Information processing method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an information processing method, electronic equipment and a storage medium. Accurate time service can be carried out when a vehicle runs to a signal shielding scene. The information processing method comprises the following steps: in response to detection of loss of a global navigation satellite system (GNSS) signal, timing is carried out based on a local crystal oscillator from a first moment, and the first moment is determined at least based on the GNSS signal before loss; and in response to the fact that the timing result of the local crystal oscillator reaches the target timing moment, a target correction moment is determined based on the target timing moment and a network time protocol (NTP) moment, and the NTP moment is obtained from an NTP server through a wireless communication link provided by the base station.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to an information processing method, electronic device, and storage medium. Background Technology

[0002] Currently, when vehicles are using assisted driving, they mainly rely on Global Navigation Satellite System (GNSS) signals for timing. However, timing interruptions can occur in scenarios where signals are blocked. Summary of the Invention

[0003] This application provides an information processing method, electronic device, and storage medium that can accurately synchronize time even when a vehicle is traveling in a signal-blocked environment.

[0004] In a first aspect, embodiments of this application provide an information processing method, the method comprising: In response to the detection of loss of Global Navigation Satellite System (GNSS) signal, timing is started based on a local crystal oscillator from a first moment, the first moment being determined at least based on the GNSS signal prior to the loss; In response to the timing result of the local crystal oscillator reaching the target time synchronization time, a target correction time is determined based on the target time synchronization time and the Network Time Protocol (NTP) time. The NTP time is obtained from the NTP server via the wireless communication link provided by the base station.

[0005] In this embodiment of the application, under the initial condition, it can be assumed that the vehicle is performing time synchronization based at least on GNSS signals. If the loss of GNSS signals is suddenly detected, it can be assumed that the vehicle is driving in a signal obstruction scenario. At this time, the local crystal oscillator can continue to keep time based on the first time determined before the loss of GNSS signals. When the timing result of the local crystal oscillator reaches the target time synchronization time, the target correction time can be determined based on the target time synchronization time and the NTP time, so that time synchronization can be performed accurately even when GNSS signals are lost.

[0006] Optionally, the target correction time is determined based on the target synchronization time and the Network Time Protocol (NTP) time, including: The target correction time is determined based on the target time synchronization time, the NTP time, and the second time. The second time is determined based on the first time and the relative time interval between the target time synchronization time and the first time. The relative time interval is determined based on the preset sampling frequency and counter of the inertial measurement unit.

[0007] In this embodiment, the relative time interval between the target time synchronization time and the GNSS signal loss time (first time) can be determined based on the preset sampling frequency and built-in counter of the inertial measurement unit. This time interval is then added to the first time to calculate the second time. Finally, the target time synchronization time, the NTP time, and the second time are combined to determine the target correction time. Since the target time synchronization time can be considered to be provided by the local crystal oscillator, the NTP time can be considered to be provided by the NTP server via the base station, and the second time can be considered to be determined by the local inertial measurement unit, the target correction time can be considered to be determined based on measurement data from three different signal sources. This reduces the possibility of interference from a single signal source, thereby improving the accuracy of the target correction time.

[0008] Optionally, determining the target correction time based on the target synchronization time, the NTP time, and the second time includes: The initial correction time is determined based on the target synchronization time and the NTP time; The target correction time is determined based on the initial correction time and the second time.

[0009] In this embodiment of the application, the initial correction time can first be determined based on the target time synchronization time and the NTP time, and then the target correction time can be determined together using the initial correction time and the second time.

[0010] Optionally, determining the target correction time based on the initial correction time and the second time includes: The target correction time is determined based on the initial correction time, the first time, and the second time.

[0011] In this embodiment, the target correction time can be determined by using the first time, the initial correction time, and the second time. Since the first time is determined based on the GNSS signal, the initial correction time is determined based on the local crystal oscillator and the NTP server, and the second time is determined based on the inertial measurement unit, the target correction time can be considered to be determined based on the measurement data of the above-mentioned multiple signal sources, which reduces the possibility of interference from a single signal source and thus improves the accuracy of the target correction time.

[0012] Optionally, the target correction time is a weighted sum of the initial correction time, the first time, and the second time. The weights corresponding to the initial correction time, the first time, and the second time are determined based on the real-time signal strength of the target signal source and the historical confidence level of the time determined by the target signal source. The target signal source includes the GNSS signal, the base station, and the inertial measurement unit.

[0013] In this embodiment, when determining the target time based on multiple signal sources, the corresponding weight can be dynamically determined according to the real-time signal strength of each signal source and the historical confidence level of the time determined by the target signal source. If the real-time signal strength and / or historical confidence level of a certain signal source are higher, the weight corresponding to that signal source will be greater. Then, when calculating the target correction time, the contribution of the time determined based on that signal source will be greater. That is, during the vehicle's operation, the contribution of the time determined by each signal source is dynamically adjusted, thereby making the determined target correction time more accurate.

[0014] Optionally, the weights corresponding to the initial correction time, the first time, and the second time are determined based on the real-time signal strength of the target signal source and the historical confidence level of the time at which the target signal source is determined, including: Using the real-time signal strength and the historical confidence level as input, the weights corresponding to the initial correction time, the first time, and the second time are determined using the entropy weight method; or... Using the real-time signal strength and the historical confidence level as inputs, the weights corresponding to the initial correction time, the first time, and the second time are determined by fuzzy logic control.

[0015] In this embodiment of the application, the weight of each signal source at a given time can be determined by the entropy weight method or the fuzzy logic control method.

[0016] Optionally, determining the initial correction time based on the target synchronization time and the NTP time includes: The initial correction time is determined based on the target time synchronization time, the NTP time, and the transmission delay corresponding to the NTP time.

[0017] In this embodiment of the application, considering that the NTP time comes from the base station and there is a transmission delay between the base station and the vehicle, the initial correction time can be determined together based on the target time synchronization time, the NTP time and the transmission delay corresponding to the NTP time.

[0018] Optionally, the NTP time is greater than the target synchronization time. The initial correction time is determined based on the target synchronization time, the NTP time, and the transmission delay corresponding to the NTP time, including: Determine the time difference between the NTP time and the target synchronization time; In response to the transmission delay being less than a first preset threshold in proportion to the time difference, the difference between the NTP time and the transmission delay is used as the initial correction time.

[0019] In this embodiment, if the NTP time is greater than the target time, the time difference between the NTP time and the target time can be calculated. If the transmission delay accounts for a small proportion of the time difference, it indicates that the time difference is mainly caused by the error of the local crystal oscillator. In this case, the difference between the NTP time and the transmission delay can be used as the initial correction time.

[0020] Optionally, the method further includes: In response to the transmission delay being greater than a second preset threshold in proportion to the time difference, the initial correction time is determined based on the difference between the NTP time and the transmission delay, and the target time synchronization time.

[0021] In this embodiment, if the NTP time is greater than the target time, the time difference between the NTP time and the target time can be calculated. If the transmission delay accounts for a large proportion of the time difference, it indicates that the time difference is mainly caused by the transmission delay. In this case, the initial correction time can be determined based on the difference between the NTP time and the transmission delay, as well as the target time.

[0022] Optionally, the initial correction time is a weighted sum of the difference between the NTP time and the transmission delay and the target correction time, wherein the weight corresponding to the difference between the NTP time and the transmission delay is less than the weight corresponding to the target correction time.

[0023] In this embodiment of the application, when the initial correction time is determined based on the difference between the NTP time and the transmission delay, and the target time synchronization time, a weighted sum can be used. Furthermore, the weight corresponding to the difference between the NTP time and the transmission delay is set to be less than the weight corresponding to the target time synchronization time, thereby reducing the impact on the calculation of the initial correction time in scenarios with high latency.

[0024] Optionally, the method further includes: Based on the measurement data of the inertial measurement unit from the first time to the target time of time, and the first position, the target correction position corresponding to the target correction time is determined, where the first position is the position of the base station to which the currently accessed cell belongs.

[0025] In this embodiment, the target correction position can be determined based on the measurement data of the inertial measurement unit between the loss of GNSS signal and the target time calibration, and based on the first position of the cell to which the base station belongs. The target correction position is determined jointly with the measurement data of the inertial measurement unit and the cell to which the base station belongs, thereby improving the accuracy of the determined target correction position in the scenario of GNSS signal loss.

[0026] Optionally, determining the target correction position corresponding to the target correction time based on the measurement data of the inertial measurement unit from the first time to the target time synchronization, and the first position, includes: The second position is determined based on the measurement data and the first position; The target correction position is determined based on the second position and the first position.

[0027] In this embodiment of the application, the second position can be determined first based on the strategy data and the first position, and then the second position and the first position can be used together to determine the target correction position.

[0028] Optionally, determining the target correction position based on the second position and the first position includes: The target correction position is determined based on the first position, the second position, and the third position, wherein the third position is determined at least based on the GNSS signal before it was lost.

[0029] In this embodiment, the first position can be considered to be determined by the base station to which the currently accessed cell belongs, the second position can be considered to be jointly determined by the inertial measurement unit and the reference cell, and the third position can be considered to be determined by the GNSS signal. Therefore, the target correction position can be considered to be determined by the above-mentioned multiple signal sources, thereby reducing the interference of a single signal source and improving the accuracy of the determined target correction position.

[0030] Optionally, the target correction position is a weighted sum of the first position, the second position, and the third position. The weights corresponding to the first position, the second position, and the third position are determined based on the real-time signal strength of the target signal source and the historical confidence level of the position determined by the target signal source. The target signal source includes the GNSS signal, the base station, and the inertial measurement unit.

[0031] In this embodiment, when determining the target correction position based on multiple signal sources, the corresponding weight can be dynamically determined according to the real-time signal strength of each signal source and the historical confidence level of the position determined by the target signal source. If the real-time signal strength and / or historical confidence level of a certain signal source are higher, the weight corresponding to that signal source will be greater. Then, when calculating the target correction position, the contribution of the position determined based on that signal source will be greater. That is, during the vehicle's movement, the contribution of the positions determined by each signal source is dynamically adjusted, thereby making the determined target correction position more accurate.

[0032] Optionally, determining the second position based on the measurement data and the first position includes: The measurement data and the first position are input into a Kalman filter algorithm to output the second position.

[0033] In this embodiment, the measurement data and the first position can be input into the Kalman filter algorithm, and the first position can be used as an observation to reduce the drift of the position estimated based on the measurement data, thereby improving the accuracy of the determined second position.

[0034] Secondly, embodiments of this application provide an information processing apparatus, which includes: A timing unit is used to start timing based on a local crystal oscillator from the first moment in response to the detection of loss of Global Navigation Satellite System (GNSS) signal, the first moment being determined at least based on the GNSS signal before the loss; The time calibration unit is used to respond to the timing result of the local crystal oscillator reaching the target time calibration time. Based on the target time calibration time and the Network Time Protocol (NTP) time, the target correction time is determined. The NTP time is obtained from the NTP server via the wireless communication link provided by the base station.

[0035] Optionally, the time calibration unit includes: A multi-source time calibration unit is used to determine the target correction time based on the target time calibration time, the NTP time, and a second time, wherein the second time is determined based on the first time and the relative time interval between the target time calibration time and the first time, and the relative time interval is determined based on the preset sampling frequency and counter of the inertial measurement unit.

[0036] Optionally, the multi-source time calibration unit includes: The first multi-source time calibration unit is used to determine the initial correction time based on the target time calibration time and the NTP time; The second multi-source time calibration unit is used to determine the target correction time based on the initial correction time and the second time.

[0037] Optionally, the second multi-source time calibration unit is specifically used for: The target correction time is determined based on the initial correction time, the first time, and the second time.

[0038] Optionally, the target correction time is a weighted sum of the initial correction time, the first time, and the second time. The weights corresponding to the initial correction time, the first time, and the second time are determined based on the real-time signal strength of the target signal source and the historical confidence level of the time determined by the target signal source. The target signal source includes GNSS signals, base stations, and inertial measurement units.

[0039] Optionally, the second multi-source time calibration unit is specifically used for: Using the real-time signal strength and the historical confidence level as input, the weights corresponding to the initial correction time, the first time, and the second time are determined using the entropy weight method; or... Using the real-time signal strength and the historical confidence level as inputs, the weights corresponding to the initial correction time, the first time, and the second time are determined by fuzzy logic control.

[0040] Optionally, the first multi-source time calibration unit includes: The first multi-source time calibration subunit is used to determine the initial correction time based on the target time calibration time, the NTP time, and the transmission delay corresponding to the NTP time.

[0041] Optionally, if the NTP time is greater than the target time, the first multi-source time calibration subunit is specifically used for: Determine the time difference between the NTP time and the target synchronization time; In response to the transmission delay being less than a first set threshold in proportion to the time difference, the difference between the NTP time and the transmission delay is used as the initial correction time.

[0042] Optionally, the first multi-source time calibration subunit is also used for: In response to the transmission delay being greater than a second set threshold in terms of time difference, the initial correction time is determined based on the difference between the NTP time and the transmission delay, as well as the target time synchronization time.

[0043] Optionally, the initial correction time is the weighted sum of the difference between the NTP time and the transmission delay and the target correction time, wherein the weight corresponding to the difference between the NTP time and the transmission delay is less than the weight corresponding to the target correction time.

[0044] Optionally, the device may also include: The position calibration unit is used to determine the target correction position corresponding to the target correction time based on the measurement data of the inertial measurement unit from the first time to the target correction time and the first position, where the first position is the position of the base station to which the currently accessed cell belongs.

[0045] Optionally, the position calibration unit includes: The first multi-source position calibration unit is used to determine the second position based on the measurement data and the first position; The second multi-source position calibration unit is used to determine the target correction position based on the second position and the first position.

[0046] Optionally, the second multi-source position calibration unit is specifically used for: The target correction position is determined based on the first position, the second position, and the third position, which is determined at least based on the GNSS signal before it was lost.

[0047] Optionally, the weighted sum of the first, second, and third target correction positions, with the weights corresponding to the first, second, and third positions determined based on the real-time signal strength of the target signal source and the historical confidence level of the position determined by the target signal source, including GNSS signals, base stations, and inertial measurement units.

[0048] Optionally, the first multi-source position calibration unit is specifically used for: The measurement data and the first position are input into the Kalman filter algorithm, which outputs the second position.

[0049] Thirdly, embodiments of this application provide an electronic device including a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to perform steps of the method as described in any embodiment of the first aspect.

[0050] Fourthly, embodiments of this application provide a computer-readable storage medium for storing computer instructions that, when the computer is running, cause the computer to perform steps as described in any embodiment of the first aspect.

[0051] Fifthly, embodiments of this application provide a vehicle that includes the electronic equipment described in the third aspect embodiment.

[0052] It should be understood that aspects two to five of the embodiments of this application are consistent with the technical solutions of the first aspect of the embodiments of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a flowchart illustrating an information processing method according to an embodiment of this application; Figure 2 A flowchart illustrating a method for determining a target correction time provided in an embodiment of this application; Figure 3A flowchart illustrating a method for determining an initial correction time provided in an embodiment of this application; Figure 4 A flowchart illustrating a method for determining a target correction position provided in an embodiment of this application; Figure 5 This application provides a schematic diagram of the structure of an information processing device. Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0055] To better understand the technical solutions in this specification, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0056] It should be understood that the described embodiments are merely some, not all, of the embodiments in this specification. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without inventive effort are within the scope of protection of this specification.

[0057] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0058] Currently, vehicles mainly rely on GNSS signals for timing when assisted driving is activated. However, timing interruptions can occur in scenarios where signals are blocked, such as when a vehicle enters a tunnel.

[0059] Therefore, embodiments of this application provide an information processing method, electronic device, and storage medium that can accurately synchronize time even when a vehicle is traveling in a signal-blocked scenario.

[0060] The technical solution protected by this application will now be described in detail with reference to the accompanying drawings.

[0061] Please see Figure 1 This is a flowchart illustrating an information processing method according to an embodiment of this application. The method is applied to an electronic device, which is a computing device in a vehicle; however, this application does not impose any particular limitation on this. The flowchart of the method is described as follows: Step 101: In response to the detection of loss of Global Navigation Satellite System (GNSS) signal, start timing based on the local crystal oscillator from the first moment, which is determined at least based on the GNSS signal before the loss.

[0062] In this embodiment, when the vehicle is traveling in an unobstructed environment, timing is primarily based on GNSS signals. When the vehicle's driving environment changes from an unobstructed to an obstructed environment, i.e., at the instant the GNSS signal is lost, the first moment can be determined based on the GNSS signal. After the GNSS signal is lost, timing can then begin from the first moment using a local crystal oscillator.

[0063] It should be noted that, in the presence of GNSS signals, the first moment can be determined not only based on the GNSS signals, but also based on the NTP time provided by the Network Time Protocol (NTP) server, and the time interval determined by the preset sampling rate and built-in timer of the Inertial Measurement Unit (IMU). These three factors will be explained in detail below and will not be repeated here.

[0064] Step 102: In response to the timing result of the local crystal oscillator reaching the target time synchronization time, the target correction time is determined based on the target time synchronization time and the Network Time Protocol (NTP) time. The NTP time is obtained from the NTP server via the wireless communication link provided by the base station.

[0065] In this embodiment, the vehicle needs to periodically synchronize its time during operation. Therefore, when the timing result of the local crystal oscillator reaches the target synchronization time, the target correction time can be determined jointly based on the target synchronization time determined by the local crystal oscillator and the NTP time obtained from the NTP server via the wireless communication link provided by the base station. It should be understood that the target synchronization time is determined based on the local crystal oscillator, while the NTP time comes from the NTP server. Therefore, determining the target correction time based on these two signal sources can improve the accuracy of the determined target correction time. Furthermore, in obstructed scenarios (such as tunnels), the vehicle is often connected to a dedicated base station inside or near the tunnel; therefore, the reliability of the obtained NTP time can be determined.

[0066] In some embodiments, considering that the IMU can calculate the time interval based on a preset sampling rate and a built-in high-precision counter, an IMU signal source can be introduced to calculate the target correction time.

[0067] For example, the relative time interval between the target time synchronization moment and the first time moment is determined using the IMU's preset sampling frequency and built-in high-precision counter. Then, the sum of the first time moment and the relative time interval is calculated to determine the second time moment, which is the time independently calculated by the IMU. Finally, the target correction time can be determined based on the target time synchronization moment, the NTP time, and the second time moment. It should be understood that the target time synchronization moment is determined based on the local crystal oscillator, the NTP time comes from the NTP server, and the second time moment is inferred from the IMU. Therefore, using these three signal sources to jointly determine the target correction time can further improve the accuracy of the determined target correction time.

[0068] The following section provides a detailed explanation of how to determine the target correction time based on the target synchronization time, the NTP time, and the second time.

[0069] Please see Figure 2 This is a flowchart illustrating a method for determining a target correction time according to an embodiment of this application. The flowchart of this method is described as follows: Step 201: Determine the initial correction time based on the target synchronization time and the NTP time.

[0070] In this embodiment, considering that the NTP time is propagated from the wireless link of the base station, and there is a transmission delay between the base station and the vehicle, the initial correction time can be determined jointly based on the target time synchronization time, the NTP time, and the corresponding transmission delay of the NTP time. It should be understood that the transmission delay here can be estimated based on the distance between the base station and the vehicle, as well as the speed of light.

[0071] Please see Figure 3 This is a flowchart illustrating a method for determining an initial correction time according to an embodiment of this application. Step 201 can be specifically implemented by executing sub-steps 2011 to 2013: Step 2011: Determine the time difference between the NTP time and the target synchronization time.

[0072] In this embodiment, the NTP time is determined based on the NTP server, while the target time is determined based on the local crystal oscillator. This means that the NTP time and the target time are determined independently, implying they may not be the same. Therefore, the time difference between the NTP time and the target time can be calculated. It should be understood that this time difference may be positive, negative, or even zero; no particular limitation is imposed here.

[0073] Step 2012: In response to the transmission delay being less than the first set threshold in proportion to the time difference, the difference between the NTP time and the transmission delay is used as the initial correction time.

[0074] In this embodiment, taking an NTP time greater than the target time as an example, i.e., a positive time difference, the proportion of transmission delay in the time difference can be calculated. If the proportion of transmission delay in the time difference is less than a first set threshold, it can be considered that the time difference is mainly caused by the error of the local crystal oscillator. In this case, the difference between the NTP time and the transmission delay can be used as the initial correction time.

[0075] It should be noted that in the above embodiments, since the time difference is mainly caused by the error of the local crystal oscillator, the frequency of the local crystal oscillator can also be corrected. For example, a temperature compensation method based on a lookup table can be used, that is, the frequency error of the crystal oscillator at different temperature points is measured in advance, and a "temperature-frequency error" lookup table is generated. When the crystal oscillator frequency needs to be corrected, the current temperature is obtained through a temperature sensor, the corresponding frequency error value is obtained by looking up the lookup table, and then the crystal oscillator output is corrected. Of course, a real-time calibration method of the reference clock can also be used, that is, by comparing an unstable low-frequency crystal oscillator with a stable high-frequency reference system clock, the error is calculated and compensated in real time. This application does not impose any particular limitations on this.

[0076] Step 2013: In response to the transmission delay being greater than the second set threshold in the proportion of time difference, the initial correction time is determined based on the difference between the NTP time and the transmission delay, and the target time synchronization time.

[0077] In this embodiment of the application, taking the NTP time being greater than the target time synchronization time as an example, i.e., the time difference is positive, the proportion of transmission delay in the time difference can be calculated. If the proportion of transmission delay in the time difference is greater than the second preset threshold, it can be considered that the above time difference is mainly caused by transmission delay. At this time, the initial correction time can be determined based on the difference between the NTP time and the transmission delay, as well as the target time synchronization time.

[0078] For example, the initial correction time is the weighted sum of the difference between the NTP time and the transmission delay and the target correction time. The weight corresponding to the difference between the NTP time and the transmission delay is set to be less than the weight corresponding to the target correction time, thereby reducing the impact on the calculation of the initial correction time in scenarios with high latency.

[0079] Step 202: Determine the target correction time based on the initial correction time and the second time.

[0080] In this embodiment, the initial correction time is determined based on the local crystal oscillator and the NTP server, and the second time is determined based on the inertial measurement unit. Therefore, the target correction time can be considered to be determined based on the measurement data of the above-mentioned multiple signal sources, which reduces the possibility of interference from a single signal source and thus improves the accuracy of the target correction time.

[0081] In some embodiments, even if the GNSS signal is lost in an obstructed scenario, the target correction time can be determined using the time information provided before the GNSS signal was lost.

[0082] For example, the target correction time can be determined based on the first time, the initial correction time, and the second time. Since the first time is determined based on GNSS signals, the initial correction time is determined based on the local crystal oscillator and NTP server, and the second time is determined based on the inertial measurement unit, the target correction time can be considered to be determined based on the measurement data of the above multiple signal sources. This reduces the possibility of interference from a single signal source and thus improves the accuracy of the target correction time.

[0083] As one possible implementation, the target correction time is a weighted sum of the initial correction time, the first time, and the second time. The weights corresponding to the initial correction time, the first time, and the second time are determined based on the real-time signal strength of the target signal source and the historical confidence level of the time determined by the target signal source. The target signal source includes GNSS signals, base stations, and inertial measurement units. Here, the historical confidence level can be considered a dynamic statistical value, calculated within a preset sliding time window (e.g., 5 minutes) as the average and standard deviation of the deviation between the time determined by the target signal source and the target correction time. A small and stable deviation indicates high confidence, and vice versa.

[0084] It should be understood that in the above embodiments, for any signal source, the higher its real-time signal strength and / or historical confidence level, the greater the weight corresponding to the time determined by that signal source. Therefore, when calculating the target correction time, the contribution of the time determined by that signal source is greater. That is, during vehicle operation, because the real-time signal strength / historical confidence level of each signal source changes dynamically, the weight corresponding to the time determined by each signal source also changes dynamically, thereby dynamically adjusting the contribution of the time determined by each signal source, making the determined target correction time more accurate. It should be noted that the inertial measurement unit does not have real-time signal strength; therefore, its real-time signal strength can be set to a small preset value.

[0085] For example, in an unobstructed scenario, the weight of GNSS signals is the highest, followed by the weight of base stations, and the weight of IMUs is the lowest; when switching to an obstructed scenario, the weight of base stations is the highest, followed by the weight of IMUs, and the weight of GNSS signals is the lowest.

[0086] It should be noted that the first moment can also be obtained by weighting the moments determined by multiple signal sources. The specific method is the same as that for calculating the target correction moment, and will not be repeated here.

[0087] The following section provides a detailed explanation of how to dynamically determine the weights corresponding to each signal source.

[0088] For example, using real-time signal strength and historical confidence levels as input, the weights corresponding to the initial correction time, the first time, and the second time can be determined using the entropy weight method. Alternatively, using real-time signal strength and historical confidence levels as input, the weights corresponding to the initial correction time, the first time, and the second time can be determined using fuzzy logic control.

[0089] It should be noted that, for the vehicle's internal electronic systems, the process from calculating the target correction time to generating a calibration command, transmitting that command to the time management unit, and then having the time management unit calibrate the system clock to the target correction time is not instantaneous but requires a certain amount of time (i.e., there is a delay in the time calibration command taking effect). Therefore, considering the delay in the time calibration command taking effect within the vehicle, the target correction time can be calculated using the method described in the above embodiment at the target trigger time, which is before the target time calibration time, thus enabling the system clock to be calibrated at the target time calibration time. The time interval between the target trigger time and the target time calibration time can be determined based on the duration of the time calibration command's delay in taking effect; for example, the time interval can be 0.5ms.

[0090] In some embodiments, the vehicle needs to be located periodically during operation. The following is a detailed explanation of how to perform location tracking after the vehicle's driving scenario switches from an unobstructed scene to an obstructed scene.

[0091] As one possible implementation, the target correction position corresponding to the target correction time can be determined based on the measurement data of the inertial measurement unit from the first time to the target time correction time, and the first position, which is the position of the base station to which the currently accessed cell belongs.

[0092] In this embodiment, the vehicle stores the location of the base station to which each cell belongs, thus enabling the acquisition of the location of the base station to which the vehicle is currently connected, for example, the first location. Then, based on the measurement data (e.g., acceleration, angular velocity, timestamp, etc.) of the IMU between the loss of the GNSS signal and the target time synchronization, and the first location, the target correction location can be determined. This target correction location is determined jointly based on the measurement data of the inertial measurement unit and the absolute location provided by the base station, thereby improving the accuracy of the determined target correction location in scenarios where the GNSS signal is lost.

[0093] The following section provides a detailed explanation of how to use the measured data and the initial position to determine the target correction position.

[0094] Please see Figure 4This is a flowchart illustrating a method for determining a target correction position according to an embodiment of this application. The method flow is as follows: Step 301: Determine the second position based on the measurement data and the first position.

[0095] In this embodiment, since the first location provided by the base station can be considered relatively accurate, the measurement data and the first location can be input into a Kalman filter algorithm to output a second location. It should be understood that the measurement data is used for location estimation, and the first location, as an observation, is used to correct the estimated location, thereby obtaining an accurate second location.

[0096] Step 302: Determine the target correction position based on the second position and the first position.

[0097] In this embodiment, since the first position is determined based on the position provided by the base station, and the second position is determined jointly based on the measurement data of the IMU and the position provided by the base station, the target correction position can be considered to be determined jointly based on the position provided by the base station and the fused position, thereby improving the accuracy of the determined target correction position.

[0098] In some embodiments, even if GNSS signals are lost in an obstructed scenario, the target correction position can be determined using the position information provided before the GNSS signals were lost.

[0099] For example, the target correction position can be determined based on the first position, the second position, and the third position, which is determined at least based on the GNSS signal before it was lost.

[0100] In this embodiment, the first position can be considered to be determined solely by the base station to which the currently accessed cell belongs, the second position can be considered to be jointly determined by the inertial measurement unit and the base station to which the currently accessed cell belongs, and the third position can be considered to be determined at least by the GNSS signal (or jointly determined by the GNSS signal, the base station position, and the inertial measurement unit). Therefore, the target correction position can be considered to be determined by the above-mentioned multiple signal sources, thereby reducing the interference of a single signal source and improving the accuracy of the determined target correction position.

[0101] As one possible implementation, the weighted sum of the first, second, and third target correction positions, with the weights corresponding to the first, second, and third positions determined based on the real-time signal strength of the target signal source and the historical confidence level of the position determined by the target signal source, includes GNSS signals, base stations, and inertial measurement units. Here, the historical confidence level can be considered a dynamic statistical value, calculated within a preset sliding time window (e.g., 5 minutes) as the average and standard deviation of the deviation between the position determined by the target signal source and the target correction position. A small and stable deviation indicates high confidence, and vice versa.

[0102] It should be understood that in the above embodiments, for any signal source, the higher its real-time signal strength and / or historical confidence level, the greater the weight corresponding to the position determined by that signal source. Therefore, when calculating the target correction position, the contribution of the position determined by that signal source is greater. That is, during vehicle operation, because the real-time signal strength / historical confidence level of each signal source changes dynamically, the weight corresponding to the position determined by each signal source also changes dynamically, thereby dynamically adjusting the contribution of the position determined by each signal source, making the determined target correction position more accurate. It should be noted that the inertial measurement unit does not have real-time signal strength; therefore, its real-time signal strength can be set to a small preset value.

[0103] For example, in an unobstructed scenario, the weight of GNSS signals is the highest, followed by the weight of base stations, and the weight of IMUs is the lowest; when switching to an obstructed scenario, the weight of base stations is the highest, followed by the weight of IMUs, and the weight of GNSS signals is the lowest.

[0104] It should be noted that the third position can also be obtained by weighting the positions determined by multiple signal sources. The specific method is the same as that for calculating the target correction position, and will not be repeated here.

[0105] Please see Figure 5 The present application provides a schematic diagram of the structure of an information processing device, which includes: Timing unit 401 is used to start timing based on a local crystal oscillator from a first moment in response to the detection of loss of Global Navigation Satellite System (GNSS) signal, the first moment being determined at least based on the GNSS signal before the loss; The time calibration unit 402 is used to determine the target correction time based on the target time and the Network Time Protocol (NTP) time in response to the timing result of the local crystal oscillator reaching the target time calibration time. The NTP time is obtained from the NTP server via the wireless communication link provided by the base station.

[0106] Optionally, the time calibration unit 402 includes: A multi-source time calibration unit is used to determine the target correction time based on the target time calibration time, the NTP time, and the second time. The second time is determined based on the first time and the relative time interval between the target time calibration time and the first time. The relative time interval is determined based on the preset sampling frequency and counter of the inertial measurement unit.

[0107] Optional, the multi-source calibration unit includes: The first multi-source time calibration unit is used to determine the initial correction time based on the target time calibration time and the NTP time; The second multi-source time calibration unit is used to determine the target correction time based on the initial correction time and the second time.

[0108] Optionally, the second multi-source time calibration unit is specifically used for: The target correction time is determined based on the initial correction time, the first time, and the second time.

[0109] Optionally, the target correction time is a weighted sum of the initial correction time, the first time, and the second time. The weights corresponding to the initial correction time, the first time, and the second time are determined based on the real-time signal strength of the target signal source and the historical confidence level of the time determined by the target signal source. The target signal source includes GNSS signals, base stations, and inertial measurement units.

[0110] Optionally, the second multi-source time calibration unit is specifically used for: Using real-time signal strength and historical confidence levels as input, the weights corresponding to the initial correction time, the first time, and the second time are determined using the entropy weight method; or, Using real-time signal strength and historical confidence levels as inputs, fuzzy logic control is used to determine the weights corresponding to the initial correction time, the first time, and the second time.

[0111] Optionally, the first multi-source time calibration unit includes: The first multi-source calibration subunit is used to determine the initial correction time based on the target time, the NTP time, and the transmission delay corresponding to the NTP time.

[0112] Optionally, if the NTP time is greater than the target time, the first multi-source time calibration subunit is specifically used for: Determine the time difference between the NTP time and the target synchronization time; In response to the transmission delay being less than a first set threshold in proportion to the time difference, the difference between the NTP time and the transmission delay is used as the initial correction time.

[0113] Optionally, the first multi-source time calibration subunit is also used for: In response to the transmission delay being greater than a second set threshold in terms of time difference, the initial correction time is determined based on the difference between the NTP time and the transmission delay, as well as the target time synchronization time.

[0114] Optionally, the initial correction time is the weighted sum of the difference between the NTP time and the transmission delay and the target correction time, wherein the weight corresponding to the difference between the NTP time and the transmission delay is less than the weight corresponding to the target correction time.

[0115] Optionally, the device may also include: The position calibration unit 403 is used to determine the target correction position corresponding to the target correction time based on the measurement data of the inertial measurement unit from the first time to the target time calibration time, and the first position is the position of the base station to which the currently accessed cell belongs.

[0116] Optionally, the position calibration unit 403 includes: The first multi-source position calibration unit is used to determine the second position based on the measurement data and the first position; The second multi-source position calibration unit is used to determine the target correction position based on the second position and the first position.

[0117] Optionally, the second multi-source position calibration unit is specifically used for: The target correction position is determined based on the first position, the second position, and the third position, which is determined at least based on the GNSS signal before it was lost.

[0118] Optionally, the weighted sum of the first, second, and third target correction positions, with the weights corresponding to the first, second, and third positions determined based on the real-time signal strength of the target signal source and the historical confidence level of the position determined by the target signal source, including GNSS signals, base stations, and inertial measurement units.

[0119] Optionally, the first multi-source position calibration unit is specifically used for: The measurement data and the first position are input into the Kalman filter algorithm, which outputs the second position.

[0120] Regarding the modules / units included in the various devices described in the above embodiments, they can be software modules / units, hardware modules / units, or a combination of both. For example, for devices applied to or integrated into a chip, all modules / units can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs running on a processor integrated within the chip, while the remaining modules / units can be implemented using hardware methods such as circuits. For devices applied to or integrated into a chip module, all modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using software programs. The software program runs on the processor integrated inside the chip module, and the remaining modules / units can be implemented using hardware methods such as circuits. For each device applied to or integrated into an electronic terminal device, each of its modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components within the electronic terminal device. Alternatively, at least some modules / units can be implemented using software programs that run on the processor integrated inside the electronic terminal device, and the remaining (if any) modules / units can be implemented using hardware methods such as circuits.

[0121] Please see Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device includes at least one processor 501, which is used to execute computer program instructions stored in a memory to implement the implementation provided in the embodiment of this application. Figures 1 to 4 The flowchart shown illustrates the steps of the information processing method.

[0122] Optionally, the processor 501 may be a central processing unit, a specific ASIC, or one or more integrated circuits used to control program execution.

[0123] Optionally, the electronic device may further include a memory 502 connected to at least one processor 501. The memory 502 may include ROM, RAM, and disk storage. The memory 502 stores data required for the processor 501 to run, i.e., it stores instructions executable by at least one processor 501. The at least one processor 501 executes instructions stored in the memory 502 to perform tasks such as... Figures 1 to 4 The method is shown. The number of memories 502 is one or more.

[0124] This application embodiment also provides a computer storage medium, wherein the computer storage medium stores computer instructions, which, when executed on a computer, cause the computer to perform actions such as... Figures 1 to 4 The method described.

[0125] The aforementioned computer-readable storage medium may be any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0126] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0127] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0128] Computer program code for performing the operations described herein can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0129] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0130] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0131] Furthermore, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0132] This application provides a vehicle, the vehicle including... Figure 6The electronic device shown. For example, the vehicle can be a pure electric vehicle, a range-extended vehicle, a plug-in hybrid vehicle, or a gasoline vehicle; this application does not impose any particular restrictions on this.

[0133] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. An information processing method, characterized in that, The method includes: In response to the detection of loss of Global Navigation Satellite System (GNSS) signal, timing is started based on a local crystal oscillator from a first moment, the first moment being determined at least based on the GNSS signal prior to the loss; In response to the timing result of the local crystal oscillator reaching the target time synchronization time, a target correction time is determined based on the target time synchronization time and the Network Time Protocol (NTP) time. The NTP time is obtained from the NTP server via the wireless communication link provided by the base station.

2. The method according to claim 1, characterized in that, The target correction time is determined based on the target time synchronization time and the Network Time Protocol (NTP) time, including: The target correction time is determined based on the target time synchronization time, the NTP time, and the second time. The second time is determined based on the first time and the relative time interval between the target time synchronization time and the first time. The relative time interval is determined based on the preset sampling frequency and counter of the inertial measurement unit.

3. The method according to claim 2, characterized in that, The target correction time is determined based on the target synchronization time, the NTP time, and the second time, including: The initial correction time is determined based on the target synchronization time and the NTP time; The target correction time is determined based on the initial correction time and the second time.

4. The method according to claim 3, characterized in that, Determining the target correction time based on the initial correction time and the second time includes: The target correction time is determined based on the initial correction time, the first time, and the second time.

5. The method according to claim 4, characterized in that, The target correction time is a weighted sum of the initial correction time, the first time, and the second time. The weights corresponding to the initial correction time, the first time, and the second time are determined based on the real-time signal strength of the target signal source and the historical confidence level of the time determined by the target signal source. The target signal source includes the GNSS signal, the base station, and the inertial measurement unit.

6. The method according to claim 5, characterized in that, The weights corresponding to the initial correction time, the first time, and the second time are determined based on the real-time signal strength of the target signal source and the historical confidence level of the target signal source at the determined time, including: Using the real-time signal strength and the historical confidence level as input, the weights corresponding to the initial correction time, the first time, and the second time are determined using the entropy weight method; or... Using the real-time signal strength and the historical confidence level as inputs, the weights corresponding to the initial correction time, the first time, and the second time are determined by fuzzy logic control.

7. The method according to claim 3, characterized in that, The initial correction time is determined based on the target synchronization time and the NTP time, including: The initial correction time is determined based on the target time synchronization time, the NTP time, and the transmission delay corresponding to the NTP time.

8. The method according to claim 7, characterized in that, The NTP time is greater than the target synchronization time. The initial correction time is determined based on the target synchronization time, the NTP time, and the transmission delay corresponding to the NTP time, including: Determine the time difference between the NTP time and the target synchronization time; In response to the transmission delay being less than a first preset threshold in proportion to the time difference, the difference between the NTP time and the transmission delay is used as the initial correction time.

9. The method according to claim 8, characterized in that, The method further includes: In response to the transmission delay being greater than a second preset threshold in proportion to the time difference, the initial correction time is determined based on the difference between the NTP time and the transmission delay, and the target time synchronization time.

10. The method according to claim 9, characterized in that, The initial correction time is the weighted sum of the difference between the NTP time and the transmission delay and the target correction time, wherein the weight corresponding to the difference between the NTP time and the transmission delay is less than the weight corresponding to the target correction time.

11. The method according to any one of claims 1-10, characterized in that, The method further includes: Based on the measurement data of the inertial measurement unit from the first time to the target time synchronization, and the first position, the target correction position corresponding to the target correction time is determined, where the first position is the position of the base station to which the currently accessed cell belongs.

12. The method according to claim 11, characterized in that, Based on the measurement data of the inertial measurement unit from the first moment to the target time synchronization moment, and the first position, the target correction position corresponding to the target correction moment is determined, including: The second position is determined based on the measurement data and the first position; The target correction position is determined based on the second position and the first position.

13. The method according to claim 12, characterized in that, Determining the target correction position based on the second position and the first position includes: The target correction position is determined based on the first position, the second position, and the third position, wherein the third position is determined at least based on the GNSS signal before it was lost.

14. The method according to claim 13, characterized in that, The target correction position is a weighted sum of the first position, the second position, and the third position. The weights corresponding to the first position, the second position, and the third position are determined based on the real-time signal strength of the target signal source and the historical confidence level of the position determined by the target signal source. The target signal source includes the GNSS signal, the base station, and the inertial measurement unit.

15. The method according to claim 11, characterized in that, Determining the second position based on the measurement data and the first position includes: The measurement data and the first position are input into a Kalman filter algorithm to output the second position.

16. An electronic device, characterized in that, The electronic device includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to perform the steps of the method as described in any one of claims 1-15.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store computer instructions that, when executed in a computer, cause the computer to perform the steps of the method as described in any one of claims 1-15.

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