Time synchronization method and device and readable storage medium

Abstract

The invention discloses a time synchronization method and device and a readable storage medium, and relates to the technical field of new energy automobiles. The time synchronization method comprises the steps of obtaining a target area type of a driving area where a vehicle is located; under the condition that the target area type is a first preset type, information communication between the vehicle and a satellite is established, and the vehicle is controlled to receive first time information sent by the satellite; synchronizing the time of the vehicle based on the first time information; under the condition that the target area type is updated from the first preset type to a second preset type, a time server in the driving area is determined, and the vehicle is controlled to receive second time information sent by the time server; the time of the vehicle is resynchronized based on the second time information. The synchronization accuracy of the vehicle time is ensured.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a time synchronization method, device, and readable storage medium. Background Art

[0002] In intelligent driving systems, each domain controller has very high requirements for time synchronization. In order for the intelligent driving system to be in a normal working state, the sensors and other components inside each domain controller must be in a stable time synchronization state. However, existing time synchronization methods have technical problems such as poor time synchronization accuracy. Summary of the Invention

[0003] The embodiments of the present application provide a time synchronization method, device, and readable storage medium to solve technical problems such as poor time synchronization accuracy in the prior art.

[0004] In a first aspect of an embodiment of the present application, a time synchronization method is provided, which is applied to a vehicle. The method includes:

[0005] Get the target area type of the vehicle's driving area;

[0006] When the target area type is a first preset type, establishing information communication between the vehicle and the satellite, and controlling the vehicle to receive the first time information sent by the satellite;

[0007] Synchronize vehicle time based on first time information;

[0008] When the target area type is updated from the first preset type to the second preset type, determining a time server within the driving area, and controlling the vehicle to receive second time information sent by the time server;

[0009] The time of the vehicle is resynchronized based on the second time information.

[0010] In some embodiments, the vehicle includes a positioning device and a point cloud sensor, and obtaining the target area type of the vehicle's driving area includes:

[0011] Controlling the positioning device to obtain the location information of the vehicle;

[0012] Control the point cloud sensor to obtain three-dimensional point cloud data of the area where the vehicle is located;

[0013] Determine the target area type based on location information and 3D point cloud data.

[0014] In some embodiments, determining the target area type based on the location information and the three-dimensional point cloud data includes:

[0015] Obtaining multiple preset area locations and multiple area types, where the multiple areas correspond one to one with the multiple area types;

[0016] By comparing the location information with a plurality of area locations, determining a first area type corresponding to the location information from a plurality of area types;

[0017] performing data type recognition processing on the three-dimensional point cloud data to determine a second area type of the area where the vehicle is located;

[0018] Based on the second area type, data calibration processing is performed on the first area type to obtain a target area type.

[0019] In some embodiments, establishing information communication between a vehicle and a satellite and controlling the vehicle to receive first time information sent by the satellite includes:

[0020] After establishing information communication between the vehicle and the satellite, detecting the signal strength between the vehicle and the satellite to obtain the satellite signal strength;

[0021] Under the condition that the satellite signal strength is greater than a strength threshold, the vehicle is controlled to receive the first time information.

[0022] In some embodiments, determining a time server within a driving area and controlling the vehicle to receive second time information sent by the time server includes:

[0023] Control the vehicle to search the network of the driving area to determine the time server;

[0024] After establishing a communication network between the vehicle and the time server, obtaining a network stability coefficient between the vehicle and the time server;

[0025] When the network stability coefficient is greater than the coefficient threshold, the vehicle is controlled to receive the second time information.

[0026] In some embodiments, the vehicle includes a local time source, and after resynchronizing the vehicle time based on the second time information, the method further includes:

[0027] When the target area type is updated from the second preset type to the third preset type, obtaining third time information output by the local time source;

[0028] The time of the vehicle is resynchronized based on the third time information.

[0029] In some embodiments, after resynchronizing the vehicle time based on the third time information, the method further includes:

[0030] When the target area type is a first preset type, time calibrating the local time source based on the first time information;

[0031] When the target area type is the second preset type, time calibration is performed on the local time source based on the second time information.

[0032] The time synchronization method in this embodiment selects a time source in a satellite or time server to synchronize the vehicle's time according to different area types, thereby ensuring the accuracy of the vehicle's time synchronization. At the same time, the vehicle can quickly switch between multiple time sources, reducing the impact of time synchronization failures on the vehicle and improving the vehicle's operational reliability.

[0033] According to a second aspect of an embodiment of the present application, a time synchronization device is provided, which is applied to a vehicle and includes:

[0034] An acquisition unit, configured to acquire a target area type of a vehicle's driving area;

[0035] a control unit, configured to establish information communication between the vehicle and the satellite when the target area type is a first preset type, and control the vehicle to receive first time information sent by the satellite;

[0036] The control unit is further configured to synchronize the vehicle time based on the first time information;

[0037] The control unit is further configured to, when the target area type is updated from the first preset type to the second preset type, determine a time server within the driving area and control the vehicle to receive second time information sent by the time server;

[0038] The control unit is further configured to resynchronize the vehicle time based on the second time information.

[0039] The time synchronization device in this embodiment selects a time source in a satellite or time server to synchronize the vehicle time according to different area types, thereby ensuring the accuracy of the vehicle's time synchronization. At the same time, the vehicle can quickly switch between multiple time sources, reducing the impact of time synchronization failures on the vehicle and improving the vehicle's operating reliability.

[0040] A third aspect of the present application provides another time synchronization device, including a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, implements the steps of the time synchronization method described in any of the above embodiments. Therefore, the time synchronization device possesses all the advantages of the time synchronization method described in any of the above embodiments, and further description thereof is omitted.

[0041] A fourth aspect of the present application provides a readable storage medium having a program or instructions stored thereon. When executed by a processor, the program or instructions implement the steps of the time synchronization method described in any of the above-described embodiments. Therefore, the readable storage medium possesses all the beneficial effects of the time synchronization method described in any of the above-described embodiments, and further description thereof is omitted. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A flowchart of a time synchronization method provided in an embodiment of the present application;

[0044] Figure 2 A block diagram of the functional modules of the time synchronization device provided in an embodiment of the present application;

[0045] Figure 3 This is a structural block diagram of the time synchronization device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0047] In this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also include elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the statement "comprising a ..." do not exclude the presence of other identical elements in the process, method, article or equipment comprising the elements. The term "two or more" includes two or more than two cases.

[0048] In some embodiments, as Figure 1 As shown, an embodiment of the present application provides a time synchronization method, including:

[0049] Step S101, obtaining the target area type of the vehicle's driving area;

[0050] Step S102, when the target area type is a first preset type, establishing information communication between the vehicle and the satellite, and controlling the vehicle to receive first time information sent by the satellite;

[0051] Step S103, synchronizing the vehicle time based on the first time information;

[0052] Step S104: When the target area type is updated from the first preset type to the second preset type, determining a time server within the driving area and controlling the vehicle to receive second time information sent by the time server;

[0053] Step S105: resynchronizing the vehicle time based on the second time information.

[0054] In this embodiment, a time synchronization method is proposed and applied to a vehicle, which can synchronize the time of various devices and components inside the vehicle, thereby ensuring the normal operation of the vehicle.

[0055] For example, the vehicle may be an unmanned vehicle.

[0056] For example, the vehicle may be a new energy vehicle that can realize intelligent driving functions.

[0057] During the driving process of the vehicle, the vehicle is controlled to check the driving area of the vehicle to obtain a target area type of the driving area, wherein the driving area is a real-time area where the vehicle is located, and the target area type is an area type corresponding to the driving area.

[0058] For example, the driving area may be a tunnel, an underground parking lot, a highway, a bridge, or the like.

[0059] Exemplarily, the target area type may be an open area type, a semi-open area type, or a closed area type.

[0060] Exemplarily, areas such as roads and bridges correspond to the open area type, areas such as underground parking lots correspond to the closed area type, and areas such as tunnels correspond to the semi-open area type.

[0061] A first preset type is obtained, where the first preset type is a preset area type.

[0062] Exemplarily, the first preset type may specifically be an open area type.

[0063] Comparing the target area type with the first preset type, when the target area type is the first preset type, it indicates that the vehicle is in an environment with good satellite communication, and information communication between the vehicle and the satellite is established, and the vehicle is controlled to receive the first time information sent by the satellite, wherein the first time information is the time information sent by the satellite.

[0064] Exemplarily, the satellite may be a low-orbit satellite, a medium-orbit satellite, a high-orbit satellite, a geosynchronous satellite, a geostationary satellite, a sun-synchronous satellite, a highly elliptical orbit satellite or a polar orbit satellite.

[0065] Exemplarily, the satellite includes a satellite time source, which is equipped with a high-precision GNSS (Global Navigation Satellite System) receiving module to receive satellite signals such as GPS (Global Positioning System) and Beidou to obtain accurate time information.

[0066] For example, under normal circumstances, the satellite time source serves as the main time reference source, and the time reference source can send the first time information to the vehicle.

[0067] When the vehicle receives the first time information, the time of the vehicle is synchronized based on the first time information.

[0068] For example, based on the first time information, the time of various subsystems such as the vehicle's internal entertainment system and control system can be synchronized.

[0069] For example, based on the first time information, the time of various sensors such as a visual sensor of the vehicle may be synchronized.

[0070] For example, while the vehicle is continuously traveling, the target area type of the traveling area is acquired in real time, and an updated target area type can be obtained.

[0071] A second preset type is obtained, where the second preset type is a preset preset type.

[0072] Exemplarily, the second preset type may specifically be a semi-open area type.

[0073] Comparing the target area type and the second preset type, when the target area type is updated from the first preset type to the second preset type, it means that the vehicle is in an environment with poor satellite communication but good network signal, determining the time server in the driving area, and controlling the vehicle to receive the second time information sent by the time server, wherein the time server is a server for synchronizing time, and the second time information is the time information sent by the time server.

[0074] Exemplarily, the time server may be a cloud server that synchronizes time.

[0075] Exemplarily, the time server may be a local server in a certain area.

[0076] Exemplarily, the time server may include an Ethernet time source, and communicate with an external time server (such as a server supporting PTP (Picture Transfer Protocol)) via the vehicle-mounted Ethernet to obtain network time information.

[0077] For example, when the network signal is good, the Ethernet time source can serve as a redundant backup for the satellite time source.

[0078] When the vehicle receives the second time information, the time of the vehicle is resynchronized based on the second time information.

[0079] For example, based on the second time information, the time of various subsystems such as the vehicle's internal entertainment system and control system can be synchronized.

[0080] For example, based on the second time information, the time of various sensors such as a visual sensor of the vehicle can be synchronized.

[0081] It should be noted that this embodiment uses different synchronization methods to synchronize the vehicle time for different area types. Specifically, when the target area type is the first preset type, the vehicle time is synchronized by the first time information sent by the satellite. When the target area type is updated from the first preset type to the second preset type, the vehicle time is resynchronized by the second time information sent by the time server. In different scenarios, the vehicle time is synchronized by satellite or time server to ensure the accuracy of vehicle time synchronization.

[0082] It should also be noted that the vehicle in this embodiment can accurately switch between multiple time sources such as satellites and time servers, so that when the vehicle faces a single time source failure, it can quickly switch to other available time sources, greatly reducing the risk of failure of the intelligent driving system due to time synchronization failure and improving the vehicle's operational reliability.

[0083] The vehicle in this embodiment can flexibly adjust the master-slave time source combination based on different scenarios and regional characteristics, achieving adaptive adaptation to various complex environments. Whether on open roads, urban canyons, underground parking lots, or mountain roads, the vehicle can find the most suitable time synchronization solution to ensure the normal operation of the vehicle's intelligent driving functions.

[0084] The time synchronization method in this embodiment selects a time source in a satellite or time server to synchronize the vehicle's time according to different area types, thereby ensuring the accuracy of the vehicle's time synchronization. At the same time, the vehicle can quickly switch between multiple time sources, reducing the impact of time synchronization failures on the vehicle and improving the vehicle's operational reliability.

[0085] In some embodiments, an embodiment of the present application provides a time synchronization method for obtaining a target area type of a vehicle's driving area, including:

[0086] Step S201, controlling the positioning device to obtain the location information of the vehicle;

[0087] Step S202, controlling the point cloud sensor to obtain three-dimensional point cloud data of the area where the vehicle is located;

[0088] Step S203: Determine the target area type based on the location information and the three-dimensional point cloud data.

[0089] In this embodiment, the vehicle includes a positioning device and a point cloud sensor, wherein the positioning device is used to determine the location information of the vehicle, and the point cloud sensor is used to detect point cloud data of the area where the vehicle is located.

[0090] The positioning device is controlled to position the vehicle to obtain position information of the vehicle, wherein the position information represents the position of the vehicle.

[0091] Exemplarily, the positioning device may be a vehicle latitude and longitude positioning device.

[0092] For example, the location information may include the latitude and longitude coordinates of the vehicle.

[0093] For example, the vehicle's location information (such as GPS, inertial measurement unit, etc.) and map data are used to determine the vehicle's location information in real time, including latitude and longitude, altitude, etc.

[0094] The point cloud sensor is controlled to detect the area where the vehicle is located to obtain three-dimensional point cloud data of the area where the vehicle is located, wherein the three-dimensional point cloud data is data representing the geometric characteristics of the area.

[0095] For example, the three-dimensional point cloud data may include geometric positions and color information.

[0096] Determine the target area type based on location information and 3D point cloud data.

[0097] For example, based on the vehicle's location information and three-dimensional point cloud data, combined with a pre-stored database of geographic area features (such as urban roads, highways, underground parking lots, mountain roads, etc.), the target area type of the current area is analyzed to determine the applicability of the area to different time sources.

[0098] For example, a type recognition model may be established, and the position information and three-dimensional point cloud data may be input into the type recognition model to obtain the target area type output by the type recognition model.

[0099] In some embodiments, a time synchronization method is provided in an embodiment of the present application, which determines the type of a target area based on position information and three-dimensional point cloud data, including:

[0100] Step S301: obtaining a plurality of preset area locations and a plurality of area types, wherein the plurality of areas correspond to the plurality of area types in a one-to-one manner;

[0101] Step S302, determining a first area type corresponding to the location information from among multiple area types by comparing the location information with multiple area locations;

[0102] Step S303: performing data type identification processing on the three-dimensional point cloud data to determine a second area type of the area where the vehicle is located;

[0103] Step S304: Based on the second area type, perform data calibration processing on the first area type to obtain a target area type.

[0104] In this embodiment, a plurality of preset area positions and a plurality of area types are acquired, wherein the plurality of areas correspond to the plurality of area types in a one-to-one manner.

[0105] For example, the plurality of regional locations may include tunnel locations, underground parking locations, highway locations, and the like.

[0106] Exemplarily, the plurality of area types may include an open area type, a semi-open area type, or a closed area type.

[0107] For example, a highway location corresponds to an open area type, an underground parking lot location corresponds to a closed area type, and a tunnel location corresponds to a semi-open area type.

[0108] By comparing the location information with multiple area locations, a first area type corresponding to the location information is determined from multiple area types, wherein the first area type is an area type corresponding to the location information from the multiple area types.

[0109] Exemplarily, when the location information is a highway location, the first area type is an area type corresponding to the highway location among multiple area types.

[0110] Data type recognition processing is performed on the three-dimensional point cloud data to determine a second area type of the area where the vehicle is located, wherein the second area type is an area type determined based on the three-dimensional point cloud data.

[0111] Exemplarily, a virtual model is constructed based on the three-dimensional point cloud data to obtain a three-dimensional model of the area where the vehicle is located, and type recognition is performed based on the three-dimensional model to determine the second area type of the area where the vehicle is located.

[0112] Based on the second area type, data calibration processing is performed on the first area type to obtain a target area type.

[0113] Exemplarily, when the second area type is different from the first area type, the second area type is taken as the standard and is set as the target area type.

[0114] In some embodiments, embodiments of the present application provide a time synchronization method for establishing information communication between a vehicle and a satellite, and controlling the vehicle to receive first time information sent by the satellite, including:

[0115] Step S401, after establishing information communication between the vehicle and the satellite, detecting the signal strength between the vehicle and the satellite to obtain the satellite signal strength;

[0116] Step S402: Under the condition that the satellite signal strength is greater than a strength threshold, the vehicle is controlled to receive first time information.

[0117] In this embodiment, after the vehicle detects the satellite, information communication is established between the vehicle and the satellite, and the signal strength between the vehicle and the satellite is detected to obtain the satellite signal strength, wherein the satellite signal strength represents the signal strength between the vehicle and the satellite.

[0118] For example, the satellite signal strength may specifically be a situation where the signal is strong or weak.

[0119] Exemplarily, the unit of satellite signal strength may be dBm.

[0120] Get the intensity threshold, where the intensity threshold is a preset intensity value.

[0121] Exemplarily, the intensity threshold may be specifically 50 dBm.

[0122] Comparing the satellite signal strength with the strength threshold, when the satellite signal strength is greater than the strength threshold, it indicates that the signal between the satellite and the vehicle is good, and the vehicle is controlled to receive the first-time information.

[0123] In some embodiments, an embodiment of the present application provides a time synchronization method for determining a time server within a driving area and controlling a vehicle to receive second time information sent by the time server, including:

[0124] Step S501, controlling the vehicle to search the network in the driving area to determine a time server;

[0125] Step S502, after establishing a communication network between the vehicle and the time server, obtaining a network stability coefficient between the vehicle and the time server;

[0126] Step S503: When the network stability coefficient is greater than the coefficient threshold, the vehicle is controlled to receive the second time information.

[0127] In this embodiment, the vehicle is controlled to perform a network search for the driving area to determine a time server.

[0128] For example, there may be multiple servers in the driving area, and the vehicle is controlled to search for the server closest to the vehicle to determine the time server.

[0129] After a communication network is established between the vehicle and the time server, a network stability coefficient between the vehicle and the time server is obtained, wherein the network stability coefficient is used to represent the stability of the network between the vehicle and the time server.

[0130] For example, the network stability coefficient may be 1% to 100%, and the closer it is to 100%, the higher the network stability between the vehicle and the time server.

[0131] Obtain a coefficient threshold, where the coefficient threshold is a preset threshold.

[0132] Exemplarily, the coefficient threshold may be specifically 70%.

[0133] When the network stability coefficient is greater than the coefficient threshold, it indicates that the network stability between the vehicle and the time server is good, and the vehicle is controlled to receive the second time information.

[0134] In some embodiments, an embodiment of the present application provides a time synchronization method. After resynchronizing the vehicle time based on the second time information, the method further includes:

[0135] Step S601: When the target area type is updated from the second preset type to the third preset type, obtain third time information output by the local time source;

[0136] Step S602: resynchronize the vehicle time based on the third time information.

[0137] In this embodiment, a local time source is provided inside the vehicle, wherein the local time source is a time source local to the vehicle.

[0138] For example, the local time source may be a local backup timer, which is a hardware timing device such as a high-precision quartz crystal oscillator and is built into the electronic control unit of the vehicle.

[0139] For example, when both the satellite and the time server are unavailable, the local backup timer provides a continuous time signal to ensure the basic time reference of the vehicle.

[0140] A third preset type is obtained, where the third preset type is a preset area type.

[0141] Exemplarily, the third preset type may specifically be a closed area type.

[0142] Comparing the target area type and the third preset type, when the target area type is updated from the second preset type to the third preset type, it means that the vehicle is in an environment with poor server network, and the vehicle is controlled to obtain the third time information output by the local time source, wherein the third time information is the time information output by the local time source.

[0143] The time of the vehicle is resynchronized based on the third time information.

[0144] In some embodiments, an embodiment of the present application provides a time synchronization method. After resynchronizing the vehicle time based on the third time information, the method further includes:

[0145] Step S701: When the target area type is a first preset type, time calibration is performed on a local time source based on first time information;

[0146] Step S702: When the target area type is the second preset type, time calibration is performed on the local time source based on the second time information.

[0147] In this embodiment, when the target area type is the first preset type, the local time source can be time-calibrated according to the first time information.

[0148] When the target area type is the second preset type, time calibration is performed on the local time source according to the second time information.

[0149] Exemplarily, time data from different time sources are fused and processed, and errors between different time sources are eliminated through specific algorithms (such as Kalman filtering, etc.) to generate a unified and accurate system time, and each time source is calibrated to ensure their time consistency.

[0150] For example, in normal operating mode, when the vehicle is in an open area with a good satellite signal, the satellite time source serves as the primary time source, providing the vehicle with accurate time information. The service time source and local backup timer serve as the primary and secondary backup time sources, respectively, and are compared and calibrated with the satellite time source in real time. The time synchronization control module transmits the satellite time source's time information to the vehicle's various intelligent driving-related modules, such as sensors, controllers, and actuators, at a preset synchronization cycle (e.g., once per second), achieving full vehicle time synchronization.

[0151] For example, in the time source fault switching mode, when the time source status monitoring unit detects a satellite time source failure (such as signal loss, decreased accuracy, etc.), the master-slave time source switching control unit immediately initiates the switching process. If the server time source is working properly, it is promoted to the master time source and continues to provide time synchronization services for the system. At the same time, the local backup timer continues to run and calibrates with the server time source as a redundant backup.

[0152] If both the satellite and server time sources fail, the local backup timer automatically becomes the primary time source. While time accuracy may decline, the local backup timer still provides a continuous time signal, ensuring minimal operational functionality of the intelligent driving system until the satellite or network time source is restored.

[0153] For example, in regional feature adaptive mode, the regional feature recognition module analyzes the characteristics of the vehicle's area in real time. For example, when a vehicle enters an underground parking lot, the regional feature analysis unit predicts in advance that the satellite time source may be unavailable based on the vehicle's positioning information and the parking lot's geographical characteristics (such as lack of satellite signal coverage). At this point, the master-slave time source switching control unit automatically adjusts the master-slave time source combination based on the pre-set regional feature adaptive strategy.

[0154] Before entering an underground parking garage, the vehicle switches from a satellite time source to a server time source (if network timing service is available in the parking garage), or directly activates a local backup timer as the primary time source. This allows the vehicle to quickly adapt to the new time synchronization environment after entering the underground parking garage, avoiding malfunctions in the intelligent driving system due to unavailable time sources.

[0155] In some embodiments, as Figure 2 As shown, an embodiment of the present application provides a time synchronization device 800, including:

[0156] An acquisition unit 802 is used to acquire a target area type of a vehicle's driving area;

[0157] The control unit 804 is configured to establish information communication between the vehicle and the satellite when the target area type is the first preset type, and control the vehicle to receive the first time information sent by the satellite;

[0158] The control unit 804 is further configured to synchronize the vehicle time based on the first time information;

[0159] The control unit 804 is further configured to, when the target area type is updated from the first preset type to the second preset type, determine a time server within the driving area and control the vehicle to receive second time information sent by the time server;

[0160] The control unit 804 is further configured to resynchronize the vehicle time based on the second time information.

[0161] The time synchronization device 800 in this embodiment selects a time source in a satellite or time server to synchronize the vehicle time according to different area types, thereby ensuring the accuracy of the vehicle's time synchronization. At the same time, the vehicle can quickly switch between multiple time sources, reducing the impact of time synchronization failures on the vehicle and improving the vehicle's operating reliability.

[0162] In some embodiments, an embodiment of the present application provides a time synchronization device 800, including:

[0163] A control unit 804 is used to control the positioning device to obtain the vehicle's location information;

[0164] A control unit 804 is used to control the point cloud sensor to obtain three-dimensional point cloud data of the area where the vehicle is located;

[0165] The control unit 804 is configured to determine the target area type based on the location information and the three-dimensional point cloud data.

[0166] In some embodiments, an embodiment of the present application provides a time synchronization device 800, including:

[0167] A control unit 804 is configured to obtain a plurality of preset area positions and a plurality of area types, wherein the plurality of areas correspond to the plurality of area types in a one-to-one manner;

[0168] a control unit 804 configured to determine a first area type corresponding to the location information from among the multiple area types by comparing the location information with the multiple area locations;

[0169] a control unit 804, configured to perform data type identification processing on the three-dimensional point cloud data to determine a second area type of the area where the vehicle is located;

[0170] The control unit 804 is configured to perform data calibration processing on the first area type based on the second area type to obtain a target area type.

[0171] In some embodiments, an embodiment of the present application provides a time synchronization device 800, including:

[0172] a control unit 804 for detecting the signal strength between the vehicle and the satellite after establishing information communication between the vehicle and the satellite to obtain the satellite signal strength;

[0173] The control unit 804 is configured to control the vehicle to receive the first time information under the condition that the satellite signal strength is greater than a strength threshold.

[0174] In some embodiments, an embodiment of the present application provides a time synchronization device 800, including:

[0175] A control unit 804 is used to control the vehicle to search the network of the driving area to determine the time server;

[0176] A control unit 804 is configured to obtain a network stability coefficient between the vehicle and the time server after establishing a communication network between the vehicle and the time server;

[0177] The control unit 804 is configured to control the vehicle to receive the second time information when the network stability coefficient is greater than the coefficient threshold.

[0178] In some embodiments, an embodiment of the present application provides a time synchronization device 800, including:

[0179] A control unit 804 is configured to obtain third time information output by a local time source when the target area type is updated from the second preset type to the third preset type;

[0180] The control unit 804 is configured to resynchronize the vehicle time based on the third time information.

[0181] In some embodiments, an embodiment of the present application provides a time synchronization device 800, including:

[0182] A control unit 804 is configured to perform time calibration on a local time source based on the first time information when the target area type is a first preset type;

[0183] The control unit 804 is configured to perform time calibration on the local time source based on the second time information when the target area type is the second preset type.

[0184] In some embodiments, as Figure 3As shown, a time synchronization device 900 is proposed. The time synchronization device 900 includes a processor 902 and a memory 904. The memory 904 stores a computer program. When the computer program is executed by the processor 902, the computer program implements the steps of the time synchronization method in any of the above embodiments. Therefore, the time synchronization device 900 has all the advantages of the time synchronization method in any of the above embodiments, and will not be further described here.

[0185] In some embodiments, a readable storage medium is provided on which a program is stored. When the program is executed by a processor, the steps of the time synchronization method in any of the above embodiments are implemented, thereby having all the beneficial technical effects of the time synchronization method in any of the above embodiments.

[0186] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0187] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0188] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0189] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0190] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0191] An embodiment of the present application further provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of the time synchronization method.

[0192] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)).

[0193] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0194] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0195] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0196] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0197] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0198] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0199] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0200] Obviously, those skilled in the art may make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if such changes and modifications fall within the scope of the claims of this specification and their equivalents, this specification is intended to include such changes and modifications.

Claims

1. A time synchronization method, characterized in that: Applied to a vehicle, the method comprises: Obtaining a target area type of the vehicle's driving area; When the target area type is a first preset type, establishing information communication between the vehicle and a satellite, and controlling the vehicle to receive first time information sent by the satellite; synchronizing the vehicle time based on the first time information; When the target area type is updated from the first preset type to a second preset type, determining a time server within the driving area, and controlling the vehicle to receive second time information sent by the time server; The time of the vehicle is resynchronized based on the second time information.

2. The method according to claim 1, characterized in that The vehicle includes a positioning device and a point cloud sensor, and obtaining the target area type of the vehicle's driving area includes: Controlling the positioning device to obtain the position information of the vehicle; Controlling a point cloud sensor to obtain three-dimensional point cloud data of an area where the vehicle is located; The target area type is determined according to the position information and the three-dimensional point cloud data.

3. The method according to claim 2, characterized in that The determining the target area type according to the position information and the three-dimensional point cloud data includes: Acquire a plurality of preset area locations and a plurality of area types, wherein the plurality of areas correspond to the plurality of area types in a one-to-one manner; By comparing the location information with the plurality of area locations, determining a first area type corresponding to the location information from the plurality of area types; performing data type identification processing on the three-dimensional point cloud data to determine a second area type of the area where the vehicle is located; Based on the second area type, data calibration processing is performed on the first area type to obtain the target area type.

4. The method according to claim 1, wherein The establishing of information communication between the vehicle and the satellite and controlling the vehicle to receive the first time information sent by the satellite includes: After establishing information communication between the vehicle and the satellite, detecting a signal strength between the vehicle and the satellite to obtain a satellite signal strength; Under the condition that the satellite signal strength is greater than a strength threshold, the vehicle is controlled to receive the first time information.

5. The method according to claim 1, wherein The determining of a time server within the driving area and controlling the vehicle to receive second time information sent by the time server includes: controlling the vehicle to perform a network search on the driving area to determine the time server; After establishing a communication network between the vehicle and the time server, obtaining a network stability coefficient between the vehicle and the time server; When the network stability coefficient is greater than a coefficient threshold, the vehicle is controlled to receive the second time information.

6. The method according to any one of claims 1 to 5, characterized in that The vehicle includes a local time source, and after resynchronizing the vehicle time based on the second time information, the method further includes: When the target area type is updated from the second preset type to a third preset type, obtaining third time information output by the local time source; The time of the vehicle is resynchronized based on the third time information.

7. The method according to claim 6, characterized in that After resynchronizing the vehicle time based on the third time information, the method further includes: When the target area type is the first preset type, performing time calibration on the local time source based on the first time information; When the target area type is the second preset type, time calibration is performed on the local time source based on the second time information.

8. A time synchronization device, characterized in that: Applied to a vehicle, the device comprises: an acquiring unit, configured to acquire a target area type of a driving area where the vehicle is located; a control unit, configured to establish information communication between the vehicle and a satellite when the target area type is a first preset type, and control the vehicle to receive first time information sent by the satellite; The control unit is further configured to synchronize the vehicle time based on the first time information; The control unit is further configured to, when the target area type is updated from the first preset type to a second preset type, determine a time server within the driving area and control the vehicle to receive second time information sent by the time server; The control unit is further configured to resynchronize the vehicle time based on the second time information.

9. A time synchronization device, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the time synchronization method according to any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the time synchronization method according to any one of claims 1 to 7 are implemented.

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