Time synchronization method, time synchronization device, laser radar, medium and program product

Abstract

The embodiment of the invention provides a time synchronization method, a time synchronization device, a laser radar, a medium and a program product, the time synchronization method is applied to the time synchronization device, and the time synchronization method comprises the following steps: determining a time synchronization signal based on a source signal or a first message signal; performing time synchronization based on the time synchronization signal and a local clock; determining a second message signal; wherein the source signal is sent by a source device, the first message signal is sent by other time synchronization devices, and the second message signal is suitable for being received by other time synchronization devices. By the adoption of the technical scheme, an alternative scheme can be provided for the determination mode of the time synchronization signals of the current time synchronization device and other time synchronization devices, the time service precision and reliability of the time synchronization signals are improved, and then the precision of subsequent time information formed based on time synchronization results of the current time synchronization device and other time synchronization devices can be improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of laser radar technology, and in particular to a time synchronization method, a time synchronization device, a laser radar, a medium, and a program product. Background Art

[0002] The laser radar transmits lasers to the environment around the laser radar and receives echoes reflected by objects. It processes the data of the emitted lasers and received echoes, and uses the time information obtained by the laser radar as a timestamp to form point cloud information with a timestamp.

[0003] The timing of existing lidars relies on satellite positioning signals. In areas where the satellite positioning signal is poor, the accuracy of time information decreases, resulting in deviations in the timestamps in the formed point cloud information, and the lidar cannot correctly determine the relevant information of the target.

[0004] Therefore, how to provide an improved technical solution to determine high-precision time information has become a technical problem that needs to be solved urgently.

[0005] Public content

[0006] In view of this, the embodiments of the present disclosure provide a time synchronization method, a time synchronization device, a laser radar, a medium, and a program product, which can determine high-precision time information.

[0007] First, an embodiment of the present disclosure provides a time synchronization method, which is applied to a time synchronization device and includes:

[0008] Determining a timing signal based on the source signal or the first message signal;

[0009] Performing time synchronization with a local clock based on the time synchronization signal;

[0010] determining a second message signal;

[0011] The source signal is sent by a source device, the first message signal is sent by another time synchronization device, and the second message signal is suitable for being received by another time synchronization device.

[0012] Optionally, determining the timing signal based on the source signal or the first message signal includes:

[0013] determining whether the intensity of the source signal is greater than an intensity threshold;

[0014] When the strength of the source signal is not greater than the strength threshold, a timing signal is determined based on the first message signal.

[0015] Optionally, the first message signal includes multiple messages, and determining the timing signal based on the first message signal includes:

[0016] determining first credibility of a plurality of first message signals;

[0017] A timing signal is determined based on the first message signal with the highest first credibility.

[0018] Optionally, determining the second message signal includes:

[0019] Determining whether a first credibility of the first message signal is greater than a first credibility threshold;

[0020] When the first credibility of the first message signal is greater than a first credibility threshold, a second message signal with a second credibility is determined, wherein the second credibility is less than the first credibility.

[0021] Optionally, determining the second message signal includes:

[0022] Determining whether a first credibility of the first message signal is greater than a first credibility threshold;

[0023] When the first credibility of the first message signal is not greater than a first credibility threshold, determining the second message signal is stopped.

[0024] Optionally, determining the timing signal based on the source signal or the first message signal includes:

[0025] determining whether the intensity of the source signal is greater than an intensity threshold;

[0026] When the intensity of the source signal is greater than the intensity threshold, determining a timing signal based on the source signal;

[0027] The second message signal has a preset message credibility.

[0028] Subsequently, the embodiment of the present disclosure further provides another time synchronization method, which is applied to a time synchronization device and includes:

[0029] Determine the strength of the source signal;

[0030] Determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement;

[0031] The source signal is sent by a source device, and other timing devices are adapted to determine a timing signal based on the first message signal.

[0032] Optionally, determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement includes:

[0033] determining whether the intensity of the source signal is greater than an intensity threshold;

[0034] When the intensity of the source signal is greater than the intensity threshold, determining a demand signal, and determining a first message signal in response to the demand signal, wherein the first message signal is determined based on the source signal;

[0035] The demand signal is sent by other timing devices, and the first message signal has a preset message credibility.

[0036] Optionally, determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement includes:

[0037] determining whether the intensity of the source signal is greater than an intensity threshold;

[0038] When the intensity of the source signal is not greater than the intensity threshold, determining a second credibility of the second message signal;

[0039] When the second credibility of the second message signal is greater than a second credibility threshold, determining a demand signal, and determining a first message signal in response to the demand signal, where the first message signal is determined based on the second message signal;

[0040] The second message signal is sent by another time synchronization device, and the second credibility of the second message signal is greater than the first credibility of the first message signal.

[0041] Optionally, determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement includes:

[0042] determining whether the intensity of the source signal is greater than an intensity threshold;

[0043] When the intensity of the source signal is not greater than the intensity threshold, determining a second credibility of the second message signal;

[0044] When the second credibility of the second message signal is not greater than a second credibility threshold, determining the demand signal is stopped.

[0045] Subsequently, an embodiment of the present disclosure further provides a time synchronization method, which is applied to a time synchronization device and includes:

[0046] Determine the strength of the source signal;

[0047] Determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement;

[0048] Determining a timing signal based on the first message signal;

[0049] The source signal is sent by a source device, and the first message signal is sent by another timing device.

[0050] Optionally, determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement includes:

[0051] determining whether the intensity of the source signal is greater than an intensity threshold;

[0052] When the intensity of the source signal is not greater than an intensity threshold, determining a demand signal, and determining a first message signal based on the demand signal;

[0053] The first message signal is sent by the other time synchronization device in response to the time synchronization requirement.

[0054] Optionally, the first message signal includes a plurality of messages, and determining the timing signal based on the first message signal includes:

[0055] determining first credibility of a plurality of first message signals;

[0056] A timing signal is determined based on the first message signal with the highest first credibility.

[0057] Optionally, determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement includes:

[0058] determining whether the intensity of the source signal is greater than an intensity threshold;

[0059] When the intensity of the source signal is greater than an intensity threshold, suspending determining the time synchronization requirement;

[0060] Wherein, the timing device determines the timing signal based on the source signal.

[0061] Accordingly, an embodiment of the present disclosure further provides a time synchronization device, comprising:

[0062] A first processor that executes the time synchronization method described in any of the foregoing examples.

[0063] Optionally, the time synchronization device further comprises: a receiver and a transmitter, wherein when the time synchronization device comprises a first processor that executes the time synchronization method described in any of the above examples,

[0064] The receiver is configured to receive a source signal or a first message signal;

[0065] The transmitter is configured to send a second message signal;

[0066] The first processor is configured to determine a timing signal based on the source signal or the first message signal, and to determine a second message signal.

[0067] Optionally, the time synchronization device further comprises: a receiver and a transmitter, wherein when the time synchronization device comprises a first processor that executes the time synchronization method described in any of the above examples,

[0068] The receiver is configured to receive a source signal and a demand signal;

[0069] The transmitter is configured to send a first message signal;

[0070] The first processor is configured to determine a first message signal based on the source signal and the demand signal.

[0071] Optionally, the time synchronization device further comprises: a receiver and a transmitter, wherein when the time synchronization device comprises a first processor that executes the time synchronization method described in any of the above examples,

[0072] The receiver is configured to receive a source signal and a first message signal;

[0073] The transmitter is configured to transmit a demand signal;

[0074] The first processor is configured to determine a first message signal based on the source signal and the demand signal.

[0075] Accordingly, the present disclosure also provides a laser radar, including:

[0076] an optical transmitter, adapted to transmit an optical signal;

[0077] a detector adapted to receive echoes reflected from an object;

[0078] A time synchronization device as described in any of the above examples;

[0079] The second processor is adapted to process the transmitted optical signal and the received echo, and form point cloud information in combination with the timing result of the timing module.

[0080] Accordingly, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. When the computer program is run, the steps of the time synchronization method described in any of the aforementioned examples are executed.

[0081] Accordingly, an embodiment of the present disclosure further provides a computer program product, including a computer program, which executes the steps of the time synchronization method described in any of the aforementioned examples when the computer program is run.

[0082] By adopting the above-mentioned timing scheme, the timing signal is determined by the source signal or the first message signal, so that when one of the source signal or the first message signal is unavailable, the other can be selected to determine the timing signal, providing an alternative scheme for the method of determining the timing signal, improving the timing accuracy and reliability of the timing signal in the current environment, and thus improving the accuracy of the time information subsequently formed based on the timing result of the current timing device; the second message signal can be used as the timing signal in other timing devices. By determining the second message signal, an alternative scheme can be provided for the method of determining the timing signal of other timing devices, improving the timing accuracy and reliability of the timing signal of other timing devices, and thus improving the accuracy of the time information subsequently formed based on the timing results of other timing devices.

[0083] By adopting the above-mentioned timing solution, by determining the strength of the source signal, the interval in which the strength of the source signal lies can be determined, thereby being able to determine the timing requirement based on the strength of the source signal, thereby being able to determine the first message signal based on the timing requirement, and then other timing devices can determine the timing signal based on the first message signal. By adopting the above-mentioned technical solution, other timing devices can determine the timing signal based on the first message signal, providing an alternative solution for the method of determining the timing signal of the other timing devices, improving the reliability of the timing signal of the other timing devices in the current environment, and the accuracy of the time information subsequently formed based on the timing result of the timing device; at the same time, the timing device only receives the timing requirement when the strength of the source signal obtained by itself meets the requirements, which can reduce the period of scanning the timing requirement signal and reduce the power consumption and data volume of the timing device.

[0084] By adopting the above-mentioned timing scheme, the current timing device can determine the timing requirement when the source signal is unavailable, and determine the timing signal based on the first message signal in response to the timing requirement, providing an alternative solution for the determination method of the timing signal, ensuring the reliability of the timing signal in the current environment, and further ensuring the accuracy of the time information subsequently formed based on the timing result of the current timing device; at the same time, the current timing device only issues a timing requirement when the source signal is unavailable, which can reduce the time period of the current timing device scanning the first message signal, and reduce the power consumption and data volume of the current timing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following briefly introduces the drawings required for use in the embodiments of this specification or the description of the prior art. The drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0086] Figure 1 A schematic diagram showing the working principle of an example GPS module is shown;

[0087] Figure 2 A schematic diagram showing the working principle of an example of a laser radar is shown;

[0088] Figures 3 to 8 Flowcharts showing examples of various time synchronization methods in embodiments of the present disclosure;

[0089] Figure 9 A schematic structural diagram of an example of a time synchronization device according to an embodiment of the present disclosure is shown;

[0090] Figures 10 to 12 A schematic diagram showing the working principles of various time synchronization device examples in the embodiments of the present disclosure is shown;

[0091] Figure 13 A structural schematic diagram of an example of a laser radar in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0092] LiDAR emits laser light into the environment around it and receives echoes reflected from objects. It then processes the data and uses the time information obtained through LiDAR synchronization as a timestamp to generate a timestamped point cloud. LiDAR can determine time information in different ways depending on the application scenario. For example, LiDAR can determine time information through synchronization.

[0093] LiDAR timing methods mainly include network timing and satellite timing. In network timing, the time signal comes from nodes in the network communicating with the LiDAR and the local clock on the LiDAR. In satellite timing, the time signal comes from satellite positioning systems and the local clock on the LiDAR. Satellite positioning systems include the Global Positioning System (GPS) and the BeiDou Positioning System. GPS will be used as an example of a satellite positioning system in the following sections.

[0094] The high-precision atomic clocks embedded in GPS can provide high-precision time synchronization services. The source signal from the GPS can provide a timing accuracy of nanoseconds. In some embodiments, the GPS module can receive the source signal from the GPS and output a time signal for synchronization.

[0095] In some examples, reference Figure 1 , Figure 1 A schematic diagram of the working principle of a GPS module is shown. The GPS module includes: a receiver chip, a decoder chip, a processor chip and peripheral circuits (not shown in the figure), and the receiver chip, decoder chip, processor chip and peripheral circuits are coupled to each other.

[0096] When in use, the receiver chip in the GPS module is used to receive the GPS signal sent by the GPS and convert the GPS signal into an electrical signal; the decoder chip is used to receive the GPS signal converted into an electrical signal by the receiver chip and decode it; the processor chip is used to receive the GPS signal decoded by the decoder chip, perform data processing, and output the time signal used for synchronization.

[0097] In some embodiments, the GPS module can be applied to equipment in the fields of communications, finance, computer networks, security monitoring, etc. to provide accurate time information.

[0098] In some examples, reference Figure 2 , Figure 2 The schematic diagram of the working principle of an example of a laser radar is shown. The laser radar includes: a GPS module (for example, Figure 1 GPS module shown in ), local clock and processor module.

[0099] When in use, the laser radar receives the GPS signal sent by at least one (for example, 4 to 8) satellites in the satellite positioning system within its field of view through the GPS module, and extracts two time signals from it after conversion, decoding and processing: (1) a pulse signal (Pulse Per Second, PPS) with a time interval of 1s, wherein the synchronization error between the pulse leading edge of the PPS and the international standard time (Greenwich Mean Time) does not exceed 1μs; (2) the international standard time and date code corresponding to the pulse leading edge of the PPS output through the serial port. The processor module of the laser radar can use the PPS to calibrate with the local clock to obtain the time correction value, and combine it with the international standard time and date to calculate the accurate time information.

[0100] The time correction is calculated by calculating the pseudo-range between the GPS module's location and the satellites within its field of view. The range intersection method is used to determine the longitude, latitude, and altitude of the GPS module's location. The accuracy of the time correction depends on whether the GPS module has stable GPS signal coverage at the time.

[0101] In environments with weak GPS signals (for example, when the GPS module is in a tunnel or when there's a thick barrier between the GPS module and the satellite), the calculated time correction accuracy decreases, reducing the precision of the time information. This, in turn, leads to deviations in the timestamps in the subsequent point cloud, preventing the LiDAR from correctly determining target information. Therefore, providing improved technical solutions to ensure the accuracy of time information has become a pressing technical challenge.

[0102] In order to solve the above problems, first, an embodiment of the present disclosure provides a time synchronization method, which is applied to a time synchronization device. The time synchronization method may include: determining a time synchronization signal based on a source signal or a first message signal, so that time synchronization can be performed based on the time synchronization signal and a local clock, and determining a second message signal, which can be used as a time synchronization signal for other time synchronization devices.

[0103] The timing signal is determined by the source signal or the first message signal, so that when one of the source signal or the first message signal is unavailable, the other can be selected to determine the timing signal, providing an alternative scheme for the method of determining the timing signal, improving the timing accuracy and reliability of the timing signal in the current environment, and thus improving the accuracy of the time information subsequently formed based on the timing result of the current timing device; the second message signal can be used as the timing signal in other timing devices. By determining the second message signal, an alternative scheme can be provided for the method of determining the timing signal of other timing devices, improving the timing accuracy and reliability of the timing signal of other timing devices, and thus improving the accuracy of the time information subsequently formed based on the timing results of other timing devices.

[0104] In order to enable those skilled in the art to better understand the disclosed concepts, working principles and advantages of the embodiments of the present disclosure, the time synchronization method in the embodiments of the present disclosure is described below.

[0105] First, the embodiment of the present disclosure provides a time synchronization method, which can be applied to a time synchronization device. Figure 3 , Figure 3 A flowchart of an example of a time synchronization method in an embodiment of the present disclosure is shown. In some embodiments of the present disclosure, the following steps can be used to perform time synchronization.

[0106] Step A: Determine a timing signal based on a source signal or a first message signal; wherein the source signal is sent by a source device, and the first message signal is sent by another timing device.

[0107] In some embodiments, the source device may include a device capable of emitting a signal, and the source signal may include a timing signal emitted by the source device; other timing devices may include devices capable of emitting a signal, and the first message signal may include a signal containing time information emitted by other timing devices; the timing signal is a signal used for timing, and the timing signal may be determined based on one of the source signal or the first message signal.

[0108] In some examples, the source signal and the first message signal may have the same or similar frequency band to maintain compatibility.

[0109] As an example, the source device may include a GPS, the source signal may include a GPS signal emitted by the GPS, other timing devices may include a GPS module, and the first message signal may include a signal emitted by the GPS module having the same or similar frequency band as the GPS signal.

[0110] It is understood that the above implementation is merely an example to illustrate the correspondence between the source device and other timing devices, as well as the correspondence between the source signal and the first message signal, and should not be construed as limiting the types of source devices and source signals in the present disclosure. For example, in some examples, the source device may also include a Beidou positioning system, the source signal may include a Beidou positioning signal emitted by the Beidou positioning system, the other timing devices may include a Beidou positioning module, and the first message signal may include a signal emitted by the Beidou positioning module having the same or similar frequency band as the Beidou positioning signal.

[0111] Step B: performing time synchronization with a local clock based on the time synchronization signal.

[0112] In some embodiments, the local clock may include the local time on a synchronization device that performs synchronization operations; based on the synchronization signal and the local clock, the synchronization operation can be calculated to obtain a time correction amount and determine accurate time information, wherein the time information can subsequently be used as a timestamp for the point cloud information.

[0113] In some examples, time synchronization may be performed with a local clock based on the time synchronization signal, or the local clock may be calibrated based on the time synchronization signal.

[0114] Step C: Determine the second message signal.

[0115] In some embodiments, the second message signal may be received by other time synchronization devices and used as the first message signal of the other time synchronization devices to determine the time synchronization signal of the other time synchronization devices.

[0116] The timing signal is determined by the source signal or the first message signal, so that when one of the source signal or the first message signal is unavailable, the other can be selected to determine the timing signal, providing an alternative solution for the method of determining the timing signal, and improving the timing accuracy and reliability of the timing signal in the current environment; the second message signal can be used as the timing signal in other timing devices. By determining the second message signal, an alternative solution can be provided for the method of determining the timing signal of other timing devices, improving the timing accuracy and reliability of the timing signals of other timing devices, and thus improving the accuracy of the time information subsequently formed based on the timing results of other timing devices.

[0117] In some examples, the other time synchronization device that receives the second message signal and the other time synchronization device that sends the first message signal may include different time synchronization devices.

[0118] In order to enable those skilled in the art to better understand and implement it, the above-mentioned time synchronization method is described below by way of examples.

[0119] In some embodiments, step A may include the following steps:

[0120] A timing signal is determined based on the intensity of the source signal and an intensity threshold.

[0121] In some examples, the strength threshold may include a preset signal strength of the source signal. When the strength of the source signal meets the strength threshold requirement, the timing signal may be determined based on the source signal.

[0122] By setting the strength threshold, the interval of the source signal's strength can be determined; by selecting the source signal that meets the strength threshold requirements to determine the timing signal, the source signal with high timing accuracy can be screened to determine the timing signal, thereby ensuring the reliability of the timing signal in the current environment.

[0123] In some examples, determining the timing signal based on the strength of the source signal and the strength threshold may include the following steps:

[0124] determining whether the intensity of the source signal is greater than an intensity threshold;

[0125] When the intensity of the source signal is greater than the intensity threshold, a timing signal may be determined.

[0126] In some embodiments, it can be determined whether the intensity of the source signal is greater than an intensity threshold. When it is determined that the intensity of the source signal is greater than the intensity threshold, it can be determined that the intensity of the source signal meets the intensity threshold requirement, so that the source signal can be used to determine the timing signal.

[0127] In some examples, determining the timing signal based on the strength of the source signal and the strength threshold may include the following steps:

[0128] determining whether the intensity of the source signal is greater than an intensity threshold;

[0129] When the strength of the source signal is not greater than the strength threshold, a timing signal is determined based on the first message signal.

[0130] In some embodiments, when the strength of the source signal does not meet the strength threshold requirement, a timing signal can be determined based on the first message signal, thereby providing an alternative solution for the selection of the timing signal and improving the reliability of the timing signal in the current environment.

[0131] In some examples, determining the timing signal based on the first message signal may include the following steps:

[0132] Determining a first credibility of the first message signal;

[0133] A timing signal is determined based on the first credibility and a first credibility threshold.

[0134] In some embodiments, the first credibility can be used to characterize the credibility of the first message signal, and the first credibility threshold can include a preset credibility value of the first message signal. When the first credibility meets the first credibility threshold requirement, the timing signal can be determined based on the first message signal.

[0135] By setting a first credibility threshold, the credibility interval of the first message signal can be determined; the first message signal that meets the requirements of the first credibility threshold has high timing accuracy and reliability. By selecting the first message signal that meets the requirements of the first credibility threshold to determine the timing signal, the timing accuracy and reliability of the timing signal can be improved.

[0136] In some examples, a method for obtaining the first credibility of the first message signal may include at least one of the following:

[0137] The timing device itself is determined;

[0138] The current time synchronization device receives the time from other time synchronization devices.

[0139] In some examples, determining the timing signal based on the first credibility and the first credibility threshold may include the following steps:

[0140] determining whether the first credibility is greater than a first credibility threshold;

[0141] When the first credibility is greater than the first credibility threshold, a timing signal is determined.

[0142] In some embodiments, it can be determined whether the first credibility is greater than a first credibility threshold. When it is determined that the first credibility is greater than the first credibility threshold, it can be determined that the first credibility meets the first credibility threshold requirement, and the first message signal is used to determine the timing signal.

[0143] In some examples, determining the timing signal based on the first credibility and the first credibility threshold may include the following steps:

[0144] determining whether the first credibility is greater than a first credibility threshold;

[0145] When the first reliability is not greater than the first reliability threshold, determining the timing signal is stopped.

[0146] In some embodiments, it can be determined whether the first credibility is greater than a first credibility threshold. When it is determined that the first credibility is not greater than the first credibility threshold, it can be determined that the first credibility does not meet the first credibility threshold requirement, and the use of the first message signal to determine the timing signal is terminated.

[0147] In some examples, the first message signal may include multiple ones.

[0148] Determining the timing signal based on multiple first message signals can provide an alternative solution for selecting the timing signal, thereby improving the accuracy of the timing signal in the current environment.

[0149] In some examples, determining the timing signal based on the first message signal may include: determining the timing signal based on multiple first message signals having a first credibility greater than a first credibility threshold.

[0150] In some embodiments, when the first message signal having a first credibility greater than a first credibility threshold may include multiple first message signals, it can be determined that the first credibility of multiple first message signals meets the first credibility threshold requirement, and the timing signal can be determined based on the multiple message signals having a first credibility greater than the first credibility threshold.

[0151] In some examples, determining the timing signal based on the first message signal may include the following steps:

[0152] determining first credibility of a plurality of first message signals;

[0153] A timing signal is determined based on the first message signal with the highest first credibility.

[0154] In some embodiments, the higher the first credibility, the higher the timing accuracy and reliability of the first message signal, and the lower the first credibility, the lower the timing accuracy and reliability of the first message signal. Determining the timing signal based on the first message signal with the highest first credibility can improve the accuracy and reliability of the timing signal.

[0155] As an example, the strength threshold is -130dBm, the first confidence threshold is 50, and the timing device receives a source signal and two first message signals. When the source signal strength is -135dBm and the first confidence levels of the two first message signals are 51 and 49, respectively, the timing signal is determined based on the first message signal with the first confidence level of 51.

[0156] As another example, the strength threshold is -130dBm, the first credibility threshold is 50, and the timing device receives a source signal and two first message signals. When the strength of the source signal is -131dBm and the first credibility of the two first message signals is 100 and 99, respectively, a timing signal is determined based on the source signal.

[0157] As another example, the strength threshold is -130dBm, the first confidence threshold is 50, and the timing device receives a source signal and two first message signals. When the strength of the source signal is -131dBm and the first confidences of the two first message signals are 50 and 49, respectively, determining the timing signal is terminated.

[0158] It should be understood that the above implementation is merely illustrative, illustrating possible ways to determine a timing signal when a first message signal includes multiple messages, and should not be construed as limiting the number of first message signals in this disclosure. For example, the first message signal may include one. When the first message signal includes one, the first message signal is the first message signal with the highest first credibility.

[0159] In some examples, step C may include the following steps:

[0160] A second message signal is determined based on the strength of the source signal and a strength threshold.

[0161] In some embodiments, the strength threshold may include a preset signal strength of the source signal. When it is determined that the strength of the source signal meets the strength threshold requirement, the source signal may be used to determine the second message signal.

[0162] By setting the strength threshold, the interval of the signal strength of the source signal can be determined; other timing devices can confirm the timing signal based on the second message signal. By selecting the source signal that meets the strength threshold requirements to determine the second message signal, the reliability of the second message signal and the timing signal confirmed by other timing devices based on the second message signal can be improved.

[0163] In some examples, determining the second message signal based on the strength of the source signal and the strength threshold may include the following steps:

[0164] determining whether the intensity of the source signal is greater than an intensity threshold;

[0165] When the intensity of the source signal is greater than the intensity threshold, a second message signal is determined.

[0166] In some embodiments, it can be determined whether the strength of the source signal is greater than a strength threshold. When it is determined that the strength of the source signal is greater than the strength threshold, it can be determined that the strength of the source signal meets the strength threshold requirement, and the source signal can be used to determine the second message signal.

[0167] In some examples, the strength threshold for determining the timing signal may be equal to the strength threshold for determining the second message signal.

[0168] By setting the strength threshold for determining the timing signal to be equal to the strength threshold for determining the second message signal, the number of times the relationship between the strength of the source signal and the strength threshold is determined can be reduced, thereby optimizing the process steps.

[0169] It should be understood that the above implementation is merely illustrative, used to illustrate the possible relationship between the intensity threshold and the intensity threshold, and should not be construed as limiting the relationship between the intensity threshold and the intensity threshold in this disclosure. For example, in other examples, the intensity threshold may be less than the intensity threshold. For another example, in yet other examples, the intensity threshold may be greater than the intensity threshold.

[0170] In some examples, determining the second message signal based on the strength of the source signal and the strength threshold may include the following steps:

[0171] determining whether the intensity of the source signal is greater than an intensity threshold;

[0172] When the intensity of the source signal is not greater than the intensity threshold, a second message signal is determined based on the first message signal.

[0173] In some embodiments, when it is determined that the strength of the source signal does not meet the strength threshold requirement, the first message signal can be selected to determine the second message signal, thereby providing an alternative solution for determining the second message signal and improving the reliability of the second message signal in the current environment.

[0174] In some examples, determining the second message signal based on the first message signal may include the following steps:

[0175] determining a first credibility of the first message signal;

[0176] A second message signal is determined based on the first credibility and a first credibility threshold.

[0177] In some embodiments, the first credibility threshold may include a preset credibility value of the first message signal. When it is determined that the first credibility meets the first credibility threshold requirement, the second message signal may be determined based on the first message signal.

[0178] By setting a first credibility threshold, the credibility interval of the first message signal can be determined; other timing devices can confirm the timing signal based on the second message signal, and by selecting the first message signal that meets the first credibility threshold requirements to determine the second message signal, the reliability of the second message signal and the reliability of the timing signal confirmed by other timing devices based on the second message signal can be improved.

[0179] In some examples, determining the second message signal based on the first credibility and the first credibility threshold may include the following steps:

[0180] determining whether the first credibility is greater than a first credibility threshold;

[0181] When the first credibility is greater than the first credibility threshold, a second message signal is determined.

[0182] In some embodiments, it can be determined whether the first credibility is greater than a first credibility threshold. When it is determined that the first credibility is greater than the first credibility threshold, it can be determined that the first credibility meets the first credibility threshold requirement, and the second message signal can be determined based on the first message signal.

[0183] In some examples, determining the second message signal based on the first credibility and the first credibility threshold may include the following steps:

[0184] determining whether the first credibility is greater than a first credibility threshold;

[0185] When the first credibility is not greater than the first credibility threshold, determining the second message signal is stopped.

[0186] In some embodiments, it can be determined whether the first credibility is greater than a first credibility threshold. When it is determined that the first credibility is not greater than the first credibility threshold, it can be determined that the first credibility does not meet the first credibility threshold requirement, and the use of the first message signal to determine the second message signal can be terminated.

[0187] In some examples, the first credibility threshold for determining the timing signal may be equal to the first credibility threshold for determining the second message signal.

[0188] By setting the first credibility threshold for determining the timing signal to be equal to the first credibility threshold for determining the second message signal, the number of times the relationship between the first credibility and the first credibility threshold is determined can be reduced, thereby optimizing the process.

[0189] It should be understood that the above implementation is merely an example, used to illustrate the possible relationship between the first credibility threshold for determining the timing signal and the first credibility threshold for determining the second message signal, and should not be construed as limiting the relationship between the first credibility threshold for determining the timing signal and the first credibility threshold for determining the second message signal in this disclosure. For example, in other examples, the first credibility threshold for determining the timing signal may be lower than the first credibility threshold for determining the second message signal. For another example, in yet other examples, the first credibility threshold for determining the timing signal may be higher than the first credibility threshold for determining the second message signal.

[0190] As an example, the strength threshold is -130dBm, the first credibility threshold is 50, when the strength value of the source signal is -135dBm and the first credibility of the first message signal is 51, the timing signal is determined based on the first message signal, and the second message signal is determined based on the first message signal.

[0191] As another example, the strength threshold is -130dBm, the first credibility threshold is 50, when the strength of the source signal is -131dBm and the first credibility of the first message signal is 49, determining the timing signal is terminated, and determining the second message signal is terminated.

[0192] As another example, the strength threshold is -130dBm, the first credibility threshold is 50, when the strength value of the source signal is -129dBm and the first credibility of the first message signal is 51, the timing signal is determined based on the source signal, and the second message signal is determined based on the source signal.

[0193] In some examples, the credibility of a signal can be determined based on the source of the signal.

[0194] In some embodiments, if the source of the signal is the source device, the credibility of the signal can be set to a preset value; if the source of the signal is other timing devices that forward the signal of the source device, the credibility can be determined based on the number of forwarding times from the source device to the current timing device.

[0195] It is understood that the above implementation is merely an example to illustrate possible ways of determining the credibility of a signal and should not be construed as limiting the methods for determining the credibility of a signal in the present disclosure. For example, in other examples, the credibility of a signal can be determined based on the stability of the signal (e.g., the strength of the signal, the change in the strength of the signal over time). For another example, in yet other examples, the credibility of a signal can be determined based on factors such as the propagation path of the signal and environmental factors.

[0196] In some examples, the more times a signal is forwarded, the lower the credibility of the signal.

[0197] In some examples, determining the second message signal may include:

[0198] A second message signal is determined based on the source signal, where the second message signal has a preset message credibility.

[0199] In some embodiments, the preset credibility of the message may represent the credibility of the second message signal determined based on the source signal.

[0200] In some embodiments, the process of determining the second message signal based on the source signal can be equivalent to a forwarding. If other timing devices use the second message signal determined by the current timing device based on the source signal as the first message signal, then the first credibility of the first message signal received by the other timing devices can be determined based on the preset credibility of the second message signal sent by the current timing device.

[0201] In some examples, determining the second message signal may include:

[0202] A second message signal is determined based on the first message signal, where the second message signal has a second credibility.

[0203] In some embodiments, the second credibility may represent the credibility of the second message signal determined based on the first message signal.

[0204] In some embodiments, the process of determining the second message signal based on the first message signal can be equivalent to a forwarding. If other timing devices use the second message signal determined by the current timing device based on the first message signal as the first message signal, then the first credibility of the first message signal received by the other timing devices can be determined based on the second credibility of the second message signal sent by the current timing device.

[0205] In some examples, the preset credibility value of the message may be greater than the second credibility value.

[0206] It is understandable that the above implementation is merely an example to illustrate the possible relationship between the preset credibility of the message and the second credibility, and cannot be understood as a limitation on the relationship between the preset credibility of the message and the second credibility in the present disclosure.

[0207] As an example, the preset message credibility of the current second message signal determined by the current timing device based on the source signal is 255; when other timing devices use the current second message signal sent by the current timing device as the first message signal, the first credibility of the first message signal is 255; the second credibility of the second message signal determined by the other timing devices based on the first message signal is 254, and after the other timing devices forward the signal, the credibility value of the message signal is reduced by 1.

[0208] It should be understood that the above implementation is merely illustrative, illustrating a possible relationship between a first credibility level and a second credibility level when determining a second message signal based on a first message signal, and should not be construed as limiting the relationship between the first credibility level and the second credibility level in this disclosure. For example, the difference between the preset message credibility level and the second credibility level may be any value, such as 2, 3.5, 10, etc.

[0209] In some embodiments, the manner of selecting the source signal or the first message signal to determine the timing signal or the second message signal may include one or more.

[0210] In some examples, determining the timing signal based on the source signal or the first message signal may include the following steps:

[0211] The source signal or the first message signal is selected to determine the timing signal; or, the source signal or the first message signal is processed, and the processed source signal or the first message signal is selected to determine the timing signal.

[0212] In some embodiments, the source signal or the first message signal may be selected as a timing signal to be synchronized with a local clock; or the processed source signal or the first message signal may be selected as a timing signal to be synchronized with a local clock.

[0213] In some examples, determining the second message signal based on the source signal or the first message signal may include the following steps:

[0214] The source signal or the first message signal is selected to determine the second message signal; or, the source signal or the first message signal is processed, and the processed source signal or the first message signal is selected to determine the second message signal.

[0215] In some embodiments, an unprocessed source signal or a first message signal may be selected to determine the second message signal; or a processed source signal or a first message signal may be selected to determine the second message signal.

[0216] In some embodiments, the source signal or the first message signal may perform different processing operations.

[0217] In some examples, based on the signal transmission delay of the first message signal, the time correction amount of the first message signal can be calculated, the first message signal can be corrected, and the corrected first message signal can be selected to determine the synchronization signal or the second message signal; or, based on the signal transmission delay of the source signal, the time correction amount of the source signal can be calculated, the source signal can be corrected, and the corrected source signal can be selected to determine the synchronization signal or the second message signal.

[0218] By correcting the signal transmission delay of the source signal or the first message signal, the accuracy of the source signal or the first message signal can be improved, thereby improving the accuracy of subsequent timing results, reducing the deviation of timestamps in the subsequently formed point cloud information, and improving the accuracy of the second message signal that can be used as a timing signal for other timing devices.

[0219] In some examples, the information transmission delay of the source signal or the first message signal may include at least one of the following:

[0220] Signal transmission delay between other timing devices and the current timing device;

[0221] The signal transmission delay of the current timing device.

[0222] In order to enable those skilled in the art to better understand and implement it, the above-mentioned time synchronization method is described in detail below through examples and in combination with application scenarios and drawings.

[0223] As an example, see Figure 4 , Figure 4 A flowchart of an example of a time synchronization method in an embodiment of the present disclosure is shown. In the embodiment of the present disclosure, time synchronization can be performed using the following steps:

[0224] S001, determine the strength of the source signal.

[0225] S002, determine whether the intensity of the source signal is greater than an intensity threshold; if so, execute step S003, if not, execute step S006.

[0226] In some embodiments, it is determined whether the strength of the source signal is greater than a strength threshold; if not, determining the timing signal and the second message signal based on the source signal is terminated.

[0227] S003: Determine a timing signal based on the source signal.

[0228] S004: Synchronize time with a local clock based on the synchronization signal.

[0229] S005: Determine a second message signal based on the source signal and the local delay.

[0230] S006: Determine a first credibility of at least one first message signal.

[0231] S007, determining whether the highest first credibility of the at least one first message signal is greater than a first credibility threshold; if so, executing step S008, if not, executing step S010.

[0232] S008: Determine a timing signal based on the first message signal with the highest first credibility.

[0233] S009: Determine a second message signal based on the first message signal with the highest first credibility and the local delay.

[0234] S010, stop determining the timing signal.

[0235] In some embodiments, determining the timing signal based on the first message signal is stopped.

[0236] S011, stop determining the second message signal.

[0237] In some embodiments, determining the second message signal based on the first message signal is stopped.

[0238] The timing signal and the second message signal are first determined using the source signal. If the source signal is unavailable, the first message signal is selected to determine the timing signal and the second message signal. This timing method, by providing an alternative solution, can ensure the timing accuracy and reliability of the timing signal received by the current timing device, as well as the timing accuracy and reliability of the second message signal used as the timing signal for other timing devices.

[0239] It should be noted that there is no necessary order between some steps in the above embodiments. They can be executed simultaneously or in sequence without causing any contradiction, and the order can be swapped. For example, when actually executing the steps of the time synchronization method provided in the embodiment of the present disclosure, step S005 can be executed first, and then steps S003 to S004; for another example, step S005 can be executed in parallel with steps S003 to S004; for another example, step S005 can be executed after executing step S003 and before executing step S004. The embodiment of the present disclosure does not impose any specific restrictions on the steps, as long as the time synchronization signal and the second message signal can be determined.

[0240] To solve the above problems, an embodiment of the present disclosure also provides a time synchronization method, which is applied to a time synchronization device. The time synchronization method may include: determining the strength of the source signal; determining the time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement; the first message signal can be used as a time synchronization signal for other time synchronization devices.

[0241] By determining the strength of the source signal, the interval in which the strength of the source signal lies can be determined, thereby determining the time synchronization requirement based on the strength of the source signal, thereby determining the first message signal based on the time synchronization requirement, and then other time synchronization devices can determine the time synchronization signal based on the first message signal. By adopting the above technical solution, other time synchronization devices can determine the time synchronization signal based on the first message signal, providing an alternative solution for the method of determining the time synchronization signal of the other time synchronization devices, improving the reliability of the time synchronization signal of the other time synchronization devices in the current environment, and the accuracy of the time information subsequently formed based on the time synchronization result of the time synchronization device; at the same time, the time synchronization device only receives the time synchronization requirement when the strength of the source signal obtained by itself meets the requirements, which can reduce the period of scanning the time synchronization requirement signal and reduce the power consumption and data volume of the time synchronization device.

[0242] In order to enable those skilled in the art to better understand the disclosed concepts, working principles and advantages of the embodiments of the present disclosure, the time synchronization method in the embodiments of the present disclosure is described in detail below.

[0243] First, the embodiment of the present disclosure provides a time synchronization method, which can be applied to a time synchronization device. Figure 5 , Figure 5 A flowchart showing another example of a time synchronization method in an embodiment of the present disclosure is shown. In some embodiments of the present disclosure, the following steps may be used for time synchronization.

[0244] Step D: Determine the strength of the source signal.

[0245] In some embodiments, the source signal may include a timing signal sent by a source device. By determining the strength of the source signal currently received by the timing device, the interval in which the strength of the source signal lies may be determined.

[0246] Step E: determining the timing requirement based on the strength of the source signal.

[0247] In some embodiments, the time synchronization request may include a request signal sent by other time synchronization devices, and whether to accept the time synchronization request may be determined based on the strength of the source signal.

[0248] Step F: Determine a first message signal based on the timing requirement.

[0249] In some embodiments, after the current time synchronization device determines the time synchronization requirement, the current time synchronization device may determine a first message signal based on the time synchronization requirement, and other time synchronization devices may determine a time synchronization signal based on the first message signal.

[0250] The current timing device only receives the timing request when the strength of the source signal obtained by itself meets the requirements, which can reduce the time period for scanning the timing request signal and reduce the power consumption and data volume of the current timing device; at the same time, the first message signal determined by the current timing device can be used to determine the timing signals of other timing devices, thereby providing an alternative solution for the determination method of the timing signals of other timing devices, improving the reliability of the timing signals of the other timing devices in the current environment, and the accuracy of the time information subsequently formed based on the timing results of the timing device.

[0251] In order to enable those skilled in the art to better understand and implement it, the above-mentioned time synchronization method is described in detail below with examples.

[0252] In some examples, the time synchronization demand may be a demand signal issued by other time synchronization devices.

[0253] In some examples, step E may include:

[0254] A demand signal is determined based on the strength of the source signal and a strength threshold.

[0255] In some embodiments, the strength threshold may include a preset signal strength of the source signal. When it is determined that the strength of the source signal meets the strength threshold requirement, a demand signal may be determined.

[0256] In some embodiments, determining the demand signal may include determining whether to search for / receive the demand signal.

[0257] The current time synchronization device searches for / receives the required signal only when it can receive a source signal that meets the requirements, which can reduce the time period for scanning the required signal and reduce the power consumption and data volume of the current time synchronization device.

[0258] In some examples, determining the demand signal based on the intensity of the source signal and the intensity threshold may include the following steps:

[0259] determining whether the intensity of the source signal is greater than an intensity threshold;

[0260] When the intensity of the source signal is greater than the intensity threshold, a demand signal is determined.

[0261] In some embodiments, it may be determined whether the intensity of the source signal is greater than an intensity threshold. When it is determined that the intensity of the source signal is greater than the intensity threshold, it may be determined that the intensity of the source signal meets the intensity threshold requirement, and a demand signal may be determined.

[0262] In some examples, determining the demand signal based on the intensity of the source signal and the intensity threshold may include the following steps:

[0263] determining whether the intensity of the source signal is greater than an intensity threshold;

[0264] When the intensity of the source signal is not greater than the intensity threshold, a demand signal is determined based on the second message signal.

[0265] The current timing device will only determine the demand signal when it can receive a source signal or a second message signal that meets the requirements. This can reduce the time period for scanning the demand signal and reduce the power consumption and data volume of the current timing device. At the same time, by adding the option of determining the demand signal based on the second message signal, the sources of receivable signals that meet the requirements can be expanded, thereby increasing the probability of subsequently determining the demand signal.

[0266] In some examples, determining the demand signal based on the second message signal may include the following steps:

[0267] determining a second credibility of the second message signal;

[0268] A demand signal is determined based on the second credibility and a second credibility threshold.

[0269] In some embodiments, the second credibility may represent the credibility of the second message signal, and the second credibility threshold may include a preset credibility value of the second message signal. When it is determined that the second credibility meets the second credibility threshold requirement, the demand signal may be determined.

[0270] In some examples, a method for determining the second credibility of the second message signal may include at least one of the following:

[0271] The timing device itself is determined;

[0272] The current time synchronization device receives the time from other time synchronization devices.

[0273] In some examples, determining the demand signal based on the second credibility and the second credibility threshold may include the following steps:

[0274] determining whether the second credibility is greater than a second credibility threshold;

[0275] When the second confidence level is greater than the second confidence level threshold, a demand signal is determined.

[0276] In some embodiments, it may be determined whether the second credibility is greater than a second credibility threshold. When it is determined that the second credibility is greater than the second credibility threshold, the second credibility meets the second credibility threshold requirement, and the demand signal may be determined.

[0277] In some examples, determining the demand signal based on the second credibility and the second credibility threshold may include the following steps:

[0278] determining whether the second credibility is greater than a second credibility threshold;

[0279] When the second confidence level is not greater than the second confidence level threshold, determining the demand signal may be terminated.

[0280] In some embodiments, it can be determined whether the second credibility is greater than a second credibility threshold. When it is determined that the second credibility is not greater than the second credibility threshold, it can be determined that the second credibility does not meet the second credibility threshold requirement, and the determination of the demand signal can be terminated at this time.

[0281] In some embodiments, suspending determining the demand signal may include not searching for / receiving the demand signal.

[0282] The current time synchronization device does not search / receive the demand signal when it does not receive a source signal that meets the requirements, and will not subsequently determine the first message signal, thereby reducing the power consumption and data volume of the current time synchronization device.

[0283] In some examples, the second message signal may include multiple ones.

[0284] Determining the demand signal based on multiple second message signals can increase the options for determining the demand signal, expand the number of receivable signals that meet the requirements, and improve the probability of subsequently determining the demand signal.

[0285] In some examples, determining the demand signal based on the second message signal may include: determining the demand signal based on a plurality of second message signals having a second credibility greater than a second credibility threshold.

[0286] In some embodiments, when the second message signal having a second credibility greater than a second credibility threshold may include multiple ones, it can be determined that the second credibility of multiple second message signals meets the second credibility threshold requirement, and the demand signal can be determined based on the multiple message signals having a second credibility greater than the second credibility threshold.

[0287] In some examples, determining the demand signal based on the second message signal may include the following steps:

[0288] determining second credibility of the plurality of second message signals;

[0289] The demand signal is determined based on the second message signal with the second highest credibility.

[0290] For example, the strength threshold is -130dBm, the second confidence threshold is 50, and the timing device receives a source signal and two second message signals. If the source signal strength is -135dBm and the second confidence levels of the two second message signals are 51 and 49, respectively, the demand signal is determined based on the second message signal with a second confidence level of 51.

[0291] As another example, the strength threshold is -130dBm, the second confidence threshold is 50, and the timing device receives a source signal and two second message signals. When the strength value of the source signal is -129dBm and the second confidence levels of the two second message signals are 100 and 99, respectively, the demand signal is determined based on the source signal.

[0292] As another example, the strength threshold is -130dBm, the second confidence threshold is 50, and the timing device receives a source signal and two second message signals. When the strength value of the source signal is -135dBm and the second confidence levels of the two second message signals are 45 and 49, respectively, determining the demand signal is terminated.

[0293] It should be understood that the above implementation is merely illustrative, illustrating possible methods for determining a demand signal when multiple second message signals are present, and should not be construed as limiting the number of second message signals in this disclosure. For example, a single second message signal may be present. When a single second message signal is present, that second message signal is the second message signal with the second highest credibility.

[0294] In some examples, step F may include:

[0295] A first message signal is determined based on the demand signal.

[0296] In some embodiments, the first message signal may be determined in response to a demand signal.

[0297] In some examples, determining the first message signal may include the following steps:

[0298] A first message signal is determined based on the strength of the source signal and a strength threshold.

[0299] In some embodiments, the strength threshold may include a preset signal strength of the source signal. When it is determined that the strength of the source signal meets the strength threshold requirement, the source signal may be used to determine the first message signal.

[0300] By setting the strength threshold, the interval of the source signal's strength can be determined; other timing devices can confirm the timing signal based on the first message signal. By selecting the source signal that meets the strength threshold requirements to determine the first message signal, the reliability of the first message signal and other timing devices confirming the timing signal based on the first message signal can be improved.

[0301] In some examples, determining the first message signal based on the strength of the source signal and the strength threshold may include the following steps:

[0302] determining whether the intensity of the source signal is greater than an intensity threshold;

[0303] When the intensity of the source signal is greater than the intensity threshold, a first message signal is determined.

[0304] In some embodiments, it can be determined whether the intensity of the source signal is greater than an intensity threshold. When it is determined that the intensity of the source signal is greater than the intensity threshold, it can be determined that the intensity of the source signal meets the intensity threshold requirement, and the source signal can be used to determine the first message signal.

[0305] In some examples, the strength threshold for determining the timing requirement may be equal to the strength threshold for determining the first message signal.

[0306] By setting the strength threshold for determining the synchronization requirement equal to the strength threshold for determining the first message signal, the number of times the relationship between the source signal strength and the strength threshold / strength threshold is determined can be reduced, thereby optimizing the process steps.

[0307] It should be understood that the above implementation is merely illustrative, used to illustrate a possible relationship between the strength threshold for determining the time synchronization requirement and the strength threshold for determining the first message signal, and should not be construed as limiting the relationship between the strength threshold for determining the time synchronization requirement and the strength threshold for determining the first message signal in the present disclosure. For example, in other examples, the strength threshold for determining the time synchronization requirement may be lower than the strength threshold for determining the first message signal. For another example, in yet other examples, the strength threshold for determining the time synchronization requirement may be higher than both the strength threshold for determining the time synchronization requirement and the strength threshold for determining the first message signal.

[0308] In some examples, determining the first message signal based on the strength of the source signal and the strength threshold may include the following steps:

[0309] determining whether the intensity of the source signal is greater than an intensity threshold;

[0310] When the intensity of the source signal is not greater than the intensity threshold, the first message signal is determined based on the second message signal.

[0311] In some embodiments, when it is determined that the strength of the source signal does not meet the strength threshold requirement, a second message signal can be selected to determine the first message signal, thereby providing an alternative solution for the determination method of the first message signal and ensuring the timing accuracy and reliability of the first message signal in the current environment.

[0312] In some examples, determining the first message signal based on the second message signal may include the following steps:

[0313] determining a second credibility of the second message signal;

[0314] A first message signal is determined based on the second credibility and a second credibility threshold.

[0315] In some embodiments, the second credibility threshold may include a preset credibility value of the second message signal. When it is determined that the second credibility meets the second credibility threshold requirement, the second message signal may be used to determine the first message signal.

[0316] By setting a second credibility threshold, the credibility interval of the first message signal can be determined; other timing devices can confirm the timing signal based on the first message signal, and by selecting the second message signal that meets the second credibility threshold requirements to determine the first message signal, the reliability of the first message signal can be improved, as well as the reliability of the timing signal confirmed by other timing devices based on the first message signal.

[0317] In some examples, determining the first message signal based on the second credibility and the second credibility threshold may include the following steps:

[0318] determining whether the second credibility is greater than a second credibility threshold;

[0319] When the second credibility is greater than the second credibility threshold, the first message signal is determined.

[0320] In some embodiments, it can be determined whether the second credibility is greater than a second credibility threshold. When it is determined that the second credibility is greater than the second credibility threshold, the second credibility meets the second credibility threshold requirement, and the first message signal can be determined based on the second message signal.

[0321] In some examples, the second credibility threshold for determining the timing requirement may be equal to the second credibility threshold for determining the first message signal.

[0322] By setting the second credibility threshold for determining the time synchronization requirement equal to the second credibility threshold for determining the first message signal, the number of times the relationship between the second credibility and the second credibility threshold is determined can be reduced, thereby optimizing the process.

[0323] It should be understood that the above implementation is merely illustrative, illustrating a possible relationship between the second credibility threshold and the second credibility threshold, and should not be construed as limiting the relationship between the second credibility threshold and the second credibility threshold in this disclosure. For example, in other examples, the second credibility threshold for determining the timing requirement may be lower than the second credibility threshold for determining the first message signal.

[0324] As an example, the strength threshold is -130dBm, the second credibility threshold is 50, when the strength value of the source signal is -135dBm and the second credibility of the second message signal is 51, the demand signal is determined based on the second message signal, and the first message signal is determined based on the second message signal.

[0325] As another example, the strength threshold is -130dBm, the second credibility threshold is 50, and when the strength of the source signal is -135dBm and the second credibility of the second message signal is 45, determining the demand signal is terminated.

[0326] As another example, the strength threshold is -130dBm, the second credibility threshold is 50, when the strength value of the source signal is -128dBm and the second credibility of the second message signal is 51, the demand signal is determined based on the source signal, and the first message signal is determined based on the source signal.

[0327] In some examples, determining the first message signal may include:

[0328] A first message signal is determined based on the source signal, where the first message signal has a preset message credibility.

[0329] In some embodiments, the preset credibility of the message may represent the credibility of the first message signal determined based on the source signal.

[0330] In some embodiments, the process of determining the first message signal based on the source signal can be equivalent to a forwarding. If other timing devices use the first message signal determined by the current timing device based on the source signal as the second message signal, then the second credibility of the second message signal received by the other timing devices can be determined based on the preset credibility of the first message signal sent by the current timing device.

[0331] In some examples, determining the first message signal may include:

[0332] A first message signal is determined based on the second message signal, wherein the first message signal has a first credibility.

[0333] In some embodiments, the first credibility may represent the credibility of the first message signal determined based on the second message signal.

[0334] In some embodiments, the process of determining the first message signal based on the second message signal can be equivalent to a forwarding. If other timing devices use the first message signal determined by the current timing device based on the second message signal as the second message signal, then the second credibility of the second message signal received by the other timing devices can be determined based on the first credibility of the first message signal sent by the current timing device.

[0335] In some examples, the preset credibility value of the message may be greater than the first credibility value.

[0336] It is understandable that the above implementation is merely an example to illustrate the possible relationship between the preset credibility of the message and the first credibility, and cannot be understood as a limitation on the relationship between the preset credibility of the message and the first credibility in the present disclosure.

[0337] As an example, the preset message credibility of the first message signal determined by the current timing device based on the source signal is 255, and other timing devices use the first message signal sent by the current timing device as the second message signal, and the second credibility of the second message signal is 255; the first credibility of the first message signal determined by the other timing devices based on the second message signal is 254, and after the other timing devices forward the signal, the credibility value of the message signal is reduced by 1.

[0338] It should be understood that the above implementation is merely illustrative, illustrating a possible relationship between the second credibility and the first credibility when determining the first message signal based on the second message signal, and should not be construed as limiting the relationship between the second credibility and the first credibility in this disclosure. For example, the difference between the preset message credibility and the first credibility can also be any value, such as 2, 3.5, 10, etc.

[0339] In some embodiments, the manner of selecting the source signal or the second message signal to determine the demand signal or the first message signal may include one or more.

[0340] In some examples, determining the demand signal based on the source signal or the second message signal may include the following steps:

[0341] The source signal or the second message signal is selected to determine the demand signal; or, the source signal or the second message signal is processed, and the processed source signal or the second message signal is selected to determine the demand signal.

[0342] In some embodiments, the source signal or the second message signal may be selected as the demand signal; or the processed source signal or the second message signal may be selected as the demand signal.

[0343] In some examples, determining the first message signal based on the source signal or the second message signal may include the following steps:

[0344] The source signal or the second message signal is selected to determine the first message signal; or, the source signal or the second message signal is processed, and the processed source signal or the second message signal is selected to determine the first message signal.

[0345] In some embodiments, the unprocessed source signal or the second message signal may be selected to determine the first message signal; or the processed source signal or the second message signal may be selected to determine the first message signal.

[0346] In some embodiments, the source signal or the second message signal may perform different processing operations.

[0347] In some examples, the time correction amount of the second message signal can be calculated based on the signal transmission delay of the second message signal, the second message signal can be corrected, and the corrected second message signal can be selected to determine the demand signal or the first message signal; or, the time correction amount of the source signal can be calculated based on the signal transmission delay of the source signal, the source signal can be corrected, and the corrected source signal can be selected to determine the demand signal or the first message signal.

[0348] By correcting the signal transmission delay of the source signal or the second message signal, the accuracy of the source signal or the second message signal can be improved, thereby improving the accuracy of the first message signal that is subsequently used as a timing signal for other timing devices.

[0349] In some examples, the information transmission delay of the source signal or the second message signal may include at least one of the following:

[0350] Signal transmission delay between other timing devices and the current timing device;

[0351] The signal transmission delay of the current timing device.

[0352] To enable those skilled in the art to better understand and implement the method, the above-mentioned time synchronization method is described below by way of examples in combination with application scenarios and accompanying drawings.

[0353] As an example, see Figure 6 , Figure 6 A flowchart showing another example of a time synchronization method in an embodiment of the present disclosure is shown. In an embodiment of the present disclosure, time synchronization can be performed using the following steps:

[0354] S101, determining the strength of the source signal.

[0355] S102, determine whether the intensity of the source signal is greater than an intensity threshold; if so, execute step S103, if not, execute step S105.

[0356] S103: Determine a demand signal.

[0357] S104: In response to the demand signal, determine a first message signal based on the source signal.

[0358] S105: Determine a second credibility of at least one second message signal.

[0359] S106, determining whether the highest second credibility of the at least one second message signal is greater than a second credibility threshold; if so, executing step S107, if not, executing step S109.

[0360] S107, determining a demand signal.

[0361] S108 : In response to the demand signal, determine a first message signal based on the second message signal with the highest second credibility.

[0362] S109, stop determining the demand signal.

[0363] The demand signal is first determined using the source signal. If the source signal is unavailable, the second message signal is selected to determine the demand signal. Currently, the timing device only determines the demand signal when it can receive both the source signal and the second message signal that meet the requirements. This reduces the time required to scan for demand signals, lowering the device's power consumption and data volume. Furthermore, by adding the option to determine the demand signal based on the second message signal, the range of receivable sources of signals that meet the requirements is expanded, increasing the probability of subsequently determining the demand signal and the first message signal.

[0364] In order to solve the above problems, an embodiment of the present disclosure provides a time synchronization method, which is applied to a time synchronization device. The time synchronization method may include: determining the strength of a source signal; determining a time synchronization requirement based on the strength of the source signal; determining a first message signal based on the time synchronization requirement; determining a time synchronization signal based on the first message signal; the first message signal is sent by other time synchronization devices.

[0365] By determining the strength of the source signal, the interval in which the strength of the source signal lies can be determined, thereby determining the timing requirement based on the strength of the source signal, thereby determining the first message signal based on the timing requirement, and further determining the timing signal of the current timing device based on the first message signal.

[0366] By adopting the above technical solution, the current timing device can determine the timing requirement when the source signal is not available, and determine the timing signal based on the first message signal in response to the timing requirement, providing an alternative solution for the determination method of the timing signal, ensuring the reliability of the timing signal in the current environment, and thus ensuring the accuracy of the time information subsequently formed based on the timing result of the current timing device; at the same time, the current timing device only issues a timing requirement when the source signal is insufficient, which can reduce the time period of scanning the first message signal and reduce the power consumption and data volume of the current timing device.

[0367] In order to enable those skilled in the art to better understand the disclosed concepts, working principles and advantages of the embodiments of the present disclosure, the time synchronization method in the embodiments of the present disclosure is described in detail below.

[0368] First, the embodiment of the present disclosure provides a time synchronization method, which can be applied to a time synchronization device. Figure 7 , Figure 7 A flowchart showing another example of a time synchronization method in an embodiment of the present disclosure is shown. In some embodiments of the present disclosure, the following steps may be used for time synchronization.

[0369] Step G, determining the strength of the source signal.

[0370] In some embodiments, the source signal may include a timing signal sent by the source device. By determining the strength of the source signal currently received by the timing device, the interval in which the strength of the source signal lies may be determined.

[0371] Step H: determining the timing requirement based on the strength of the source signal.

[0372] In some embodiments, determining the timing requirement may include determining whether there is a requirement to determine a timing signal based on other signals other than the source signal.

[0373] Step I: Determine a first message signal based on the timing requirement.

[0374] In some embodiments, determining the time synchronization requirement may include: determining whether there is a need to determine a time synchronization signal based on a first message signal; after the current time synchronization device determines the time synchronization requirement, the current time synchronization device may determine the first message signal sent by other time synchronization devices.

[0375] Step J: Determine a timing signal based on the first message signal.

[0376] In some embodiments, the current time synchronization device may determine the time synchronization signal based on the determined first message signal.

[0377] By adopting the above-mentioned technical solution, the current timing device can determine the timing requirement when the source signal is unavailable, and determine the timing signal based on the first message signal in response to the timing requirement, providing an alternative solution for the determination method of the timing signal, ensuring the reliability of the timing signal in the current environment, and further ensuring the accuracy of the time information subsequently formed based on the timing result of the current timing device; at the same time, the current timing device only issues a timing requirement when the source signal is unavailable, which can reduce the time period of the current timing device scanning the first message signal, and reduce the power consumption and data volume of the current timing device.

[0378] In order to enable those skilled in the art to better understand and implement it, the above-mentioned time synchronization method is described in detail below through specific examples.

[0379] In some examples, step H may include:

[0380] A timing requirement is determined based on the strength of the source signal and a strength threshold.

[0381] In some embodiments, the strength threshold may include a preset signal strength of the source signal. When it is determined that the strength of the source signal does not meet the strength threshold requirement, it may be determined that there is a time synchronization requirement.

[0382] In some examples, determining the timing requirement based on the strength of the source signal and the strength threshold may include the following steps:

[0383] determining whether the intensity of the source signal is greater than an intensity threshold;

[0384] When the intensity of the source signal is not greater than the intensity threshold, a time synchronization requirement is determined.

[0385] In some embodiments, it can be determined whether the intensity of the source signal is greater than an intensity threshold. When it is determined that the intensity of the source signal is not greater than the intensity threshold, it can be determined that the intensity of the source signal does not meet the intensity threshold requirement, and it can be determined that there is a time synchronization requirement.

[0386] In some examples, determining the timing requirement based on the strength of the source signal and the strength threshold may include the following steps:

[0387] determining whether the intensity of the source signal is greater than an intensity threshold;

[0388] When the intensity of the source signal is greater than the intensity threshold, determining the time synchronization requirement is stopped.

[0389] In some embodiments, when the intensity of the source signal is greater than an intensity threshold requirement, it can be determined that the intensity of the source signal meets the intensity threshold requirement, and the current time synchronization device can stop determining the time synchronization requirement.

[0390] The current time synchronization device only needs to determine the time synchronization requirement when it does not receive a source signal that meets the requirement, which can reduce the power consumption and data volume of the current time synchronization device.

[0391] In some examples, determining a timing signal based on a source signal may include the following steps:

[0392] A timing signal is determined based on the intensity of the source signal and an intensity threshold.

[0393] By selecting a source signal that meets the strength threshold requirement to determine the timing signal, it is possible to screen a source signal with high timing accuracy to determine the timing signal, thereby ensuring the reliability of the timing signal in the current environment.

[0394] In some examples, determining the timing signal based on the strength of the source signal and the strength threshold may include the following steps:

[0395] determining whether the intensity of the source signal is greater than an intensity threshold;

[0396] When the intensity of the source signal is greater than the intensity threshold, a timing signal may be determined.

[0397] In some embodiments, it can be determined whether the intensity of the source signal is greater than an intensity threshold. When it is determined that the intensity of the source signal is greater than the intensity threshold, it can be determined that the intensity of the source signal meets the intensity threshold requirement, and the source signal can be used to determine the timing signal.

[0398] In some examples, determining the timing requirement may also include determining a requirement signal.

[0399] In some embodiments, determining the timing requirement may further include determining a requirement signal in addition to determining whether there is a requirement to determine a timing signal based on other signals in addition to the source signal.

[0400] In some examples, step I may include:

[0401] A first message signal is determined based on the time synchronization requirement.

[0402] In some embodiments, in response to the time synchronization requirement, the current time synchronization device may determine a first message signal sent by another time synchronization device.

[0403] In some embodiments, the first message signal sent by other time synchronization devices determined by the current time synchronization device may include: a message signal determined and sent by other time synchronization devices in response to a demand signal sent by the current time synchronization device.

[0404] By setting other timing devices to determine and send a first message signal in response to a demand signal sent by the current timing device, other timing devices can send a message signal only when they receive a demand signal, thereby saving power consumption and data volume of other timing devices.

[0405] In some examples, step J may include the following steps:

[0406] Determining a first credibility of the first message signal;

[0407] A timing signal is determined based on the first credibility and a first credibility threshold.

[0408] In some embodiments, the first credibility may represent the credibility of the first message signal, and the first credibility threshold may include a preset credibility value of the first message signal. When it can be determined that the first credibility meets the first credibility threshold requirement, the timing signal may be determined based on the first message signal.

[0409] By setting a first credibility threshold, the credibility interval of the first message signal can be determined; the first message signal that meets the requirements of the first credibility threshold has high timing accuracy and reliability. By selecting the first message signal that meets the requirements of the first credibility threshold to determine the timing signal, the timing accuracy and reliability of the timing signal can be improved.

[0410] In some examples, a method for obtaining the first credibility of the first message signal may include at least one of the following:

[0411] The timing device itself is determined;

[0412] The current time synchronization device receives the time from other time synchronization devices.

[0413] In some examples, determining the timing signal based on the first credibility and the first credibility threshold may include the following steps:

[0414] determining whether the first credibility is greater than a first credibility threshold;

[0415] When the first credibility is greater than the first credibility threshold, a timing signal is determined.

[0416] In some embodiments, it can be determined whether the first credibility is greater than a first credibility threshold. When it is determined that the first credibility is greater than the first credibility threshold, it can be determined that the first credibility meets the first credibility threshold requirement, and the first message signal can be used to determine the timing signal.

[0417] In some examples, determining the timing signal based on the first credibility and the first credibility threshold may include the following steps:

[0418] determining whether the first credibility is greater than a first credibility threshold;

[0419] When the first reliability is not greater than the first reliability threshold, determining the timing signal is stopped.

[0420] In some embodiments, it may be determined whether the first credibility is greater than a first credibility threshold. When it is determined that the first credibility is not greater than the first credibility threshold, it may be determined that the first credibility does not meet the first credibility threshold requirement, and determining the timing signal may be terminated.

[0421] In some examples, the first message signal may include multiple ones.

[0422] A timing signal is determined based on multiple first message signals, providing an alternative solution for selecting the timing signal, and ensuring the accuracy of the timing signal in the current environment.

[0423] In some examples, determining the timing signal based on the first message signal may include: determining the timing signal based on multiple first message signals having a first credibility greater than a first credibility threshold.

[0424] In some embodiments, when the first message signal having a first credibility greater than a first credibility threshold may include multiple first message signals, it can be determined that the first credibility of multiple first message signals meets the first credibility threshold requirement, and the timing signal can be determined based on the multiple message signals having a first credibility greater than the first credibility threshold.

[0425] In some examples, determining the timing signal based on the first message signal may include the following steps:

[0426] determining first credibility of a plurality of first message signals;

[0427] A timing signal is determined based on the first message signal with the highest first credibility.

[0428] In some embodiments, the higher the first credibility, the higher the timing accuracy and reliability of the first message signal, and the lower the first credibility, the lower the timing accuracy and reliability of the first message signal. Determining the timing signal based on the first message signal with the highest first credibility can improve the accuracy and reliability of the timing signal.

[0429] For example, the strength threshold is -130dBm, the first confidence threshold is 50, and the timing device receives a source signal and two first message signals. If the source signal strength is -138dBm and the first confidence levels of the two first message signals are 51 and 49, respectively, the timing signal is determined based on the first message signal with a first confidence level of 51.

[0430] As another example, the strength threshold is -130dBm, the first confidence threshold is 50, and the timing device receives a source signal and two first message signals. When the strength of the source signal reaches -135dBm and the first confidences of the two first message signals are 46 and 49, respectively, determining the timing signal is terminated.

[0431] It should be understood that the above implementation is merely illustrative, illustrating possible ways to determine a timing signal when a first message signal includes multiple messages, and should not be construed as limiting the number of first message signals in this disclosure. For example, the first message signal may include one. When the first message signal includes one, the first message signal is the first message signal with the highest first credibility.

[0432] In some embodiments, the method of selecting the source signal or the first message signal to determine the timing signal may include one or more methods.

[0433] In some examples, determining the timing signal based on the source signal or the first message signal may include the following steps:

[0434] The source signal or the first message signal is selected to determine the timing signal; or, the source signal or the first message signal is processed, and the processed source signal or the first message signal is selected to determine the timing signal.

[0435] In some embodiments, the unprocessed source signal or the first message signal may be selected as the timing signal to be synchronized with the local clock; or the processed source signal or the first message signal may be selected as the timing signal to be synchronized with the local clock.

[0436] In some embodiments, different processing operations may be performed on the source signal or the first message signal.

[0437] In some examples, the time correction amount of the first message signal can be calculated based on the signal transmission delay of the first message signal, the first message signal can be corrected, and the corrected first message signal can be selected to determine the timing signal; or, the time correction amount of the source signal can be calculated based on the signal transmission delay of the source signal, the source signal can be corrected, and the corrected source signal can be selected to determine the timing signal.

[0438] By correcting the signal transmission delay of the source signal or the first message signal, the accuracy of the source signal or the first message signal can be improved, thereby improving the accuracy of the subsequent time information used as the synchronization result and reducing the deviation of the timestamp in the subsequently formed point cloud information.

[0439] In some examples, the information transmission delay of the source signal or the first message signal may include at least one of the following:

[0440] Signal transmission delay between other timing devices and the current timing device;

[0441] The signal transmission delay of the current timing device.

[0442] In order to enable those skilled in the art to better understand and implement it, the above-mentioned time synchronization method is described in detail below through examples and in combination with application scenarios and drawings.

[0443] As a specific example, refer to Figure 8 , Figure 8 A flowchart showing another example of a time synchronization method in an embodiment of the present disclosure is shown. In an embodiment of the present disclosure, time synchronization can be performed using the following steps:

[0444] S201, determining the strength of the source signal.

[0445] S202, determine whether the intensity of the source signal is greater than an intensity threshold; if so, execute step S203, if not, execute step S204.

[0446] S203: Determine a timing signal based on the source signal.

[0447] S204: Determine the time synchronization requirement.

[0448] S205: Determine a first message signal based on a time synchronization requirement.

[0449] S206: Determine a first credibility of at least one first message signal.

[0450] S207, determining whether the highest first credibility of the at least one first message signal is greater than a first credibility threshold; if so, executing step S208, if not, executing step S209.

[0451] S208: Determine a timing signal based on the first message signal with the highest first credibility.

[0452] S209, stop determining the timing signal.

[0453] The current timing device only issues a timing request when the source signal is unavailable, which can reduce the time period for the current timing device to scan the first message signal, and reduce the power consumption and data volume of the current timing device; other timing devices can send message signals only when they receive the request signal, thereby saving the power consumption and data volume of other timing devices; at the same time, the above-mentioned timing method provides an alternative solution through the first message signal, which can ensure the timing accuracy and reliability of the timing signal of the current timing device.

[0454] Accordingly, in order to solve the above technical problems, the embodiment of the present disclosure further provides a time synchronization device, referring to Figure 9 , Figure 9 The following is a schematic diagram showing the structure of an example of a time synchronization device according to an embodiment of the present disclosure. The time synchronization device 10 may include:

[0455] The first processor 11 can execute a time synchronization method to determine a time synchronization signal and / or a message signal.

[0456] In some embodiments, the current time synchronization device may perform time synchronization based on a time synchronization signal determined by the first processor executing the time synchronization method; other time synchronization devices may determine a time synchronization signal based on a message signal determined by the first processor executing the time synchronization method.

[0457] In some examples, the time synchronization device 10 may further include: a receiver 12, which can receive signals.

[0458] In some embodiments, the receiver may receive a source signal, a message signal sent by other time synchronization devices, or a demand signal sent by other time synchronization devices, and convert the signal into a wired electrical signal.

[0459] In some examples, the timing device 10 may further include: a decoder 13, which may decode the signal.

[0460] In some embodiments, the decoder may decode the signal converted into a wired electrical signal by the receiver.

[0461] In some examples, the first processor may determine a timing signal, a message signal, or a demand signal based on the signal decoded by the decoder.

[0462] In some examples, the timing device 10 may further include an encoder 14 that can encode the signal.

[0463] In some embodiments, the encoder may encode the message signal or the demand signal determined by the first processor.

[0464] In some examples, the time synchronization device 10 may further include: a transmitter 15, which can send signals.

[0465] In some embodiments, the transmitter may convert the message signal or demand signal encoded by the encoder into a radio signal and transmit it to the outside world.

[0466] In some examples, the receiver and transmitter may be integrated.

[0467] By integrating the receiver and the transmitter, the integration level of the timing device can be improved, thereby reducing power consumption, cost, and system design difficulty.

[0468] In some embodiments, the timing device may include a radio frequency (RF) chip.

[0469] In some embodiments, the RF chip can receive GPS signals and signals in a frequency band close to the GPS signals, and transmit signals in a frequency band close to the GPS signals.

[0470] It is understood that the above implementation is merely an example to illustrate a possible relationship between a receiver and a transmitter, and should not be construed as limiting the receiver and transmitter in this disclosure. For example, in other examples, the receiver and transmitter may be separate, independent devices.

[0471] In some examples, the decoder and encoder may be integrated.

[0472] By integrating the decoder and encoder, the integration level of the timing device can be improved, thereby reducing power consumption, cost, and system design difficulty.

[0473] In some embodiments, the timing device may include a baseband chip, and the baseband chip may decode and encode the electrical signal.

[0474] It is understood that the above implementation is merely an example to illustrate the possible relationship between the decoder and the encoder, and should not be construed as limiting the decoder and encoder described in this disclosure. For example, in other examples, the decoder and encoder may be separate independent devices.

[0475] In some examples, the first processor can execute the time synchronization method in any of the aforementioned embodiments.

[0476] In order to enable those skilled in the art to better understand and implement, the above-mentioned time synchronization device is described in detail below through examples and in combination with scenarios and drawings.

[0477] As an example, see Figure 10 , Figure 10 The schematic diagram of the working principle of an example of a time synchronization device in an embodiment of the present disclosure is shown. The time synchronization device 10 may include: a receiver 12, a decoder 13, a first processor 11, an encoder 14 and a transmitter 15.

[0478] The receiver 12 may receive a source signal or a first message signal;

[0479] The decoder 13 may decode the source signal or the first message signal received by the receiver 12;

[0480] The first processor 11 may execute a timing method, determine a timing signal and a second message signal based on the source signal or the first message signal decoded by the decoder 13, perform timing based on the timing signal, and determine a timing result;

[0481] The encoder 14 may encode the second message signal determined by the first processor 11;

[0482] The transmitter 15 may transmit the second message signal encoded by the encoder 14 .

[0483] In some embodiments, the first processor in the embodiments of the present disclosure may perform time synchronization using the time synchronization method described in any of the aforementioned embodiments. For details, please refer to the aforementioned embodiments and will not be described in detail here.

[0484] The first processor determines the timing signal through the source signal or the first message signal received by the receiver, so that when one of the source signal or the first message signal is unavailable, the first processor can select the other to determine the timing signal, providing an alternative scheme for the method of determining the timing signal, ensuring the timing accuracy and reliability of the timing signal in the current environment, and thus ensuring the accuracy of the time information subsequently formed based on the timing result of the current timing device; the second message signal sent by the transmitter can be used as the timing signal in other timing devices. By determining the second message signal, the first processor can provide an alternative scheme for the method of determining the timing signal of other timing devices, ensuring the timing accuracy and reliability of the timing signal of other timing devices, and thus ensuring the accuracy of the time information subsequently formed based on the timing results of other timing devices.

[0485] As another example, refer to Figure 11 , Figure 11The schematic diagram of the working principle of another example of a time synchronization device in the embodiment of the present disclosure is shown. The time synchronization device 10 may include: a receiver 12, a decoder 13, a first processor 11, an encoder 14 and a transmitter 15.

[0486] The receiver 12 may receive a source signal, a demand signal or a second message signal;

[0487] The decoder 13 may decode the source signal or the demand signal received by the receiver 12;

[0488] The first processor 11 may execute a time synchronization method to determine a first message signal based on the source signal and the demand signal decoded by the decoder 13; and determine a first message signal based on the second message signal and the demand signal decoded by the decoder 13;

[0489] The encoder 14 may encode the first message signal determined by the first processor 11;

[0490] The transmitter 15 can send the first message signal encoded by the encoder 14.

[0491] In some embodiments, the first processor in the embodiments of the present disclosure may perform time synchronization using the time synchronization method described in any of the aforementioned embodiments. For details, please refer to the aforementioned embodiments and will not be described in detail here.

[0492] By determining the strength of the source signal received by the receiver, the first processor can determine the interval in which the strength of the source signal lies, thereby being able to determine the demand signal received by the receiver based on the strength of the source signal, thereby being able to determine the first message signal based on the demand signal, and being sent by the transmitter to other timing devices, and then other timing devices can determine the timing signal based on the first message signal.

[0493] By adopting the above-mentioned technical solution, the current timing device can provide an alternative solution for determining the timing signal of the other timing devices, thereby ensuring the reliability of the timing signal of the other timing devices in the current environment, and further ensuring the accuracy of the time information subsequently formed based on the timing results of the timing device; at the same time, the current timing device only receives the timing request when the strength of the source signal obtained by itself meets the requirements, which can reduce the time period of scanning the timing request signal and reduce the power consumption and data volume of the current timing device.

[0494] As another specific example, refer to Figure 12 , Figure 12 The working principle diagram of another time synchronization device in the present disclosure is shown. The time synchronization device 10 may include: a receiver 12, a decoder 13, a first processor 11, an encoder 14 and a transmitter 15.

[0495] The receiver 12 may receive a source signal or a first message signal;

[0496] The decoder 13 may decode the source signal or the first message signal received by the receiver 12;

[0497] The first processor 11 may execute a timing method, determine a demand signal based on the source signal decoded by the decoder 13, determine a first message signal based on the demand signal, determine a timing signal based on the source signal or the first message signal, perform timing based on the timing signal, and determine a timing result; determine a timing signal based on the source signal decoded by the decoder 13, perform timing based on the timing signal, and determine a timing result;

[0498] The encoder 14 may perform encoding on the demand signal determined by the first processor 11;

[0499] The transmitter 15 can transmit the demand signal encoded by the encoder 14 .

[0500] In some embodiments, the first processor in the embodiments of the present disclosure may perform time synchronization using the time synchronization method described in any of the aforementioned embodiments. For details, please refer to the aforementioned embodiments and will not be described in detail here.

[0501] By determining the strength of the source signal received by the receiver, the first processor can determine the interval in which the strength of the source signal lies, thereby being able to determine the timing requirement based on the strength of the source signal, thereby being able to determine the first message signal received by the receiver based on the timing requirement, and further being able to determine the timing signal of the current timing device based on the first message signal.

[0502] By adopting the above-mentioned technical solution, the current timing device can determine the timing requirement when the source signal is not available, and determine the timing signal based on the first message signal in response to the timing requirement, providing an alternative solution for the determination method of the timing signal, ensuring the reliability of the timing signal in the current environment, and thus ensuring the accuracy of the time information subsequently formed based on the timing result of the current timing device; at the same time, the current timing device only issues a timing requirement when the source signal is insufficient, and determines the first message signal based on the timing requirement, which can reduce the time period of scanning the first message signal in the current timing device and reduce the power consumption and data volume of the current timing device.

[0503] Accordingly, the present disclosure also provides a laser radar, referring to Figure 13 , Figure 13 The schematic diagram of the structure of an example of a laser radar in an embodiment of the present disclosure is shown. The laser radar 20 may include: a light emitter 21, a detector 22, a time synchronization device 10 and a second processor 23.

[0504] The optical transmitter 21 can transmit an optical signal;

[0505] The detector 22 can receive the echo reflected by the object;

[0506] The time synchronization device 10 can perform time synchronization and output the time synchronization result;

[0507] The second processor 23 can process the transmitted light signal and the received echo, and form point cloud information in combination with the timing result of the timing device 10.

[0508] In some examples, the time synchronization device may adopt the time synchronization device in any of the aforementioned embodiments. For details, please refer to the aforementioned embodiments and will not be described in detail here.

[0509] The timing device of the current laser radar can use multiple signals to determine the timing signal, thereby ensuring the accuracy of the time information in the point cloud information formed by the current laser radar; or, the timing device of the current laser radar uses multiple signals to determine the message signal, and other timing devices can determine the timing signal based on the message signal, thereby ensuring the timing accuracy of the timing signals of other timing devices.

[0510] Accordingly, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. The computer program runs the steps of the time synchronization method described in any of the aforementioned embodiments. The specific steps can be found in the aforementioned embodiments and will not be repeated here.

[0511] In some examples, the computer-readable storage medium may be any suitable readable storage medium such as an optical disc, a mechanical hard disk, or a solid-state drive.

[0512] Accordingly, an embodiment of the present disclosure further provides a computer program product, including a computer program, which runs the steps of the time synchronization method described in any of the aforementioned embodiments. The specific steps can be found in the aforementioned embodiments and will not be repeated here.

[0513] It can be understood that the above describes multiple embodiment schemes provided by the embodiments of the present disclosure. The optional implementation methods and specific examples introduced in each embodiment scheme can be combined and cross-referenced with each other without conflict, thereby extending a variety of possible embodiment schemes, which can all be considered as embodiment schemes disclosed and disclosed by the present disclosure.

[0514] It should be noted that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish the descriptions and are not used to limit their meanings.

[0515] Although the embodiments of the present disclosure are disclosed above, the present disclosure is not limited thereto. Any person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of this specification shall be based on the scope defined by the claims.

Claims

1. A time synchronization method, characterized in that: Applied to a time synchronization device, the time synchronization method includes: Determining a timing signal based on the source signal or the first message signal; Performing time synchronization with a local clock based on the time synchronization signal; determining a second message signal; The source signal is sent by a source device, the first message signal is sent by another time synchronization device, and the second message signal is suitable for being received by another time synchronization device.

2. The time synchronization method according to claim 1, characterized in that: The determining the timing signal based on the source signal or the first message signal includes: determining whether the intensity of the source signal is greater than an intensity threshold; When the strength of the source signal is not greater than the strength threshold, a timing signal is determined based on the first message signal.

3. The time synchronization method according to claim 2, characterized in that: The first message signal includes a plurality of messages, and determining the timing signal based on the first message signal includes: determining first credibility of a plurality of first message signals; A timing signal is determined based on the first message signal with the highest first credibility.

4. The time synchronization method according to claim 2, characterized in that: The determining of the second message signal includes: Determining whether a first credibility of the first message signal is greater than a first credibility threshold; When the first credibility of the first message signal is greater than a first credibility threshold, a second message signal with a second credibility is determined, wherein the second credibility is less than the first credibility.

5. The time synchronization method according to claim 2, characterized in that: The determining of the second message signal includes: Determining whether a first credibility of the first message signal is greater than a first credibility threshold; When the first credibility of the first message signal is not greater than a first credibility threshold, determining the second message signal is stopped.

6. The time synchronization method according to claim 1, characterized in that: The determining the timing signal based on the source signal or the first message signal includes: determining whether the intensity of the source signal is greater than an intensity threshold; When the intensity of the source signal is greater than the intensity threshold, determining a timing signal based on the source signal; The second message signal has a preset message credibility.

7. A time synchronization method, characterized in that: Applied to a time synchronization device, the time synchronization method includes: Determine the strength of the source signal; Determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement; The source signal is sent by a source device, and other timing devices are adapted to determine a timing signal based on the first message signal.

8. The time synchronization method according to claim 7, characterized in that: The determining of a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement, includes: determining whether the intensity of the source signal is greater than an intensity threshold; When the intensity of the source signal is greater than the intensity threshold, determining a demand signal, and determining a first message signal in response to the demand signal, wherein the first message signal is determined based on the source signal; The demand signal is sent by other timing devices, and the first message signal has a preset message credibility.

9. The time synchronization method according to claim 7, characterized in that: The determining of a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement, includes: determining whether the intensity of the source signal is greater than an intensity threshold; When the intensity of the source signal is not greater than the intensity threshold, determining a second credibility of the second message signal; When the second credibility of the second message signal is greater than a second credibility threshold, determining a demand signal, and determining a first message signal in response to the demand signal, where the first message signal is determined based on the second message signal; The second message signal is sent by another time synchronization device, and the second credibility of the second message signal is greater than the first credibility of the first message signal.

10. The time synchronization method according to claim 7, characterized in that: The determining of a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement, includes: determining whether the intensity of the source signal is greater than an intensity threshold; When the intensity of the source signal is not greater than the intensity threshold, determining a second credibility of the second message signal; When the second credibility of the second message signal is not greater than a second credibility threshold, determining the demand signal is stopped.

11. A time synchronization method, characterized in that: Applied to a time synchronization device, the time synchronization method includes: Determine the strength of the source signal; Determining a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement; Determining a timing signal based on the first message signal; The source signal is sent by a source device, and the first message signal is sent by another timing device.

12. The time synchronization method according to claim 11, characterized in that: The determining of a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement, includes: determining whether the intensity of the source signal is greater than an intensity threshold; When the intensity of the source signal is not greater than an intensity threshold, determining a demand signal, and determining a first message signal based on the demand signal; The first message signal is sent by the other time synchronization device in response to the time synchronization requirement.

13. The time synchronization method according to claim 11, characterized in that: The first message signal includes a plurality of messages, and determining the timing signal based on the first message signal includes: determining first credibility of a plurality of first message signals; A timing signal is determined based on the first message signal with the highest first credibility.

14. The time synchronization method according to claim 11, characterized in that: The determining of a time synchronization requirement based on the strength of the source signal, and determining a first message signal based on the time synchronization requirement, includes: determining whether the intensity of the source signal is greater than an intensity threshold; When the intensity of the source signal is greater than an intensity threshold, suspending determining the time synchronization requirement; Wherein, the timing device determines the timing signal based on the source signal.

15. A time synchronization device, characterized in that: include: A first processor that executes the time synchronization method according to any one of claims 1 to 14.

16. The time synchronization device according to claim 15, characterized in that: Also includes: A receiver and a transmitter, wherein when the time synchronization device includes a first processor that executes the time synchronization method according to any one of claims 1 to 6, The receiver is configured to receive a source signal or a first message signal; The transmitter is configured to send a second message signal; The first processor is configured to determine a timing signal based on the source signal or the first message signal, and to determine a second message signal.

17. The time synchronization device according to claim 15, characterized in that: Also includes: A receiver and a transmitter, wherein when the time synchronization device includes a first processor that executes the time synchronization method according to any one of claims 7 to 10, The receiver is configured to receive a source signal and a demand signal; The transmitter is configured to send a first message signal; The first processor is configured to determine a first message signal based on the source signal and the demand signal.

18. The time synchronization device according to claim 15, characterized in that: Also includes: A receiver and a transmitter, wherein when the time synchronization device includes a first processor that executes the time synchronization method according to any one of claims 11 to 14, The receiver is configured to receive a source signal and a first message signal; The transmitter is configured to transmit a demand signal; The first processor is configured to determine a first message signal based on the source signal and the demand signal.

19. A laser radar, characterized in that: include: an optical transmitter, adapted to transmit an optical signal; a detector adapted to receive echoes reflected from an object; The time synchronization device according to any one of claims 15 to 18; The second processor is adapted to process the transmitted optical signal and the received echo, and form point cloud information in combination with the timing result of the timing module.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the steps of the method according to any one of claims 1 to 14 are executed.

21. A computer program product comprising a computer program, characterized in that When the computer program is executed, the steps of the method according to any one of claims 1 to 14 are executed.

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