Time synchronization device and method for automatic driving, vehicle and storage medium

Abstract

The embodiment of the invention provides time synchronization equipment and method for automatic driving, a vehicle and a storage medium. The time synchronization equipment comprises a time source component which comprises a plurality of time sources which at least comprise a global navigation satellite system time source, a real-time clock time source and a network time protocol time source; and a control unit including an output port coupled to the automatic driving processor and a plurality of input ports coupled to the plurality of time sources, respectively, the control unit is suitable for acquiring time information from at least one of the global satellite navigation system time source, the real-time clock time source and the network time protocol time source according to the available conditions of the global satellite navigation system time source, the real-time clock time source and the network time protocol time source; and the acquired time information is sent to the automatic driving processor through the output port. Therefore, the accuracy of time synchronization of all the devices in the vehicle can be improved, and meanwhile the architecture of the automatic driving controller is simplified.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of autonomous driving, and particularly to a time synchronization device, method, vehicle, and storage medium for autonomous driving. Background Art

[0002] Currently, in the field of autonomous driving, frequent communication between multiple devices in a vehicle is required to achieve precise cooperation between the devices. Most of the existing multiple devices inside the vehicle use their own timing methods, resulting in a large time difference between multiple devices of the vehicle, thus affecting the cooperation between the devices. Summary of the Invention

[0003] In a first aspect of the present disclosure, a time synchronization device for autonomous driving is provided. The time synchronization device includes: a time source component including multiple time sources, the multiple time sources at least including a global navigation satellite system time source, a real-time clock time source, and a network time protocol time source, the global satellite navigation system time source being adapted to obtain time information from the global satellite navigation system, the real-time clock time source being adapted to obtain satellite signals and obtain time information from the satellite signals, the network time protocol time source being adapted to obtain time information from an external network and the obtained time information; and a control unit including multiple input ports respectively coupled to an output port of an autonomous driving processor and coupled to the multiple time sources, the control unit being adapted to obtain time information from at least one of the global satellite navigation system time source, the real-time clock time source, and the network time protocol time source according to the availability of the global satellite navigation system time source, the real-time clock time source, and the network time protocol time source, and send the obtained time information to the autonomous driving processor via the output port.

[0004] In some embodiments, the control unit is further configured to: in response to determining that one of the multiple time sources is unavailable, obtain time information from other available time sources among the multiple time sources.

[0005] In some embodiments, the control unit is further configured to: in response to determining that all of the multiple time sources are available, obtain time information from the global satellite navigation system time source among the multiple time sources.

[0006] In some embodiments, the control unit is further configured to: in response to determining that the gap between a first time indicated by the time information obtained by the global satellite navigation system time source and a second time indicated by the time information obtained by the real-time clock time source or the network time protocol time source is greater than a predetermined duration, use the first time to calibrate the second time of the real-time clock time source or the network time protocol time source.

[0007] In some embodiments, the time source component and the control unit are arranged on the same circuit board.

[0008] The time information of multiple types of time sources is obtained through a time source component, so that the control unit can select the time information corresponding to the appropriate time source in different situations and send it to the autonomous driving processor, improving the time consistency among the autonomous driving processor and multiple devices in the vehicle, and also simplifying the architecture of the autonomous driving processor and optimizing the circuit layout.

[0009] In a second aspect of the present disclosure, a time synchronization method for autonomous driving is provided. The time synchronization method includes: determining the available states of multiple time sources in a time source component; obtaining time information from at least one time source among the multiple time sources according to the available states of the multiple time sources; and sending the obtained time information to an autonomous driving processor via an output port.

[0010] In some embodiments, the time synchronization method further includes: in response to determining that one time source among the multiple time sources is unavailable, obtaining time information from other available time sources among the multiple time sources.

[0011] In some embodiments, the time synchronization method further includes: in response to determining that all the multiple time sources are available, obtaining time information from the global satellite navigation system time source among the multiple time sources.

[0012] In some embodiments, the time synchronization method further includes: in response to determining that the gap between a first time indicated by the time information obtained from the global satellite navigation system time source among the multiple time sources and a second time indicated by the time information obtained from the RTC time source or NTP time source among the multiple time sources is greater than a predetermined duration, using the first time to calibrate the second time of the RTC time source or NTP time source.

[0013] In a third aspect of the present disclosure, a vehicle is provided. The vehicle includes: a time synchronization device provided according to the first aspect of the present disclosure; and an autonomous driving processor coupled to the time synchronization device to obtain time information from the time synchronization device.

[0014] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the second aspect.

[0015] It should be understood that the content described in this part is not intended to limit the key features or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. Description of the Drawings

[0016] In conjunction with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. In the drawings, the same or similar reference numerals denote the same or similar elements, where:

[0017] Figure 1 A simplified schematic diagram of a time synchronization device according to an embodiment of the present disclosure is shown;

[0018] Figure 2 A flowchart of a time synchronization method for autonomous driving according to an embodiment of the present disclosure is shown; and

[0019] Figure 3 A schematic block diagram of an electronic device suitable for implementing the embodiments of the present disclosure is shown. Detailed Embodiments

[0020] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of the present disclosure.

[0021] It should be noted that the titles of any sections / subsections provided herein are not restrictive. Various embodiments are described throughout this document, and any type of embodiment can be included under any section / subsection. In addition, the embodiments described in any section / subsection can be combined with any other embodiments described in the same section / subsection and / or different sections / subsections in any manner.

[0022] In the description of the embodiments of the present disclosure, the term "including" and its like should be understood as an open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". There may be other explicit and implicit definitions hereinafter. The terms "first", "second", etc. may refer to different or the same objects. There may be other explicit and implicit definitions hereinafter.

[0023] The principles of the present disclosure will be described below with reference to several exemplary embodiments shown in the accompanying drawings. Although the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the description of these embodiments is only to enable those skilled in the art to better understand and then implement the present disclosure, and not to limit the scope of the present disclosure in any way.

[0024] In addition, the term "responsive to" as used herein represents a state in which a corresponding event occurs or a condition is satisfied. It will be understood that the timing of the execution of subsequent actions performed responsive to the event or condition and the time when the event occurs or the condition is established may not necessarily be strongly correlated. For example, in some cases, the subsequent action may be executed immediately when the event occurs or the condition is established; while in other cases, the subsequent action may be executed after a period of time after the event occurs or the condition is established.

[0025] Embodiments of the present disclosure may involve user data, data acquisition and / or use, etc. All of these aspects comply with the corresponding laws, regulations and related provisions. In the embodiments of the present disclosure, the collection, acquisition, processing, processing, forwarding, use, etc. of all data are carried out on the premise that the user is aware and confirms. Accordingly, when implementing the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained through appropriate means in accordance with the relevant laws and regulations. The specific notification and / or authorization methods may vary according to the actual situation and application scenarios, and the scope of the present disclosure is not limited in this regard.

[0026] For the solutions described in this specification and the embodiments, if they involve personal information processing, they will all be processed on the premise of having a legal basis (such as obtaining the consent of the personal information subject, or being necessary for performing a contract, etc.), and will only be processed within the specified or agreed scope. If the user refuses to process personal information other than the necessary information required for the basic functions, it will not affect the user's use of the basic functions.

[0027] As briefly mentioned above, in the field of autonomous driving, multiple devices in a vehicle need to cooperate with each other to achieve corresponding functions. For traditional autonomous driving vehicles, since the various modules for autonomous driving are separated from each other, their time synchronization is also separated. That is, the vehicle's integrated positioning system (Pbox) is timed by a global navigation satellite system (GNSS) time source, the vehicle's telecommunication terminal (Tbox) is timed by the network time protocol (NTP), and the time synchronization of the integrated positioning system and the telecommunication system is completed by the autonomous driving processor (ACU). In this case, the existing architecture inside an autonomous driving vehicle is relatively complex. For example, multiple wires are required for communication between the existing integrated positioning system and the autonomous driving processor, resulting in a relatively complex architecture of the autonomous driving processor.

[0028] A time synchronization device, method, vehicle, and storage medium for autonomous driving are proposed according to embodiments of the present disclosure to solve or at least partially solve the above problems and other potential problems existing in the traditional solutions. According to various embodiments of the present disclosure, the time source component includes multiple time sources, and the multiple time sources are configured to obtain different time information respectively. Specifically, the multiple time sources include a Global Navigation Satellite System (GNSS) time source, a Real-Time Clock (RTC) time source, and a Network Time Protocol (NTP) time source. The Global Navigation Satellite System time source is used to obtain time information from the Global Navigation Satellite System, the Real-Time Clock time source is suitable for obtaining satellite signals, and the Network Time Protocol time source is suitable for obtaining time information through an external network. The multiple time information is input into the control unit through the input port of the control unit. The control unit selects the corresponding time information according to the availability and accuracy of the above time information, and performs time synchronization on multiple devices in the vehicle. After the time synchronization, the time error between the devices becomes smaller, thereby improving the accuracy of the cooperation between the devices.

[0029] Figure 1 FIG. 4 shows a simplified schematic diagram of a time synchronization device 100 according to an embodiment of the present disclosure. As Figure 1 shown, the time synchronization device 100 for autonomous driving generally includes a time source component 102 suitable for providing multiple sets of time information and an output port for receiving the multiple sets of time information and outputting time information to an autonomous driving processor according to the multiple sets of time information.

[0030] The time source component 102 includes multiple time sources, and the multiple time sources are respectively used to obtain multiple different types of time information. The control unit 101 includes an input port respectively coupled to the multiple time sources and an output port coupled to the autonomous driving processor. The control unit 101 is configured to, after obtaining the time information of the multiple time sources, select at least one time source according to the availability of each time source and send it to the autonomous driving processor through the output port to achieve time synchronization of related devices.

[0031] The multiple time source components 102 at least include a Global Navigation Satellite System time source, a Real-Time Clock time source, and a Network Time Protocol time source.

[0032] The Global Navigation Satellite System time source is configured to obtain time information from the Global Navigation Satellite System. Compared with the other two time sources, the Global Navigation Satellite System has the highest accuracy. At the same time, the Global Navigation Satellite System time source has a high dependence on the Global Navigation Satellite System signal. When the vehicle is driving in an area with weak satellite signals such as a tunnel or an underground garage, the Global Navigation System time source may not be able to work due to the inability to receive satellite signals.

[0033] The real-time clock time source provides a stable time signal through a crystal oscillator and a crystal oscillation circuit. Moreover, the real-time clock time source can be powered by energy storage components such as batteries and capacitors after the main power supply is cut off, and continue to provide time signals. The real-time clock signal can also obtain time information through satellite signals when satellite signals can be acquired, so as to realize the calibration of its own time information.

[0034] The Network Time Protocol (NTP) time source can obtain time signals from the network and has the advantage of being unaffected by satellite signals. The Network Time Protocol is a protocol used to synchronize the time of computing devices. It can synchronize computing devices with its server or clock source (such as quartz clocks, GPS, etc.). It can provide highly accurate time correction (less than 1 millisecond difference from the standard on LAN, dozens of milliseconds on WAN), and can prevent malicious protocol attacks through encrypted confirmation. The purpose of NTP is to provide accurate and robust time services in a disorderly network environment.

[0035] Based on the above three time sources, considering from the aspect of accuracy, the time information of the Global Navigation Satellite System (GNSS) time source is superior to that of the real-time clock time source, which is superior to that of the network protocol time source. When all three time sources are available, the control unit 101 preferentially selects the time information of the GNSS time source and outputs it to the autonomous driving processor through the output port. When the vehicle is unable to obtain satellite signals for a short period of time (e.g., 1 hour, 5 hours) (for example, when the vehicle is in a tunnel or an underground parking lot and cannot obtain satellite signals), and the GNSS time source becomes unavailable, the control unit 101 will output the time information of the real-time clock to the autonomous driving processor. If the vehicle is unable to obtain satellite signals for a long period of time (e.g., 1 day, 3 days) (for example, when the vehicle is parked in an underground parking lot for a long time), resulting in the real-time clock time being unable to be calibrated by satellite signals for a long time, the control unit 101 will select to output the time information of the network protocol time source to the autonomous driving processor. Thus, the control unit 101 outputs the time information of the corresponding time source under various circumstances, thereby improving the accuracy of the time information. In addition, the control unit 101 directly outputs the same kind of time information to the autonomous driving processor, which also simplifies the architecture of the autonomous driving processor and optimizes the circuit layout.

[0036] In some embodiments, when the gap between the first time corresponding to the time information obtained by the global navigation satellite system time source and the second time indicated by the time information obtained by the real-time clock time source or the network protocol time source is greater than a predetermined duration, the processing unit may use the first time to calibrate the second time. For example, when a vehicle has been parked in an underground parking lot for a long time, resulting in the unavailability of the time information obtained by the global navigation satellite system time source and inaccurate time information obtained by the real-time clock time source or the network protocol time source of the vehicle. Once the vehicle travels to a location where satellite signals can be received, the global navigation satellite system time source is re-enabled at this time, and the control unit 101 outputs the time information corresponding to the global navigation satellite system time source. In addition, the control unit 101 calibrates the second time indicated by the time information obtained by the real-time clock time source or the network protocol time source according to the first time indicated by the time information of the global navigation satellite system time source. In this way, the accuracy of the real-time clock time source or the network protocol time source is improved.

[0037] In some embodiments, the time source component 102 and the control unit 101 component are arranged on the same circuit board, thereby improving the integrity of the time synchronization device 100 and the integration degree of the components for autonomous driving, and facilitating the operation and maintenance personnel to debug and assemble the time synchronization device 100.

[0038] Figure 2 The flowchart of the time synchronization method for autonomous driving according to an embodiment of the present disclosure is shown. This method can be executed by a time synchronization device for autonomous driving in a vehicle. As Figure 2 shown, in block 210, the time synchronization device determines the available status of multiple time sources in the time source component. In some embodiments, the multiple time sources may include a global navigation satellite system time source, a real-time clock time source, and a network time protocol time source. The global navigation satellite system time source can obtain time information from the global navigation satellite system. The real-time clock time source can record time according to a crystal oscillator and a crystal oscillation circuit, and update the time information with satellite signals when satellite signals can be received to improve the accuracy of the time information. The network time protocol time source can obtain a time signal from the network.

[0039] In block 220, time information is obtained from at least one of the multiple time sources according to the available status of the multiple time sources. In some embodiments, when the global navigation satellite system time source, the real-time clock time source, and the network time protocol time source are all available, the time synchronization device preferentially selects the time information obtained by the global navigation satellite system time source. When satellite signals are unavailable for a short time, the time synchronization device preferentially selects the time information obtained by the real-time clock time source. When satellite signals are unavailable for a long time, the time synchronization device preferentially selects the time information obtained by the network time protocol time source.

[0040] At the frame 230, the time synchronization device sends the acquired time information to the autonomous driving processor via the output port. In this way, the autonomous driving processor can use unified and accurate time to control various devices coupled thereto, thereby improving the time synchronization and reliability of autonomous driving.

[0041] Figure 3 FIG. shows a schematic block diagram of an electronic device 300 suitable for implementing embodiments of the present disclosure. The electronic device 300 may be a server communicating with a vehicle as mentioned above, or a control system of the vehicle itself, or other suitable devices. As Figure 3 shown, the electronic device 300 includes at least one processing unit and at least one memory. The at least one processing unit may employ a central processing unit (CPU) 301, which may execute various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 302 or computer program instructions loaded from a storage unit into a random access memory (RAM) 303. In the RAM 303, various programs and data required for device operation may also be stored. The CPU 301, ROM 302, and RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0042] Multiple components in the electronic device 300 are connected to the I / O interface 305, including: an input unit 306, such as a touch screen, buttons, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disc, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the electronic device 300 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0043] The various processes and treatments described above, such as the processes mentioned above, may be executed by the processing unit 301. For example, in some embodiments, the processes 210, 220, and 230 may be implemented as computer software programs that are tangibly contained in a machine-readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the CPU 301, one or more actions of the processes 210, 220, and 230 described above may be executed.

[0044] Embodiments of the present disclosure relate to methods, electronic devices, and / or computer program products. The computer program product may include a computer-readable storage medium having thereon computer-readable program instructions for performing various aspects of the present disclosure.

[0045] The computer-readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. The computer-readable storage medium may be, for example, (but is not limited to) an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanically encoded device such as a punch card or raised structures in a groove having instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium as used herein is not construed as a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0046] The computer-readable program instructions described herein may be downloaded from the computer-readable storage medium to various computing / processing devices, or may be downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0047] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine - related instructions, microcode, firmware instructions, state - setting data, or source code or object code written in any combination of one or more programming languages, including object - oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer - readable program instructions may be executed entirely on the user's computer, partially on the user's computer, executed as a stand - alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or alternatively, may be connected to an external computer (e.g., through the Internet using an Internet service provider). In some embodiments, by using the state information of the computer - readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field - programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer - readable program instructions to implement various aspects of the present disclosure.

[0048] Aspects of the present disclosure are described herein with reference to the flowchart and / or block diagram of a method, apparatus (system), and computer program product according to embodiments of the present disclosure. It should be understood that each block of the flowchart and / or block diagram, and the combinations of blocks in the flowchart and / or block diagram, can be implemented by computer - readable program instructions.

[0049] These computer - readable program instructions can be provided to a processing unit of a general - purpose computer, a special - purpose computer, or other programmable data - processing apparatus to produce a machine such that, when the instructions are executed by the processing unit of the computer or other programmable data - processing apparatus, a device is produced that implements the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer - readable program instructions can also be stored in a computer - readable storage medium, which causes a computer, a programmable data - processing apparatus, and / or other devices to operate in a particular manner. Thus, the computer - readable medium storing the instructions includes a manufacture, which includes instructions for implementing various aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0050] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device, causing a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process such that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in one or more boxes of the flowchart and / or block diagram.

[0051] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two consecutive blocks may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block of the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or acts, or by a combination of dedicated hardware and computer instructions.

[0052] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application, or the technical improvement of technologies in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A time synchronization device for autonomous driving, comprising: a time source component (102), including a plurality of time sources, the plurality of time sources at least including a global navigation satellite system time source, a real-time clock time source, and a network time protocol time source, the global satellite navigation system time source being adapted to obtain time information from the global satellite navigation system, the real-time clock time source being adapted to obtain a satellite signal and obtain time information from the satellite signal, and the network time protocol time source being adapted to obtain time information from an external network and the obtained time information; and a control unit (101), including an output port respectively coupled to an autonomous driving processor and a plurality of input ports coupled to the plurality of time sources, the control unit (101) being adapted to obtain the time information from at least one of the global satellite navigation system time source, the real-time clock time source, and the network time protocol time source according to the availability of the global satellite navigation system time source, the real-time clock time source, and the network time protocol time source, and send the obtained time information to the autonomous driving processor via the output port.

2. The time synchronization device according to claim 1, wherein the control unit (101) is further configured to: in response to determining that one of the plurality of time sources is unavailable, obtain the time information from other available time sources among the plurality of time sources.

3. The time synchronization device according to claim 1, wherein the control unit (101) is further configured to: in response to determining that all of the plurality of time sources are available, obtain the time information from the global satellite navigation system time source among the plurality of time sources.

4. The time synchronization device according to claim 1, wherein the control unit (101) is further configured to: in response to determining that the gap between a first time indicated by the time information obtained by the global satellite navigation system time source and a second time indicated by the time information obtained by the real-time clock time source or the network time protocol time source is greater than a predetermined duration, use the first time to calibrate the second time of the real-time clock time source or the network time protocol time source.

5. The time synchronization device according to any one of claims 1-4, wherein the time source component (102) and the control unit (101) are arranged on the same circuit board.

6. A time synchronization method for autonomous driving, comprising: determining the availability status of a plurality of time sources in a time source component; obtaining the time information from at least one of the plurality of time sources according to the availability status of the plurality of time sources; and sending the obtained time information to the autonomous driving processor via an output port.

7. The time synchronization method according to claim 6, further comprising: in response to determining that one of the plurality of time sources is unavailable, obtaining the time information from other available time sources among the plurality of time sources.

8. The time synchronization method according to claim 6, further comprising: In response to determining that all of the multiple time sources are available, obtain the time information from a global satellite navigation system time source among the multiple time sources.

9. The time synchronization method according to claim 6, further comprises: In response to determining that a gap between a first time indicated by the time information obtained from the global satellite navigation system time source among the multiple time sources and a second time indicated by the time information obtained from a real-time clock time source or a network time protocol time source among the multiple time sources is greater than a predetermined duration, use the first time to calibrate the second time of the real-time clock time source or the network time protocol time source.

10. A vehicle, comprising: The time synchronization device according to any one of claims 1-5; and An autonomous driving processor, coupled to the time synchronization device to obtain time information from the time synchronization device.

11. A computer-readable storage medium, on which a computer program is stored, and the computer program can be executed by a processor to implement the time synchronization method according to any one of claims 6-9.

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