AUTOSAR-based time synchronization methods, systems, electronic devices, and storage media

Abstract

This invention provides an AUTOSAR-based time synchronization method, system, electronic device, and storage medium. The method includes configuring a standardized AUTOSAR operating system for the CCU, ADCU, and ZCU of an intelligent connected vehicle; periodically acquiring several timestamps through the vehicle's TBOX; obtaining primary time synchronization by updating the local time of the TBOX according to a pre-defined priority of these timestamps; publishing the primary time synchronization to the CCU's Ethernet switch via the TBOX's time management component using the GPTP protocol; updating the time of the CCU's dual-operating system's central domain controller and the ADCU's GPTP module via the Ethernet switch; performing tertiary time synchronization via CANFD communication for the ZCU's StbM module using the GPTP protocol for the dual-operating system's secondary time synchronization; and performing tertiary time synchronization via the ADCU's GPTP module for the intelligent connected vehicle's camera and radar's GPTP modules, thereby achieving time synchronization of the TBOX, CCU, ADCU, and ZCU.

Description

Technical Field

[0001] This invention belongs to the technical field of autonomous driving, and specifically relates to an AUTOSAR-based time synchronization method, system, electronic device, and storage medium. Background Technology

[0002] Based on the level of vehicle driving automation, the existing SAE J3016 standard divides driving automation into six levels, namely LO-L5, namely No Automation (LO), Driver Assistance (L1), Partial Automation (L2), Conditional Automation (L3), High Automation (L4), and Full Automation (L5). As the level of driving automation increases, the degree of human involvement in driving activities decreases.

[0003] Intelligent connected vehicles (ICVs) face high real-time requirements for data fusion in Level 3 and Level 4 autonomous driving. A primary concern in data fusion is ensuring that the acquired data is precisely synchronized in time. Therefore, the ICV's application of data is only meaningful if the real-time data collected by the domain controllers and related sensors within the vehicle are acquired at the same point in time. However, in reality, domain controllers and related sensors each have their own clock sources. The different manufacturers and technical requirements of each clock source lead to variations in clock drift. Furthermore, the lack of interdependence between them results in subtle differences in system time and frequency. Consequently, it is difficult for the real-time data collected by the domain controllers and related sensors within the ICV to be acquired at the same time, making it impossible to guarantee accurate predictions for autonomous driving applications. In severe cases, this could lead to serious accidents related to autonomous driving.

[0004] Therefore, how to achieve high-precision vehicle time synchronization for intelligent connected vehicles based on AUTOSAR is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an AUTOSAR-based time synchronization method, system, electronic device, and storage medium, which can achieve high-precision vehicle time synchronization for intelligent connected vehicles based on the AUTOSAR perspective.

[0006] Firstly, this application provides an AUTOSAR-based time synchronization method, including:

[0007] Configure the CCU, ADCU, and ZCU of intelligent connected vehicles with a standardized AUTOSAR operating system;

[0008] The intelligent connected vehicle periodically acquires several times via its TBOX, including GNSS satellite time, network time, base station time, and RTC module time.

[0009] Based on the preset priority of the aforementioned time periods, the local time of the TBOX is updated to obtain the first-level time synchronization.

[0010] The time management component of the TBOX publishes the primary time synchronization to the Ethernet switch of the CCU according to the GPTP protocol.

[0011] Based on the Ethernet Switch, the time of the dual-operating system central domain controller of the CCU and the GPTP module of the ADCU are updated to obtain the secondary time synchronization of the dual-operating system central domain controller of the CCU and the GPTP module of the ADCU.

[0012] The dual operating systems with secondary time synchronization use the GPTP protocol to perform tertiary time synchronization with the StbM module of the ZCU via CANFD communication, and the GPTP module of the ADCU with secondary time synchronization performs tertiary time synchronization with the GPTP modules of the intelligent connected vehicle camera and radar, so as to achieve time synchronization of the TBOX, the CCU, the ADCU, and the ZCU.

[0013] Preferably, the TBOX supports the GPTP protocol, is equipped with a Linux operating system, and performs unified management of the aforementioned time, and traverses the in-vehicle electronic and electrical architecture network of the intelligent connected vehicle through the GPTP protocol.

[0014] Preferably, the time management component performs unified time management for the aforementioned time periods and has logical consistency in the time management business logic.

[0015] Preferably, the dual operating systems are AUTOSAR AP and AUTOSAR CP; the central domain controller of the dual operating systems consists of an Ethernet switch and a multi-core heterogeneous chip.

[0016] Preferably, the AUTOSAR AP supports the GPTP protocol.

[0017] Preferably, the AUTOSAR CP includes an Enthei Tsyn module and an Stbm module.

[0018] Preferably, the ZCU is a regional controller with AUTOSARCP as its operating system, and the ADCU is a regional controller with AUTOSARAP as its operating system.

[0019] Secondly, this application provides an AUTOSAR-based time synchronization system, comprising:

[0020] The configuration module is used to configure the CCU, ADCU, and ZCU of intelligent connected vehicles with the standardized AUTOSAR operating system.

[0021] The acquisition module is used to periodically acquire several times via the TBOX of the intelligent connected vehicle, wherein the several times include GNSS satellite time, network time, base station time, and RTC module time;

[0022] The first time synchronization module is used to obtain first-level time synchronization based on the preset priority of the several times for updating the local time of the TBOX;

[0023] The publishing module is used to publish the primary time synchronization to the Ethernet switch of the CCU according to the GPTP protocol through the time management component of the TBOX;

[0024] The second time synchronization module updates the time of the CCU's dual-operating system central domain controller and the ADCU's GPTP module based on the Ethernet Switch to obtain the time synchronization of the CCU's dual-operating system central domain controller and the ADCU's GPTP module.

[0025] The third timing module performs tertiary timing synchronization between the dual operating systems (secondary timing) and the ZCU's StbM module via CANFD communication using the GPTP protocol, and between the ADCU's GPTP module (secondary timing) and the intelligent connected vehicle's camera and radar's GPTP module, thereby achieving time synchronization between the TBOX, CCU, ADCU, and ZCU.

[0026] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the AUTOSAR-based time synchronization method as described in the first aspect.

[0027] Fourthly, this application provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the AUTOSAR-based time synchronization method as described in the first aspect.

[0028] Compared with existing technologies, the AUTOSAR-based time synchronization method, system, electronic device, and storage medium provided in this application have the following advantages:

[0029] 1. A time synchronization spanning tree with TBOX as the root is adopted. In the overall link, TBOX acts as the clock master and other ECUs are clock slave devices. This master / slave relationship is to traverse the entire in-vehicle electronic and electrical architecture network with TBOX as the root. Synchronization time messages will be transmitted from TBOX to the entire in-vehicle network according to the time synchronization tree, which improves the time synchronization of domain controllers and related sensors in intelligent connected vehicles.

[0030] 2. Adopt the standardized AUTOSAR operating system configured in the CCU, ADCU, and ZCU of intelligent connected vehicles. Through the time service technology of the standardized operating system AUTOSAR, solve the problems of inconsistent in-vehicle operating systems and lack of unified time management channels and time management receiving nodes in current intelligent connected vehicles.

[0031] 3. Based on Ethernet Switch, the time of the central domain controller of the dual operating system of CCU is updated, and the time of the dual operating system of secondary time synchronization is updated for the StbM module of ZCU through GPTP protocol. By adopting a time synchronization system architecture based on GPTP protocol and Ethernet Switch, the time delay problem of real-time data collected by domain controllers and related sensors inside intelligent connected vehicles can be effectively solved. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the ICV vehicle-cloud integrated time synchronization platform provided by the present invention;

[0034] Figure 2 This is a schematic diagram of the ICV time synchronization architecture provided by the present invention;

[0035] Figure 3 This is a flowchart of the AUTOSAR-based time synchronization method provided in Embodiment 1 of the present invention;

[0036] Figure 4 This is a schematic diagram of the timing diagram of the ICV time synchronization system provided in Embodiment 1 of the present invention;

[0037] Figure 5 This is a block diagram of the AUTOSAR-based time synchronization system structure corresponding to the method in Embodiment 1, provided in Embodiment 2 of the present invention;

[0038] Figure 6 This is a schematic diagram of the hardware structure of the electronic device provided in Embodiment 3 of the present invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] 10-Configuration Module;

[0041] 20 - Acquisition Module;

[0042] 30 - First Time Service Module;

[0043] 40 - Publish Module;

[0044] 50 - Second Time Service Module;

[0045] 60 - Third Time Service Module;

[0046] 70-Bus, 71-Processor, 72-Memory, 73-Communication interface. Detailed Implementation

[0047] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0048] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0049] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0050] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0051] The automotive electronic and electrical architecture is constantly iterating and updating, with OEMs continuously upgrading their architectures. Past architectures were distributed, with time management primarily handled by the TBOX (Telematics Terminal Box). The TBOX is divided into two parts: the MCU (Microcontroller Unit) and the MPU (Microprocessor Unit). The TBOX obtains and updates the time from at least one of NTP (Network Time Protocol), GPS, and the MCU, and synchronizes the updated time to the MCU. The MCU's time sources include the MPU and a hardware RTC (Real-Time Clock). The MCU obtains and updates the time from at least one of the MPU and the hardware RTC, and synchronizes it to the corresponding ECU via CAN. The MPU synchronizes the time to the ADCU (Autonomous Driving Module) via the Ethernet NTP protocol and to the ZCU (Zone Controller Unit) via USB. The MPU operating system and some ECU operating systems within the vehicle are inconsistent, requiring a custom network time protocol. Furthermore, the real-time data collected by the domain controllers and related sensors within the ICV (Intelligent Driving Vehicle) is difficult to obtain at the same time, making it impossible to guarantee accurate predictions for autonomous driving applications. This application is based on this issue, specifically as follows... Figure 1 As shown, this application constructs a time synchronization spanning tree rooted at TBOX. In the overall link, TBOX acts as the clock master, and other ECUs are clock slaves. This master / slave relationship traverses the entire in-vehicle electronic and electrical architecture network with TBOX as the root. Synchronization time messages will be transmitted from TBOX throughout the entire in-vehicle network according to the time synchronization tree. Figure 2 As shown, the entire time system architecture is divided into three levels according to the time synchronization level. Level 1 time synchronization is performed on the TBOX MPU by GNSS satellite time, network time, base station time, and RTC module time. Level 2 time synchronization is performed on the CCU and ADCU by the TBOX MPU via Ethernet through a switch. Level 3 time synchronization includes ADCU providing time synchronization to radar and cameras via Ethernet, and CCU providing time synchronization to ZCU via CANFD.

[0052] Example 1

[0053] Specifically, Figure 3 The diagram shown is a flowchart of an AUTOSAR-based time synchronization method provided in this embodiment.

[0054] like Figure 3As shown, the AUTOSAR-based time synchronization method in this embodiment includes the following steps:

[0055] S101 will configure the CCU, ADCU, and ZCU of intelligent connected vehicles with the standardized AUTOSAR operating system.

[0056] The Automotive Open System Architecture (AUTOSAR) is a collaborative effort between global automakers, component suppliers, and other electronics, semiconductor, and software systems companies. It's an open and standardized automotive software architecture developed jointly by automakers, suppliers, and tool developers. Its primary goal is to add a standardized layer between application software and electronic control unit (ECU) hardware. The AUTOSAR architecture facilitates the exchange and updating of vehicle electronic system software and provides a foundation for the efficient management of increasingly complex vehicle electronic and software systems.

[0057] Specifically, existing intelligent connected vehicles generally suffer from inconsistent in-vehicle operating systems and a lack of unified time management channels and time management relay nodes. Typically, time transmission between in-vehicle controllers requires custom proprietary protocols and non-Ethernet USB communication. This makes it difficult for the domain controllers and related sensors within the ICV to acquire real-time data at the same point in time, hindering the accurate predictions made by autonomous driving applications. The intelligent connected vehicle (ICV) in this embodiment is equipped with a standardized AUTOSAR operating system in its CCU, ADCU, and ZCU. Through the time service technology of the standardized operating system AUTOSAR, the in-vehicle operating system of the intelligent connected vehicle is unified, providing a foundation for a unified time management channel and time management relay node for the data collected by various domain controllers and related sensors within the vehicle.

[0058] S102, the intelligent connected vehicle periodically acquires several times through its TBOX, wherein the several times include GNSS satellite time, network time, base station time, and RTC module time.

[0059] In this embodiment, the TBOX supports the GPTP protocol and is equipped with a Linux operating system. It manages GNSS satellite time, network time, base station time, and RTC module time in a unified manner, and traverses the entire in-vehicle electronic and electrical architecture network through the GPTP protocol.

[0060] Specifically, compared to existing intelligent connected vehicles that use a TBOX for time management, acquiring GNSS satellite time and network time through the TBOX and combining it with the TBOX's local clock source for time management, in the absence of network (due to network outages) and satellite time, the base station time is not used; instead, the time is only generated by the internal TBOX's RTC clock source, which has lower accuracy than the base station time. Therefore, this embodiment uses the TBOX to periodically collect GNSS satellite time, network time, base station time, and RTC module time at predetermined intervals (e.g., 1 minute). By leveraging the different timing accuracies of these four time types, the accuracy of the TBOX's local time can be coordinated. In practice, although the RTC clock source's accuracy is lower than the base station time, the RTC module's timing accuracy is much higher than the TBOX's local time source, and it is directly connected to the TBOX's MPU.

[0061] S103, based on the preset priority of the several times, obtain the first-level time synchronization for the local time update of the TBOX.

[0062] Once the vehicle is powered on, the TBOX will periodically update the time synchronization. The time synchronization priority can be set as a pre-defined priority as needed. The pre-defined priority is as follows: GNSS satellite time > network time > base station time > RTC module time.

[0063] Specifically, since the controllers in the intelligent connected vehicles of this embodiment are primarily based on the AUTOSAR operating system, while the TBOX controller uses the Linux operating system due to the requirements of wireless network communication, one of its internal applications, the Time Management component, is responsible for updating and synchronizing the GNSS satellite time, network time, base station time, and RTC module time to the TBOX MPU according to the time synchronization system service. Furthermore, it provides unified time management for the GNSS satellite time, network time, base station time, and RTC module time, and maintains logical consistency in the time management business logic.

[0064] S104, the first-level time synchronization is published to the Ethernet switch of the CCU according to the GPTP protocol through the time management component of the TBOX.

[0065] In this way, direct network broadcasting via Ethernet switch can avoid the time delay caused by the operation of CCU processor.

[0066] Specifically, after the time update, the TBOX begins broadcasting the time using the GPTP protocol. In contrast, existing TBOX technologies use the NTP (Network Time Protocol) to transmit time to other nodes via Ethernet. While NTP uses appropriate algorithms to enhance clock accuracy, it is susceptible to errors due to multiple time synchronization sources. In practice, the TBOX controller internally uses the GPTP protocol, which is responsible for broadcasting the updated time to the CCU's Ethernet switch. It's important to note that a communication subnet using the GPTP protocol can only have one master clock; the optimal clock in the entire system is the Grandmaster Clock (GMC), which offers better stability, accuracy, and determinism.

[0067] S105, based on the Ethernet Switch, update the time of the dual-operating system central domain controller of the CCU and the GPTP module of the ADCU to obtain the secondary time synchronization of the dual-operating system central domain controller of the CCU and the GPTP module of the ADCU.

[0068] Specifically, in existing technologies, the RTC (Real-Time Clock) is connected to the MCU, and clock updates need to be provided to the MCU by the RTC. The MCU then communicates with the MPU (Multi-Board Unit) via onboard communication, and the MPU updates the time and sends it to the ADCU (Advanced Digital Coupling Unit) via Ethernet, and to other ECUs via USB. Therefore, the process from accessing an external time source to updating the time to the ADCU is lengthy, exacerbating time inaccuracies. In this embodiment, the central domain controller of the CCU's dual operating system is a dual-system (AUTOSAR AP, AUTOSAR CP) domain controller with an asymmetric multi-core heterogeneous processor, internally containing an Ethernet switch and a multi-core heterogeneous chip. Specifically, after receiving the GPTP network time broadcast, the Ethernet switch forwards it to the GPTP module of the AUTOSAR AP, the EthTsyn module (Ethernet-specific time synchronization protocol module) of the CCU's AUTOSAR CP, and the GPTP module of the ADCU. The AUTOSAR AP operating system has a GPTP module supporting the GPTP protocol; the AUTOSAR CP operating system has an EnTsyn module and an Stbm module and uses CANFD communication for external time synchronization.

[0069] S106, the dual operating systems with secondary time synchronization use the GPTP protocol to perform tertiary time synchronization with the StbM module of the ZCU via CANFD communication, and the GPTP module of the ADCU with secondary time synchronization performs tertiary time synchronization with the GPTP module of the intelligent connected vehicle camera and radar, so as to achieve time synchronization of the TBOX, the CCU, the ADCU, and the ZCU.

[0070] ZCU refers to a regional controller operating on AutosarCP via CANFD communication. This regional controller has an Stbm module, receives time synchronization from the CCU's Stbm module, and then performs time synchronization accordingly. ADCU refers to a regional controller operating on Autosar AP. This regional controller has the GPTP protocol, receives GPTP protocol data from the TBox, and synchronizes the time with the radar and camera sensors; both the radar and camera sensors have GPTP modules that support the GPTP protocol.

[0071] Specifically, the CCU and ADCU receive timing services from the TBOX simultaneously and synchronize the vehicle time. After synchronizing the vehicle time, the CCU further synchronizes the ZCU's time, and the ADCU further synchronizes the radar and camera's time after synchronizing the vehicle time. In practice, such as... Figure 4 As shown, primary time synchronization is completed internally by the TBOX through a time management module. Then, the TBOX performs secondary time synchronization via the GPTP protocol through an Ethernet switch. The Ethernet switch broadcasts the synchronization time to the CCU AP, ADCU AP, and CCUCP via the GPTP protocol, with a broadcast interval of 0. The ADCU synchronizes the time of the radar and camera, also using the GPTP protocol for network broadcasting, with a receiving interval of 0 between the radar and camera. Simultaneously, the CCU CP synchronizes the time with the ZCU CP.

[0072] In summary, the AUTOSAR-based intelligent connected vehicle time synchronization service solution comprises a TBOX, CCU, ZCU, and ADCU. The CCU, ADCU, and ZCU are configured with a standardized AUTOSAR operating system. The TBOX provides primary time synchronization via GNSS satellite time, network time, base station time, and RTC module time. The ADCU and CCU receive secondary time synchronization via the TBOX through an Ethernet switch using the GPTP protocol. The ZCU receives tertiary time synchronization via the CCU, and the radar and cameras receive tertiary time synchronization via the ADCU. This embodiment utilizes the standardized AUTOSAR operating system time service technology, using the TBOX as the root to traverse the entire in-vehicle electronic and electrical architecture network. The three-level time synchronization method transmits synchronization time messages throughout the entire in-vehicle network, improving the time synchronization of domain controllers and related sensors within the intelligent connected vehicle. This addresses the current issues of inconsistent in-vehicle operating systems and the lack of a unified time management channel and time management relay node in intelligent connected vehicles.

[0073] Example 2

[0074] This embodiment provides a structural block diagram of a system corresponding to the method described in Embodiment 1. Figure 5 This is a structural block diagram of the AUTOSAR-based time synchronization system according to this embodiment, as follows: Figure 5 As shown, the system includes:

[0075] Configuration module 10 is used to configure the CCU, ADCU, and ZCU of intelligent connected vehicles with a standardized AUTOSAR operating system.

[0076] The acquisition module 20 is used to periodically acquire several times via the TBOX of the intelligent connected vehicle, wherein the several times include GNSS satellite time, network time, base station time, and RTC module time;

[0077] The first time synchronization module 30 is used to obtain first-level time synchronization based on the preset priority of the several times for updating the local time of the TBOX;

[0078] The publishing module 40 is used to publish the primary time synchronization to the Ethernet switch of the CCU according to the GPTP protocol through the time management component of the TBOX;

[0079] The second time synchronization module 50 updates the time of the CCU's dual-operating system central domain controller and the ADCU's GPTP module based on the Ethernet Switch to obtain the time synchronization of the CCU's dual-operating system central domain controller and the ADCU's GPTP module.

[0080] The third timing module 60 performs tertiary timing synchronization between the dual operating systems of the second-level timing module and the ZCU's StbM module via CANFD communication using the GPTP protocol, and performs tertiary timing synchronization between the ADCU's GPTP module and the intelligent connected vehicle's camera and radar's GPTP module via the second-level timing module, so as to achieve time synchronization between the TBOX, the CCU, the ADCU, and the ZCU.

[0081] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0082] Example 3

[0083] Combination Figure 3 The AUTOSAR-based time synchronization method described can be implemented by electronic devices. Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to this embodiment.

[0084] The electronic device may include a processor 71 and a memory 72 storing program instructions for the electronic device.

[0085] Specifically, the processor 71 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the present application.

[0086] The memory 72 may include a mass storage device for data or instructions. For example, and not limitingly, the memory 72 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 72 may include removable or non-removable (or fixed) media. Where appropriate, the memory 72 may be internal or external to a data processing device. In a particular embodiment, the memory 72 is non-volatile memory. In a particular embodiment, the memory 72 includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), an electrically alterable read-only memory (EAROM), or flash memory, or a combination of two or more of these. Where appropriate, the RAM can be Static Random-Access Memory (SRAM) or Dynamic Random-Access Memory (DRAM). DRAM can be Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), Extended Data Out Dynamic Random-Access Memory (EDODRAM), Synchronous Dynamic Random-Access Memory (SDRAM), etc.

[0087] The memory 72 can be used to store or cache various data files that need to be processed and / or used for communication, as well as possible electronic device program instructions executed by the processor 71.

[0088] The processor 71 implements the AUTOSAR-based time synchronization method of Embodiment 1 by reading and executing the electronic device program instructions stored in the memory 72.

[0089] In some embodiments, the electronic device may further include a communication interface 73 and a bus 70. For example, Figure 6 As shown, the processor 71, memory 72, and communication interface 73 are connected through bus 70 and complete communication with each other.

[0090] The communication interface 73 is used to enable communication between the various modules, devices, units, and / or equipment in this application. The communication interface 73 can also enable data communication with other components such as external devices, image / data acquisition devices, databases, external storage, and image / data processing workstations.

[0091] Bus 70 includes hardware, software, or both, that couples components of an electronic device together. Bus 70 includes, but is not limited to, at least one of the following: data bus, address bus, control bus, expansion bus, and local bus. For example, and not as a limitation, bus 70 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 70 may include one or more buses. Although this application describes and illustrates a specific bus, this application considers any suitable bus or interconnection.

[0092] The electronic device can acquire an AUTOSAR-based time synchronization system and execute the AUTOSAR-based time synchronization method of Example 1.

[0093] Furthermore, in conjunction with the AUTOSAR-based time synchronization method in Embodiment 1 above, this application can provide a storage medium for implementation. This storage medium stores electronic device program instructions; when these electronic device program instructions are executed by a processor, they implement the AUTOSAR-based time synchronization method of Embodiment 1 above.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A time synchronization method based on AUTOSAR, characterized in that, include: Configure the CCU, ADCU, and ZCU of intelligent connected vehicles with a standardized AUTOSAR operating system; The intelligent connected vehicle periodically acquires several times via its TBOX, including GNSS satellite time, network time, base station time, and RTC module time. Based on the preset priority of the aforementioned time periods, the local time of the TBOX is updated to obtain the first-level time synchronization. The time management component of the TBOX publishes the primary time synchronization to the Ethernet switch of the CCU according to the GPTP protocol. Based on the Ethernet Switch, the time of the dual-operating system central domain controller of the CCU and the GPTP module of the ADCU are updated to obtain the secondary time synchronization of the dual-operating system central domain controller of the CCU and the GPTP module of the ADCU. The dual operating systems with secondary time synchronization use the GPTP protocol to perform tertiary time synchronization with the StbM module of the ZCU via CANFD communication, and the GPTP module of the ADCU with secondary time synchronization performs tertiary time synchronization with the GPTP modules of the intelligent connected vehicle camera and radar, so as to achieve time synchronization of the TBOX, the CCU, the ADCU, and the ZCU.

2. The AUTOSAR-based time synchronization method according to claim 1, characterized in that, The TBOX supports the GPTP protocol and is equipped with a Linux operating system. It manages the various time points in a unified manner and traverses the in-vehicle electronic and electrical architecture network of the intelligent connected vehicle through the GPTP protocol.

3. The AUTOSAR-based time synchronization method according to claim 1, characterized in that, The time management component performs unified time management for the aforementioned time periods and has logical consistency in its time management business logic.

4. The AUTOSAR-based time synchronization method according to claim 1, characterized in that, The dual operating systems are specifically AUTOSAR AP and AUTOSAR CP; the central domain controller of the dual operating systems consists of an Ethernet switch and a multi-core heterogeneous chip.

5. The AUTOSAR-based time synchronization method according to claim 4, characterized in that, The AUTOSAR AP supports the GPTP protocol.

6. The AUTOSAR-based time synchronization method according to claim 4, characterized in that, The AUTOSAR CP includes an Enthei Tsyn module and an Stbm module.

7. The AUTOSAR-based time synchronization method according to claim 1, characterized in that, The ZCU is a regional controller with AUTOSARCP as its operating system, and the ADCU is a regional controller with AUTOSAR AP as its operating system.

8. A time synchronization system based on AUTOSAR, characterized in that, include: The configuration module is used to configure the CCU, ADCU, and ZCU of intelligent connected vehicles with the standardized AUTOSAR operating system. The acquisition module is used to periodically acquire several times via the TBOX of the intelligent connected vehicle, wherein the several times include GNSS satellite time, network time, base station time, and RTC module time; The first time synchronization module is used to obtain first-level time synchronization based on the preset priority of the several times for updating the local time of the TBOX; The publishing module is used to publish the primary time synchronization to the Ethernet switch of the CCU according to the GPTP protocol through the time management component of the TBOX; The second time synchronization module updates the time of the CCU's dual-operating system central domain controller and the ADCU's GPTP module based on the Ethernet Switch to obtain the time synchronization of the CCU's dual-operating system central domain controller and the ADCU's GPTP module. The third timing module performs tertiary timing synchronization between the dual operating systems (secondary timing) and the ZCU's StbM module via CANFD communication using the GPTP protocol, and between the ADCU's GPTP module (secondary timing) and the intelligent connected vehicle's camera and radar's GPTP module, thereby achieving time synchronization between the TBOX, CCU, ADCU, and ZCU.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the AUTOSAR-based time synchronization method as described in any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the AUTOSAR-based time synchronization method as described in any one of claims 1 to 7.

Images