Automatic driving system double time axis time service method, device, control method and system

Abstract

The application discloses a kind of automatic driving system double time axis time service method, device, control method and system, belong to automatic driving technical field.The method includes: by absolute time domain timer in sensor hub, the world time information contained in GPS signal received by GPS sensor is synchronously written;By local time domain timer in sensor hub, if the vehicle-mounted server of vehicle determines to have GPS signal when vehicle starts, the current world time information in absolute time domain timer is synchronously written as the initial value of local time;And by sensor hub, local time is given to automatic driving system.The application is set by double time axis, with world time in GPS information as the basis, determine the absolute time of absolute time unit, while according to the local time of absolute time device local time unit, with local time as the time reference of automatic driving system, automatic driving processing is carried out.Improve the stability of time reference.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a dual-time axis timing method, device, control method and system for an autonomous driving system. Background Technology

[0002] In existing autonomous driving systems, time synchronization is necessary to ensure the accuracy and synchronization of autonomous driving data calculations. Therefore, a time synchronization unit is set up within the system to record time and timestamp the data. Current time synchronization units are single-timeline configured, using the world time obtained by the positioning unit, such as a GPS unit, as the time reference for time recording and allocation. However, GPS units cannot always obtain GPS information reliably. For example, in areas with weak GPS signals, such as tunnels or overpasses, GPS units cannot effectively obtain GPS information, thus failing to acquire world time and provide a time reference for the time synchronization unit. Consequently, the intermittent GPS information leads to discontinuous time in the time synchronization unit, causing time jumps and ultimately resulting in data calculation errors throughout the autonomous driving system, hindering effective data processing. Summary of the Invention

[0003] In response to the problem in existing autonomous driving systems with a single time axis that uses world time from GPS information as the time reference, where the instability of GPS information causes the time reference of the timing unit to jump, affecting the normal operation of the entire autonomous driving system, this application proposes a dual-time axis timing method, device, control method, and system for autonomous driving systems.

[0004] One technical solution of this application provides a dual-time-axis timing method for an autonomous driving system, comprising: synchronously writing world time information contained in the GPS signal received by the GPS sensor into an absolute time domain timer in a sensor hub; synchronously writing the current world time information into the absolute time domain timer in the sensor hub when the vehicle starts and the vehicle's onboard server determines that there is a GPS signal, as the initial value of the local time; and independently and continuously timing after the vehicle starts, and using the timing result as the current value of the local time; and transmitting the local time to the autonomous driving system through the sensor hub.

[0005] Optionally, the sensor hub provides local time to the autonomous driving system, including: providing local time to an onboard server via a first Ethernet cable; providing local time to at least one lidar of the vehicle via a second Ethernet cable; and timestamping sensor data received by the sensor hub using local time.

[0006] Optionally, the sensor hub provides local time to the autonomous driving system, and the system also includes an onboard server providing local time to the data acquisition and storage device via a third Ethernet cable.

[0007] Optionally, it also includes: if the onboard server determines that there is no GPS signal when the vehicle starts, the onboard server checks whether there is a mobile network signal. If there is a mobile network signal, the local time domain timer in the sensor hub synchronously writes the current world time information in the mobile network signal as the initial value of the local time. If there is no mobile network signal, the local time domain timer in the sensor hub synchronously writes the current time information of the backup real-time time circuit in the sensor hub as the initial value of the local time.

[0008] Optionally, it also includes: the sensor hub periodically sending the real-time world time in the absolute time domain timer and the real-time local time in the local time domain timer as real-time world time and real-time local time pairs to the vehicle server; and the vehicle server storing the real-time world time and real-time local time pairs in a world time and real-time local time correspondence table during operation.

[0009] In one technical solution of this application, a dual-time-axis timing device for an autonomous driving system is provided, comprising: an absolute time-domain timer in a sensor hub, which synchronously writes world time information contained in the GPS signal received by the GPS sensor; and a local time-domain timer in the sensor hub, which, when the vehicle starts and if the vehicle's onboard server determines that there is a GPS signal, synchronously writes the current world time information in the absolute time-domain timer as the initial value of the local time, and independently and continuously keeps time after the vehicle starts, and uses the timekeeping result as the current value of the local time, wherein the sensor hub provides the local time to the autonomous driving system.

[0010] One technical solution of this application provides an autonomous driving control method based on dual time axis timing, comprising: synchronously writing world time information contained in the GPS signal received by the GPS sensor into an absolute time domain timer in a sensor hub; synchronously writing the current world time information into the absolute time domain timer in the sensor hub when the vehicle starts and the vehicle's onboard server determines that there is a GPS signal, as the initial value of the local time, and independently and continuously timing after the vehicle starts, and using the timing result as the current value of the local time; providing the local time to the autonomous driving system through the sensor hub; and controlling the vehicle based on the local time through the onboard server.

[0011] One technical solution of this application provides an autonomous driving system based on dual time axis timing, including: a GPS sensor; an on-board server for the vehicle; and a sensor hub, which includes an absolute time domain timer that synchronously writes world time information contained in the GPS signal received by the GPS sensor, and a local time domain timer that, when the vehicle starts, if the on-board server determines that there is a GPS signal, synchronously writes the current world time information in the absolute time domain timer as the initial value of the local time, and independently and continuously times after the vehicle starts, and uses the timing result as the current value of the local time. The sensor hub provides the local time to the autonomous driving system, and the on-board server controls the vehicle based on the local time.

[0012] The beneficial effects of this application are as follows: By setting up a dual time axis, this application determines the absolute time of the absolute time unit based on the world time in the GPS information, and simultaneously uses the local time of the local time unit of the absolute time device as the time reference for the autonomous driving system to perform autonomous driving processing. This improves the stability of the time reference, preventing it from being affected by changes in the strength of the GPS information signal, and ensuring the stability of the data processing of the autonomous driving system. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart illustrating one implementation of the dual-time-axis timing method for the autonomous driving system of this application;

[0015] Figure 2 This is a schematic diagram of one embodiment of the dual-time axis timing device for the autonomous driving system of this application;

[0016] Figure 3 This is a flowchart illustrating one implementation of the autonomous driving control method based on dual time axis timing in this application;

[0017] Figure 4 This is a schematic diagram of one embodiment of the autonomous driving system based on dual time axis timing in this application.

[0018] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The terms “first,” “second,” “third,” “fourth,” 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 particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a product or device comprising a series of steps or units is not necessarily limited to those units explicitly listed, but may include other units not explicitly listed or inherent to such products or devices.

[0021] In existing autonomous driving systems, time synchronization is necessary to ensure the accuracy and synchronization of autonomous driving data calculations. Therefore, a time synchronization unit is set up within the system to record time and timestamp the data. Current time synchronization units are single-timeline configured, using the world time obtained by the positioning unit, such as a GPS unit, as the time reference for time recording and allocation. However, GPS units cannot always obtain GPS information reliably. For example, in areas with weak GPS signals, such as tunnels or overpasses, GPS units cannot effectively obtain GPS information and thus world time, failing to provide a time reference for the time synchronization unit. Therefore, the intermittent GPS information leads to discontinuous time in the time synchronization unit, causing time jumps and ultimately resulting in data calculation errors throughout the autonomous driving system, hindering effective data processing.

[0022] To address the aforementioned issues, this application proposes a dual-time-axis timing method, apparatus, control method, and system for an autonomous driving system. The method includes: synchronously writing world time information contained in the GPS signal received by the GPS sensor into an absolute time-domain timer in a sensor hub; synchronously writing the current world time information into the absolute time-domain timer as the initial value of the local time when the vehicle starts and the vehicle's onboard server determines the presence of a GPS signal, using the local time-domain timer in the sensor hub; independently and continuously timing after the vehicle starts, and using the timing result as the current value of the local time; and transmitting the local time to the autonomous driving system via the sensor hub.

[0023] The dual-time-axis timing method for autonomous driving systems in this application performs dual-time-axis processing by setting an absolute time-domain timer and a local time-domain timer. The absolute time-domain timer acquires world time information based on GPS signals, while the local time-domain timer records the local time of the autonomous driving system. Upon startup of the autonomous driving system, after synchronizing the local and absolute times, the system uses the local time as the reference for data processing. Therefore, even if GPS information is unavailable, and the absolute time recorded by the absolute time-domain timer (i.e., the world time) changes, the stability of the local time will not be affected, thus ensuring the stability of the autonomous driving system's time reference and the accuracy of data processing.

[0024] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0025] Figure 1 This is a flowchart illustrating one implementation of the dual-time-axis timing method for the autonomous driving system of this application.

[0026] exist Figure 1 In the embodiment shown, the dual time axis timing method of the autonomous driving system of this application includes: process S101, in which the world time information contained in the GPS signal received by the GPS sensor is synchronously written by the absolute time domain timer in the sensor hub.

[0027] In this implementation, an absolute time threshold timer is first set in the sensor hub. The absolute time threshold timer is connected to the GPS sensor to synchronize the world time information in the GPS signal acquired by the GPS sensor, thereby obtaining the world time and writing it into the absolute time threshold timer.

[0028] Optionally, the sensor hub connects to a GPS sensor to acquire world time information and keeps time according to that information.

[0029] In this optional embodiment, when acquiring world time information from the GPS sensor, according to the standard protocol of the GPS sensor, in the autonomous driving system, the GPS sensor transmits accurate world time information to the sensor hub through the standard GPRMC+PPS protocol when transmitting data. The accurate world time is obtained through the GPS signal from the GPS sensor and an absolute time domain timer. Because GPS signals are unstable, the world time in the absolute time domain timer is also unstable, and phenomena such as time jumps may occur.

[0030] It should be noted that the absolute time domain timer will synchronize with the GPS sensor according to a preset time interval. For example, if the synchronization time is 1 second, the two will synchronize their time every second. Therefore, if there was no GPS signal in the previous second, and a GPS signal is obtained again at this time, time jump may occur when resynchronization is performed.

[0031] exist Figure 1 In the embodiment shown, the dual-time axis timing method of the autonomous driving system of this application includes: process S102, in which the local time domain timer in the sensor hub determines that there is a GPS signal when the vehicle starts, synchronously writes the current world time information in the absolute time domain timer as the initial value of the local time, and after the vehicle starts, independently and continuously keeps time, and uses the timer result as the current value of the local time.

[0032] In this implementation, a local time threshold timer is first set in the sensor hub to record the vehicle's local time. Upon vehicle startup, if the vehicle's onboard server detects a GPS signal, it issues a synchronization command to the local time threshold timer and the absolute time threshold timer. This synchronization synchronizes the local and absolute time threshold timers, writing the current world time information from the absolute time threshold timer into the local time threshold timer as the initial value for the local time. After vehicle startup, the local time threshold timer operates independently, unaffected by GPS signals or the absolute time threshold timer, and uses the timing result as the current local time. The entire autonomous driving system uses the time recorded within the local time threshold timer as its time base.

[0033] Specifically, upon vehicle startup, i.e., when the autonomous driving system starts, the local time of the local time domain timer is synchronized with the world time of the absolute time domain timer. This is because when the vehicle or autonomous driving system first starts, the autonomous driving system has not yet begun processing autonomous driving data, and therefore, local time is not yet needed as a time base. Changes in the time base are permissible at this stage, making time synchronization appropriate. If time synchronization were performed while the autonomous vehicle was in motion, the local time of the local time domain timer might experience time jumps, potentially leading to errors in the autonomous driving system's data processing and affecting autonomous driving. During time synchronization, the local time of the local time domain timer is synchronized with the world time of the absolute time domain timer, and this time is used as the initial value for timing.

[0034] In the above implementation, considering that the corresponding world time will be unstable and jump when the GPS signal is unstable, a dual time axis is set. First, a local time domain timer and an absolute time domain timer are pre-set in the sensor hub. The local time of the local time domain timer is used as the vehicle's own time; the absolute time domain timer records the absolute time as the real world time.

[0035] Specifically, the local time domain timer and the absolute time domain timer are essentially a single timer. After obtaining their respective times, they perform timing based on the required precision. In practice, the local time domain timer and the absolute time domain timer can be configured through corresponding encoding using an FPGA processing chip to achieve their respective timing functions. This application does not impose specific limitations on the specific configuration process.

[0036] Specifically, the local time domain timer and the absolute time domain timer are set as two relatively independent timing units. They do not interfere with each other. They will only exchange data to synchronize time when a time synchronization command is received.

[0037] exist Figure 1 In the embodiment shown, the dual time axis timing method of the autonomous driving system of this application includes: process S103, in which the sensor hub provides local time to the autonomous driving system.

[0038] In this embodiment, within the sensor hub, after the local time is determined by the local time threshold timer, the sensor hub performs time synchronization operations for the entire autonomous driving system.

[0039] Optionally, the sensor hub provides local time to the autonomous driving system, including: providing local time to an onboard server via a first Ethernet cable; providing local time to at least one lidar of the vehicle via a second Ethernet cable; and timestamping sensor data received by the sensor hub using local time.

[0040] In this optional embodiment, the time synchronization process for the autonomous driving system includes timestamping data from onboard servers, LiDAR, and other sensors. This is achieved by uniformly synchronizing the time of various processing units and data within the autonomous driving system according to the local time threshold timer.

[0041] Specifically, the sensor hub can be equipped with a SOC chip with different logic units. A real-time processor can be set on the SOC chip to perform time-stamping and time synchronization operations on the sensor-collected data. The sensor hub sends the local time threshold timer to the server and other processing units. The corresponding processing units use this local time as a reference for subsequent data processing and other autonomous driving operations.

[0042] Optionally, the sensor hub provides local time to the autonomous driving system, and the system also includes an onboard server providing local time to the data acquisition and storage device via a third Ethernet cable.

[0043] In this optional embodiment, during the operation of the autonomous driving system, the data acquisition and storage devices within the autonomous driving system also need to be synchronized with the time of the data collection and storage devices. This ensures that the entire driving system is operating under the same time reference, thereby guaranteeing the accuracy of data processing during autonomous driving.

[0044] Optionally, the dual-time axis timing method for the autonomous driving system of this application further includes: if the on-board server determines that there is no GPS signal when the vehicle starts, the on-board server checks whether there is a mobile network signal. If there is a mobile network signal, the local time domain timer in the sensor hub synchronously writes the current world time information in the mobile network signal as the initial value of the local time. If there is no mobile network signal, the local time domain timer in the sensor hub synchronously writes the current time information of the backup real-time time circuit in the sensor hub as the initial value of the local time.

[0045] In this optional embodiment, when determining the local time of the local time threshold timer, there is a scenario where there is no GPS signal when the car starts. In this case, the absolute time threshold timer cannot obtain world time information. In this situation, after the vehicle server determines that there is no GPS signal, it checks whether there is a mobile network signal. If there is a mobile network signal, the vehicle server obtains the current world time information from the mobile network signal and synchronously writes this current world time information into the local time domain timer in the sensor hub, using it as the initial value of the local time, and then begins timing the local time. If the vehicle server checks that there is no mobile network signal, the local time domain timer in the sensor hub synchronously writes the current time information from the backup real-time time circuit in the sensor hub as the initial value of the local time.

[0046] Specifically, during actual driving, GPS information from the GPS unit cannot be obtained when the vehicle starts, such as when the vehicle starts in a place with weak GPS signal, such as a garage. In this case, the onboard server obtains world time information through the network and uses this world time as the local time of the local time domain timer. Then, the autonomous driving system uses this local time as the time base to perform subsequent autonomous driving processing and timestamp the corresponding autonomous driving data.

[0047] Specifically, when an autonomous vehicle starts up in an underground environment such as a parking garage, the GPS signal may be weak or nonexistent. In this case, it needs to obtain the current world time information from the mobile network signal through the onboard server and synchronize it with the local time threshold timer. If there is also no mobile network signal, the current time information from the backup real-time time circuit needs to be used as the initial value of the local time. The backup real-time time circuit can be a Real-Time Clock (RTC) circuit. The RTC circuit itself has a button battery, which can still provide a stable time when the autonomous vehicle loses power.

[0048] Optionally, the dual-time-axis timing method for the autonomous driving system of this application further includes: the sensor hub periodically sending the real-time world time in the absolute time domain timer and the real-time local time in the local time domain timer as real-time world time and real-time local time pairs to the vehicle server; and the vehicle server storing the real-time world time and real-time local time pairs in a real-time world time and real-time local time correspondence table during operation.

[0049] In this optional embodiment, the local time of the local time threshold timer is used as the time base for a series of autonomous driving processes, including time synchronization. Similarly, the onboard server also uses the local time as the time base. However, as the vehicle moves, there is a time discrepancy between the local time of the local time threshold timer and the world time of the absolute time threshold timer. Since the onboard server sometimes needs to obtain accurate world time, a certain conversion of the local time is required. The sensor hub periodically sends the real-time world time from the absolute time domain timer and the real-time local time from the local time domain timer as real-time world time and real-time local time pairs to the onboard server. During operation, the onboard server stores the real-time world time and real-time local time pairs in a real-time world time and real-time local time correspondence table. This is achieved by recording the real-time world time and real-time local time corresponding to the absolute time threshold timer and the local time threshold timer in pairs in the correspondence table. When a time conversion is needed subsequently, the onboard server performs a time offset based on the real-time local time and real-time world time correspondence table to obtain the world time at the corresponding moment.

[0050] Specifically, the dual time axis setting method of this application also includes: using a time reference unit to provide a time reference for the local time domain timer and the absolute time domain timer, so as to ensure the accuracy of the timing of the local time domain timer and the absolute time domain timer.

[0051] In this specific example, the time reference unit can be selected as a temperature-compensated crystal oscillator (TCXO). The time reference unit is used to ensure the stability of the local time domain timer, the absolute time domain timer, and the time of the entire autonomous driving system.

[0052] The dual-time-axis timing method for autonomous driving systems in this application establishes dual time axes. It uses the world time from GPS information as a basis to determine the absolute time of the absolute time domain timer, and simultaneously uses the local time of the local time domain timer of the absolute time device as the time reference for the autonomous driving system. This improves the stability of the time reference, preventing it from being affected by changes in the strength of GPS signals and ensuring the stability of data processing in the autonomous driving system.

[0053] Figure 2 A schematic diagram of one embodiment of the dual-time axis timing device for the autonomous driving system of this application is shown.

[0054] exist Figure 2In the illustrated embodiment, a dual-time-axis timing device for an autonomous driving system is provided, comprising: an absolute time domain timer 2011 in a sensor hub 201, which synchronously writes world time information contained in the GPS signal received by the GPS sensor; and a local time domain timer 2012 in the sensor hub 201, which, when the vehicle starts, if the vehicle's onboard server determines that there is a GPS signal, synchronously writes the current world time information in the absolute time domain timer as the initial value of the local time, and independently and continuously times after the vehicle starts, and uses the timing result as the current value of the local time, wherein the sensor hub provides the local time to the autonomous driving system.

[0055] In this implementation, an absolute time threshold timer is first set up in the sensor hub. This timer connects to the GPS sensor to synchronize the world time information from the GPS signal acquired by the GPS sensor, thus obtaining the world time, which is then written into the absolute time threshold timer. A local time threshold timer is also set up in the sensor hub to record the vehicle's own local time. Specifically, when the vehicle starts, if the vehicle's onboard server detects a GPS signal, it issues a synchronization command to the local time threshold timer and the absolute time threshold timer. This synchronizes the time, writing the current world time information from the absolute time threshold timer into the local time threshold timer as the initial value of the local time. After the vehicle starts, the local time threshold timer operates independently, unaffected by GPS signals or the absolute time threshold timer, and uses the timing result as the current value of the local time. The entire autonomous driving system uses the time recorded in the local time threshold timer as its time base. Within the sensor hub, after the local time threshold timer determines the local time, the sensor hub provides time synchronization to the entire autonomous driving system.

[0056] Optionally, the sensor hub connects to a GPS sensor to acquire world time information and keeps time according to that information.

[0057] Optionally, in the dual time axis timing device of the autonomous driving system, the local time is synchronized to the vehicle server via a first Ethernet cable; the local time is synchronized to at least one lidar of the vehicle via a second Ethernet cable; and the sensor data received by the sensor hub is timestamped using the local time.

[0058] Optionally, in the autonomous driving system, the dual time axis timing device transmits the local time to the data acquisition and storage device via a third Ethernet cable from the on-board server.

[0059] Optionally, in the dual-time axis timing device of the autonomous driving system of this application, if the on-board server determines that there is no GPS signal when the vehicle starts, the on-board server checks whether there is a mobile network signal. If there is a mobile network signal, the local time domain timer in the sensor hub synchronously writes the current world time information in the mobile network signal as the initial value of the local time. If there is no mobile network signal, the local time domain timer in the sensor hub synchronously writes the current time information of the backup real-time time circuit in the sensor hub as the initial value of the local time.

[0060] Figure 3 A flowchart illustrating one embodiment of the autonomous driving control method based on dual time axis timing of this application is shown.

[0061] exist Figure 3 In the illustrated embodiment, the autonomous driving control method based on dual time axis timing of this application includes: process S301, where the absolute time domain timer in the sensor hub synchronously writes the world time information contained in the GPS signal received by the GPS sensor; process S302, where the local time domain timer in the sensor hub, when the vehicle starts and if the vehicle's onboard server determines that there is a GPS signal, synchronously writes the current world time information in the absolute time domain timer as the initial value of the local time, and independently and continuously times after the vehicle starts, and uses the timing result as the current value of the local time; process S303, where the sensor hub provides the local time to the autonomous driving system; and process S304, where the onboard server controls the vehicle based on the local time.

[0062] The autonomous driving control method based on dual-time-axis timing in this application performs dual-time-axis processing by setting an absolute time-domain timer and a local time-domain timer. The absolute time-domain timer acquires world time information based on GPS signals, while the local time-domain timer records the local time of the autonomous driving system. When the autonomous driving system starts, after synchronizing the local time and absolute time, the autonomous driving system performs data processing based on the local time. Therefore, even if GPS information is unavailable, and the absolute time recorded by the absolute time-domain timer changes, the stability of the local time will not be affected, thus ensuring the stability of the time base of the autonomous driving system and the accuracy of data processing.

[0063] Figure 4 A schematic diagram of one embodiment of the autonomous driving system based on dual time axis timing of this application is shown.

[0064] exist Figure 4In the illustrated embodiment, the autonomous driving system based on dual time axis timing of this application includes: a GPS sensor 401; a vehicle-mounted server 402; and a sensor hub 403, which includes an absolute time domain timer 4031 that synchronously writes world time information contained in the GPS signal received by the GPS sensor, and a local time domain timer 4032 that, when the vehicle starts, if the vehicle-mounted server determines that there is a GPS signal, synchronously writes the current world time information in the absolute time domain timer as the initial value of the local time, and independently and continuously times after the vehicle starts, and uses the timing result as the current value of the local time. The sensor hub provides local time timing to the autonomous driving system, and the vehicle-mounted server controls the vehicle based on the local time.

[0065] The autonomous driving system based on dual-time-axis timing in this application performs dual-time-axis processing by setting up an absolute time-domain timer and a local time-domain timer. The absolute time-domain timer acquires world time information based on GPS signals, while the local time-domain timer records the local time of the autonomous driving system. When the autonomous driving system starts, after synchronizing the local time and absolute time, the system performs autonomous driving data processing based on the local time. Therefore, even if GPS information is unavailable, and the absolute time recorded by the absolute time-domain timer changes, the stability of the local time will not be affected, thus ensuring the stability of the time base of the autonomous driving system and the accuracy of data processing.

[0066] In one specific embodiment of this application, a computer-readable storage medium stores computer instructions, wherein the computer instructions are operated to perform the dual-time-axis timing method or the autonomous driving control method based on dual-time-axis timing described in any embodiment of the autonomous driving system. The storage medium may be located directly in hardware, in a software module executed by a processor, or in a combination of both.

[0067] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0068] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0069] In one specific embodiment of this application, a computer device includes a processor and a memory, the memory storing computer instructions, wherein: the processor operates the computer instructions to execute the dual time axis timing method of the autonomous driving system or the autonomous driving control method based on dual time axis timing described in any embodiment.

[0070] In the embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0071] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0072] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A dual-time-axis timing method for an autonomous driving system, characterized in that, include: The world time information contained in the GPS signal received by the GPS sensor is synchronously written by the absolute time domain timer in the sensor hub. When the vehicle starts, if the vehicle's onboard server determines that the GPS signal is present, the local time domain timer in the sensor hub synchronously writes the current world time information into the absolute time domain timer as the initial value of the local time. After the vehicle starts, the timer independently and continuously keeps time, and the timer result is used as the current value of the local time. as well as The local time is transmitted to the autonomous driving system via the sensor hub.

2. The dual-time-axis timing method for an autonomous driving system according to claim 1, characterized in that, The step of transmitting the local time to the autonomous driving system via the sensor hub includes: The local time is transmitted to the vehicle server via the first Ethernet cable; At least one lidar sensor in the vehicle provides local time synchronization to the vehicle via a second Ethernet cable; and The sensor data received by the sensor hub is timestamped using the local time.

3. The dual-time-axis timing method for an autonomous driving system according to claim 2, characterized in that, The step of transmitting the local time to the autonomous driving system via the sensor hub further includes: The on-board server transmits the local time to the data acquisition and storage device via a third Ethernet cable.

4. The dual-time-axis timing method for an autonomous driving system according to claim 2, characterized in that, Also includes: If the onboard server determines that there is no GPS signal when the vehicle starts, it will then check whether there is a mobile network signal. If the mobile network signal is present, the local time domain timer in the sensor hub synchronously writes the current world time information from the mobile network signal as the initial value of the local time. If there is no mobile network signal, the current time information of the backup real-time time circuit in the sensor hub is synchronously written into the local time domain timer in the sensor hub as the initial value of the local time.

5. The dual-time-axis timing method for an autonomous driving system according to claim 1, characterized in that, Also includes: The sensor hub periodically sends the real-time world time in the absolute time domain timer and the real-time local time in the local time domain timer as real-time world time and real-time local time pairs to the vehicle server. as well as During operation, the vehicle-mounted server stores the real-time world time and real-time local time pairs in a world time-real-time local time correspondence table.

6. A dual-time-axis timing device for an autonomous driving system, characterized in that, include: The absolute time domain timer in the sensor hub synchronously writes the world time information contained in the GPS signal received by the GPS sensor. as well as The local time domain timer in the sensor hub, when the vehicle starts and the vehicle's onboard server determines that the GPS signal is present, synchronously writes the current world time information into the absolute time domain timer as the initial value of the local time. After the vehicle starts, it independently and continuously keeps time, using the timing result as the current value of the local time. The sensor hub transmits the local time to the autonomous driving system.

7. An automatic driving control method based on dual time axis timing, characterized in that, include: The world time information contained in the GPS signal received by the GPS sensor is synchronously written by the absolute time domain timer in the sensor hub. When the vehicle starts, if the vehicle's onboard server determines that the GPS signal is present, the local time domain timer in the sensor hub synchronously writes the current world time information into the absolute time domain timer as the initial value of the local time. After the vehicle starts, the timer independently and continuously keeps time, and the timer result is used as the current value of the local time. The local time is synchronized to the autonomous driving system by the sensor hub; as well as The vehicle is controlled by the on-board server based on the local time.

8. An autonomous driving system based on dual time axis timing, characterized in that, include: GPS sensor; Vehicle-mounted server; Sensor hub, which includes An absolute time domain timer synchronously writes the world time information contained in the GPS signals received by the GPS sensor. A local time domain timer, when the vehicle's onboard server determines the presence of a GPS signal upon vehicle startup, synchronously writes the current world time information into the absolute time domain timer as the initial value of the local time. After the vehicle starts, it independently and continuously keeps time, using the timing result as the current value of the local time. The sensor hub provides the local time to the autonomous driving system, and The vehicle is controlled by the on-board server based on the local time.

9. A computer-readable storage medium, characterized in that, The storage medium stores computer instructions that are operated to perform the dual-time axis timing method for an autonomous driving system as described in any one of claims 1-5.

10. A computer device comprising a processor and a memory, the memory storing computer instructions, wherein: The processor operates computer instructions to execute the dual time axis timing method for the autonomous driving system as described in any one of claims 1-5.

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