Time adjustment method and device, electronic equipment and computer program product
Through smooth adjustment of the internal clock source of the intelligent driving device and the external UTC time, the problem of time synchronization difficulties in environments such as tunnels or underground garages is solved, ensuring that the time synchronization of the intelligent driving system is aligned with UTC time, avoiding the risk of traffic accidents. It realizes seamless connection between system logs and data.
Patent Information
- Application Number
- CN202411268335.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-10
- Publication Date
- 2024-12-17
AI Technical Summary
Intelligent driving equipment is difficult to receive UTC time in environments with poor time synchronization signals such as tunnels or underground garages, resulting in time jumps, affecting driving functions and safety, and posing a risk of traffic accidents.
By obtaining the time of the internal clock source of the intelligent driving device, smoothly adjusting it with the UTC time of the external clock source, limiting the duration of each adjustment, ensuring the continuity and accuracy of time synchronization, and avoiding time jumps.
It realizes the gradual realization of time synchronization without affecting the intelligent driving function, ensures the accuracy of the planning path, reduces safety risks, and aligns the system time with UTC time, so as to achieve seamless connection between system logs and data.
Smart Images
Figure CN119154981A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of intelligent driving technology, specifically, to the field of time synchronization technology in intelligent driving, and more particularly to a time adjustment method, device, electronic device and computer program product. Background Art
[0002] For some intelligent driving devices, such as intelligent driving vehicles and intelligent driving drones, some functions in their intelligent driving systems require absolute time (i.e., universal time coordinated (UTC) time) for data recording, data uploading to the cloud, log storage, etc., so it is necessary to obtain UTC time from an external clock source for absolute timestamp synchronization.
[0003] However, when the smart driving device is in an environment such as a tunnel or underground garage where the time synchronization signal reception is poor, there is a risk that the smart driving device will not receive the UTC time. When the smart driving device leaves such an environment and receives the UTC time provided by the external clock source again, due to the large deviation from the UTC time, time synchronization at this time will cause time jumps. However, some driving functions and parking functions of the smart driving device rely on relative time. If the time jumps, it may cause deviations in the predicted path, causing traffic accidents and posing safety hazards. Summary of the invention
[0004] Based on the above-mentioned defects and shortcomings of the prior art, the present application proposes a time adjustment method, device, electronic device and computer program product, which can solve the problem that intelligent driving devices are difficult to synchronize time in some cases.
[0005] According to a first aspect of an embodiment of the present application, a time adjustment method is provided, the method comprising:
[0006] Acquire a first time of an intelligent driving system in an intelligent driving device and a second time of an internal clock source in the intelligent driving device; wherein the internal clock source is used to receive time information provided by an external clock source as a time synchronization slave node and to provide time information to the inside of the intelligent driving device as a time synchronization master node;
[0007] determining a difference between the second time and the first time;
[0008] When the absolute value of the difference is greater than or equal to the time difference threshold, the first time of the intelligent driving system is smoothly adjusted with the second time as the adjustment target.
[0009] According to a second aspect of an embodiment of the present application, a time adjustment device is provided, the device comprising:
[0010] A time acquisition module, used to acquire a first time of an intelligent driving system in an intelligent driving device and a second time of an internal clock source in the intelligent driving device; wherein the internal clock source is used to receive time information provided by an external clock source as a time synchronization slave node and to provide time information to the intelligent driving device as a time synchronization master node;
[0011] A difference calculation module, used to determine the difference between the second time and the first time;
[0012] A time adjustment module is used to smoothly adjust the first time of the intelligent driving system by taking the second time as an adjustment target when the absolute value of the difference is greater than or equal to a time difference threshold.
[0013] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including: a memory and a processor;
[0014] The memory is connected to the processor and is used to store programs;
[0015] The processor is used to implement the time adjustment method as described in the first aspect by running the program in the memory.
[0016] According to a fourth aspect of an embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the time adjustment method as described in the first aspect is implemented.
[0017] According to a fifth aspect of the embodiments of the present application, a computer program product or a computer program is provided, wherein the computer program product includes the computer program, and when a processor executes the computer program, the steps in the time adjustment method described in the first aspect are implemented. Optionally, the computer program can be stored in a readable storage medium or a cloud of a computer device; the processor of the computer device reads the computer program from the readable storage medium or the cloud.
[0018] In the technical solution provided in the present application, when the time of the intelligent driving system in the intelligent driving device deviates greatly from the time of the internal clock source in the intelligent driving device, the time of the internal clock source can be used as the target to smoothly adjust the time of the intelligent driving system, so that the time of the intelligent driving system gradually approaches the time of the internal clock source. Since the time adjustment is performed in multiple times, the duration of each adjustment can be limited, and the adjustment duration with less impact on the intelligent driving function can be used to provide non-jump time for the intelligent driving function, ensure the accuracy of the planned path, avoid traffic accidents, and reduce safety hazards. At the same time, time synchronization can also be gradually achieved, so that the time of the intelligent driving system is aligned with the UTC time, and the system logs, system data, etc. can be seamlessly connected with the cloud or other domains or connected with a smaller deviation. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.
[0020] Figure 1 A schematic diagram of a time adjustment method provided in an embodiment of the present application;
[0021] Figure 2 A schematic diagram of a time adjustment example provided in an embodiment of the present application;
[0022] Figure 3 A block diagram of a time adjustment device provided in an embodiment of the present application;
[0023] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0025] Application Overview
[0026] For some intelligent driving devices, such as intelligent driving vehicles and intelligent driving drones, some functions in their intelligent driving systems require absolute time (that is, UTC time) for data recording, data uploading, log storage, and communication with other domains, so it is necessary to obtain UTC time from an external clock source for time synchronization. For example, UTC time can be obtained through the Global Positioning System (GPS) or other networks for time synchronization.
[0027] However, when the smart driving device is in an environment with poor GPS signals or other network signals, such as a tunnel or underground garage, there is a risk that the smart driving device will not receive the UTC time. Moreover, the longer the time in such an environment, the greater the cumulative deviation between the local time of the smart driving system and the UTC time. When the smart driving device leaves such an environment and receives the UTC time provided by an external clock source again, a time jump will occur if time synchronization is performed. However, some driving functions and parking functions of smart driving devices rely on relative time. If a time jump occurs, it will cause a large deviation in the predicted path, which has the risk of causing traffic accidents. If clock synchronization is not performed, it will affect the use of other functions of the smart driving system.
[0028] Assume that the intelligent driving device is driven out of an underground garage. Due to the poor GPS signal in the underground garage, it has not been able to synchronize the clock with the external clock source. After driving out of the underground garage, it has been in a driving state and cannot synchronize the time. During this period, the intelligent driving device has a fault, and the actual time of the fault is 8:00 in the morning. However, since the intelligent driving device has failed to synchronize the time with the external clock source, its local time is 7:50. In this way, the time of the log file related to the fault generated in the vehicle will also be recorded based on the local time. Due to the existence of time deviation, it may be difficult for maintenance personnel to obtain the correct log file to find the cause of the fault.
[0029] It can be seen that there is an urgent need for a solution that can meet both the dependence of some intelligent driving functions on relative time and the dependence of some equipment functions on absolute time.
[0030] To this end, the embodiment of the present application provides a time adjustment method. When the time of the intelligent driving system in the intelligent driving device is greatly deviated from the time of the internal clock source in the intelligent driving device, the time of the intelligent driving system can be smoothly adjusted with the time of the internal clock source as the target, so that the time of the intelligent driving system gradually approaches the time of the internal clock source. In this way, non-jumping time can be provided for the intelligent driving function to ensure the accuracy of the planned path and avoid traffic accidents; time synchronization can also be gradually achieved, so that the time of the intelligent driving system is aligned with the UTC time, and the system logs, system data, etc. can be seamlessly connected with the cloud or other domains or connected with a small deviation.
[0031] Exemplary Methods
[0032] The embodiment of the present application provides a time adjustment method, which is applied to an intelligent driving device, such as a vehicle with an intelligent driving function, a drone, etc., in which an intelligent driving system is deployed to implement the intelligent driving function. For example, when the intelligent driving device is a vehicle with an intelligent driving function, the intelligent driving system can control the vehicle to perform automatic driving, automatic parking, etc. Specifically, the execution subject of the time adjustment method can be a domain controller of the intelligent driving system.
[0033] The method is described in detail below through some embodiments. The following embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
[0034] like Figure 1 As shown, the method may include steps 101 to 103, as described below:
[0035] Step 101: Obtain a first time of an intelligent driving system in an intelligent driving device and a second time of an internal clock source in the intelligent driving device.
[0036] The internal clock source described here refers to the clock source deployed inside the intelligent driving device. The internal clock source can be used as a time synchronization slave node to receive the UTC time provided by the external clock source, and synchronize its own time to the UTC time. The internal clock source can also be used as a time synchronization master node to provide time information for the time synchronization slave node in the intelligent driving device. For example, the internal clock source can receive the UTC time sent by the GPS system through the GPS signal, and synchronize its own time to the UTC time. Then, as the clock source inside the intelligent driving device, it provides its own time information to the time synchronization slave node in the intelligent driving device so that the time synchronization slave node completes time synchronization.
[0037] The first time described here is the local time of the intelligent driving system, and the local time can be based on the time of the domain controller of the intelligent driving system. The domain controller of the intelligent driving system can receive time information provided by the internal clock source as a time synchronization slave node, thereby synchronizing time with the internal clock source. It is understandable that the domain controller can also provide time information to the time synchronization slave node in the intelligent driving system as a time synchronization master node. Among them, the time synchronization slave node in the intelligent driving system may include but is not limited to: various sensors (such as cameras, radars and other perception sensors), system on chip chips (System on Chip, SOC), etc.
[0038] Among them, the second time of the internal clock source is the time information provided by the internal clock source to the domain controller of the intelligent driving system.
[0039] Optionally, the domain controller of the intelligent driving system may be an electronic control unit (ECU) or a microcontroller unit (MCU), etc.
[0040] Step 102: Determine the difference between the second time and the first time.
[0041] Time synchronization is generally performed periodically, for example, once every 1 second. In a time synchronization period, in the embodiment of the present application, the deviation of the time of the intelligent driving system (i.e., the first time) relative to the time of the internal clock source (i.e., the second time) can be first determined to determine the time synchronization strategy.
[0042] Specifically, the deviation of the first time of the intelligent driving system relative to the second time of the internal clock source can be obtained by calculating the difference between the second time and the first time, that is, the deviation of the first time of the intelligent driving system relative to the second time of the internal clock source is indicated by the difference between the second time and the first time. Among them, if the difference is greater than 0, it means that the first time of the intelligent driving system lags behind the second time of the internal clock source. This situation may be caused by the low crystal oscillator frequency of the domain controller, or it may be caused by the failure of the in-vehicle clock source to obtain the time of the external clock source in one or more time synchronization cycles; if the difference is less than 0, it means that the second time of the internal clock source lags behind the first time of the intelligent driving system, indicating that time rollback has occurred. This situation may be caused by the fast crystal oscillator frequency of the domain controller.
[0043] Step 103: When the absolute value of the difference between the second time and the first time is greater than or equal to the time difference threshold, the first time of the intelligent driving system is smoothly adjusted with the second time as the adjustment target.
[0044] The time difference threshold mentioned here is used to indicate that the deviation of the first time of the intelligent driving system relative to the second time of the internal clock source is large.
[0045] In the embodiment of the present application, the time synchronization strategy can be determined based on the deviation of the first time of the intelligent driving system relative to the second time of the internal clock source. Figure 2 Take this as an example to illustrate.
[0046] like Figure 2 As shown, the time difference threshold is 300 μs, t represents the first time, t1 represents the second time, and Δt represents the difference between the second time and the first time.
[0047] When the absolute value of the difference △t between the second time t1 and the first time t is greater than 0 and less than the time difference threshold of 300μs, it means that the deviation of the first time of the intelligent driving system relative to the second time of the internal clock source is small. At this time, direct time synchronization has little impact on the intelligent driving function. Therefore, in this case, the time of the domain controller of the intelligent driving system (that is, the first time) can be directly adjusted to the second time t1 to complete the time synchronization. After the domain controller completes the time synchronization, its time is synchronized to the time synchronization slave node such as SoC.
[0048] When the absolute value of the difference △t between the second time t1 and the first time t is greater than or equal to the time difference threshold of 300μs, it means that the first time of the intelligent driving system has a large deviation from the second time of the internal clock source. At this time, direct time synchronization has a great impact on the intelligent driving function and is prone to cause traffic accidents. Therefore, in this case, the second time t1 can be used as the time adjustment target to smoothly adjust the first time of the intelligent driving system, that is, with the goal of approaching the second time t1, the first time of the intelligent driving system is fine-tuned multiple times to make it smoothly and gradually approach the second time t1. The duration of each adjustment is not limited, and can be the same or different, as long as it is less than the time difference threshold.
[0049] Since the time adjustment is performed in multiple times, the duration of each adjustment can be limited, and the adjustment duration with less impact on the intelligent driving function can be used to provide non-jumping time for the intelligent driving function, ensure the accuracy of the planned path, and avoid traffic accidents. At the same time, time synchronization can also be gradually achieved, so that the time of the intelligent driving system is aligned with the UTC time, and the system logs, system data, etc. can be seamlessly connected with the cloud or other domains.
[0050] It should be noted that if the first time of the intelligent driving system is not adjusted to the second time within a time synchronization cycle, the new first time of the intelligent driving system and the new second time of the internal clock source can be reacquired, and when the absolute value of the difference between the new first time of the intelligent driving system and the new second time of the internal clock source is still greater than or equal to the time difference threshold, the new second time of the internal clock source is used as the adjustment target to smoothly adjust the new first time of the intelligent driving system.
[0051] In some optional embodiments, step 103: when the absolute value of the difference between the second time and the first time is greater than or equal to the time difference threshold, taking the second time as the adjustment target, smoothly adjusting the first time of the intelligent driving system may include:
[0052] When the absolute value of the difference between the second time and the first time is greater than or equal to the time difference threshold and the intelligent driving system is in the first state, the first time of the intelligent driving system is smoothly adjusted with the second time as the adjustment target.
[0053] The first state described here refers to a state that is sensitive to time jumps. The first state of the intelligent driving system may include but is not limited to: intelligent driving state, intelligent parking state, etc. Among them, for the intelligent driving state, it may include but is not limited to: automatic driving state, assisted driving state, etc.; for the intelligent parking state, it may include but is not limited to: automatic assisted parking state, automatic valet parking state, etc.
[0054] Correspondingly, when the absolute value of the difference between the second time and the first time is greater than or equal to the time difference threshold and the intelligent driving system is in the second state, the first time of the intelligent driving system is adjusted to the second time at one time.
[0055] The second state mentioned here refers to a state that is insensitive to time jumps. The second state of the intelligent driving system may include but is not limited to: a dormant state, a closed state, etc.
[0056] In an embodiment of the present application, when the deviation of the first time of the intelligent driving system relative to the second time of the internal clock source is large, the first time of the intelligent driving system can be smoothly adjusted when the intelligent driving system is in a state sensitive to time jumps; and when the intelligent driving system is in a state insensitive to time jumps, the first time of the intelligent driving system can be adjusted to the second time at one time to quickly complete time synchronization.
[0057] It is understandable that when the intelligent driving device is stationary or the driving speed is relatively slow (such as the driving speed is greater than 0 and less than or equal to the speed threshold), the time of the intelligent driving system can also be adjusted to the second time at one time. The speed threshold described here is used to indicate a lower speed requirement for the real-time performance of path planning, and the specific value can be set according to actual needs.
[0058] In some optional embodiments, “smoothly adjusting the first time of the intelligent driving system” in step 103 may include: smoothly adjusting the first time of the intelligent driving system according to a target adjustment step size.
[0059] The target adjustment step size described here is smaller than the time difference threshold.
[0060] In the embodiment of the present application, the time of the intelligent driving system can be periodically and smoothly adjusted based on the target adjustment step size. For example, a time synchronization period is 1s, and a target adjustment step size can be 100μs, and the specific value can be set according to actual needs.
[0061] Among them, after the domain controller of the intelligent driving system adjusts the time each time, it can synchronize the adjusted time to the time synchronization slave nodes such as SoC. For example, the first time t is adjusted to the third time t2 (t2=t+200μs) based on the adjustment step of 200μs, and then the domain controller, as the time synchronization master node, provides the third time t2 to the time synchronization slave nodes such as SoC and sensors for time synchronization.
[0062] Optionally, the target adjustment step size may be static, that is, a preset fixed adjustment step size. For example, within a time synchronization period, the same target adjustment step size is always used to smoothly adjust the time of the intelligent driving system. This adjustment strategy is relatively simple and efficient.
[0063] Optionally, the target adjustment step size may also be dynamic, that is, variable. Specifically, the target adjustment step size may be determined based on the current state of the intelligent driving device, as described below:
[0064] Before smoothly adjusting the time of the intelligent driving system according to the target adjustment step size, the time adjustment method may further include:
[0065] Determine a current state of the intelligent driving device; determine an adjustment step length corresponding to the current state, and determine the adjustment step length as a target adjustment step length.
[0066] The current state mentioned here may include at least one of the following: current driving state, current environment, etc.
[0067] The current driving state described here may include but is not limited to: current driving speed, current driving acceleration, etc.
[0068] Different driving states of intelligent driving devices have different sensitivities to time changes. For example, the higher the speed of the intelligent driving device, the higher the requirement for the accuracy of surrounding environment perception, that is, the more sensitive it is to time changes, and the more it is necessary to use a smaller target adjustment step to make smooth adjustments to the first time of the intelligent driving system to further reduce the impact on the intelligent driving function; conversely, the lower the speed of the intelligent driving device, the lower the requirement for the accuracy of surrounding environment perception, that is, the lower the sensitivity to time changes, and a larger target adjustment step can be used to make smooth adjustments to the first time of the intelligent driving system to improve the time adjustment efficiency.
[0069] Similarly, the higher the acceleration of the intelligent driving device, the higher the requirement for the accuracy of surrounding environment perception, and the more necessary it is to use a smaller target adjustment step to make smooth adjustments to the intelligent driving system at the first time; conversely, the lower the acceleration of the intelligent driving device, the lower the requirement for the accuracy of surrounding environment perception, and a larger target adjustment step can be used to make smooth adjustments to the intelligent driving system at the first time.
[0070] In the case where the current driving state in the embodiment of the present application includes a plurality of parameters for representing the driving state, such as speed and acceleration, etc., the adjustment duration corresponding to each parameter can be determined separately, and then the average value of the adjustment duration of all parameters is calculated, and the average value is used as the target adjustment duration. Of course, the weight of each parameter can also be pre-set, and after the adjustment duration corresponding to each parameter is determined separately, the weighted average value of the adjustment duration of all parameters is calculated, and the weighted average value is used as the target adjustment duration. It is understandable that other achievable methods can also be used to determine the target adjustment duration, for example, the plurality of parameters for representing the driving state included in the current driving state are input into a pre-trained neural network model, and the neural network model outputs the target adjustment duration.
[0071] The current environment mentioned here may include but is not limited to: the brightness of the current environment, obstacles in the current environment, etc. The current environment of the intelligent driving device can be acquired through sensors on the intelligent driving device. For example, the brightness of the current environment can be detected by a photosensitive sensor on the intelligent driving device; for another example, image information can be acquired through a camera on the intelligent driving device to determine obstacles in the current environment.
[0072] Different driving environments will also make the intelligent driving device's sensitivity to time changes different. For example, the darker the brightness of the environment in which the intelligent driving device is located, the higher the requirement for the accuracy of perceiving the surrounding environment, that is, the more sensitive it is to time changes, and the more it is necessary to use a smaller target adjustment step to make smooth adjustments to the first time of the intelligent driving system, so as to further reduce the impact on the intelligent driving function; conversely, the higher the brightness of the environment in which the intelligent driving device is located, the lower the requirement for the accuracy of perceiving the surrounding environment, that is, the lower the sensitivity to time changes, and a larger target adjustment step can be used to make smooth adjustments to the first time of the intelligent driving system, so as to improve the time adjustment efficiency.
[0073] Similarly, the more obstacles there are in the current environment, the higher the requirement for the accuracy of surrounding environment perception, and the more it is necessary to use a smaller target adjustment step to make smooth adjustments to the intelligent driving system in the first place; conversely, the fewer obstacles there are in the current environment, the lower the requirement for the accuracy of surrounding environment perception, and a larger target adjustment step can be used to make smooth adjustments to the intelligent driving system in the first place.
[0074] In the case where the current driving environment in the embodiment of the present application includes a plurality of parameters for representing the driving environment, such as ambient brightness and surrounding obstacles, etc., the adjustment duration corresponding to each parameter can be determined separately, and then the average value of the adjustment duration of all parameters is calculated, and the average value is used as the target adjustment duration. Of course, the weight of each parameter can also be pre-set, and after the adjustment duration corresponding to each parameter is determined separately, the weighted average value of the adjustment duration of all parameters is calculated, and the weighted average value is used as the target adjustment duration. It is understandable that other achievable methods can also be used to determine the target adjustment duration, for example, the multiple parameters for representing the driving environment included in the current driving environment are input into a pre-trained neural network model, and the neural network model outputs the target adjustment duration.
[0075] It should be noted that, when the current state of the intelligent driving device includes the current driving state and the current environment, the adjustment duration corresponding to the current driving state and the adjustment duration corresponding to the current environment can be determined respectively, and then the average of the two adjustment durations can be calculated, and the average value can be used as the target adjustment duration; of course, the weights of the driving state and the environment can also be pre-set, and after the adjustment duration corresponding to the current driving state and the adjustment duration corresponding to the current environment are determined respectively, the weighted average of the two adjustment durations can be calculated, and the weighted average can be used as the target adjustment duration. It is understandable that other feasible methods can also be used to determine the target adjustment duration. For example, the parameters corresponding to the current driving state and the current environment are input into a pre-trained neural network model, and the neural network model outputs the target adjustment duration.
[0076] In summary, the time adjustment method provided in the embodiment of the present application realizes the synchronization of the time of the intelligent driving system with the UTC time, aligns the time of the intelligent driving system with the absolute time, and enables seamless connection or connection with a small deviation between the system log, system data and the cloud and other domains. In addition, the smoothing filtering of the time of the intelligent driving system is also realized, providing non-jumping time for the intelligent driving function, intelligent parking function, etc., ensuring the accuracy of the planned path and avoiding traffic accidents.
[0077] Exemplary Devices
[0078] Accordingly, the embodiment of the present application also provides a time adjustment device, which is applied to an intelligent driving device, such as a vehicle with an intelligent driving function, a drone, etc., wherein the intelligent driving device includes an intelligent driving system for realizing the intelligent driving function. For example, when the intelligent driving device is a vehicle with an intelligent driving function, the intelligent driving system can control the vehicle to perform automatic driving, automatic parking, etc. Among them, the time adjustment device can be specifically applied to a domain controller of the intelligent driving system.
[0079] like Figure 3 As shown, the device may include:
[0080] The time acquisition module 301 is used to acquire a first time of an intelligent driving system in an intelligent driving device and a second time of an internal clock source in the intelligent driving device.
[0081] The internal clock source is used as a time synchronization slave node to receive time information provided by an external clock source and as a time synchronization master node to provide time information to the inside of the intelligent driving device.
[0082] The difference calculation module 302 is used to determine the difference between the second time and the first time.
[0083] The time adjustment module 303 is used to smoothly adjust the first time of the intelligent driving system by taking the second time as an adjustment target when the absolute value of the difference is greater than or equal to a time difference threshold.
[0084] Optionally, the time adjustment module 303 may be specifically used for:
[0085] When the absolute value of the difference is greater than or equal to the time difference threshold and the intelligent driving system is in the first state, the first time is smoothly adjusted with the second time as the adjustment target. The first state refers to a state that is sensitive to time jumps.
[0086] Optionally, the time adjustment module 303 may also be used to:
[0087] When the absolute value of the difference meets the target condition and the intelligent driving system is in a second state, the first time of the intelligent driving system is adjusted to the second time at one time, wherein the second state refers to a state that is insensitive to time jumps.
[0088] Optionally, the time adjustment module 303 may be specifically used for:
[0089] The first time of the intelligent driving system is smoothly adjusted according to a target adjustment step; wherein the target adjustment step is smaller than the time difference threshold.
[0090] Optionally, the device may further include:
[0091] The device state determination module is used to determine the current state of the intelligent driving device, wherein the current state includes at least one of the following: the current driving state and the current environment.
[0092] The target adjustment step length determination module is used to determine an adjustment step length corresponding to the current state, and determine the adjustment step length as the target adjustment step length.
[0093] Optionally, the time adjustment module 303 may also be used to:
[0094] If the first time of the intelligent driving system is not adjusted to the second time within a time synchronization cycle, the new first time of the intelligent driving system and the new second time of the internal clock source are re-acquired, and when the absolute value of the difference between the new first time of the intelligent driving system and the new second time of the internal clock source is greater than or equal to the time difference threshold, the new second time of the internal clock source is used as the adjustment target, and the new first time of the intelligent driving system is smoothly adjusted.
[0095] The time adjustment device provided in this embodiment belongs to the same application concept as the time adjustment method provided in the above embodiments of this application, and can execute the time adjustment method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For the technical details not fully described in this embodiment, please refer to the specific processing content of the time adjustment method provided in the above embodiments of this application, and will not be repeated here.
[0096] Exemplary Electronic Devices
[0097] The present application also provides an electronic device, such as Figure 4 As shown, the electronic device includes: a memory 400 and a processor 410 .
[0098] The memory 400 is connected to the processor 410 and is used to store programs.
[0099] The processor 410 is used to implement the time adjustment method in the above embodiment by running the program stored in the memory 400.
[0100] Specifically, the electronic device may further include: a communication interface 420 , an input device 430 , an output device 440 and a bus 450 .
[0101] The processor 410, the memory 400, the communication interface 420, the input device 430 and the output device 440 are connected to each other via a bus.
[0102] Bus 450 may include a pathway for transferring information between the various components of the computer system.
[0103] Processor 410 may be a general purpose processor, such as a general purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
[0104] The processor 410 may include a main processor, and may also include a baseband chip, a modem, and the like.
[0105] The memory 400 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 400 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.
[0106] The input device 430 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.
[0107] Output device 440 may include a device that allows information to be output to a user, such as a display screen, a printer, a speaker, etc.
[0108] The communication interface 420 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.
[0109] The processor 410 executes the program stored in the memory 400 and calls other devices, which can be used to implement the various steps of the time adjustment method provided in the above embodiments of the present application.
[0110] Exemplary computer program products and storage media
[0111] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the time adjustment method described in the embodiment of the present application.
[0112] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK).
[0113] The computer program product may be written in any combination of one or more programming languages to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.
[0114] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the time adjustment method described in the embodiment of the present application.
[0115] In addition, the embodiment of the present application may also be a chip, which includes a processor and a data interface. The processor reads instructions stored in the memory through the data interface to execute the steps in the point of interest query method described in the embodiment of the present application.
[0116] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.
[0117] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.
[0118] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.
[0119] The modules and sub-modules in the devices and terminals in the embodiments of the present application can be combined, divided and deleted according to actual needs.
[0120] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.
[0121] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0122] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.
[0123] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0124] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
[0125] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.
Claims
1. A time adjustment method, characterized in that: The method comprises: Acquire a first time of an intelligent driving system in an intelligent driving device and a second time of an internal clock source in the intelligent driving device; wherein the internal clock source is used to receive time information provided by an external clock source as a time synchronization slave node and to provide time information to the inside of the intelligent driving device as a time synchronization master node; determining a difference between the second time and the first time; When the absolute value of the difference is greater than or equal to the time difference threshold, the first time of the intelligent driving system is smoothly adjusted with the second time as the adjustment target.
2. The time adjustment method according to claim 1, characterized in that: When the absolute value of the difference is greater than or equal to the time difference threshold, taking the second time as an adjustment target, smoothly adjusting the first time of the intelligent driving system includes: When the absolute value of the difference is greater than or equal to the time difference threshold and the intelligent driving system is in a first state, the first time of the intelligent driving system is smoothly adjusted with the second time as the adjustment target; wherein the first state refers to a state that is sensitive to time jumps.
3. The time adjustment method according to claim 2, characterized in that: The method further comprises: When the absolute value of the difference is greater than or equal to the time difference threshold and the intelligent driving system is in the second state, the first time of the intelligent driving system is adjusted to the second time at one time; wherein the second state refers to a state that is insensitive to time jumps.
4. The time adjustment method according to claim 1 or 2, characterized in that: The smoothly adjusting the first time of the intelligent driving system includes: The first time of the intelligent driving system is smoothly adjusted according to a target adjustment step; wherein the target adjustment step is smaller than the time difference threshold.
5. The time adjustment method according to claim 4, characterized in that: Before smoothly adjusting the first time of the intelligent driving system according to the target adjustment step size, the method further includes: Determine the current state of the intelligent driving device; wherein the current state includes at least one of the following: current driving state, current environment; An adjustment step length corresponding to the current state is determined, and the adjustment step length is determined as the target adjustment step length.
6. The time adjustment method according to claim 1 or 2, characterized in that: After smoothly adjusting the first time of the intelligent driving system, the method further includes: If the first time of the intelligent driving system is not adjusted to the second time within a time synchronization cycle, the new first time of the intelligent driving system and the new second time of the internal clock source are reacquired, and when the absolute value of the difference between the new first time of the intelligent driving system and the new second time of the internal clock source is greater than or equal to the time difference threshold, the new second time of the internal clock source is used as the adjustment target to smoothly adjust the new first time of the intelligent driving system.
7. A time adjustment device, characterized in that: The device comprises: A time acquisition module, used to acquire a first time of an intelligent driving system in an intelligent driving device and a second time of an internal clock source in the intelligent driving device; wherein the internal clock source is used to receive time information provided by an external clock source as a time synchronization slave node and to provide time information to the intelligent driving device as a time synchronization master node; A difference calculation module, used to determine the difference between the second time and the first time; A time adjustment module is used to smoothly adjust the first time of the intelligent driving system by taking the second time as an adjustment target when the absolute value of the difference is greater than or equal to a time difference threshold.
8. The time adjustment device according to claim 7, characterized in that: The time adjustment module is specifically used for: When the absolute value of the difference is greater than or equal to the time difference threshold and the intelligent driving system is in a first state, the first time of the intelligent driving system is smoothly adjusted with the second time as the adjustment target; wherein the first state refers to a state that is sensitive to time jumps.
9. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the time adjustment method according to any one of claims 1 to 6 by running the program in the memory.
10. A computer program product, characterized in that The computer program product stores a computer program, and when the computer program is executed by a processor, the time adjustment method according to any one of claims 1 to 6 is implemented.