G module has a timing function, which outputs B-code (i.e., timing information) based on the B-code protocol through pin 3. The B-code timing function is implemented through the waveform of a GPIO pin. The B-code code elements include three types: P-code, 0-code, and 1-code.

[0104] The B-code has a frame rate of 1 frame / s, with 1 frame containing 100 pulses (symbols) and a symbol period of 10ms. Each symbol's sequence number is determined by an index count, which ranges from 0 to 99 starting from the exact time point. See also... Figure 3 The symbol pulse width is divided into 5ms, 2ms, and 8ms. 2ms represents binary "0", 5ms represents binary "1", and 8ms represents the position identification flag "P", that is, the start of a frame. Each frame is 1000ms long. In the frame format, Pr is the frame reference point, and its width is 8ms. Every 10 symbols have a position identification flag: P1, P2, P3, ..., P9, P0, all of which have a width of 8ms. The distinction between P, 0, and 1 symbols is determined by the duration of the high level. If the high level is 8ms, then the symbol is a P symbol; similarly, if the high level is 5ms, then the symbol is a 1 symbol.

[0105] like Figure 2 As shown, the B-code timing pin 3 of the 5G module (used as a timing function pin) is connected to a GPIO pin 4 of the DSP. This GPIO pin 4 is configured as an input direction, interrupt type, and edge-triggered. Figure 4 and Figure 3 As shown in the symbol waveform diagram of the B code, the distance between two rising edges is a fixed 10ms. Therefore, the 51st, 101st, and 151st rising edges are separated by 500ms. Let the number of rising edges be count, and the Xth position (count-1)%50 is an integer multiple of 500ms. Where count>1, and the value of X is (51, 101, 151, 201...).

[0106] When GPIO pin 4 receives the Xth rising edge trigger signal from the 5G module, the DSP controls the virtual 1PPS pin 2 to output a preset strength level signal (i.e., a 1PPS signal). For example, if the first output is high, the second output is its inverse, i.e., low; the third output is also inverse, i.e., high, and so on, with the waveform as follows: Figure 4As shown. Thus, the V2X communication module can obtain the 1PPS signal through the DSP. That is, in this embodiment of the application, the RSU obtains the B code provided by the 5G module through its internal DSP, converts it into a 1PPS signal, and transmits it to the V2X communication module by controlling the 1PPS switching switch.

[0107] In summary, this application embodiment achieves ultra-low latency transmission of GNSS UART information through 5G LAN and 5G slicing technologies, ensuring that the V2X communication module can quickly obtain UTC time. Furthermore, through 5G high-precision time synchronization and B-code conversion to 1PPS logic, it ensures stable and accurate output of 1PPS signal even in environments with poor or no GNSS signal. This enables stable and reliable transmission of UTC time and 1PPS signal by the V2X communication module in environments with poor or no GNSS signal, ensuring rapid synchronization and accurate communication of the V2X device cluster.

[0108] The following are combined with Figure 5 and Figure 6 ,by Figure 1 Taking the scenario shown as an example, this application describes the system processing flow for achieving RSU device cluster synchronization.

[0109] In cases of uneven GNSS signal coverage, see Figure 5 The method for achieving RSU device cluster synchronization provided in this application includes the following steps:

[0110] Step 1: RSU A, RSU B, and RSU C respectively check their respective modules (including GNSS module, 5G module, etc.) Figure 2 Initialize the module shown in the diagram;

[0111] Step 2: RSU A, RSU B, and RSU C each initiate registration with the MEC platform via the 5G network;

[0112] Step 3: RSU A, RSU B, and RSU C respectively obtain the current positioning status and positioning time (i.e., GNSS positioning information) of their respective GNSS modules and report them to the MEC platform;

[0113] The positioning status of the GNSS module in RSU A is "positioned," indicating that the GNSS signal is good.

[0114] The positioning status of the GNSS modules in RSU B and RSU C may be either not positioned or in positioning, indicating that the GNSS signal is poor.

[0115] Step 4: After receiving the GNSS positioning information reported by each RSU, the MEC platform selects the RSU with the best GNSS signal as the relay device for GNSS UART information based on the GNSS positioning information reported by each RSU. For example, RSU A is selected as the relay device, and RSU A is notified to act as the relay device. RSU B and RSU C are notified respectively, and RSU A is notified to forward the GNSS UART information as the relay device.

[0116] Step 5: After receiving notification from the MEC platform that RSU A is acting as a relay device, RSU A controls the 1PPS (Pulse Per Second) switch in the local roadside unit to switch to the 1PPS pin of the GNSS module in the local roadside unit, connecting the GNSS module with the V2X communication module in the local roadside unit. The V2X communication module obtains 1PPS information from the GNSS module. Simultaneously, RSU A controls the GNSS UART switch in the local roadside unit to switch to the UART pin of the GNSS module, connecting the GNSS module with the V2X communication module in the local roadside unit. The V2X communication module obtains GNSS UART information from the GNSS module. RSU A establishes 5G transmission channels (i.e., the aforementioned 5G low-latency channels) with RSU B and RSU C respectively, and transmits the collected GNSS UART information (from the GNSS module) to RSU B and RSU C in real time through the 5G transmission channels.

[0117] RSU B controls the 1PPS (1 second pulse) switch in the local roadside unit to switch to the virtual 1PPS pin of the digital signal processor; it acquires timing information through the 5G network and uses the timing information to generate a 1PPS signal, which is then sent to the V2X communication module in the local roadside unit through the virtual 1PPS pin of the digital signal processor; and it controls the GNSS UART switch in the local roadside unit to switch to the UART pin of the digital signal processor (also known as the DSP serial port, i.e., the UART communication port in the DSP). Figure 2 Pin 1 of the DSP shown; through the UART pin of the digital signal processor, the GNSS UART information forwarded by the relay device RSU A through the 5G transmission channel is sent to the V2X communication module in the local roadside unit device.

[0118] Similarly, RSU C controls the 1PPS (1 second pulse) switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor; it obtains timing information through the 5G network and uses the timing information to generate a 1PPS signal, which is then sent to the V2X communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor; and it controls the GNSS UART switch in the local roadside unit device to switch to the UART pin of the digital signal processor (also known as the DSP serial port, i.e., the UART communication port in the DSP). Figure 2 Pin 1 of the DSP shown; through the UART pin of the digital signal processor, the GNSS UART information forwarded by the relay device RSU A through the 5G transmission channel is sent to the V2X communication module in the local roadside unit device.

[0119] When GNSS signal coverage is uniform, see Figure 6 The method for achieving RSU device cluster synchronization provided in this application includes the following steps:

[0120] Step 1: RSU A, RSU B, and RSU C respectively check their respective modules (including GNSS module, 5G module, etc.) Figure 2 Initialize the module shown in the diagram;

[0121] Step 2: RSU A, RSU B, and RSU C each initiate registration with the MEC platform via the 5G network;

[0122] Step 3: RSU A, RSU B, and RSU C respectively obtain the current positioning status and positioning time (i.e., GNSS positioning information) of their respective GNSS modules and report them to the MEC platform;

[0123] The positioning status of the GNSS module in RSU A is "positioned," indicating that the GNSS signal is good.

[0124] The GNSS modules in RSU B and RSU C are also in a good position, indicating that the GNSS signal is also good. This means that the GNSS signal evenly covers RSU A, RSU B, and RSU C.

[0125] Step 4: After receiving the GNSS positioning information reported by each RSU, the MEC platform confirms that the GNSS positioning of RSU A, RSU B, and RSU C is good based on the GNSS positioning information reported by each RSU. Therefore, it sends a notification to RSU A, RSU B, and RSU C respectively to use the raw GNSS information as the synchronization source.

[0126] Step 5: When RSU A, RSU B, and RSU C receive a notification from the MEC platform that the local roadside unit devices use raw GNSS information as a synchronization source, they respectively control the GNSS UART switch in the local roadside unit device to switch to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and control the 1PPS second pulse switch in the local roadside unit device to switch to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0127] In cases of uneven GNSS signal coverage, the B-code to 1PPS signal conversion process provided in this application embodiment, i.e., the process by which the RSU generates a 1PPS signal using timing information, is described in [reference needed]. Figure 7 This includes the following steps:

[0128] Step 1: Connect the B code pin of the 5G module in the local roadside unit device to the GPIO pin of the DSP in the local roadside unit device. The GPIO pin is set to input direction, interrupt type and edge-triggered.

[0129] Step 2: Trigger the rising edge count counter to zero by triggering the rising edge count counter of the B code waveform of the 5G module; the counter count is also equivalent to a timer, which is a timer triggered by the rising edge.

[0130] Step 3: When there is an interrupt trigger signal on the DSP's GPIO pin and the input is the rising edge of the B code waveform, check if count is equal to 0. If it is, it means that the current timer is at its starting point, and proceed to step 4; otherwise, proceed to step 5.

[0131] Step 4: Control the DSP's 1PPS virtual pin to output a high-level signal, that is, output a high-level 1PPS signal;

[0132] Step 5: Increment the counter count and check if (count-1)%50 equals 0. If it does, it means that the 500ms count has been reached, and control the DSP's 1PPS virtual pin to output a level signal that is the opposite of the level signal output last time; otherwise, continue to check if there is an interrupt trigger signal on the DSP's GPIO pin.

[0133] In summary, this application provides a system, apparatus, and method for RSU device cluster V2X signal synchronization. It intelligently switches the optimal GNSS serial port channel and 1PPS signal source based on the RSU device's GNSS positioning information (positioning status and positioning time), ensuring that V2X devices can obtain GNSS UTC information and 1PPS signals with ultra-low latency in any scenario (good, insufficient, or no GNSS coverage). When the 1PPS information from the GNSS module cannot be obtained, reliable 1PPS information can be simulated through the DSP GPIO interface, thus solving the V2X synchronization problem. Furthermore, this application provides a GNSS UTC information conversion function. The DSP is responsible for reading the effective GNSS UART information used for positioning and transmitting it to other RSU devices via 5G networks such as 5G LAN. When an abnormal GNSS positioning is detected, the 5G LAN or 5G low-latency slicing function enables rapid forwarding of UTC information from the RSU device with superior GNSS signal. On the other hand, this application embodiment provides a 1PPS conversion function. Through DSP, the GPIO of the B-code timing information provided by the 5G module is converted to achieve low-latency, reliable output of a high-precision 1PPS signal. This ensures that RSU devices in scenarios with insufficient GNSS coverage can also obtain a reliable 1PPS signal, guaranteeing stable synchronization of the RSU device cluster. Specifically, the GPIO conversion involves the DSP controlling the high and low level outputs of a GPIO pin to output the 1PPS signal waveform.

[0134] The methods and apparatus provided in the embodiments of this application are summarized below from one side (roadside unit equipment side and edge server side).

[0135] See Figure 8 For situations with uneven GNSS coverage, on the roadside unit equipment side with better GNSS signal, the synchronization method for a roadside unit equipment cluster provided in this application embodiment (the roadside unit equipment acting as a relay device) includes:

[0136] S101. When a message is received notifying a local roadside unit device (e.g., RSU A mentioned above) that it is a relay device for GNSS Universal Asynchronous Receiver / Transmitter (UART) information of the Global Navigation Satellite System, the GNSS UART information is determined and a 5G transmission channel is established between the local roadside unit device and other roadside unit devices.

[0137] The determination of GNSS UART information includes, for example, filtering the GNSS UART information read by the local GNSS module (retaining the GNRMC and GNGGA information required by the V2X communication module, and discarding other information).

[0138] The establishment of 5G transmission channels with other roadside unit equipment is achieved, for example, through existing technologies such as 5G LAN and 5G slicing.

[0139] S102. The GNSS UART information is transmitted to the other roadside unit devices through the 5G transmission channel.

[0140] As can be seen, the embodiments of this application achieve ultra-low latency transmission of GNSS UART information through 5G LAN and 5G slicing technologies, ensuring that the V2X communication module can quickly obtain UTC time.

[0141] In some embodiments, before receiving the message notifying the local roadside unit device as a relay device, the method further includes:

[0142] The GNSS positioning information (including GNSS positioning status and positioning time) of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine the local roadside unit device as the relay device based on the GNSS positioning information.

[0143] When the local RSU device is used as a non-relay device (i.e., when the GNSS signal is poor), in some embodiments, the method further includes:

[0144] When a local roadside unit receives a notification that it needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information, a 5G transmission channel is established between the local roadside unit and the relay device.

[0145] The 5G transmission channel receives GNSS UART information forwarded by the relay device.

[0146] In some embodiments, when a message is received notifying a local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device acting as a GNSS UART information relay, the method further includes:

[0147] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0148] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0149] In some embodiments, when a message is received notifying a local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device acting as a GNSS UART information relay, the method further includes:

[0150] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0151] The timing information (such as the B code mentioned above) is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0152] For cases where GNSS coverage is uniform (i.e., when the GNSS signals of each roadside unit in the roadside unit cluster are good), in some embodiments, the method further includes:

[0153] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0154] Accordingly, see Figure 9 For situations with uneven GNSS coverage, on the roadside unit equipment side where the GNSS signal is poor, the synchronization method for a roadside unit equipment cluster provided in this application embodiment includes:

[0155] S201. When a message is received that the local roadside unit device needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information, a 5G transmission channel is established between the local roadside unit device and the relay device.

[0156] S202, Receive GNSS UART information forwarded by the relay device through the 5G transmission channel.

[0157] In some embodiments, when a message is received notifying a local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device acting as a GNSS UART information relay, the method further includes:

[0158] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0159] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0160] In some embodiments, when a message is received notifying a local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device acting as a GNSS UART information relay, the method further includes:

[0161] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0162] The timing information is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0163] In some embodiments, before receiving the message that the local roadside unit device needs to forward the message for obtaining GNSS UART information via a relay device acting as GNSS UART information, the method further includes:

[0164] The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine, based on the GNSS positioning information, that the local roadside unit device needs to obtain GNSS UART information by forwarding it through a relay device that acts as a relay for GNSS UART information.

[0165] In some embodiments, the method further includes:

[0166] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0167] Accordingly, see Figure 10 On the edge server side, this application embodiment provides a synchronization method for a roadside unit device cluster, including:

[0168] S301. Receive GNSS positioning information sent by multiple roadside unit devices, and based on the GNSS positioning information sent by the multiple roadside unit devices, determine at least one first roadside unit device as a relay device for GNSS UART information, and at least one second roadside unit device that needs to forward and obtain GNSS UART information through the relay device.

[0169] S302. Send a first message to the first roadside unit device and send a second message to the second roadside unit device, wherein the first message is used to notify the first roadside unit device as the relay device, and the second message is used to notify the second roadside unit device that it needs to forward GNSS UART information through the relay device.

[0170] In some embodiments, the method further includes:

[0171] When it is determined, based on the GNSS positioning information sent by the plurality of roadside unit devices, that there is no need to select the relay device, each of the roadside unit devices is notified to use the raw GNSS information as a synchronization source.

[0172] Based on the same inventive concept, the device or apparatus provided in the embodiments of this application will be described below. The explanations or examples of the same or corresponding technical features as those described in the above methods will not be repeated hereafter.

[0173] See Figure 11 The synchronization device for the roadside unit equipment cluster provided in this application embodiment includes a memory 520, a transceiver 510, and a processor 500.

[0174] In cases of uneven GNSS coverage, when the device is used as a roadside unit with better GNSS signal (this device can be the roadside unit itself or a device within the roadside unit), the processor 500 reads the program from the memory 520 and executes the following process:

[0175] When a local roadside unit receives a message notifying it that it is acting as a relay device for GNSS Universal Asynchronous Receiver / Transmitter (UART) information, it determines the GNSS UART information and establishes a 5G transmission channel with other roadside unit devices.

[0176] The GNSS UART information is transmitted to the other roadside unit devices via the 5G transmission channel.

[0177] In some embodiments, before receiving the message notifying the local roadside unit device as a relay device, the processor 500 is further configured to read the program in the memory 520 and execute the following process:

[0178] The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine the local roadside unit device as the relay device based on the GNSS positioning information.

[0179] In some embodiments, the processor 500 is further configured to read a program from the memory 520 and execute the following processes:

[0180] When a local roadside unit receives a notification that it needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information, a 5G transmission channel is established between the local roadside unit and the relay device.

[0181] The 5G transmission channel receives GNSS UART information forwarded by the relay device.

[0182] In some embodiments, when a message is received notifying the local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device for GNSS UART information, the processor 500 is further configured to read the program in the memory 520 and execute the following procedures:

[0183] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0184] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0185] In some embodiments, when a message is received notifying the local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device for GNSS UART information, the processor 500 is further configured to read the program in the memory 520 and execute the following procedures:

[0186] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0187] The timing information is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0188] In some embodiments, the processor 500 is further configured to read a program from the memory 520 and execute the following processes:

[0189] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0190] When GNSS coverage is uniform, and the device is used as a roadside unit device with poor GNSS signal (this device can be the roadside unit device itself or a device within the roadside unit device), the processor 500 reads the program from the memory 520 and executes the following process:

[0191] When a local roadside unit device receives a notification that it needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information, a 5G transmission channel is established between the local roadside unit device and the relay device.

[0192] The 5G transmission channel receives GNSS UART information forwarded by the relay device.

[0193] In some embodiments, when a message is received notifying the local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device for GNSS UART information, the processor 500 is further configured to read the program in the memory 520 and execute the following procedures:

[0194] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0195] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0196] In some embodiments, when a message is received notifying the local roadside unit device that it needs to forward a message for obtaining GNSS UART information via a relay device for GNSS UART information, the processor 500 is further configured to read the program in the memory 520 and execute the following procedures:

[0197] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0198] The timing information is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0199] In some embodiments, before receiving the message that the local roadside unit device needs to forward the message for obtaining GNSS UART information via a relay device for GNSS UART information, the processor 500 is further configured to read the program in the memory 520 and execute the following process:

[0200] The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine, based on the GNSS positioning information, that the local roadside unit device needs to obtain GNSS UART information by forwarding it through a relay device that acts as a relay for GNSS UART information.

[0201] In some embodiments, the processor 500 is further configured to read a program from the memory 520 and execute the following processes:

[0202] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0203] In some embodiments, when the device is a roadside unit device (e.g., the device may be the roadside unit device itself), the device further includes a GNSS UART switching switch (see [reference needed]). Figure 2(The DSP is the processor); the processor is equipped with a UART pin;

[0204] The processor switches to the processor's UART pin by controlling the GNSS UART switch, and sends the GNSS UART information forwarded by the relay device to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the processor's UART pin.

[0205] In some embodiments, when the device is a roadside unit device (e.g., the device may be the roadside unit device itself), the device further includes a 1PPS (per second pulse) switching switch (see [reference]). Figure 2 (The DSP is the processor); the processor is equipped with a virtual 1PPS pin;

[0206] When the processor obtains timing information through the 5G network and generates a 1PPS signal using the timing information, it controls the 1PPS switch to switch to the virtual 1PPS pin and sends the 1PPS signal to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin.

[0207] In some embodiments, when the device is a roadside unit device (e.g., the device may be the roadside unit device itself), the device further includes a GNSS UART switching switch and a 1PPS (per second pulse) switching switch (see [reference]). Figure 2 (The DSP is the processor); the processor is equipped with UART pins and virtual 1PPS pins;

[0208] When the processor receives a message from the transceiver notifying the local roadside unit device to use raw GNSS information as a synchronization source, it controls the GNSS UART switch to switch to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the processor controls the 1PPS switch to switch to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0209] In some embodiments, the device is a device on the roadside unit equipment side; for example, when the device can be the roadside unit equipment itself, it may include... Figure 2 The functions of each module shown are described above and will not be repeated here.

[0210] In cases of uneven GNSS coverage, when the device is used as a device on the MEC platform side (this device can be the MEC platform itself or a device within the MEC platform), the processor 500 reads the program from the memory 520 and executes the following process:

[0211] The system receives GNSS positioning information sent by multiple roadside unit devices, and based on the GNSS positioning information sent by the multiple roadside unit devices, determines at least one first roadside unit device as a relay device for GNSS UART information, and at least one second roadside unit device that needs to forward and obtain GNSS UART information through the relay device.

[0212] A first message is sent to the first roadside unit device, and a second message is sent to the second roadside unit device, wherein the first message is used to notify the first roadside unit device to act as the relay device, and the second message is used to notify the second roadside unit device to forward GNSS UART information through the relay device.

[0213] In some embodiments, the processor 500 is further configured to read a program from the memory 520 and execute the following processes:

[0214] When it is determined, based on the GNSS positioning information sent by the plurality of roadside unit devices, that there is no need to select the relay device, each of the roadside unit devices is notified to use the raw GNSS information as a synchronization source.

[0215] Transceiver 510 is used to receive and send data under the control of processor 500.

[0216] Among them, Figure 11 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 500) and memory (memory 520). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 510 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor 500 is responsible for managing the bus architecture and general processing, and the memory 520 can store data used by the processor 500 during operation.

[0217] The processor 500 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0218] For different devices, the device may also include a user interface (not shown in the figure) connected to a bus. The user interface may be an interface that can connect to external or internal devices as needed. The connected devices include, but are not limited to, keypads, displays, speakers, microphones, joysticks, etc.

[0219] The processor executes any of the methods described in the embodiments of this application according to the obtained executable instructions by calling a computer program stored in memory. The processor and memory may also be physically separated.

[0220] It should be noted that the apparatus provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0221] See Figure 12 On the roadside unit equipment side, an embodiment of this application provides a synchronization device for a roadside unit equipment cluster, comprising:

[0222] The first unit 11 is used to determine the GNSS UART information and establish a 5G transmission channel with other roadside unit devices when it receives a message that the local roadside unit device is a relay device for GNSS universal asynchronous transceiver (UART) information of the Global Navigation Satellite System (GNSS).

[0223] The second unit 12 is used to transmit the GNSS UART information to the other roadside unit devices through the 5G transmission channel.

[0224] In some embodiments, before receiving the message notifying the local roadside unit device as a relay device, the first unit 11 is further configured to:

[0225] The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine the local roadside unit device as the relay device based on the GNSS positioning information.

[0226] In some embodiments, the first unit 11 is further configured to:

[0227] When a local roadside unit receives a notification that it needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information, a 5G transmission channel is established between the local roadside unit and the relay device.

[0228] The 5G transmission channel receives GNSS UART information forwarded by the relay device.

[0229] In some embodiments, when the local roadside unit device receives a notification that it needs to forward a message for obtaining GNSS UART information via a relay device that serves as a relay for GNSS UART information, the first unit 11 is further configured to:

[0230] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0231] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0232] In some embodiments, when the local roadside unit device receives a notification that it needs to forward a message for obtaining GNSS UART information via a relay device that serves as a relay for GNSS UART information, the first unit 11 is further configured to:

[0233] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0234] The timing information is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0235] In some embodiments, the first unit 11 is further configured to:

[0236] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0237] In some embodiments, see Figure 13 The device further includes:

[0238] The third unit 21 is used to establish a 5G transmission channel between the local roadside unit device and the relay device when it receives a message that the local roadside unit device needs to forward a message to obtain GNSS UART information through a relay device that serves as a relay device for GNSS UART information.

[0239] The fourth unit 22 is used to receive GNSS UART information forwarded by the relay device through the 5G transmission channel.

[0240] In some embodiments, when the local roadside unit device receives a notification that it needs to forward a message for obtaining GNSS UART information via a relay device that serves as a relay for GNSS UART information, the third unit 21 is further configured to:

[0241] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0242] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0243] In some embodiments, when the local roadside unit device receives a notification that it needs to forward a message for obtaining GNSS UART information via a relay device that serves as a relay for GNSS UART information, the third unit 21 is further configured to:

[0244] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0245] The timing information is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0246] In some embodiments, before the third unit 21 receives the message notifying the local roadside unit device that it needs to forward the message for obtaining GNSS UART information via a relay device for GNSS UART information, it is further configured to:

[0247] The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine, based on the GNSS positioning information, that the local roadside unit device needs to obtain GNSS UART information by forwarding it through a relay device that acts as a relay for GNSS UART information.

[0248] In some embodiments, the third unit 21 is further configured to:

[0249] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0250] In other words, the device on the roadside unit equipment side provided in this application embodiment can simultaneously have the functions of the aforementioned relay device and the functions of a device that needs to forward and obtain GNSS UART information through the aforementioned relay device.

[0251] See Figure 13 On the roadside unit equipment side, another synchronization device for a roadside unit equipment cluster provided in this application embodiment includes:

[0252] The third unit 21 is used to establish a 5G transmission channel between the local roadside unit device and the relay device when it receives a message that the local roadside unit device needs to forward a message to obtain GNSS UART information through a relay device that serves as a relay device for GNSS UART information.

[0253] The fourth unit 22 is used to receive GNSS UART information forwarded by the relay device through the 5G transmission channel.

[0254] In some embodiments, when the local roadside unit device receives a notification that it needs to forward a message for obtaining GNSS UART information via a relay device that serves as a relay for GNSS UART information, the third unit 21 is further configured to:

[0255] Control the GNSS UART switch in the local roadside unit equipment to switch to the UART pin of the digital signal processor;

[0256] The GNSS UART information forwarded by the relay device is sent to the vehicle-to-everything (V2X) communication module in the local roadside unit via the UART pin of the digital signal processor.

[0257] In some embodiments, when the local roadside unit device receives a notification that it needs to forward a message for obtaining GNSS UART information via a relay device that serves as a relay for GNSS UART information, the third unit 21 is further configured to:

[0258] Control the 1PPS pulse per second switch in the local roadside unit device to switch to the virtual 1PPS pin of the digital signal processor;

[0259] The timing information is obtained through the 5G network, and a 1PPS signal is generated using the timing information. The 1PPS signal is then sent to the vehicle-to-everything (V2X) communication module in the local roadside unit device through the virtual 1PPS pin of the digital signal processor.

[0260] In some embodiments, before the third unit 21 receives the message notifying the local roadside unit device that it needs to forward the message for obtaining GNSS UART information via a relay device for GNSS UART information, it is further configured to:

[0261] The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine, based on the GNSS positioning information, that the local roadside unit device needs to obtain GNSS UART information by forwarding it through a relay device that acts as a relay for GNSS UART information.

[0262] In some embodiments, the third unit 21 is further configured to:

[0263] When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

[0264] See Figure 14 On the edge server side, an embodiment of this application provides a synchronization device for a roadside unit device cluster, comprising:

[0265] The information receiving unit 31 is used to receive GNSS positioning information sent by multiple roadside unit devices, and based on the GNSS positioning information sent by the multiple roadside unit devices, to determine at least one first roadside unit device as a relay device for GNSS UART information, and at least one second roadside unit device that needs to forward GNSS UART information through the relay device.

[0266] The notification unit 32 is used to send a first message to the first roadside unit device and a second message to the second roadside unit device, wherein the first message is used to notify the first roadside unit device as the relay device, and the second message is used to notify the second roadside unit device that it needs to forward GNSS UART information through the relay device.

[0267] In some embodiments, the notification unit 32 is further configured to:

[0268] When it is determined, based on the GNSS positioning information sent by the plurality of roadside unit devices, that there is no need to select the relay device, each of the roadside unit devices is notified to use the raw GNSS information as a synchronization source.

[0269] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0270] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0271] It should be noted that the apparatus provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0272] This application provides a processor-readable storage medium storing a computer program that causes the processor to execute any of the methods provided in the above-described embodiments of this application.

[0273] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0274] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the methods described in the above embodiments. The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0275] It should be understood that:

[0276] The access technology used by entities in a communication network to transmit traffic can be any suitable current or future technology, such as WLAN (Wireless Local Access Network), WiMAX (Microwave Access Global Interoperability), LTE, LTE-A, 5G, Bluetooth, infrared, etc.; in addition, embodiments may also apply wired technologies, such as IP-based access technologies, such as wired networks or fixed lines.

[0277] An embodiment suitable for implementation as software code or as part thereof and for operation using a processor or processing function is independent of the software code and can be specified using any known or future-developed programming language, such as high-level programming languages ​​such as Objective-C, C, C++, C#, Java, Python, Javascript, other scripting languages, etc., or low-level programming languages ​​such as machine language or assembler.

[0278] The implementation of the embodiments is hardware-independent and can be implemented using any known or future-developed hardware technology or any combination thereof, such as microprocessors or CPUs (central processing units), MOS (metal-oxide-semiconductor), CMOS (complementary MOS), BiMOS (bipolar MOS), BiCMOS (bipolar CMOS), ECL (emitter-coupled logic), and / or TTL (transistor-transistor logic).

[0279] The embodiments may be implemented as individual devices, apparatuses, units, components or functions, or in a distributed manner. For example, one or more processors or processing functions may be used or shared in the process, or one or more processing segments or processing portions may be used and shared in the process, wherein one or more physical processors may be used to implement one or more processing portions dedicated to a particular process as described.

[0280] The device can be implemented by a semiconductor chip, a chipset, or a (hardware) module that includes such a chip or chipset.

[0281] The implementation can also be implemented as any combination of hardware and software, such as ASIC (Application-Specific IC (Integrated Circuit)) components, FPGA (Field Programmable Gate Array) or CPLD (Complex Programmable Logic Device) components or DSP (Digital Signal Processor) components.

[0282] The embodiments can also be implemented as computer program products, including a computer-usable medium in which computer-readable program code is embodied, the computer-usable program code being adapted to perform the processes described in the embodiments, wherein the computer-usable medium may be a non-transitory medium.

[0283] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0284] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0285] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0286] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0287] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A synchronization method for a roadside unit equipment cluster, characterized in that, This method is applicable to communication systems including base stations, satellites, multi-access edge computing (MEC) servers, and roadside unit devices. The roadside unit device includes a 5G module, a DSP, a GNSS module, a V2X communication module, a GNSS UART switch, and a 1PPS (1 second pulse per second) switch. The 5G module includes a timing pin. The DSP includes: a UART pin for establishing a connection with the GNSS UART switch, a virtual 1PPS pin for establishing a connection with the 1PPS switch, and a GPIO pin for establishing a connection with the timing pin of the 5G module. The method includes: When the local roadside unit receives a message from the MEC server notifying it that it is acting as a relay device for GNSS Universal Asynchronous Receiver / Transmitter (UART) information, it determines the GNSS UART information and establishes a 5G transmission channel with other roadside unit devices. The GNSS UART information is transmitted to the other roadside unit devices through the 5G transmission channel; The method further includes: When the local roadside unit device acts as the relay device, the V2X communication module obtains GNSS UART information through the GNSS module and sends it to the terminal by controlling the GNSS UART switch in the local roadside unit device. The method further includes: When a local roadside unit receives a notification that it needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information, a 5G transmission channel is established between the local roadside unit and the relay device. GNSS UART information forwarded by the relay device is received through this 5G transmission channel; The system controls the GNSS UART switch in the local roadside unit device to be adjusted to the UART pin of the DSP. The DSP provides GNSS UART information to the V2X communication module in the local roadside unit device through the UART pin and the GNSS UART switch. Furthermore, the system controls the 1PPS switch in the local roadside unit device to be switched to the virtual 1PPS pin of the DSP, and controls the timing pin of the 5G module to be connected to the GPIO pin of the DSP. The 5G module obtains timing information through the 5G network and sends it to the DSP through the timing pin. The DSP receives the timing information through the GPIO pin, generates a 1PPS signal using the timing information, and sends the 1PPS signal to the V2X communication module in the local roadside unit device through the virtual 1PPS pin and the 1PPS switch.

2. The method according to claim 1, characterized in that, Before receiving the message notifying the local roadside unit device as a relay device, the method further includes: The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine the local roadside unit device as the relay device based on the GNSS positioning information.

3. The method according to claim 1, characterized in that, The method further includes: When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module; and the 1PPS (Pulse Per Second) switch in the local roadside unit device is switched to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

4. A synchronization method for a roadside unit equipment cluster, characterized in that, This method is applicable to communication systems including base stations, satellites, multi-access edge computing (MEC) servers, and roadside unit devices. The roadside unit devices include a 5G module, a DSP, a GNSS module, a V2X communication module, a GNSS UART switch, and a 1PPS (1 second pulse per second) switch. The 5G module includes a timing pin, and the DSP includes: a UART pin for establishing a connection with the GNSS UART switch, a virtual 1PPS pin for establishing a connection with the 1PPS switch, and a GPIO pin for establishing a connection with the timing pin of the 5G module. The method is applied to the MEC server, and the method includes: The system receives GNSS positioning information sent by multiple roadside unit devices, and based on the GNSS positioning information sent by the multiple roadside unit devices, determines at least one first roadside unit device as a relay device for GNSS UART information, and at least one second roadside unit device that needs to forward and obtain GNSS UART information through the relay device. Send a first message to the first roadside unit device, and send a second message to the second roadside unit device; The first message is used to notify the first roadside unit device to act as the relay device, so that when the first roadside unit device receives the first message, it determines the GNSS UART information and establishes a 5G transmission channel with other roadside unit devices; through the 5G transmission channel, it transmits the GNSS UART information to the other roadside unit devices; wherein, in the relay device, by controlling the GNSS UART switching switch, the V2X communication module obtains the GNSS UART information through the GNSS module and sends it to the terminal; The second message is used to notify the second roadside unit device that it needs to forward GNSS UART information through the relay device. Upon receiving the second message, the second roadside unit device receives the GNSS UART information forwarded by the first roadside unit device through the established 5G transmission channel with the first roadside unit device. Furthermore, the second roadside unit device controls its GNSS UART switch to adjust to the UART pin of its DSP. The DSP then provides GNSS information via the UART pin and the GNSS UART switch in the second roadside unit device. The UART information is sent to the V2X communication module in the second roadside unit device; and the 1PPS switch in the second roadside unit device is switched to the virtual 1PPS pin of the DSP in the second roadside unit device, and the timing pin of the 5G module in the second roadside unit device is connected to the GPIO pin of the DSP in the second roadside unit device; the 5G module in the second roadside unit device obtains timing information through the 5G network and sends it to the DSP in the second roadside unit device through the timing pin; the DSP receives the timing information through the GPIO pin, generates a 1PPS signal using the timing information, and sends the 1PPS signal to the V2X communication module in the second roadside unit device through the virtual 1PPS pin and the 1PPS switch in the second roadside unit device.

5. The method according to claim 4, characterized in that, The method further includes: When it is determined, based on the GNSS positioning information sent by the plurality of roadside unit devices, that there is no need to select the relay device, each of the roadside unit devices is notified to use the raw GNSS information as a synchronization source.

6. A synchronization device for a roadside unit equipment cluster, characterized in that, Includes memory, transceiver, and processor: Memory, used to store computer programs; Transceiver, used to send and receive data under the control of the processor; A processor for reading a computer program from the memory and executing the method according to any one of claims 1 to 5.

7. The apparatus according to claim 6, characterized in that, When the device is a roadside unit device, the processor is the DSP.

8. A synchronization device for a roadside unit equipment cluster, characterized in that, This device is applicable to communication systems including base stations, satellites, multi-access edge computing (MEC) servers, and roadside unit devices. The device is applied to the roadside unit device, which includes a 5G module, a DSP, a GNSS module, a V2X communication module, a GNSS UART switch, and a 1PPS (1 second pulse per second) switch. The 5G module includes a timing pin. The DSP includes: a UART pin for establishing a connection with the GNSS UART switch, a virtual 1PPS pin for establishing a connection with the 1PPS switch, and a GPIO pin for establishing a connection with the timing pin of the 5G module. The device includes: The first unit is used to determine the GNSS UART information and establish a 5G transmission channel with other roadside unit devices when it receives a message from the MEC server notifying the local roadside unit device as a relay device for GNSS Universal Asynchronous Receiver / Transmitter (UART) information of the Global Navigation Satellite System. The second unit is used to transmit the GNSS UART information to the other roadside unit devices through the 5G transmission channel; When the local roadside unit device acts as the relay device, the V2X communication module obtains GNSS UART information through the GNSS module and sends it to the terminal by controlling the GNSS UART switch in the local roadside unit device. The third unit is used to establish a 5G transmission channel between the local roadside unit device and the relay device when it receives a message that the local roadside unit device needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information. The fourth unit is used to receive GNSS UART information forwarded by the relay device through the 5G transmission channel; When the local roadside unit receives a notification that it needs to forward a message to obtain GNSS UART information via a relay device acting as a GNSS UART information relay, the third unit is further configured to: The system controls the GNSS UART switch in the local roadside unit device to be adjusted to the UART pin of the DSP. GNSS UART information is then provided to the V2X communication module in the local roadside unit device via the GNSS UART switch and the UART pin of the DSP. Furthermore, the system controls the 1PPS switch in the local roadside unit device to be switched to the virtual 1PPS pin of the DSP, and controls the timing pin of the 5G module to be connected to the GPIO pin of the DSP. The 5G module obtains timing information through the 5G network and sends it to the DSP via the timing pin. The DSP receives the timing information via the GPIO pin, generates a 1PPS signal using the timing information, and sends the 1PPS signal to the V2X communication module in the local roadside unit device via the virtual 1PPS pin and the 1PPS switch.

9. The apparatus according to claim 8, characterized in that, Before receiving the message that the local roadside unit needs to forward the message for obtaining GNSS UART information via a relay device acting as a relay for GNSS UART information, the third unit is further configured to: The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine, based on the GNSS positioning information, that the local roadside unit device needs to obtain GNSS UART information by forwarding it through a relay device that acts as a relay for GNSS UART information.

10. The apparatus according to claim 8, characterized in that, The third unit is also used for: When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module. Additionally, the 1PPS (Pulse Per Second) switching switch in the local roadside unit device is controlled to switch to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

11. A synchronization device for a roadside unit equipment cluster, characterized in that, This device is applicable to communication systems including base stations, satellites, multi-access edge computing (MEC) servers, and roadside unit devices. The device is applied to the roadside unit device, which includes a 5G module, a DSP, a GNSS module, a V2X communication module, a GNSS UART switch, and a 1PPS (1 second pulse per second) switch. The 5G module includes a timing pin. The DSP includes: a UART pin for establishing a connection with the GNSS UART switch, a virtual 1PPS pin for establishing a connection with the 1PPS switch, and a GPIO pin for establishing a connection with the timing pin of the 5G module. The device includes: The third unit is used to establish a 5G transmission channel between the local roadside unit device and the relay device when it receives a message that the local roadside unit device needs to forward a message to obtain GNSS UART information through a relay device that acts as a relay device for GNSS UART information. The fourth unit is used to receive GNSS UART information forwarded by the relay device through the 5G transmission channel; The GNSS UART information is forwarded by the relay device in the following manner: When the relay device receives a message from the MEC server notifying it to act as a relay device for GNSS UART information, it determines the GNSS UART information, establishes the 5G transmission channel, and transmits the GNSS UART information to the local roadside unit device through the 5G transmission channel. The relay device is a roadside unit device, including a 5G module, a DSP, a GNSS module, a V2X communication module, and a GNSS UART switch. In the relay device, by controlling the GNSS UART switch, the V2X communication module can obtain GNSS UART information through the GNSS module and send it to the terminal. When the local roadside unit receives a notification that it needs to forward a message to obtain GNSS UART information via a relay device acting as a GNSS UART information relay, the third unit is further configured to: The system controls the GNSS UART switch in the local roadside unit device to be adjusted to the UART pin of the DSP. GNSS UART information is then provided to the V2X communication module in the local roadside unit device via the GNSS UART switch and the UART pin of the DSP. Furthermore, the system controls the 1PPS switch in the local roadside unit device to be switched to the virtual 1PPS pin of the DSP, and controls the timing pin of the 5G module to be connected to the GPIO pin of the DSP. The 5G module obtains timing information through the 5G network and sends it to the DSP via the timing pin. The DSP receives the timing information via the GPIO pin, generates a 1PPS signal using the timing information, and sends the 1PPS signal to the V2X communication module in the local roadside unit device via the virtual 1PPS pin and the 1PPS switch.

12. The apparatus according to claim 11, characterized in that, Before receiving the message that the local roadside unit needs to forward the message for obtaining GNSS UART information via a relay device acting as a relay for GNSS UART information, the third unit is further configured to: The GNSS positioning information of the local roadside unit device is sent to the multi-access edge computing (MEC) server, so that the MEC server can determine, based on the GNSS positioning information, that the local roadside unit device needs to obtain GNSS UART information by forwarding it through a relay device that acts as a relay for GNSS UART information.

13. The apparatus according to claim 11, characterized in that, The third unit is also used for: When a message is received notifying the local roadside unit device to use raw GNSS information as a synchronization source, the GNSS UART switch in the local roadside unit device is switched to the UART pin of the GNSS module, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains GNSS UART information from the GNSS module. Additionally, the 1PPS (Pulse Per Second) switching switch in the local roadside unit device is controlled to switch to the 1PPS pin of the GNSS module in the local roadside unit device, so that the GNSS module is connected to the V2X communication module in the local roadside unit device, and the V2X communication module obtains 1PPS information from the GNSS module.

14. A synchronization device for a roadside unit equipment cluster, characterized in that, This device is applicable to communication systems including base stations, satellites, multi-access edge computing (MEC) servers, and roadside unit devices. The roadside unit devices include a 5G module, a DSP, a GNSS module, a V2X communication module, a GNSS UART switch, and a 1PPS (1 second pulse per second) switch. The 5G module includes a timing pin. The DSP includes: a UART pin for establishing a connection with the GNSS UART switch, a virtual 1PPS pin for establishing a connection with the 1PPS switch, and a GPIO pin for establishing a connection with the timing pin of the 5G module. The device is applied to the MEC server and includes: An information receiving unit is configured to receive GNSS positioning information sent by multiple roadside unit devices, and based on the GNSS positioning information sent by the multiple roadside unit devices, determine at least one first roadside unit device as a relay device for GNSS UART information, and at least one second roadside unit device that needs to forward and obtain GNSS UART information through the relay device. The notification unit is used to send a first message to the first roadside unit device and a second message to the second roadside unit device. The first message is used to notify the first roadside unit device to act as the relay device, so that when the first roadside unit device receives the first message, it determines the GNSS UART information and establishes a 5G transmission channel with other roadside unit devices; through the 5G transmission channel, it transmits the GNSS UART information to the other roadside unit devices; wherein, in the relay device, by controlling the GNSS UART switching switch, the V2X communication module obtains the GNSS UART information through the GNSS module and sends it to the terminal; The second message is used to notify the second roadside unit device that it needs to forward GNSS UART information through the relay device. Upon receiving the second message, the second roadside unit device receives the GNSS UART information forwarded by the first roadside unit device through the established 5G transmission channel with the first roadside unit device. Furthermore, the second roadside unit device controls its GNSS UART switch to adjust to the UART pin of its DSP. The DSP then provides GNSS information via the UART pin and the GNSS UART switch in the second roadside unit device. The UART information is sent to the V2X communication module in the second roadside unit device; and the 1PPS switch in the second roadside unit device is switched to the virtual 1PPS pin of the DSP in the second roadside unit device, and the timing pin of the 5G module in the second roadside unit device is connected to the GPIO pin of the DSP in the second roadside unit device; the 5G module in the second roadside unit device obtains timing information through the 5G network and sends it to the DSP in the second roadside unit device through the timing pin; the DSP receives the timing information through the GPIO pin, generates a 1PPS signal using the timing information, and sends the 1PPS signal to the V2X communication module in the second roadside unit device through the virtual 1PPS pin and the 1PPS switch in the second roadside unit device.

15. The apparatus according to claim 14, characterized in that, The notification unit is also used for: When it is determined, based on the GNSS positioning information sent by the plurality of roadside unit devices, that there is no need to select the relay device, each of the roadside unit devices is notified to use the raw GNSS information as a synchronization source.

16. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a computer program for causing the processor to perform the method according to any one of claims 1 to 5.

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