Controller, time synchronization method of Internet of Vehicles data, medium, product and vehicle

Abstract

The invention relates to a domain controller, an Internet of Vehicles data time synchronization method, a medium, a product and a vehicle. The domain controller comprises a main control chip, a time service module and an Internet of Vehicles communication module, and the time service module is used for realizing time synchronization of the main control chip and the Internet of Vehicles communication module. According to the invention, time synchronization of the main control chip and the vehicle networking communication module is realized by using the time service module, so that real-time vehicle networking data can be effectively processed, and the low-delay data obtained by processing can effectively improve the intelligent auxiliary driving effect of the vehicle pair.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a controller and the steps of a time synchronization method for vehicle networking data. Background Art

[0002] V2X (Vehicle-to-Everything) is a vehicle networking communication technology based on cellular networks, which can realize the information exchange and sharing between vehicles and the outside world, such as other vehicles, pedestrians or road infrastructure, and can improve driving safety, traffic efficiency, and provide information services, ultimately collaborating to achieve intelligent driving.

[0003] However, the vehicle networking technology has high requirements for data real-time performance, often requiring a delay as low as milliseconds, while currently, there are often problems of time asynchronization between vehicle networking modules and intelligent driving systems. Summary of the Invention

[0004] Embodiments of this application provide a controller, a time synchronization method, medium, product, and vehicle for vehicle networking data, aiming to meet the time synchronization requirements for vehicle networking data in an intelligent driving system.

[0005] Embodiments of this application provide a controller, which includes a main control chip, a timing module, and a vehicle networking communication module;

[0006] The timing module is used to achieve time synchronization between the main control chip and the vehicle networking communication module.

[0007] In an embodiment of this application, the timing module is a satellite navigation system timing module, and the satellite navigation system timing module is arranged in a satellite navigation module.

[0008] In an embodiment of this application, the satellite navigation system timing module communicates with the main control chip and the vehicle networking communication module through a universal serial data bus to achieve time synchronization between the main control chip and the vehicle networking communication module.

[0009] In an embodiment of this application, the satellite navigation system timing module is further used to send pulse signals to the main control chip and the vehicle networking communication module to achieve time calibration between the main control chip and the vehicle networking communication module.

[0010] In an embodiment of this application, the controller further includes a satellite navigation antenna, and the satellite navigation antenna is connected to the satellite navigation module.

[0011] In an embodiment of this application, the satellite navigation antenna is used to receive satellite signals, and the satellite navigation module is used to calculate time information from the received satellite signals.

[0012] In one embodiment of the present application, the main control chip and the vehicle networking communication module are communicatively connected based on Ethernet to achieve time synchronization through the time synchronization protocol of the Ethernet.

[0013] In one embodiment of the present application, the main control chip is further configured to process the first vehicle networking data sent by the vehicle networking communication module.

[0014] In one embodiment of the present application, the main control chip is further configured to process the first vehicle networking data based on the received vehicle data to obtain second vehicle networking data, where the received vehicle data includes at least one of vehicle positioning information and vehicle driving state information.

[0015] In one embodiment of the present application, the controller further includes a navigation module communicatively connected to the main control chip, and the vehicle positioning information is sent through the navigation module.

[0016] In one embodiment of the present application, the navigation module and the timing module are integrally provided in a satellite navigation module.

[0017] In one embodiment of the present application, the positioning information includes at least one of lane information, road section information, and road node information.

[0018] In one embodiment of the present application, the driving state information includes at least one of vehicle identification information, heading angle, speed, acceleration, braking information, and vehicle emergency information.

[0019] In one embodiment of the present application, the main control chip is further configured to send the second vehicle networking data to the vehicle networking communication module.

[0020] In one embodiment of the present application, the vehicle networking communication module is further configured to receive the first vehicle networking data from an external communication module and send it to the main control chip.

[0021] In one embodiment of the present application, the first vehicle networking data includes at least one of the message body of a basic safety message, a map message, a roadside unit message, a roadside safety message, and a traffic signal message.

[0022] In one embodiment of the present application, the external communication module includes at least one of a first communication module on another vehicle, a second communication module on a road facility, and a third communication module on a mobile terminal device.

[0023] In one embodiment of the present application, the vehicle networking communication module includes a radio frequency transceiver modem, and the radio frequency transceiver modem is used to implement the conversion between digital signals and analog signals.

[0024] In one embodiment of the present application, the vehicle networking communication module further includes a transceiver antenna, and the transceiver antenna is connected to the radio frequency transceiver modem through a radio frequency cable.

[0025] In one embodiment of the present application, the transceiver antenna is a dual-antenna module that can achieve dual transmission and dual reception.

[0026] In one embodiment of the present application, the controller further includes a security module communicatively connected to the main control chip, and the security module is used to perform security verification operations on the transmitted data.

[0027] In one embodiment of the present application, the security verification operation includes at least one of encryption operation, decryption operation, signature operation, and signature verification operation.

[0028] In one embodiment of the present application, the controller further includes a storage module communicatively connected to the main control chip, and the storage module is used to store debugging information and / or log information of the transmitted data.

[0029] In one embodiment of the present application, the controller is an intelligent driving domain controller.

[0030] In addition, the present application also provides a method for time synchronization of vehicle networking data, which is applied to the controller as described in any one of the above, and the method includes:

[0031] Implement time synchronization between the main control chip and the vehicle networking communication module through the timing module in the controller.

[0032] In one embodiment of the present application, the method further includes:

[0033] When the main control chip and the vehicle networking communication module are time-synchronized, the vehicle networking communication module sends the received vehicle networking data to the main control chip for processing.

[0034] In addition, an embodiment of the present application also provides a storage medium, including a computer program, when the computer program runs on the controller, the computer program is used to make the controller execute the steps of the above-mentioned method for time synchronization of vehicle networking data.

[0035] In addition, an embodiment of the present application also provides a computer program product, including a computer program or instruction, when the computer program or instruction is executed by a processor, it implements the steps of the above-mentioned method for time synchronization of vehicle networking data.

[0036] In addition, an embodiment of the present application also provides a vehicle, including the controller as described in any one of the above, or used to execute the steps of the above-mentioned method for time synchronization of vehicle networking data

[0037] In the embodiment of the present application, by integrating the vehicle network communication module, the main control chip and the timing module in the controller, and using the timing module to achieve the time synchronization of the main control chip and the vehicle network communication module, the real-time vehicle network data can be effectively processed, and the low-latency data obtained by the processing can effectively improve the effect of intelligent assisted driving of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0039] Figure 1 It is a schematic diagram of the architecture of the on-vehicle unit OBU in the related art;

[0040] Figure 2 It is a schematic diagram of the modules of a controller provided by an embodiment of the present application;

[0041] Figure 3 It is a schematic diagram of the complete hardware architecture of a controller provided by an embodiment of the present application;

[0042] Figure 4 It is a schematic diagram of the complete software communication process of a controller provided by an embodiment of the present application;

[0043] Figure 5 It is a schematic diagram of the step flow of a time synchronization method for vehicle network data provided by an embodiment of the present application;

[0044] Figure 6 It is a schematic diagram of the structure of a controller provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present application.

[0046] In addition, "a plurality" in the embodiments of the present application refers to two or more. "First" and "second" in the embodiments of the present application are used for distinguishing descriptions, and cannot be understood as implying relative importance.

[0047] To clearly understand the controller provided in the embodiments of the present application, as well as the time synchronization method, medium, product, and vehicle for vehicle networking data, the relevant application scenarios of vehicle networking technology will be described first. Specifically, vehicle networking technology (Vehicle-to-Everything, V2X) is based on a cellular network and can be used to meet the information exchange and sharing between vehicles and the outside world, such as other vehicles and pedestrians. It can be used to enhance driving safety, improve traffic efficiency, provide information services, and ultimately collaborate to achieve intelligent driving.

[0048] Currently, vehicle networking technology is usually integrated and set in an on-board unit (OBU), including a V2X communication module and a protocol stack. Therefore, a vehicle equipped with the on-board unit OBU has the ability to exchange and share information data with the outside world. However, currently, vehicles equipped with the on-board unit OBU and having automatic (or assisted) driving often have two independent systems operating, each using the hardware within the system and connected through a controller area network. Specifically, please refer to Figure 1 , Figure 1 which is a schematic diagram of the architecture of the on-board unit OBU in the related technology. It can be seen that the on-board unit OBU integrates a V2X communication module and other related modules for processing vehicle networking data, such as an AP (Application Processor) processor dedicated to V2X protocol stack operations, an encryption module, an external storage, and a GNSS (Global Navigation Satellite System) module. In addition, the on-board unit OBU is also provided with an MCU (Microcontroller Unit) to communicate with other domain controllers, such as an intelligent driving domain controller, through a controller area network (CAN), so as to collaborate to achieve intelligent driving.

[0049] However, the above architecture will have the problem that the vehicle networking data obtained by vehicle networking technology is not synchronized with the intelligent driving data in time, thus affecting the effect of vehicle networking data collaborating with intelligent driving. And it is precisely to solve the above problems that in an embodiment of the present application, a solution for integrating V2X and the domain control system is provided. By reusing relevant modules within the controller, it is used to process vehicle networking data and perform time synchronization, so as to better collaborate to achieve intelligent driving. Specifically, please refer to Figure 2 , Figure 2 which is a schematic diagram of the structure of a controller provided in the embodiments of the present application, and is described in detail as follows.

[0050] In the embodiments of the present application, the controller 200 includes a main control chip 201, a timing module 202, and a vehicle networking communication module 203.

[0051] Among them, the timing module 202 is used to achieve time synchronization between the main control chip 201 and the vehicle networking communication module 203.

[0052] Specifically, in the embodiment of the present application, the main control chip 201 adopts a System on Chip (SoC), that is, a system on a chip. In addition, the protocol stack and application program of the vehicle networking technology are also integrated in the SoC, and the computing power of the SoC is borrowed to complete the processing of the protocol stack data of V2X, such as V2X data including the message layer, network layer, application layer, etc., that is, the vehicle networking data.

[0053] Specifically, in the embodiment of the present application, the timing module 202 can be regarded as synchronously sending the standard time, such as UTC (Universal Time Coordinated), to the main control chip 201 and the vehicle networking communication module 203 to achieve time synchronization between the main control chip 201 and the vehicle networking communication module 203. For example, in a possible implementation scheme, the timing module 202 can be configured as a satellite navigation system timing module, and the satellite navigation system timing module is arranged in a satellite navigation module, such as a GNSS module, to confirm the time and positioning information through the received satellite information.

[0054] Furthermore, taking the satellite navigation system timing module as an example, in order to solve the time synchronization problem in the presence or absence of satellite signals, in some embodiments of the present application, multiple different time synchronization methods are also provided. Specifically as follows.

[0055] For example, in one embodiment, when the satellite signal is available, the satellite navigation system timing module communicates with the main control chip and the vehicle networking communication module through a Universal Serial Data Bus to achieve time synchronization between the main control chip and the vehicle networking communication module.

[0056] Among them, in one embodiment, the Universal Serial Data Bus is implemented based on a Universal Asynchronous Receiver / Transmitter (UART).

[0057] Or, in another embodiment, when the satellite signal is unavailable, communication can also be carried out between the main control chip 201 and the vehicle networking communication module 203 based on Ethernet to achieve time synchronization through the time synchronization protocol of the Ethernet.

[0058] For example, in one embodiment, the main control chip and the vehicle networking communication module can be connected through a Media Independent Interface (MII) to achieve Ethernet communication. For example, a Reduced Gigabit Media Independent Interface (RGMII, an efficient interface standard for Gigabit Ethernet) can be used to achieve Ethernet communication.

[0059] Further, in one embodiment, the time synchronization protocol can use the generalized Precision Time Protocol (gPTP).

[0060] Of course, in some embodiments, to further ensure the time synchronization effect between the main control chip and the vehicle networking communication module, the satellite navigation system timing module is further configured to send a pulse signal to the main control chip and the vehicle networking communication module, and the pulse information can be used to achieve time calibration between the main control chip and the vehicle networking communication module. Specifically, in one embodiment, the pulse signal can be a Pulse Per Second (PPS). At this time, during the process of communication between the main control chip and the vehicle networking communication module based on Ethernet, the timestamp in the data packet can be calibrated with the PPS signal, thereby achieving calibration of time synchronization.

[0061] Of course, in the above embodiments, the controller may further include a satellite navigation antenna. The satellite navigation antenna is configured to receive satellite signals and is connected to the satellite navigation module, so that the satellite navigation module is configured to calculate time information from the received satellite signals. Of course, in some embodiments, location information can also be calculated.

[0062] In some embodiments of the present application, the main control chip 201 is further configured to process the first vehicle networking data sent by the vehicle networking communication module 203.

[0063] Of course, in some embodiments of the present application, in addition to being configured to process vehicle networking data, the main control chip in the controller provided by the present application can also process other received vehicle data for intelligent driving. For example, in one embodiment, the main control chip 201 is further configured to process the first vehicle networking data based on the received vehicle data to obtain second vehicle networking data.

[0064] Specifically, in one embodiment, the vehicle data received by the main control chip 201 may include the vehicle's location information and the vehicle's driving status information. Details are as follows.

[0065] In one embodiment, the positioning information of the vehicle is usually sent by the navigation module. For example, in a possible implementation, the navigation module and the timing module are integrated in the satellite navigation module, that is, the satellite navigation module simultaneously realizes time synchronization and satellite positioning functions. Specifically, the positioning information usually may include at least one of lane information, road section information, and road node information.

[0066] Alternatively, in another embodiment, the driving state information of the vehicle is received through the Controller Area Network (CAN). Specifically, the controller can receive it from other domain controllers through the Controller Area Network, such as the power domain controller. Specifically, the driving state information usually may include at least one of vehicle identification information, heading angle, speed, acceleration, braking information, and vehicle emergency condition information.

[0067] Of course, in addition to processing the above-mentioned received vehicle data, the main control chip usually also processes the vehicle networking data sent by the vehicle-to-everything (V2X) module. Specifically, in some embodiments, the vehicle networking communication module is usually also used to receive vehicle networking data from the external communication module and send it to the main control chip.

[0068] Among them, the external communication module usually includes a first communication module on other vehicles, such as the vehicle networking communication module on other vehicles. Of course, it can also include a second communication module on road facilities, such as the communication module installed on the traffic signal lamp for transmitting traffic signal lamp messages. In addition, it can also include mobile terminal devices, such as the third communication module on mobile terminal devices held by pedestrian users, such as mobile phones and watches. That is to say, in some embodiments, the vehicle networking data received from the external communication module usually includes at least one of the message body of the Basic Safety Message (BSM), map message, roadside unit message, roadside safety message, and traffic signal lamp message.

[0069] Furthermore, in one embodiment, the main control chip is also used to send the processed data to the vehicle networking communication module to realize the communication between the vehicle and the external communication module through the vehicle networking communication module. For example, the vehicle can broadcast its own vehicle data, such as real-time status information, through the vehicle networking communication module to inform other vehicles. Of course, it should be noted that usually, the main control chip usually needs to pack the processed data into a BSM-message body according to the required format and transfer it to the vehicle networking communication module so that the BSM-message body broadcast by the vehicle networking communication module can be received by the vehicle networking modules of other vehicles.

[0070] Of course, the data processed by the main control chip can also be used to further implement cooperative intelligent driving. For example, some control signals of the vehicle, such as acceleration, deceleration, steering and other control instructions, can be obtained by processing the received data and sent to the relevant domain controllers through the controller area network between the controller and other domain controllers, such as the power domain controller, to achieve vehicle control.

[0071] In addition, in some embodiments, the vehicle networking communication module generally includes a radio frequency transceiver modem, which is used to realize the conversion between digital signals and analog signals. At this time, the radio frequency transceiver modem is signal-connected to the main control chip through a media-independent interface.

[0072] Furthermore, in some embodiments, the vehicle networking communication module further includes a transceiver antenna, and the transceiver antenna is connected to the radio frequency transceiver modem through a radio frequency line. Specifically, in some embodiments, the transceiver antenna can be a dual-antenna module that realizes dual transmission and dual reception.

[0073] In addition, due to the open nature of the wireless interface of the vehicle networking communication module, it faces security risks such as false base stations, signaling eavesdropping, and tampering. Therefore, in some embodiments, it is also necessary to perform security verification operations on the data transmitted by the system to prevent the vehicle from receiving incorrect signals or executing incorrect instructions.

[0074] Specifically, in one embodiment, the controller further includes a security module, which is used to perform security verification operations on the transmitted data.

[0075] Specifically, the security verification operation generally includes at least one of encryption operations, decryption operations, signature operations, and verification signature operations, that is, operations such as encrypting and decrypting, signing, or verifying signatures on the transmitted information, so as to discard messages with security risks.

[0076] Specifically, in some embodiments, the security module can use a hardware security module (HSM). In addition, the security module is communicatively connected to the main control chip through a Serial Peripheral Interface (SPI).

[0077] In addition, in some embodiments, the controller also needs to store and record some necessary information in the system transmission information, such as debugging information and / or log information, for subsequent fault troubleshooting. Therefore, in some embodiments, the controller further includes a storage module communicatively connected to the main control chip, and the storage module is used to store the debugging information and / or log information of the transmitted data.

[0078] Specifically, the storage module can be an external storage, that is, it is communicatively connected to the main control chip through a Secure Digital Input and Output (SDIO) interface.

[0079] Particularly, the controller described in this application can be a domain controller. For example, it can be one of in-vehicle domain controllers such as a power domain controller, a body domain controller, or a chassis domain controller. Of course, since vehicle networking technology can mainly cooperate to achieve intelligent driving, in an embodiment of this application, an intelligent driving domain controller can be selected as the controller, so as to achieve the intelligent driving of the vehicle faster and more effectively.

[0080] In the embodiment of this application, by integrating the vehicle networking communication module, the main control chip, and the timing module in the controller, the timing module is used to achieve time synchronization between the main control chip and the vehicle networking communication module, so that real-time vehicle networking data can be effectively processed, and the low-latency data obtained by the processing can effectively improve the effect of the vehicle's intelligent assisted driving.

[0081] Specifically, to clearly understand the complete architecture schematic diagram of the controller provided in the embodiment of this application, the following will provide a complete description of the domain controller from the hardware architecture and software architecture in combination with the solution provided in any of the foregoing embodiments. Details are as follows.

[0082] Please refer to Figure 3 , Figure 3 which is a complete hardware architecture schematic diagram of a controller provided in the embodiment of this application. Details are as follows.

[0083] Please refer to Figure 3 , in the embodiment of this application, the controller includes: a GNSS antenna 301, a GNSS module 302, a V2X antenna 303, a V2X module 304, a domain control SoC 305, an encryption module 306, and an external storage 307.

[0084] Among them, the GNSS antenna 301 is used to obtain a high-precision positioning data communication interface and is connected to the GNSS module 302 through a radio frequency cable.

[0085] The V2X antenna 303 is a dual antenna that realizes the function of dual transmission and dual reception, and is used to receive and transmit V2X messages, that is, vehicle networking data, and is connected to the V2X module 304 through a radio frequency cable.

[0086] The GNSS module 302 is used to output the positioning information of the vehicle to the domain control SoC 305, and is connected to the V2X module 304 and the domain control SoC 305 through UART data lines, and is used to transmit UTC time to the V2X module 304 and the domain control SoC 305 to achieve time synchronization between the V2X module 304 and the domain control SoC 305.

[0087] The V2X module 304 generally includes a radio frequency transceiver modem to realize the mutual conversion between digital signals and analog signals, and is connected to the domain control SoC 305 through an RGMII signal interface.

[0088] The domain control SoC 305 can be understood as the central processing unit of the controller, has a certain computing power, and can process the protocol stack data of V2X, including the message layer, network layer, application layer, etc.

[0089] The encryption module 306, that is, the hardware security module, is used to encrypt V2X information. In addition, it can also sign and verify the user identity, and is connected to the domain control SoC 305 through an SPI interface.

[0090] The external storage 307, that is, the storage module, can be used to store relevant data information, such as storing debug information or log information, etc., and can be read and printed through a serial port. The domain control SoC 305 is connected through an SDIO interface.

[0091] In addition, the implementation of vehicle networking technology depends on millisecond-level low latency, so precise time synchronization is required.

[0092] Therefore, in the scenario without satellite signals, the domain control SoC 305 and the V2X module 304 perform gPTP time synchronization based on Ethernet, and calibrate the processed data by adding timestamps to the transmitted data.

[0093] In the scenario with satellite signals, the GNSS module 302 simultaneously transmits the UTC time to the domain control SoC 305 and the V2X module 304.

[0094] In addition, to ensure the data synchronization accuracy, the GNSS module 302 can also provide the PPS pulse signal to the domain control SoC 305 and the V2X module 304 to achieve the calibration of time synchronization.

[0095] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the complete software communication process of a controller provided by an embodiment of this application, and is described in detail as follows.

[0096] Please refer to Figure 4 ,the data communication process between the various hardware in the controller specifically includes:

[0097] 401. The GNSS module outputs positioning data to the domain control SOC, and is connected through a UART data line to transmit the UTC time to the V2X module and the domain control SOC to achieve time synchronization.

[0098] 402. The domain control SOC processes the protocol stack data of the V2X module, including the message layer, network layer, application layer, etc.

[0099] 403, the V2X module is used to implement the mutual conversion between digital signals and analog signals.

[0100] 404, the positioning data is obtained through the 401 - GNSS module, including lane information, road section information, road node information, etc.

[0101] 405, the vehicle body + positioning data is transmitted to the V2X module through the domain control SOC. The vehicle broadcasts its own real - time status information to inform other vehicles. The specific information includes: time, vehicle ID, vehicle position, heading angle, speed, acceleration, braking information, vehicle emergency status information, etc.

[0102] 406, time information. V2X communication requires highly consistent timestamp information between devices. The precise time information provided by the GNSS module is used to ensure that the domain control SOC and the V2X module have the same time reference.

[0103] 407, the V2X data is obtained by the V2X module from the outside and transmitted to the domain control SOC, including BSM message body, map message, roadside unit message, roadside safety message, signal lamp message.

[0104] Based on the controller provided above, the present application further provides a time synchronization method for vehicle - to - everything (V2X) data applied to the controller. Specifically, please refer to Figure 5 , Figure 5 which is the schematic diagram of the step - by - step process of a time synchronization method for vehicle - to - everything (V2X) data provided by an embodiment of the present application. Specifically, it includes step S510:

[0105] S510, realize the time synchronization between the main control chip and the vehicle - to - everything communication module through the timing module in the controller.

[0106] Specifically, in some embodiments of the present application, the method further includes: when the time synchronization between the main control chip and the vehicle - to - everything communication module is achieved, the vehicle - to - everything communication module sends the received vehicle - to - everything data to the main control chip for processing.

[0107] Among them, the relevant execution process of the above - mentioned time synchronization method can refer to the relevant embodiments of the controller described above, and the embodiments of the present application will not repeat them here.

[0108] Specifically, in some embodiments, the main control chip is further used to process the received vehicle data and the vehicle - to - everything data sent by the vehicle - to - everything communication module.

[0109] Specifically, in some embodiments, the timing module communicates with the main control chip and the vehicle networking communication module through a universal serial data bus to achieve time synchronization between the main control chip and the vehicle networking communication module.

[0110] Specifically, in some embodiments, the timing module is further configured to send pulse signals to the main control chip and the vehicle networking communication module to achieve time calibration between the main control chip and the vehicle networking communication module.

[0111] Specifically, in some embodiments, the timing module is further configured to receive satellite signals to calculate time information from the received satellite signals.

[0112] Specifically, in some embodiments, the main control chip communicates with the vehicle networking communication module based on Ethernet to achieve time synchronization through the time synchronization protocol of the Ethernet.

[0113] Specifically, in some embodiments, the main control chip is further configured to process the first vehicle networking data sent by the vehicle networking communication module.

[0114] Specifically, in some embodiments, the main control chip is further configured to process the first vehicle networking data based on the received vehicle data to obtain second vehicle networking data, where the received vehicle data includes at least one of vehicle positioning information and vehicle driving status information.

[0115] Specifically, in some embodiments, the main control chip receives the vehicle positioning information sent by the navigation module, and the positioning information includes at least one of lane information, road section information, and road node information.

[0116] Specifically, in some embodiments, the main control chip receives the vehicle driving status information through a controller area network, and the vehicle driving status information includes at least one of vehicle identification information, heading angle, speed, acceleration, braking information, and vehicle emergency information.

[0117] Specifically, in some embodiments, the main control chip is further configured to send the second vehicle networking data to the vehicle networking communication module. Specifically, in some embodiments, the vehicle networking communication module is further configured to receive vehicle networking data from an external communication module and send it to the main control chip. The vehicle networking data includes at least one of the message body of a basic safety message, a map message, a roadside unit message, a roadside safety message, and a traffic signal message. The external communication module includes at least one of a first communication module on other vehicles, a second communication module on road facilities, and a third communication module on a mobile terminal device.

[0118] Specifically, in some embodiments, the vehicle networking communication module also converts digital signals and analog signals through a radio frequency transceiver modem.

[0119] Specifically, in some embodiments, the vehicle networking communication module also receives vehicle networking data through a transceiver antenna, and the transceiver antenna is a dual-antenna module that can achieve dual transmission and dual reception.

[0120] Specifically, in some embodiments, the security module in the controller is also used to perform security verification operations on the transmitted data.

[0121] Specifically, in some embodiments, the security verification operations include at least one of encryption operations, decryption operations, signature operations, and signature verification operations.

[0122] Specifically, in some embodiments, the security module is communicatively connected to the main control chip through a serial peripheral interface.

[0123] Specifically, in some embodiments, the storage module in the controller is also used to store debugging information and / or log information of the transmitted data.

[0124] Specifically, in some embodiments, the storage module is communicatively connected to the main control chip through a secure digital input / output interface.

[0125] The time synchronization method for vehicle networking data provided by the embodiments of the present application realizes the time synchronization of the main control chip and the vehicle networking communication module by using a timing module, so as to effectively process real-time vehicle networking data, and the processed low-latency data can effectively improve the effect of intelligent assisted driving of the vehicle.

[0126] The embodiments of the present application also provide a controller, as Figure 6 shown, which shows the structural schematic diagram of the controller involved in the embodiments of the present application. Specifically:

[0127] The controller may include components such as a processor 601 with one or more processing cores, a memory 602 with one or more storage media, a power supply 603, and an input unit 604. Those skilled in the art can understand that Figure 6 the controller structure shown in

[0128] The processor 601 is the control center of the controller, connecting various parts of the entire controller through various interfaces and circuits. By running or executing the computer programs and / or modules stored in the memory 602, and by invoking the data stored in the memory 602, it executes various functions of the controller and processes data. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communications. It can be understood that the above-mentioned modem processor may not be integrated into the processor 601 either.

[0129] The memory 602 can be used to store computer programs and modules. The processor 601 executes various functional applications by running the computer programs and modules stored in the memory 602. The memory 602 mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, computer programs required for at least one function (such as sound and light prompt function, anti-pinch function, etc.); the data storage area can store data created according to the use of the controller. In addition, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

[0130] The controller further includes a power supply 603 for supplying power to each component. Preferably, the power supply 603 can be logically connected to the processor 601 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. The power supply 603 may also include any components such as one or more DC or AC power supplies, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0131] The controller may further include an input unit 604, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0132] Although not shown, the controller may also include a display unit, etc., which will not be elaborated here. Specifically, in this embodiment, the processor 601 in the controller will load the executable files corresponding to the processes of one or more computer programs into the memory 602 according to the following instructions, and the processor 601 will run the computer programs stored in the memory 602 to realize various functions, such as:

[0133] The time synchronization between the master control chip and the vehicle network communication module is achieved through the timing module in the controller;

[0134] When the time of the master control chip and the vehicle network communication module is synchronized, the vehicle network communication module sends the received vehicle network data to the master control chip for processing.

[0135] It can be seen that by integrating the vehicle network communication module, the master control chip, and the timing module in the controller and using the timing module to achieve the time synchronization between the master control chip and the vehicle network communication module, the real-time vehicle network data can be effectively processed, and the low-latency data obtained by the processing can effectively improve the effect of intelligent assisted driving of the vehicle.

[0136] For the specific implementation manners of the above operations and the corresponding beneficial effects, reference can be made to the detailed description of the time synchronization method for vehicle network data above, which will not be elaborated here.

[0137] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by a computer program or by controlling related hardware through a computer program. The computer program can be stored in a storage medium and loaded and executed by a processor.

[0138] Therefore, an embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any of the time synchronization methods for vehicle network data provided by the embodiments of the present application. For example, the computer program can execute the following steps:

[0139] The time synchronization between the master control chip and the vehicle network communication module is achieved through the timing module in the domain controller;

[0140] When the time of the master control chip and the vehicle network communication module is synchronized, the vehicle network communication module sends the received vehicle network data to the master control chip for processing.

[0141] It can be seen that by integrating the vehicle network communication module, the master control chip, and the timing module in the controller and using the timing module to achieve the time synchronization between the master control chip and the vehicle network communication module, the real-time vehicle network data can be effectively processed, and the low-latency data obtained by the processing can effectively improve the effect of intelligent assisted driving of the vehicle.

[0142] For the specific implementation manners of the above operations and the corresponding beneficial effects, reference can be made to the previous embodiments, which will not be elaborated here.

[0143] Among them, the storage medium may include: Read Only Memory (ROM), Random Access Memory (RAM), magnetic disk, optical disk, etc.

[0144] Since the computer program stored in the storage medium can execute the steps in any of the time synchronization methods for vehicle networking data provided by the embodiments of the present application, the beneficial effects achievable by any of the time synchronization methods for vehicle networking data provided by the embodiments of the present application can be realized. For details, refer to the previous embodiments and will not be elaborated here.

[0145] Among them, according to one aspect of the present application, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a storage medium. The processor of the computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned time synchronization method for vehicle networking data.

[0146] The embodiments of the present application also provide a vehicle, which includes the above-mentioned controller or executes the time synchronization method for vehicle networking data.

[0147] In one embodiment, the vehicle can be configured in a fully or partially autonomous driving mode. For example, the vehicle can control itself while in the autonomous driving mode, and can determine the current state of the vehicle and its surrounding environment through manual operation, determine the possible behaviors of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the possibility of the other vehicle performing the possible behaviors, and control the vehicle based on the determined information. When the vehicle is in the autonomous driving mode, the vehicle can be set to operate without interacting with people.

[0148] The vehicle may also include various subsystems, such as a traveling system, a sensor system control system, one or more peripheral devices, as well as a power supply, a computer system, and a user interface. Optionally, the vehicle may include more or fewer subsystems, and each subsystem may include multiple components. For example, each subsystem includes multiple ECUs (electronic control unit, computer control module, that is, the vehicle computer).

[0149] In addition, each subsystem and component of the vehicle can be interconnected by wire or wirelessly.

[0150] The propulsion system may include components that provide powered movement for a vehicle. In one embodiment, the propulsion system may include an engine, an energy source, a transmission, and wheels / tires. The engine can be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine composed of a gasoline engine and an electric motor, or a hybrid engine composed of an internal combustion engine and an air compression engine. The engine converts energy into mechanical energy.

[0151] Examples of energy sources include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source can also provide energy for other systems of the vehicle.

[0152] The transmission can transfer mechanical power from the engine to the wheels. The transmission may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission may also include other components, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels.

[0153] The sensor system may include several sensors that sense information about the environment around the vehicle. For example, the sensor system may include a positioning system (the positioning system can be a GPS system, a Beidou system, or other positioning systems), an inertial measurement unit (IMU), radar, a lidar, and a camera. The sensor system may also include sensors for monitoring the internal systems of the vehicle being monitored (e.g., in-vehicle air quality monitor, fuel gauge, engine oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). Such detection and identification are key functions for the safe operation of autonomous vehicles.

[0154] The positioning system can be used to estimate the geographical location of the vehicle. The IMU is used to sense changes in the position and orientation of the vehicle based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope.

[0155] Radar can use radio signals to sense objects within the surrounding environment of the vehicle. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or forward direction of the objects.

[0156] The lidar can use lasers to sense objects in the environment where the vehicle is located. In some embodiments, the lidar may include one or more laser sources, a laser scanner, and one or more processing modules, as well as other system components.

[0157] The camera can be used to capture multiple images of the surrounding environment of the vehicle. The camera can be a still camera or a video camera.

[0158] The control system is for controlling the operation of a vehicle and its components. The control system may include various elements, including a steering system, an accelerator, a braking unit, a computer vision system, a route control system, and an obstacle avoidance system.

[0159] The steering system is operable to adjust the forward direction of the vehicle. For example, in one embodiment, it may be a steering wheel system.

[0160] The accelerator is used to control the operating speed of the engine and thus the speed of the vehicle.

[0161] The braking unit is used to control the deceleration of the vehicle. The braking unit may use friction to slow down the wheels.

[0162] In other embodiments, the braking unit may convert the kinetic energy of the wheels into electric current. The braking unit may also take other forms to slow down the rotational speed of the wheels so as to control the speed of the vehicle.

[0163] The computer vision system is operable to process and analyze images captured by a camera to identify objects and / or features in the vehicle's surrounding environment. The objects and / or features may include traffic signals, road boundaries, and obstacles. The computer vision system may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system may be used to map the environment, track objects, estimate the speed of objects, and so on.

[0164] The route control system is used to determine the driving route of the vehicle. In some embodiments, the route control system may combine data from GPS and one or more pre - defined maps to determine the driving route for the vehicle.

[0165] The obstacle avoidance system is used to identify, evaluate, and avoid or otherwise bypass potential obstacles in the vehicle's environment.

[0166] The specific structure of the vehicle is not limited in this application. The specific implementation manners of the above - mentioned various operations of the domain controller and the corresponding beneficial effects are equally applicable to the vehicle. For details, refer to the detailed description of the time synchronization method for vehicle - to - everything data above, which will not be elaborated here.

[0167] The above has introduced in detail a controller, a time synchronization method, medium, product, and vehicle for vehicle networking data provided by the embodiments of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A controller, characterized in that, The controller includes a timing module, a main control chip, and a vehicle networking communication module that is communicatively connected to the timing module; The timing module is used to synchronize the time of the main control chip and the vehicle networking communication module.

2. The controller according to claim 1, characterized in that, The timing module is a satellite navigation system timing module, and the satellite navigation system timing module is disposed within a satellite navigation module.

3. The controller according to claim 2, characterized in that, The satellite navigation system timing module communicates with the main control chip and the vehicle networking communication module through a universal serial data bus to synchronize the time of the main control chip and the vehicle networking communication module.

4. The controller according to claim 2, wherein The satellite navigation system timing module is further used to send pulse signals to the main control chip and the vehicle networking communication module to achieve time calibration between the main control chip and the vehicle networking communication module.

5. The controller according to claim 2, characterized in that, The controller further includes a satellite navigation antenna, and the satellite navigation antenna is connected to the satellite navigation module.

6. The controller according to claim 5, characterized in that, The satellite navigation antenna is used to receive satellite signals, and the satellite navigation module is used to calculate time information from the received satellite signals.

7. The controller according to claim 1, characterized in that, The main control chip and the vehicle networking communication module are communicatively connected based on Ethernet to achieve time synchronization through the time synchronization protocol of the Ethernet.

8. The controller according to claim 1, characterized in that The main control chip is further used to process the first vehicle networking data sent by the vehicle networking communication module.

9. The controller according to claim 8, wherein The main control chip is further used to process the first vehicle networking data based on the received vehicle data to obtain second vehicle networking data, and the received vehicle data includes at least one of vehicle positioning information and vehicle driving status information.

10. The controller according to claim 9, characterized in that, The controller further includes a navigation module communicatively connected to the main control chip, and the vehicle positioning information is sent through the navigation module.

11. The controller according to claim 10, wherein The navigation module and the timing module are integrally disposed within the satellite navigation module.

12. The controller according to claim 9, characterized in that, The positioning information includes at least one of lane information, road section information, and road node information.

13. The controller according to claim 9, wherein The driving status information includes at least one of vehicle identification information, heading angle, speed, acceleration, braking information, and vehicle emergency condition information.

14. The controller according to claim 9, wherein, The main control chip is further used to send the second vehicle networking data to the vehicle networking communication module.

15. The controller according to claim 1, characterized in that The vehicle networking communication module is further used to receive the first vehicle networking data from an external communication module and send it to the main control chip.

16. The controller according to claim 15, characterized in that, The first vehicle networking data includes at least one of a message body of a basic safety message, a map message, a roadside unit message, a roadside safety message, and a traffic signal message.

17. The controller according to claim 15, wherein The external communication module includes at least one of a first communication module on other vehicles, a second communication module on road facilities, and a third communication module on mobile terminal devices.

18. The controller according to claim 1, characterized in that The vehicle networking communication module includes a radio frequency transceiver modem, and the radio frequency transceiver modem is used to implement the conversion between digital signals and analog signals.

19. The controller according to claim 18, wherein, The vehicle networking communication module further includes a transceiver antenna, and the transceiver antenna and the radio frequency transceiver modem are connected through a radio frequency line.

20. The controller according to claim 1, wherein The controller further includes a security module communicatively connected to the main control chip, and the security module is used to perform security verification operations on the transmitted data.

21. The controller according to claim 20, wherein The security verification operations include at least one of encryption operations, decryption operations, signature operations, and verification signature operations.

22. The controller according to claim 1, characterized in that, The controller further includes a storage module communicatively connected to the main control chip, and the storage module is used to store debugging information and / or log information of the transmitted data.

23. The controller according to any one of claims 1 to 22, characterized in that, The controller is an intelligent driving domain controller.

24. A time synchronization method for vehicle networking data, characterized in that, Applied to the controller according to any one of claims 1 to 23, the method includes: Implement time synchronization between the main control chip and the vehicle networking communication module through the timing module in the controller.

25. The method according to claim 24, characterized in that, The method further includes: When the main control chip and the vehicle networking communication module are time-synchronized, the vehicle networking communication module sends the received vehicle networking data to the main control chip for processing.

26. A storage medium, characterized in that, It includes a computer program, and when the computer program runs on the controller, the computer program is used to cause the controller to execute the steps of the time synchronization method for vehicle networking data according to claim 24 or 25.

27. A computer program product, characterized in that, It includes a computer program or instruction, and when the computer program or instruction is executed by a processor, it implements the steps of the time synchronization method for vehicle networking data described in claim 24 or 25.

28. A vehicle, characterized in that, It includes the controller according to any one of claims 1 to 23, or is used to execute the steps of the time synchronization method for vehicle networking data according to claim 24 or 25.

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