Time synchronization system

Abstract

The embodiment of the invention provides a time synchronization system. The system comprises a satellite navigation module, a time synchronization module, a radar sensor assembly, a camera assembly and a signal transfer module. The satellite navigation module is used for receiving a first satellite positioning signal of the vehicle-mounted terminal; the time synchronization module is used for receiving the first satellite positioning signal and generating a precision time protocol (PTP) signal based on the first satellite positioning signal; a PTP signal is sent to the signal transfer module; the signal transfer module is used for transferring the PTP signals to the radar sensor assembly and the camera assembly; the radar sensor assembly is used for receiving the PTP signal and adjusting a first clock unit in a radar sensor based on a first timestamp indicated in the PTP signal; and the camera component is used for receiving the PTP signal and adjusting a second clock unit in the camera device based on a first timestamp indicated in the PTP signal. And the time synchronization efficiency between the same module and between different modules is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a time synchronization system. Background Art

[0002] With the continuous evolution of vehicle terminals in the automotive industry, autonomous driving has become an inevitable trend in the future of the automotive industry. In order to achieve autonomous driving, the vehicle terminal combines information collected by multiple sensors to determine the environmental information of the vehicle terminal.

[0003] In the related art, after multiple sensors are installed in the vehicle, each sensor has an independent time system, and the actuator of the vehicle terminal receives the sensor data collected by multiple sensors. Schematically, the temperature sensor corresponds to the temperature data (12:00, 50°), the speed sensor corresponds to the speed data (13:00, 70m / s), and so on.

[0004] However, it is impossible to ensure that the sensor data collected by each sensor is uniform in the time dimension. Summary of the invention

[0005] The embodiment of the present application provides a time synchronization system, which improves the time synchronization efficiency between multiple components in a vehicle in an autonomous driving scenario to a certain extent. The technical solution is as follows:

[0006] In one aspect, a time synchronization system is provided, the system comprising a satellite navigation module, a time synchronization module, a radar sensor component, a camera component, and a signal relay module;

[0007] The satellite navigation module is used to receive a first satellite positioning signal of the vehicle-mounted terminal, where the first satellite positioning signal is used to record a first timestamp corresponding to the geographical location of the vehicle-mounted terminal;

[0008] The time synchronization module is used to receive the first satellite positioning signal, and generate a precise time protocol PTP signal based on the first satellite positioning signal; and send the PTP signal to the signal transfer module;

[0009] The signal transfer module is used to transfer the PTP signal to the radar sensor component and the camera component;

[0010] The radar sensor component is configured to receive the PTP signal and adjust a first clock unit in the radar sensor based on the first timestamp indicated in the PTP signal;

[0011] The camera assembly is used to receive the PTP signal and adjust the second clock unit in the camera device based on the first timestamp indicated in the PTP signal. On the other hand, a computer readable storage medium is provided, in which at least one program is stored, and the at least one program is loaded and executed by a processor to implement the time synchronization system as described above.

[0012] On the other hand, a computer program product or a computer program is provided, which includes computer instructions stored in a computer-readable storage medium, a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the time synchronization system as described above.

[0013] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0014] The satellite navigation module, the camera component and the radar sensor component are associated with each other through the signal relay module. After the satellite navigation module receives the first satellite positioning signal recorded with the first timestamp, the time synchronization module converts the first satellite positioning signal into a PTP signal. Finally, the signal relay module sends the PTP signal to the radar sensor component and the camera component. The radar sensor component and the camera component complete the time synchronization effect with the satellite navigation module based on the PTP signal. On the one hand, the purpose of time synchronization between multiple radar sensors in the radar sensor component is achieved; on the other hand, the purpose of time synchronization between multiple camera devices in the camera component is achieved; on the other hand, the purpose of time synchronization between different components (modules) is achieved. Effectively improve the time synchronization efficiency between the same modules and between different modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 is a flowchart of a time synchronization system provided by an embodiment of the present application;

[0017] Figure 2 is an architectural diagram of a time synchronization system provided by an exemplary embodiment of the present application;

[0018] Figure 3 is an architecture diagram of a time synchronization system provided by another exemplary embodiment of the present application;

[0019] Figure 4 is an architectural diagram of a time synchronization system provided by yet another exemplary embodiment of the present application;

[0020] Figure 5 is an architectural diagram of a time synchronization system provided by another exemplary embodiment of the present application;

[0021] Figure 6 is an architectural diagram of a time synchronization system provided by yet another exemplary embodiment of the present application;

[0022] Figure 7 It is a structural block diagram corresponding to a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0024] As shown in the figure, Figure 1 A schematic diagram of a module block diagram of a time synchronization system provided by an embodiment of the present application is shown. The module block diagram includes a vehicle 10 and a server 11.

[0025] The vehicle 10 is provided with a satellite navigation module 101 , a radar sensor component 102 and a camera component 103 .

[0026] The satellite navigation module 101 is used to locate the geographical location of the vehicle 10. Schematically, the satellite navigation module 101 receives a first satellite positioning signal, and determines the latitude, longitude, altitude and other location information of the vehicle 10 on the earth's surface by calculating the distance difference between multiple satellites. The first satellite positioning signal records a target clock unit corresponding to the satellite, and the clock unit records a timestamp corresponding to the geographical location of the vehicle.

[0027] The radar sensor assembly 102 is mainly responsible for safe driving, assisted driving, vehicle control, vehicle performance optimization, traffic information acquisition, and intelligent networking functions of the vehicle 10. A first clock unit is correspondingly present in the radar sensor assembly 102, and the first clock unit is used to indicate the timestamp when the radar sensor assembly 102 records radar data (or other data).

[0028] The camera component 103 is mainly responsible for functions such as safe driving, assisted driving, vehicle control, vehicle performance optimization, traffic information or first-level intelligent networking of the vehicle 10. The camera component 103 captures images of the external environment of the vehicle 10, the interior of the vehicle 10, and the external frame of the vehicle 10, etc. There is a second clock unit in the camera component 103, and the second clock unit is used to indicate the timestamp of the camera component 103 when capturing image data.

[0029] Optionally, the vehicle 10 establishes a communication connection with the server 11 via a wired or wireless connection.

[0030] The server 11 is provided with a signal transfer module 110 and a time synchronization module 111 .

[0031] The time synchronization module 111 is mainly responsible for converting the received first satellite positioning signal into a Precision Time Protocol (PTP) signal. For the introduction of the PTP signal, please refer to the following content, which will not be repeated here.

[0032] The signal transfer module 110 is used to forward (receive and send) the PTP signal sent by the time synchronization module 111 .

[0033] Optionally, after the signal relay module 110 receives the PTP signal, the PTP signal is sent to the radar sensor component 102 and the camera component 103 in the vehicle 10 .

[0034] After receiving the PTP signal, the radar sensor component 102 adjusts its own first clock unit according to the timestamp recorded in the PTP signal.

[0035] After receiving the PTP signal, the camera assembly 103 adjusts its own second clock unit according to the timestamp recorded in the PTP signal.

[0036] Through the above time synchronization process, the clock units corresponding to the various components set in the vehicle 10 are kept consistent with the target clock unit set in the satellite navigation module, so that the data collected by multiple parties are consistent in the time dimension.

[0037] Wherein, the server and the vehicle are connected through a wireless communication network or a wired communication network, and the wireless communication network or the wired communication network uses standard communication technology and / or protocol. The network is usually the Internet, but it can also be any other network, including but not limited to any combination of a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), a mobile, wired or wireless network, a dedicated network or a virtual private network. In some embodiments, the data exchanged through the network is represented by technologies and / or formats including Hyper Text Mark-up Language (HTML), Extensible Markup Language (XML), etc. In addition, conventional encryption technologies such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Network (VPN), Internet Protocol Security (IPsec), etc. can also be used to encrypt all or some links. In other embodiments, customized and / or dedicated data communication technologies can also be used to replace or supplement the above data communication technologies.

[0038] The server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. Optionally, the server can also be implemented as a node in the blockchain system.

[0039] It should be noted that the information (including but not limited to satellite positioning signals, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0040] In combination with the following content, the specific implementation process, execution subject and functions of each module in a time synchronization system provided by this application are described in detail.

[0041] The first one is that the vehicle and the server jointly build a time synchronization system.

[0042] In the embodiments of this application, see Figure 1 As shown, a radar sensor component, a satellite navigation module and a camera component are arranged in the vehicle.

[0043] Among them, the radar sensor component is used to monitor the distance, relative speed, etc. between the vehicle's surroundings and obstacles (other vehicles, pedestrians, buildings, etc.) to avoid the risk of vehicle collision.

[0044] The radar sensor assembly is also used to identify the vehicle's driving condition. When it is determined that the vehicle's driving condition indicates that the vehicle is in an emergency condition (such as the vehicle skidding, colliding with an obstacle, etc.), it works in conjunction with the vehicle's braking system to activate the emergency braking function to slow down or stop the vehicle.

[0045] The radar sensor component is also used to automatically adjust the vehicle's speed to keep a safe distance from other vehicles when the vehicle is in autonomous driving, etc.

[0046] It should be noted that the radar sensor assembly includes not only the radar sensor, but also other sensors in the vehicle, such as speed sensor, temperature sensor, etc.

[0047] The radar sensor component is provided with a first clock unit. After the radar sensor component collects radar data, the first clock unit is used to calibrate the corresponding timestamp for the radar data. For example, the radar sensor collects radar data at time 1, and time 1 refers to the time when the radar sensor collects radar data under the time axis based on the first clock unit.

[0048] The camera assembly is used to monitor the road conditions of the vehicle and to achieve safe driving and assisted driving of the vehicle. Schematically, a camera is set at the front of the vehicle, which is used to monitor the road conditions in front of the vehicle in real time and identify vehicles, pedestrians, bicycles and other targets in front of the vehicle. Cameras are set on the sides of the vehicle, which are used to collect image information around the vehicle in real time, generate panoramic images through image processing technology, and display the panoramic images on the vehicle's on-board terminal. The driver judges or understands the situation around the vehicle through the panoramic image.

[0049] A second clock unit is provided in the camera assembly. After the camera assembly captures an image, the second clock unit is used to calibrate the corresponding timestamp for the image data. For example, the camera device captures the image data at time 2, and time 3 refers to the time when the camera device captures the image data under the time axis based on the second clock unit.

[0050] It should be noted that the first clock unit in the radar sensor assembly and the second clock unit in the camera assembly can be two independent time systems or the same time system, which is not limited in the present application.

[0051] Illustratively, the two independent time systems refer to a system in which the first clock unit and the second clock unit independently maintain and provide time signals without relying on an external time reference source.

[0052] The satellite navigation module integrates a navigation system based on satellite positioning technology.

[0053] The satellite navigation module is used to receive satellite positioning signals and accurately determine the vehicle's geographical location on the earth's surface by calculating the distance difference between multiple satellites.

[0054] The satellite navigation module is also used to realize vehicle logging planning, real-time navigation guidance and other functions.

[0055] The satellite navigation module has an independent time system, and the time base under this time system is an independent, continuous, and uniform free time scale. In the embodiment of the present application, the clock unit used in this time system is regarded as the target clock unit, which provides a time synchronization basis for the radar sensor component and the camera component.

[0056] The server is provided with a time synchronization module and a signal transfer module.

[0057] The time synchronization module is used to receive satellite positioning signals and generate PTP signals based on the satellite positioning signals.

[0058] Among them, the PTP signal is a time synchronization protocol used for high-precision frequency synchronization and phase synchronization between nodes. The PTP signal achieves time synchronization by transmitting and comparing timestamps between the master clock and the slave clock in multiple nodes.

[0059] In the embodiment of the present application, the master clock is a device (module) with high-precision reference time, that is, the master clock is the first clock unit in the satellite navigation module.

[0060] The slave clock is a device (module) that needs to synchronize time, that is, the slave clock is a radar sensor component and a camera component.

[0061] The master clock periodically sends timestamps to the slave clocks. The slave clocks receive timestamps, compare them with their own local time, and adjust the time based on the difference to achieve synchronization.

[0062] The specific principles and steps for the master clock and slave clock to complete time synchronization based on the PTP signal are as follows:

[0063] S1, the master clock sends a synchronization message.

[0064] When sending a synchronization message, the master clock records the sending timestamp T1, and includes the timestamp T1 in the synchronization message and sends it to the slave clock.

[0065] S2, receives synchronization message from the clock.

[0066] The slave clock receives the synchronization message and records the timestamp T2 of receiving the synchronization message.

[0067] S3, the master clock sends a follow-up message.

[0068] The follow message contains the sending timestamp T1 of the synchronization message. The master clock sends the follow message to the slave clock.

[0069] S4, the slave clock sends a delay request message.

[0070] When sending a delay request message, the slave clock records the timestamp T3 and includes it in the delay request message and sends it to the master clock.

[0071] S5, the master clock sends a delay response message.

[0072] The master clock sends a delay response message to the slave clock, and the delay response message includes a receiving timestamp T4 of the delay request message sent by the slave clock.

[0073] S6, calculates the time deviation and link delay from the clock.

[0074] The slave clock calculates the time deviation between itself and the master clock and the link delay based on timestamps T1, T2, T3 and T4, wherein the link delay refers to the one-way delay of the link.

[0075] The calculation formula of the time deviation may refer to the following formula 1, and the calculation formula of the link delay may refer to the following formula 2.

[0076] Formula 1:

[0077] In the above formula 1, Δt refers to the time deviation.

[0078] Formula 2: Δd=(T2-T1)-(T4-T3);

[0079] In the above formula 2, refers to the link delay.

[0080] The slave clock adjusts its own time according to the calculated time deviation to achieve synchronization with the master clock.

[0081] It should be noted that the time synchronization process between the master clock and the slave clock is a continuous process. The slave clock will periodically receive synchronization messages and delayed response messages and continuously adjust its own time to maintain high-precision synchronization with the master clock.

[0082] In the embodiment of the present application, the satellite navigation module is used to receive a first satellite positioning signal, in which a first timestamp is recorded, which is consistent with the content indicated by the synchronization message in the above steps S1-S6, and is a time synchronization signal.

[0083] The signal transfer module is used to receive the PTP signal and forward the PTP signal to the radar sensor component and the camera component.

[0084] A radar sensor component is configured to receive a PTP signal and adjust a first clock unit in the radar sensor based on a first timestamp indicated in the PTP signal.

[0085] A camera assembly is used to receive a PTP signal and adjust a second clock unit in a camera device based on a first timestamp indicated in the PTP signal.

[0086] In another optional embodiment, the time synchronization module is arranged inside the vehicle. After the vehicle receives the first satellite positioning signal, the first satellite positioning signal is transmitted to the time synchronization module, and the time synchronization module generates a PTP signal based on the first satellite positioning signal. That is, the present application does not limit the setting method of the time synchronization module.

[0087] In the embodiment of the present application, the satellite navigation time is used as a reference to adjust the time corresponding to the radar sensor component and the camera component in the vehicle, so that the three can maintain high-precision unity in the time dimension.

[0088] The second method is that the vehicle builds its own time synchronization system.

[0089] The vehicle is equipped with a satellite navigation module, a radar sensor component, a camera component and a time synchronization module.

[0090] The satellite navigation module is used to receive a first satellite positioning signal from the vehicle-mounted terminal, where the first positioning signal is used to record a first timestamp corresponding to the geographical location of the vehicle-mounted terminal; and send the first satellite positioning signal to the time synchronization module.

[0091] The time synchronization module is used to receive the first satellite positioning signal and generate a PTP signal based on the first satellite positioning signal. The PTP signal is sent to the radar sensor component and the camera component.

[0092] A radar sensor component is configured to receive a PTP signal and adjust a first clock unit in the radar sensor based on a first timestamp indicated in the PTP signal.

[0093] A camera assembly is used to receive a PTP signal and adjust a second clock unit in a camera device based on a first timestamp indicated in the PTP signal.

[0094] The above are merely illustrative examples in the embodiments of the present application. The various modules in the time synchronization system provided in the embodiments of the present application may also be adjusted and selected according to actual needs, and the present application does not limit this.

[0095] In combination with the above description, the time synchronization system involved in the embodiment of the present application is explained. Figure 2 FIG. 1 is an architecture diagram of a time synchronization system provided by an exemplary embodiment of the present application. Figure 2 As shown, the system includes a satellite navigation module, a time synchronization module, a signal transfer module, a radar sensor component and a camera component. Each module in the system completes time synchronization through the following steps 200 to 208.

[0096] Step 200: The satellite navigation module receives a first satellite positioning signal from the vehicle-mounted terminal.

[0097] Optionally, the satellite navigation module receives a first satellite positioning signal. The first satellite positioning signal is used to record a first timestamp corresponding to the geographical location of the vehicle-mounted terminal. The first satellite positioning signal provides time information input for the time synchronization system.

[0098] The satellite navigation module sends the first satellite positioning signal to the time synchronization module.

[0099] Step 201: A time synchronization module receives a first satellite positioning signal.

[0100] Optionally, the time synchronization module receives a first satellite positioning signal.

[0101] Step 202: The time synchronization module generates a PTP signal based on the first satellite positioning signal.

[0102] Optionally, the time synchronization module receives the first satellite positioning signal and converts the first satellite positioning signal into a PTP signal through a preset algorithm. The conversion process is as follows:

[0103] After receiving the first satellite positioning signal, the time synchronization module obtains the first timestamp and the second pulse signal contained in the first satellite positioning signal, wherein the second pulse signal refers to a time pulse once per second.

[0104] The time synchronization module generates a fifth time stamp based on the first time stamp and the second pulse signal, wherein the time accuracy of the fifth time stamp is higher than that of the first time stamp.

[0105] Based on the fifth timestamp, a PTP signal is generated.

[0106] Step 203: The time synchronization module sends a PTP signal to the signal transfer module.

[0107] Optionally, the time synchronization module sends a PTP signal to the signal relay module.

[0108] Step 204: The signal relay module relays the PTP signal to the radar sensor component and the camera component.

[0109] Optionally, the signal relay module sends a PTP signal to the radar sensor assembly, and the signal relay module sends a PTP signal to the camera assembly.

[0110] In step 205 , the radar sensor assembly receives the PTP signal.

[0111] Optionally, the radar sensor component receives a PTP signal sent by a signal relay module.

[0112] In step 206 , the radar sensor assembly adjusts a first clock unit in the radar sensor assembly based on a first timestamp indicated in the PTP signal.

[0113] Optionally, the radar sensor component receives the PTP signal and runs the PTP protocol stack to adjust its own first clock unit according to the first timestamp indicated in the PTP signal. Schematically, the time synchronization process between the satellite navigation module and the radar sensor component is completed using the content shown in the first case of the above embodiment. In the time synchronization process, the master clock device is the satellite navigation module, and the slave clock device is the radar sensor component.

[0114] In another optional embodiment, the radar sensor assembly adjusts the first clock unit in the radar sensor assembly based on the fifth timestamp indicated in the PTP signal. The following process can be used to complete the time synchronization process between the radar sensor assembly and the satellite navigation module.

[0115] The satellite navigation module is determined as a master clock device, and the radar sensor assembly is determined as a slave clock device.

[0116] The time synchronization module inputs the fifth timestamp into the master clock device and reads the PTP protocol stack, wherein the PTP protocol stack is a collection of software and hardware components that implement the PTP signal (protocol). The PTP protocol stack includes a PTP protocol stack in the user space and a PTP protocol stack in the kernel space.

[0117] The PTP protocol stack is run on the master clock device, and the fifth timestamp is synchronized to the master clock device (satellite navigation module). Schematically, the PTP protocol stack includes ptp4l and ts2phc, wherein ts2phc is used to synchronize the time in the satellite navigation module to the master clock device, and ptp4l is used to manage the operation of the PTP protocol.

[0118] The slave clock device (radar sensor assembly) is connected to the master clock device (satellite navigation module) via a network.

[0119] The slave clock device (radar sensor component) runs the PTP protocol stack and synchronizes the fifth timestamp in the PTP signal to the slave clock device (radar sensor component).

[0120] It should be noted that the above content involves two timestamp synchronization processes (1. The master clock device runs the PTP protocol stack and synchronizes the fifth timestamp back to the master clock device; 2. The slave clock runs the PTP protocol stack and synchronizes the fifth timestamp to the slave clock device). Time synchronization is also completed according to the process shown in the first case in the above embodiment.

[0121] In an optional embodiment, the radar sensor assembly includes a first radar sensor and a second radar sensor;

[0122] The first radar sensor receives the PTP signal and adjusts a third clock unit in the first radar sensor based on a first timestamp indicated in the PTP signal, wherein the third clock unit includes a second timestamp adjusted according to the first timestamp.

[0123] Schematically, the satellite navigation module sends message 1 and records the sending timestamp 2. The satellite navigation module includes the timestamp 2 in the message 1 and sends it to the first radar sensor. The first radar sensor receives the message 1 and records the timestamp 2 of the message 1. The satellite navigation module sends the message 2 including the timestamp 2 to the first radar sensor. The first radar sensor sends the message 3 to the satellite navigation module and records the sending timestamp 3 of the message 3. The satellite navigation module sends the receiving timestamp 4 including the first radar sensor receiving the message 3 to the first radar sensor. The time deviation and the link delay between the first radar sensor and the satellite navigation module are calculated using the above formula 1 and formula 2. The first radar sensor adjusts the clock unit in the first radar sensor based on the time deviation and the link delay.

[0124] After the first radar sensor adjusts its own clock unit, the first radar sensor generates a first synchronization signal based on the second timestamp and sends the first synchronization signal to the second radar sensor. The second radar sensor receives the first synchronization signal and adjusts the fourth clock unit in the second radar sensor according to the second timestamp indicated in the first synchronization signal. The process of completing time synchronization between the second radar sensor and the first radar sensor can refer to the above-mentioned time synchronization process between the satellite navigation module and the first radar sensor, which will not be repeated here.

[0125] In another optional embodiment, first radar data collected by the first radar sensor and second radar data collected by the second radar sensor are obtained at the same time, wherein the first radar data includes a first timestamp when the first radar data is collected, and the second radar data includes a second timestamp when the second radar data is collected.

[0126] The difference between the first time stamp and the second time stamp is determined as the target time deviation between the first radar sensor and the second radar sensor. The second radar sensor adjusts its fourth clock unit based on the target time deviation.

[0127] Step 207: The camera assembly receives the PTP signal.

[0128] Optionally, the camera component receives a PTP signal sent by a signal relay module.

[0129] Step 208: The camera assembly adjusts the second clock unit in the camera device based on the first timestamp indicated in the PTP signal.

[0130] Optionally, the camera component receives the PTP signal and runs the PTP protocol stack to adjust its own second clock unit according to the first timestamp indicated in the PTP signal. Schematically, the process of the camera component adjusting the second clock unit according to the first timestamp can refer to the content indicated in the first case in the above embodiment, which is not repeated here.

[0131] In another optional embodiment, the camera assembly includes a first camera device and a second camera device;

[0132] The first camera device receives the PTP signal, and adjusts a fifth clock unit of the first camera device based on a first timestamp indicated in the PTP signal, wherein the fifth clock unit includes a third timestamp adjusted according to the first timestamp.

[0133] The first camera generates a second synchronization signal based on the third timestamp, and sends the second synchronization signal to the second camera.

[0134] The second camera device receives the second synchronization signal and adjusts the sixth clock unit of the second camera device based on the third timestamp indicated in the second synchronization signal.

[0135] The process of the first camera device adjusting the fifth clock unit according to the first timestamp, and the process of the second camera device adjusting the sixth clock unit according to the third timestamp can refer to the content indicated in the first case in the above embodiment, and will not be repeated here. In this case, the satellite navigation module is implemented as the master clock, and the first camera device is implemented as the slave clock; and the first camera device is implemented as the master clock, and the second camera device is implemented as the slave clock.

[0136] Among them, the process of performing time synchronization between the first camera device and the satellite navigation module can refer to the process of performing time synchronization between the first radar sensor and the satellite navigation module in the above step 206, and the process of performing time synchronization between the first camera device and the second camera device can refer to the process of performing time synchronization between the first radar sensor and the second radar sensor in the above step 206, which will not be repeated here.

[0137] In an embodiment of the present application, the satellite navigation module, the camera component and the radar sensor component are associated with each other through a signal relay module. After the satellite navigation module receives the first satellite positioning signal recorded with a first timestamp, the time synchronization module converts the first satellite positioning signal into a PTP signal. Finally, the signal relay module sends the PTP signal to the radar sensor component and the camera component, and the radar sensor component and the camera component complete the time synchronization effect with the satellite navigation module based on the PTP signal. On the one hand, the purpose of time synchronization between multiple radar sensors in the radar sensor component is achieved; on the other hand, the purpose of time synchronization between multiple camera devices in the camera component is achieved; on the other hand, the purpose of time synchronization between different components (modules) is achieved. Effectively improve the time synchronization efficiency between the same modules and between different modules.

[0138] In combination with the above description, the time synchronization system involved in the embodiment of the present application is explained. Figure 3 FIG. 1 is an architecture diagram of a time synchronization system provided by an exemplary embodiment of the present application. Figure 3 As shown, the system includes a satellite navigation module, a time synchronization module, a signal transfer module, a radar sensor component and a camera component. Each module in the system completes time synchronization through the following steps 300 to 308.

[0139] Step 300: The satellite navigation module receives a first satellite positioning signal from the vehicle-mounted terminal.

[0140] Optionally, the satellite navigation module receives a first satellite positioning signal. The first satellite positioning signal is used to record a first timestamp corresponding to the geographical location of the vehicle-mounted terminal. The first satellite positioning signal provides time information input for the time synchronization system.

[0141] The satellite navigation module sends the first satellite positioning signal to the time synchronization module.

[0142] Step 301: The time synchronization module receives a first satellite positioning signal.

[0143] Optionally, the time synchronization module receives a first satellite positioning signal.

[0144] Step 302: The time synchronization module generates a PTP signal based on the first satellite positioning signal.

[0145] Optionally, the time synchronization module receives the first satellite positioning signal and converts the first satellite positioning signal into a PTP signal by using a preset algorithm. The preset algorithm can be found in the above step 202 and will not be described in detail here.

[0146] Step 303: The time synchronization module sends a PTP signal to the signal transfer module.

[0147] Optionally, the time synchronization module sends a PTP signal to the signal relay module.

[0148] Step 304: The signal relay module relays the PTP signal to the radar sensor assembly.

[0149] Optionally, the signal relay module sends a PTP signal to the radar sensor assembly, and the signal relay module sends a PTP signal to the camera assembly.

[0150] Step 305: The radar sensor assembly receives the PTP signal.

[0151] Optionally, the radar sensor component receives a PTP signal from a signal relay module.

[0152] In step 306 , the radar sensor component adjusts a first clock unit in the radar sensor based on a first timestamp indicated in the PTP signal.

[0153] Optionally, the radar sensor component receives a PTP signal and runs a PTP protocol stack to adjust its own first clock unit according to a first timestamp indicated in the PTP signal.

[0154] In the embodiment of the present application, the process of the radar sensor component adjusting the first clock unit according to the first timestamp can refer to the content indicated in the first case in the above embodiment, which is not repeated here. It should be noted that in this case, the satellite navigation module is the master clock, and the radar sensor component and the camera component are slave clocks.

[0155] The specific process of this step is consistent with the above step 206 and will not be repeated here.

[0156] Step 307 : The radar sensor assembly collects a pulse per second (PPS) signal, and generates a third synchronization signal based on the PPS signal.

[0157] The PPS signal refers to the timestamp information generated every second by the radar sensor component in the working state, which is used to provide a more accurate time reference. The PPS signal includes a rising edge, which is used to identify the specific moment of the Coordinated Universal Time (UTC).

[0158] A third synchronization signal is generated based on the PPS signal, and the third synchronization signal is sent to the camera component.

[0159] Get the GPRMC message (Global Positioning System-Recommended Minimum Specific GPS / Transit Data). The GPRMC message is a standard format defined in the NMEA 0183 protocol and is used to transmit basic position, speed, time and other information of satellite positioning signals.

[0160] A third synchronization signal is generated based on the PPS signal and the GPRMC message, and the third synchronization signal is sent to the camera component.

[0161] In another optional embodiment, the time when the PPS signal in the third synchronization signal is transmitted to the camera assembly is earlier than the time when the GPRMC message is transmitted to the camera assembly. Schematically, the GPRMC message arrives at the camera assembly 100-200ms after the PPS signal.

[0162] Step 308: The camera assembly receives the third synchronization signal, and adjusts the second clock unit in the camera assembly based on the timestamp information indicated in the third synchronization signal.

[0163] The camera component receives the third synchronization signal sent by the radar sensor component, runs the PTP protocol stack, and adjusts its own second clock unit based on the timestamp information indicated in the third synchronization signal.

[0164] Among them, the process of the camera component completing time synchronization with the radar sensor component based on the third synchronization signal can be found in the first case in the above embodiment, which will not be repeated here.

[0165] In another optional embodiment, the radar sensor component sends the third synchronization signal to the signal relay module.

[0166] The signal transfer module receives the third synchronization signal and the second satellite positioning signal sent by the satellite navigation module.

[0167] The signal relay module adjusts the timestamp information indicated in the third synchronization signal based on the fourth timestamp indicated in the second satellite signal, and generates a fourth synchronization signal; and sends the fourth synchronization signal to the camera assembly.

[0168] The camera assembly receives a fourth synchronization signal and adjusts a second clock unit in the camera assembly based on the fourth synchronization signal.

[0169] In an embodiment of the present application, the satellite navigation module, the camera component and the radar sensor component are associated with each other through a signal relay module. After the satellite navigation module receives the first satellite positioning signal recorded with a first timestamp, the time synchronization module converts the first satellite positioning signal into a PTP signal. Finally, the signal relay module sends the PTP signal to the radar sensor component and the camera component, and the radar sensor component and the camera component complete the time synchronization effect with the satellite navigation module based on the PTP signal. On the one hand, the purpose of time synchronization between multiple radar sensors in the radar sensor component is achieved; on the other hand, the purpose of time synchronization between multiple camera devices in the camera component is achieved; on the other hand, the purpose of time synchronization between different components (modules) is achieved. Effectively improve the time synchronization efficiency between the same modules and between different modules.

[0170] In combination with the above description, the time synchronization system involved in the embodiment of the present application is explained. Figure 4 FIG. 1 is an architecture diagram of a time synchronization system provided by an exemplary embodiment of the present application. Figure 4 As shown, the system includes a satellite navigation module, a time synchronization module, a signal transfer module, a radar sensor component and a camera component. Each module in the system completes time synchronization through the following steps 400 to 407.

[0171] Step 400: The satellite navigation module receives a first satellite positioning signal from the vehicle-mounted terminal.

[0172] Optionally, the satellite navigation module receives a first satellite positioning signal. The first satellite positioning signal is used to record a first timestamp corresponding to the geographical location of the vehicle-mounted terminal. The first satellite positioning signal provides time information input for the time synchronization system.

[0173] The satellite navigation module sends the first satellite positioning signal to the time synchronization module.

[0174] Step 401: The time synchronization module receives a first satellite positioning signal.

[0175] Optionally, the time synchronization module receives a first satellite positioning signal.

[0176] Step 402: The time synchronization module generates a PTP signal based on the first satellite positioning signal.

[0177] Optionally, the time synchronization module receives the first satellite positioning signal and converts the first satellite positioning signal into a PTP signal by using a preset algorithm. The preset algorithm can be found in the above step 202 and will not be described in detail here.

[0178] Step 403: The time synchronization module sends a PTP signal to the signal transfer module.

[0179] Optionally, the time synchronization module sends a PTP signal to the signal relay module.

[0180] Step 404: The time synchronization module generates a first time synchronization credential based on the PTP signal.

[0181] Optionally, the first time synchronization credential is used to indicate a signal used to execute a time synchronization process in the time synchronization system.

[0182] After receiving the first time synchronization certificate, the slave clock device connects to the satellite navigation module and adjusts its own clock unit based on the target clock unit in the satellite navigation module.

[0183] Optionally, the signal relay module generates a first time synchronization certificate based on the PTP signal.

[0184] Step 405: The time synchronization module sends the first time synchronization certificate to the radar sensor component and the camera component.

[0185] Optionally, the time synchronization module sends the first time synchronization credential to the radar sensor component and the camera component.

[0186] Step 406: The radar sensor component receives the first time synchronization certificate, establishes a communication connection with the satellite navigation module, and executes the time synchronization process.

[0187] Optionally, the radar sensor component receives the first time synchronization credential and establishes a communication connection with the satellite navigation module to execute the following time synchronization process.

[0188] Optionally, after the radar sensor component establishes a communication connection with the satellite navigation module, the satellite navigation module sends a first time message sequence to the radar sensor component, and the first time message sequence records a first sending time of sending the first time message sequence.

[0189] The radar sensor component receives a first time message sequence and records a first receiving time of the first time message sequence, determines a first message transmission time of the first time message sequence based on the first sending time and the first receiving time, determines a first time transmission deviation based on the first message transmission time, and adjusts the first clock unit in the radar sensor component based on the first time transmission deviation.

[0190] Optionally, the camera component receives the first time synchronization credential and establishes a communication connection with the satellite navigation module to execute the following time synchronization process.

[0191] Optionally, after the camera assembly establishes a communication connection with the satellite navigation module, the satellite navigation module sends a second time message sequence to the camera assembly, and the second time message sequence records a second sending time of sending the second time message sequence.

[0192] The camera assembly receives the second time message sequence and records the second receiving time of the second time message sequence; determines the second message transmission time of the second time message sequence based on the second sending time and the second receiving time; determines the second time transmission deviation based on the second message transmission time, and adjusts the second clock unit in the camera assembly based on the second time transmission deviation.

[0193] In another optional embodiment, the radar sensor component generates a second time synchronization certificate according to the PTP signal, and sends the second time synchronization certificate to the camera component, wherein the second time synchronization certificate is used to indicate a signal used to execute a time synchronization process in the time synchronization system.

[0194] The camera component receives the second time synchronization credential and establishes a communication connection with the radar sensor component.

[0195] After the camera assembly establishes a communication connection with the radar sensor, the radar sensor sends a third time message sequence to the camera assembly, and the third time message sequence records a third sending time of sending the third time message sequence.

[0196] The camera component is also used to receive a third time message sequence and record a third receiving time of the third time message sequence; determine a third message transmission time corresponding to the third message sequence based on the third sending time and the third receiving time; determine a third time transmission deviation based on the third message transmission time, and adjust the second clock unit in the camera component based on the third time transmission deviation.

[0197] Step 407: The camera component receives the first time synchronization certificate, establishes a communication connection with the satellite navigation module, and executes the time synchronization process.

[0198] The execution process of this step is consistent with the process of the above step 406, and will not be repeated here.

[0199] In an embodiment of the present application, the satellite navigation module, the camera component and the radar sensor component are associated with each other through a signal relay module. After the satellite navigation module receives the first satellite positioning signal recorded with a first timestamp, the time synchronization module converts the first satellite positioning signal into a PTP signal. Finally, the signal relay module sends the PTP signal to the radar sensor component and the camera component, and the radar sensor component and the camera component complete the time synchronization effect with the satellite navigation module based on the PTP signal. On the one hand, the purpose of time synchronization between multiple radar sensors in the radar sensor component is achieved; on the other hand, the purpose of time synchronization between multiple camera devices in the camera component is achieved; on the other hand, the purpose of time synchronization between different components (modules) is achieved. Effectively improve the time synchronization efficiency between the same modules and between different modules.

[0200] In combination with the above description, the time synchronization system involved in the embodiment of the present application is explained. Figure 5 FIG. 1 is a structural diagram of a time synchronization system provided by an exemplary embodiment of the present application. Figure 5 As shown, the system includes a vehicle terminal, a satellite navigation module, a time synchronization module, a signal transfer module, a radar sensor component and a camera component. Each module in the system completes time synchronization through the following steps 500 to 509.

[0201] Step 500: The radar sensor assembly generates a radar time verification signal and sends the radar time verification signal to a signal relay module.

[0202] Optionally, the radar sensor component generates a radar time verification signal at the target time, and the radar time verification signal is used to verify and calibrate whether the time between itself and other modules in the time synchronization system is consistent.

[0203] The radar time verification signal records the first moment when the radar sensor generates the radar time verification signal. It should be noted that the first moment is a timestamp on the time axis indicated by the first clock unit in the radar sensor component.

[0204] The radar sensor assembly sends a radar time verification signal to the signal relay module.

[0205] Step 501: The satellite navigation module generates a navigation time verification signal and sends the navigation time verification signal to the signal relay module.

[0206] Optionally, the satellite navigation module generates a navigation time verification signal at the target time, and the navigation time verification signal is used to verify and calibrate whether the time between itself and other modules in the time synchronization system is consistent.

[0207] The navigation time check signal records the second time when the satellite navigation module generates the navigation time check signal. It should be noted that the second time is a timestamp on the time axis indicated by the target clock unit in the satellite navigation module.

[0208] The satellite navigation module sends a radar time verification signal to the signal relay module.

[0209] Step 502: The camera assembly generates a camera time verification signal and sends the camera time verification signal to the signal relay module.

[0210] Optionally, the camera component generates a camera time verification signal at the target time, and the camera time verification signal is used to verify and calibrate whether the time between itself and other modules in the time synchronization system is consistent.

[0211] The camera time verification signal records the third moment when the camera assembly generates the camera time verification signal. It should be noted that the third moment is a timestamp on the time axis indicated by the second clock unit in the camera assembly.

[0212] The satellite navigation module sends a camera time verification signal to the signal relay module.

[0213] Step 503: The time transfer module receives the radar time verification signal sent by the radar sensor component.

[0214] Illustratively, the time transfer module receives the radar time verification signal and records the fourth moment of receiving the radar time verification signal.

[0215] Step 504: the time transfer module receives the navigation time verification signal sent by the satellite navigation module.

[0216] Illustratively, the time transfer module receives the navigation time verification signal and records the fifth moment of receiving the navigation time verification signal.

[0217] Step 505: the time transfer module receives the camera time verification signal sent by the camera assembly.

[0218] Illustratively, the time transfer module receives the camera time verification signal and records the sixth moment of receiving the camera time verification signal.

[0219] It should be noted that the sending order and receiving order of the radar time verification signal, the camera time verification signal and the navigation time verification signal are not based on Figure 5 The sending order and receiving order shown are subject to the actual situation.

[0220] Step 506, the time transfer module generates a first time deviation corresponding to the radar sensor based on the first moment and the fourth moment, generates a second time deviation corresponding to the satellite navigation module based on the second moment and the fifth moment, and generates a third time deviation corresponding to the camera component based on the third moment and the sixth moment.

[0221] Illustratively, the signal relay module determines a first time deviation based on a difference between the first moment and the fourth moment, and the first time deviation is used to indicate a transmission time of the radar time verification signal during the signal transmission process.

[0222] The signal relay module determines a second time deviation based on a difference between the second moment and the fifth moment, where the second time deviation is used to indicate a transmission time of the navigation time verification signal during the signal transmission process.

[0223] The signal relay module determines a third time deviation based on a difference between the third moment and the sixth moment, and the third time deviation is used to indicate a transmission time of the camera time verification signal during the signal transmission process.

[0224] Step 507: The time transfer module sends the first time offset, the second time offset, and the third time offset to the vehicle terminal.

[0225] Illustratively, the signal relay module sends the first time deviation, the second time deviation and the third time deviation to the vehicle terminal.

[0226] Step 508: The vehicle-mounted terminal receives the first time offset, the second time offset, and the third time offset.

[0227] Illustratively, the vehicle-mounted terminal receives a first time offset, a second time offset, and a third time offset.

[0228] Step 509 , in response to the first time deviation meeting the preset time difference threshold, the second time deviation meeting the preset time difference threshold, and the third time deviation meeting the preset time difference threshold, displaying a prompt message on the vehicle screen of the vehicle terminal.

[0229] The preset time difference threshold refers to the maximum error time of the signal during the transmission process.

[0230] Optionally, the vehicle terminal determines the relationship between the first time deviation, the second time deviation, and the third time deviation and a preset time difference threshold.

[0231] In response to the first time deviation being less than the preset time difference threshold, the second time deviation being less than the preset time difference threshold, and the third time deviation being less than the preset time difference threshold, a prompt message is displayed on the vehicle screen of the vehicle terminal. The prompt message is used to prompt the time systems of various components in the vehicle terminal to be consistent. The prompt signal can be implemented as any one or more of text information, video information, audio information, picture information, etc.

[0232] In response to the first time deviation being greater than or equal to the preset time difference threshold, or the second time deviation being greater than or equal to the preset time difference threshold, or the third time deviation being greater than or equal to the preset time difference threshold, the time synchronization process is started. The time synchronization process can refer to the above steps 200-208, which will not be described in detail here.

[0233] It should be noted that the above-mentioned vehicle terminal is actually implemented as an actuator in the vehicle terminal, which determines the relationship between the time deviation and the preset time difference threshold, and decides whether to display a prompt message on the vehicle screen or continue to execute the time synchronization process.

[0234] In an embodiment of the present application, the satellite navigation module, the camera component and the radar sensor component are associated with each other through a signal relay module. After the satellite navigation module receives the first satellite positioning signal recorded with a first timestamp, the time synchronization module converts the first satellite positioning signal into a PTP signal. Finally, the signal relay module sends the PTP signal to the radar sensor component and the camera component, and the radar sensor component and the camera component complete the time synchronization effect with the satellite navigation module based on the PTP signal. On the one hand, the purpose of time synchronization between multiple radar sensors in the radar sensor component is achieved; on the other hand, the purpose of time synchronization between multiple camera devices in the camera component is achieved; on the other hand, the purpose of time synchronization between different components (modules) is achieved. Effectively improve the time synchronization efficiency between the same modules and between different modules.

[0235] In combination with the above description, the time synchronization system involved in the embodiment of the present application is explained. Figure 6 FIG. 1 is a structural diagram of a time synchronization system provided by an exemplary embodiment of the present application. Figure 6 As shown, the system includes a satellite navigation module 600 , a time synchronization module 601 , a signal relay module 602 , a radar sensor component 603 and a camera component 604 .

[0236] Among them, the radar sensor component 603 includes a main radar sensor 6030 and a slave radar sensor 6031, and a communication connection is established between the main radar sensor 6030 and the slave radar sensor 6031. The camera component 604 includes a main camera device 6040 and a slave camera device 6041, and a communication connection is established between the main camera device 6040 and the slave camera device 6041.

[0237] Optionally, the satellite navigation module 600, the time synchronization module 601, the signal relay module 602, the radar sensor component 603 and the camera component 604 are configured according to the actual autonomous driving requirements of the vehicle terminal, and the hardware wiring is performed according to the configuration requirements.

[0238] Schematically, a time synchronization module 601 is configured to be connected to the satellite navigation module 600, and the time synchronization module 601 receives the satellite positioning signal sent by the satellite navigation module 600 and converts the satellite positioning signal into a PTP signal. For example, the time synchronization module 601 is configured as a GM200 module.

[0239] The signal transfer module 602 receives the PTP signal sent by the time synchronization module 601 .

[0240] The signal transfer module 602 converts the PTP signal into a time synchronization certificate and sends it to the main radar sensor 6030 in the radar sensor component 603. The main radar sensor 6030 performs time synchronization with the timestamp indicated in the time synchronization certificate.

[0241] After the master radar sensor 6030 completes the time synchronization, the master radar sensor 6030 completes the time synchronization process with the slave radar sensor 6031 according to the content shown in the above step 307.

[0242] After all radar sensors in the radar sensor assembly 603 have completed time synchronization, the master radar sensor 6030 generates a PPS signal based on the timestamp information indicated by its own clock unit, and sends the PPS signal to the master camera device 6040 in the camera assembly 604.

[0243] The main camera device 6040 receives the PPS signal, and completes the time synchronization process with the main radar sensor 6030 according to the content shown in the first case of the above embodiment.

[0244] After the master camera device 6040 completes the time synchronization, the time synchronization process with the slave camera device 6041 is completed according to the content shown in the above step 308.

[0245] In an embodiment of the present application, the satellite navigation module, the camera component and the radar sensor component are associated with each other through a signal relay module. After the satellite navigation module receives the first satellite positioning signal recorded with a first timestamp, the time synchronization module converts the first satellite positioning signal into a PTP signal. Finally, the signal relay module sends the PTP signal to the radar sensor component and the camera component, and the radar sensor component and the camera component complete the time synchronization effect with the satellite navigation module based on the PTP signal. On the one hand, the purpose of time synchronization between multiple radar sensors in the radar sensor component is achieved; on the other hand, the purpose of time synchronization between multiple camera devices in the camera component is achieved; on the other hand, the purpose of time synchronization between different components (modules) is achieved. Effectively improve the time synchronization efficiency between the same modules and between different modules.

[0246] Figure 7 The structure block diagram of a computer device 700 provided by an exemplary embodiment of the present application is shown. The computer device 700 is implemented as a movable device, such as a movable intelligent terminal such as a vehicle-mounted terminal.

[0247] Typically, the computer device 700 includes a processor 701 and a memory 702 .

[0248] The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 701 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0249] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 702 is used to store at least one instruction, which is used to be executed by the processor 701 to implement the model training method or behavior coding method provided in the method embodiment of the present application.

[0250] In some embodiments, the computer device 700 may further optionally include: a peripheral device interface 703 and at least one peripheral device. The processor 701, the memory 702 and the peripheral device interface 703 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 703 via a bus, a signal line or a circuit board. For example, the peripheral device may include: at least one of a radio frequency circuit 704, a display screen 705, a camera assembly 706, an audio circuit 707, a positioning assembly 715 and a power supply 708.

[0251] The peripheral device interface 703 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 701 and the memory 702. In some embodiments, the processor 701, the memory 702, and the peripheral device interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral device interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0252] The radio frequency circuit 704 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 704 communicates with communication networks and other communication devices through electromagnetic signals. The radio frequency circuit 704 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The radio frequency circuit 704 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 704 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0253] The display screen 705 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 705 is a touch display screen, the display screen 705 also has the ability to collect touch signals on the surface or above the surface of the display screen 705. The touch signal can be input to the processor 701 as a control signal for processing. At this time, the display screen 705 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 705 can be one, set on the front panel of the computer device 700; in other embodiments, the display screen 705 can be at least two, respectively set on different surfaces of the computer device 700 or in a folding design; in other embodiments, the display screen 705 can be a flexible display screen, set on the curved surface or folding surface of the computer device 700. Even, the display screen 705 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 705 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0254] The camera assembly 706 is used to capture images or videos. Optionally, the camera assembly 706 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal, and the rear camera is arranged on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 706 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0255] The audio circuit 707 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 701 for processing, or input them into the radio frequency circuit 704 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there can be multiple microphones, which are respectively arranged at different parts of the computer device 700. The microphone can also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 701 or the radio frequency circuit 704 into sound waves. The speaker can be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 707 may also include a headphone jack.

[0256] The positioning component 715 is used to locate the current geographic location of the computing and device 700 to implement navigation or LBS (Location Based Service). The positioning component 908 can be a positioning component based on the US GPS (Global Positioning System) or China's Beidou system.

[0257] The power supply 708 is used to power various components in the computer device 700. The power supply 708 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 708 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged through a wired line, and a wireless rechargeable battery is a battery that is charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0258] In some embodiments, the computer device 700 further includes one or more sensors 709 , including but not limited to: an acceleration sensor 710 , a gyroscope sensor 711 , a pressure sensor 712 , an optical sensor 713 , and a proximity sensor 714 .

[0259] The acceleration sensor 710 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the computer device 700. For example, the acceleration sensor 710 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 701 can control the display screen 705 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 710. The acceleration sensor 710 can also be used to collect game or user motion data.

[0260] The gyro sensor 711 can detect the body direction and rotation angle of the computer device 700, and the gyro sensor 711 can cooperate with the acceleration sensor 710 to collect the user's 3D actions on the computer device 700. The processor 701 can implement the following functions based on the data collected by the gyro sensor 711: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0261] The pressure sensor 712 can be set on the side frame of the computer device 700 and / or the lower layer of the display screen 705. When the pressure sensor 712 is set on the side frame of the computer device 700, it can detect the user's grip signal of the computer device 700, and the processor 701 performs left and right hand recognition or shortcut operation according to the grip signal collected by the pressure sensor 712. When the pressure sensor 712 is set on the lower layer of the display screen 705, the processor 701 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 705. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0262] The optical sensor 713 is used to collect the ambient light intensity. In one embodiment, the processor 701 can control the display brightness of the display screen 705 according to the ambient light intensity collected by the optical sensor 713. For example, when the ambient light intensity is high, the display brightness of the display screen 705 is increased; when the ambient light intensity is low, the display brightness of the display screen 705 is reduced. In another embodiment, the processor 701 can also dynamically adjust the shooting parameters of the camera assembly 707 according to the ambient light intensity collected by the optical sensor 713.

[0263] The proximity sensor 714, also called a distance sensor, is usually disposed on the front panel of the computer device 700. The proximity sensor 714 is used to collect the distance between the user and the front of the computer device 700. In one embodiment, when the proximity sensor 714 detects that the distance between the user and the front of the computer device 700 is gradually decreasing, the processor 701 controls the display screen 705 to switch from the screen-on state to the screen-off state; when the proximity sensor 714 detects that the distance between the user and the front of the computer device 700 is gradually increasing, the processor 701 controls the display screen 705 to switch from the screen-off state to the screen-on state.

[0264] Those skilled in the art will understand that Figure 7 The structure shown in the figure does not constitute a limitation on the computer device 700, and the computer device 700 may include more or less components than shown in the figure, or combine some components, or adopt a different arrangement of components.

[0265] The present application also provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the time synchronization system provided by the above method embodiment.

[0266] The present application provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the time synchronization system provided by the above method embodiment.

[0267] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0268] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A time synchronization system, characterized in that: The system includes a satellite navigation module, a time synchronization module, a radar sensor component, a camera component and a signal relay module; The satellite navigation module is used to receive a first satellite positioning signal of the vehicle-mounted terminal, where the first satellite positioning signal is used to record a first timestamp corresponding to the geographical location of the vehicle-mounted terminal; Sending the first satellite positioning signal to the time synchronization module; The time synchronization module is used to receive the first satellite positioning signal, and generate a precise time protocol PTP signal based on the first satellite positioning signal; and send the PTP signal to the signal transfer module; The signal transfer module is used to transfer the PTP signal to the radar sensor component and the camera component; The radar sensor assembly is configured to receive the PTP signal and adjust a first clock unit in the radar sensor assembly based on the first timestamp indicated in the PTP signal; The camera assembly is used to receive the PTP signal and adjust the second clock unit in the camera assembly based on the first timestamp indicated in the PTP signal.

2. The system according to claim 1, characterized in that The radar sensor assembly includes a first radar sensor and a second radar sensor; The first radar sensor is configured to receive the PTP signal and adjust a third clock unit in the first radar sensor based on the first timestamp indicated in the PTP signal, wherein the third clock unit includes a second timestamp adjusted according to the first timestamp; generating a first synchronization signal based on the second timestamp, and sending the first synchronization signal to the second radar sensor; The second radar sensor is used to receive the first synchronization signal and adjust a fourth clock unit in the second radar sensor according to the second timestamp indicated in the first synchronization signal.

3. The system according to claim 2, characterized in that The camera assembly includes a first camera device and a second camera device; The first camera device is configured to receive the PTP signal and adjust a fifth clock unit of the first camera device based on the first timestamp indicated in the PTP signal, wherein the fifth clock unit includes a third timestamp adjusted according to the first timestamp; generating a second synchronization signal based on the third timestamp, and sending the second synchronization signal to the second camera device; The second camera device is used to receive the second synchronization signal and adjust a sixth clock unit of the second camera device based on the third timestamp indicated in the second synchronization signal.

4. The system according to any one of claims 1 to 3, characterized in that: The radar sensor component is further used to collect a PPS signal of pulses per second, where the PPS signal is used to indicate the timestamp information generated by the radar sensor component every second in a working state; generate a third synchronization signal based on the PPS signal, and send the third synchronization signal to the camera component; The camera assembly is also used to receive the third synchronization signal and adjust the second clock unit in the camera assembly based on the timestamp information indicated in the third synchronization signal.

5. The system according to claim 4, characterized in that The radar sensor assembly is further used to send the third synchronization signal to the signal transfer module; The signal transfer module is further used to receive the third synchronization signal and the second satellite positioning signal sent by the satellite navigation module; adjust the timestamp information indicated in the third synchronization signal based on the fourth timestamp indicated in the second satellite signal, and generate a fourth synchronization signal; Sending the fourth synchronization signal to the camera assembly; The camera assembly receives the fourth synchronization signal and adjusts the second clock unit in the camera assembly based on the fourth synchronization signal.

6. The system according to any one of claims 1 to 3, characterized in that: The signal transfer module is further used to generate a first time synchronization certificate based on the PTP signal, wherein the first time synchronization certificate is used to indicate a signal used to execute a time synchronization process in the time synchronization system; and send the first time synchronization certificate to the radar sensor component and the camera component; The radar sensor component is further used to receive the first time synchronization certificate, establish a communication connection with the satellite navigation module, and execute a time synchronization process; The camera component is also used to receive the first time synchronization certificate, establish a communication connection with the satellite navigation module, and execute the time synchronization process.

7. The system according to claim 6, characterized in that After the radar sensor component establishes a communication connection with the satellite navigation module, the satellite navigation module is further used to send a first time message sequence to the radar sensor component, wherein the first time message sequence records a first sending time of sending the first time message sequence; The radar sensor component is further used to receive the first time message sequence and record a first receiving time of receiving the first time message sequence; Determine a first message delivery time of the first time message sequence based on the first sending time and the first receiving time; A first time delivery deviation is determined based on the first message delivery time, and the first clock unit in the radar sensor assembly is adjusted based on the first time delivery deviation.

8. The system according to claim 6, characterized in that After the camera assembly establishes a communication connection with the satellite navigation module, the satellite navigation module is further used to send a second time message sequence to the camera assembly, wherein the second time message sequence records a second sending time of sending the second time message sequence; The camera assembly is further used to receive the second time message sequence and record a second receiving time of receiving the second time message sequence; Determine a second message delivery time of the second time message sequence based on the second sending time and the second receiving time; A second time transfer deviation is determined based on the second message transfer time, and the second clock unit in the camera assembly is adjusted based on the second time transfer deviation.

9. The system according to any one of claims 1 to 3, characterized in that: The radar sensor component is further used to generate a second time synchronization certificate according to the PTP signal, and send the second time synchronization certificate to the camera component, where the second time synchronization certificate is used to indicate a signal used to execute the time synchronization process in the time synchronization system; The camera assembly is further configured to receive the second time synchronization credential and establish a communication connection with the radar sensor assembly; After the camera assembly establishes a communication connection with the radar sensor, the radar sensor is further used to send a third time message sequence to the camera assembly, wherein the third time message sequence records a third sending time of sending the third time message sequence; The camera assembly is further used to receive the third time message sequence and record a third receiving time of the third time message sequence; Determine a third message delivery time corresponding to the third message sequence based on the third sending time and the third receiving time; A third time transfer deviation is determined based on the third message transfer time, and the second clock unit in the camera assembly is adjusted based on the third time transfer deviation.

10. The system according to any one of claims 1 to 3, characterized in that: The radar sensor component is further used to generate a radar time verification signal, wherein the radar time verification signal records the first moment when the radar sensor generates the radar time verification signal; The satellite navigation module is further used to generate a navigation time verification signal, wherein the navigation time verification signal records a second time when the satellite navigation module generates the navigation time verification signal; The camera assembly is further used to generate a camera time verification signal, wherein the camera time verification signal records a third moment when the camera assembly generates the camera time verification signal; The signal transfer module is further used to receive the radar time verification signal sent by the radar sensor component, and record a fourth moment of receiving the radar time verification signal; receive the navigation time verification signal sent by the satellite navigation module, and record a fifth moment of receiving the navigation time verification signal; receive the video time verification signal sent by the camera component, and record a sixth moment of receiving the video time verification signal; generate a first time deviation corresponding to the radar sensor based on the first moment and the fourth moment, and generate a second time deviation corresponding to the satellite navigation module based on the second moment and the fifth moment, and generate a third time deviation corresponding to the camera component based on the third moment and the sixth moment; The signal transfer module is further used to send the first time deviation, the second time deviation and the third time deviation to the vehicle terminal; The vehicle-mounted terminal is used to receive the first time deviation, the second time deviation and the third time deviation; in response to the first time deviation meeting the preset time difference threshold, the second time deviation meeting the preset time difference threshold, and the third time deviation meeting the preset time difference threshold, a prompt message is displayed on the vehicle-mounted screen of the vehicle-mounted terminal, and the prompt message is used to indicate that time synchronization between the radar sensor component and the camera component is completed.

Images