Vehicle time synchronization method and apparatus, terminal device, and vehicle

Abstract

The application discloses a vehicle time synchronization method and device, a terminal equipment and a vehicle, and belongs to the technical field of intelligent vehicles. The method comprises the following steps: acquiring time synchronization signal source information of a plurality of target vehicles in the case that a global navigation satellite system (GNSS) signal cannot be received by a vehicle, the target vehicle being any other vehicle around the vehicle; determining a first time according to the time synchronization signal source information of the plurality of target vehicles; and performing time synchronization on the vehicle according to the first time. The application realizes time synchronization of the vehicle in the case that the GNSS signal cannot be received, performs time synchronization on the vehicle according to the time synchronization signal source information of a plurality of target vehicles around the vehicle, and improves the flexibility and accuracy of time synchronization of the vehicle.

Description

Technical Field

[0001] This application belongs to the field of intelligent vehicle technology, and in particular relates to a vehicle time synchronization method, device, terminal equipment and vehicle. Background Technology

[0002] The development of intelligent connected vehicles relies on Vehicle to Everything (V2X) communication, a technology that improves driving safety and traffic efficiency through vehicle-to-vehicle and vehicle-to-infrastructure (V2I) collaboration. However, the effective implementation of V2X requires vehicles to achieve time synchronization, which presents challenges in areas with weak or no Global Navigation Satellite System (GNSS) signals. Current technologies that rely on roadside equipment or vehicles simulating time themselves have limitations such as low adoption rates and insufficient reliability. Therefore, a method that enables vehicle equipment to achieve time synchronization in scenarios where GNSS signals are unavailable is crucial for the development of V2X. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in related technologies. To this end, this application proposes a vehicle time synchronization method, apparatus, terminal equipment, and vehicle, which realizes vehicle time synchronization when no GNSS signal is received, thereby improving the flexibility and accuracy of vehicle time synchronization.

[0004] Firstly, this application provides a vehicle time synchronization method, including:

[0005] In the event that the vehicle cannot receive GNSS signals from the Global Navigation Satellite System, the time synchronization signal source information of multiple target vehicles is acquired, wherein the target vehicles are any other vehicles around the vehicle.

[0006] The first time is determined based on the time synchronization signal source information of the multiple target vehicles;

[0007] The vehicle is synchronized with time based on the first time.

[0008] In the above technical solution, when the vehicle cannot receive GNSS signals, the first time is determined by acquiring the time synchronization signal source information of multiple target vehicles in the vicinity, and the vehicle is time synchronized according to the first time. This effectively solves the time synchronization problem when the vehicle cannot receive GNSS signals. By synchronizing the vehicle time according to the time synchronization signal source information of multiple target vehicles in the vicinity, the applicability and accuracy of the vehicle time synchronization method are improved.

[0009] According to one embodiment of this application, obtaining the time synchronization signal source information of multiple target vehicles includes:

[0010] The vehicle-road cooperative communication network receives time synchronization signal source information from multiple target vehicles, the time synchronization signal source information including the synchronization source priority of the target vehicle and the world standard time of the target vehicle;

[0011] The synchronization source priority of the target vehicle is used to indicate the time synchronization signal source of the target vehicle.

[0012] In the above technical solution, time synchronization signal source information of multiple target vehicles is received through the vehicle-road cooperative communication network, including the synchronization source priority of the target vehicles and the world standard time of the target vehicles. The time synchronization signal source information of the target vehicles can be used to determine the first time, and then the vehicles are time synchronized according to the first time. This effectively solves the time synchronization problem of vehicles when they cannot receive GNSS signals, and realizes the time synchronization of vehicles.

[0013] According to one embodiment of this application, the synchronization source priority includes a first priority, a second priority, a third priority, and a fourth priority.

[0014] The first priority is used to instruct the vehicle to directly use GNSS signals as the time synchronization signal source;

[0015] The second priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the first priority;

[0016] The third priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the second priority;

[0017] The fourth priority is used to indicate that the vehicle needs to estimate Coordinated Universal Time.

[0018] In the above technical solution, the vehicle synchronization source priority includes four priorities, which are used to indicate that the vehicle directly uses GNSS signals as the time synchronization signal source, uses the first priority vehicle as the time synchronization signal source, uses the second priority vehicle as the time synchronization signal source, and the vehicle needs to estimate the world standard time. The target vehicle's synchronization source priority indicates the target vehicle's time synchronization signal source, which can be used to determine the first time and synchronize the vehicle's time according to the first time. This effectively solves the time synchronization problem when the vehicle cannot receive GNSS signals, improves the applicability of the vehicle time synchronization method, and helps to achieve vehicle time synchronization in different application scenarios by dividing the priorities.

[0019] According to one embodiment of this application, determining the first time based on the time synchronization signal source information of the plurality of target vehicles includes:

[0020] If at least one of the target vehicles has a synchronization source priority of the first priority, the world standard time of the first target vehicle is obtained, and the world standard time of the first target vehicle is set as the first time.

[0021] Wherein, the first target vehicle is the target vehicle whose synchronization source priority is the first priority.

[0022] In the above technical solution, when there is at least one target vehicle whose synchronization source priority is first priority, the world standard time of the first target vehicle (the vehicle whose synchronization source priority is first priority) is obtained, and the world standard time of the first target vehicle is set as the first time. The first time is synchronized with the world standard time in the GNSS signal. By synchronizing the vehicle with the first time, it is possible to synchronize the vehicle with the world standard time in the GNSS signal by means of surrounding vehicles that use the GNSS signal as the time synchronization signal source, even when the vehicle cannot receive the global navigation satellite system GNSS signal. This improves the applicability and accuracy of the vehicle time synchronization method.

[0023] According to one embodiment of this application, the method further includes:

[0024] Set the synchronization source priority of the vehicle to the second priority.

[0025] In the above technical solution, the synchronization source priority of the vehicle is set to the second priority. The second priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the first priority. When the vehicle is used as a time synchronization signal source, the synchronization source priority of the vehicle can be used by surrounding vehicles to determine the first time and perform time synchronization. This enables the vehicle to achieve time synchronization when it cannot receive GNSS signals, thus improving the applicability of the vehicle time synchronization method.

[0026] According to one embodiment of this application, determining the first time based on the time synchronization signal source information of the plurality of target vehicles includes:

[0027] If the synchronization source priority of the plurality of target vehicles does not have the first priority, and the synchronization source priority of at least one of the target vehicles is the second priority or the third priority, the world standard time of the second target vehicle is obtained, and the world standard time of the second target vehicle is set as the first time.

[0028] The second target vehicle is the target vehicle whose synchronization source priority is the second priority or the third priority.

[0029] In the above technical solution, when there is no vehicle with the first priority of synchronization source among multiple target vehicles and the synchronization source priority of at least one target vehicle is the second or third priority, the vehicle with the second or third priority of synchronization source (referred to as the second target vehicle) is selected as the time synchronization signal source, and its world standard time is obtained as the first time for synchronization. This enables the vehicle to obtain a relatively accurate world standard time even when it cannot receive the Global Navigation Satellite System (GNSS) signal, thus realizing time synchronization of the vehicle in different application scenarios.

[0030] According to one embodiment of this application, the method further includes:

[0031] The synchronization source priority of the vehicle is set to the third priority.

[0032] In the above technical solution, the synchronization source priority of the vehicle is set to the third priority. The third priority is used to indicate that the time synchronization signal source of the vehicle is a vehicle with the second priority. When the vehicle is used as a time synchronization signal source, the synchronization source priority of the vehicle can be used to determine the first time and perform time synchronization for surrounding vehicles. This enables the vehicle to achieve time synchronization when it cannot receive GNSS signals, thus improving the applicability of the vehicle time synchronization method.

[0033] According to one embodiment of this application, determining the first time based on the time synchronization signal source information of the plurality of target vehicles includes:

[0034] In the case where the synchronization source priorities of the plurality of target vehicles do not include the first priority, the second priority, and the third priority:

[0035] Obtain the first estimated Coordinated Universal Time (UTC) of the vehicle and set the first estimated UTC as the first time.

[0036] In the above technical solution, when there is no first priority, second priority and third priority among the synchronization source priorities of multiple target vehicles, the first estimated world standard time of the vehicle is obtained and set as the first time. The vehicle is synchronized according to the first time, so that the vehicle can be synchronized according to the estimated time when the vehicle cannot receive the global navigation satellite system GNSS signal and there are no target vehicles around. This realizes the time synchronization of the vehicle in different application scenarios.

[0037] According to one embodiment of this application, the method further includes:

[0038] Obtain the estimated Coordinated Universal Time (UTC) of the multiple target vehicles, and retain the valid UTC among the multiple target vehicles;

[0039] The first time is determined based on the valid Coordinated Universal Time (UTC) among the plurality of target vehicles and the first estimated UTC.

[0040] In the above technical solution, valid data from the estimated world standard time of multiple target vehicles are acquired and filtered out, and retained as valid world standard time. This data is then combined with the vehicle's first estimated world standard time to determine the first time. The vehicles are then synchronized based on this first time, enabling time synchronization between vehicles even when neither the vehicle nor surrounding vehicles can receive GNSS signals. Through data filtering and other processing, the accuracy of the first time used for time synchronization between vehicles is effectively improved, thereby enhancing the applicability and accuracy of vehicle time synchronization.

[0041] According to one embodiment of this application, obtaining the estimated Coordinated Universal Time (UTC) of the plurality of target vehicles and retaining the valid UTC among the plurality of target vehicles includes:

[0042] The time synchronization signal source information of the multiple target vehicles is parsed to obtain multiple first data frames. The first data frame includes the estimated world standard time of the target vehicle and the confidence level corresponding to the estimated world standard time of the target vehicle.

[0043] If the confidence level is greater than a preset confidence threshold, the estimated world time of the target vehicle is retained as a valid estimated world time.

[0044] In the above technical solution, the time synchronization signal source information of the target vehicle is parsed to obtain the estimated world standard time of the target vehicle and the confidence level corresponding to the estimated world standard time of the target vehicle. Valid estimated world standard times with confidence levels higher than a threshold are retained, thereby improving the accuracy and reliability of the effective estimated world standard time of the target vehicle. The effective estimated world standard time of the target vehicle can be used to determine the first time and to synchronize the vehicle's time based on the first time, thus improving the accuracy and reliability of vehicle time synchronization.

[0045] According to one embodiment of this application, obtaining the first estimated Coordinated Universal Time (UTC) of the vehicle includes:

[0046] The vehicle continuously outputs a one-second periodic pulse signal and obtains a preliminary world standard time through simulation calculation. The preliminary world standard time is then aligned with the one-second periodic pulse signal, and the aligned preliminary world standard time is set as the first estimated world standard time.

[0047] In the above technical solution, the vehicle continuously outputs a one-second periodic pulse signal, and obtains a preliminary world standard time through simulation calculation. The preliminary world standard time is then aligned with the one-second periodic pulse signal to obtain the first estimated world standard time. This effectively reduces the errors and uncertainties in the simulation calculation and improves the accuracy and stability of the first estimated world standard time.

[0048] According to one embodiment of this application, the method further includes:

[0049] The synchronization source priority of the vehicle is set to the fourth priority.

[0050] In the above technical solution, the vehicle's synchronization source priority is set to the fourth priority. The fourth priority is used to indicate that the vehicle needs to estimate the world standard time. When the vehicle is used as a time synchronization signal source, the vehicle's synchronization source priority can be used to determine the first time and perform time synchronization for surrounding vehicles. This enables time synchronization of the vehicle when it cannot receive GNSS signals, thus improving the applicability of the vehicle time synchronization method.

[0051] According to one embodiment of this application, the method further includes:

[0052] Based on the application scenario of the vehicle, determine whether the vehicle can receive GNSS signals;

[0053] When the vehicle is able to receive GNSS signals, the world standard time in the GNSS signals is obtained, and the vehicle is time synchronized based on the world standard time in the GNSS signals;

[0054] The synchronization source priority of the vehicle is set to the first priority.

[0055] In the above technical solution, it is determined whether the vehicle can receive GNSS signals based on the application scenario. If it can receive them, the vehicle is time-synchronized based on the world standard time in the GNSS signal, and the synchronization source priority of the vehicle is set to the first priority. The world standard time in the GNSS signal is accurate. Time synchronization of the vehicle based on the world standard time in the GNSS signal improves the accuracy and stability of the vehicle's time.

[0056] According to one embodiment of this application, the method further includes:

[0057] The vehicle is used as a time synchronization signal source to synchronize the time of surrounding vehicles.

[0058] In the above technical solution, the vehicle is used as a time synchronization signal source to synchronize the time of surrounding vehicles, so that the surrounding vehicles can achieve time synchronization based on the vehicle's time synchronization signal source information, thereby improving the applicability of the vehicle time synchronization method.

[0059] Secondly, this application provides a vehicle time synchronization device, the device comprising:

[0060] The acquisition unit is used to acquire time synchronization signal source information of multiple target vehicles when the vehicle cannot receive GNSS signals from the Global Navigation Satellite System, wherein the target vehicles are any other vehicles around the vehicle.

[0061] The first processing unit is used to determine the first time based on the time synchronization signal source information of the plurality of target vehicles;

[0062] A synchronization unit is used to synchronize the vehicle's time according to the first time.

[0063] In the above technical solution, the vehicle time synchronization device is used to determine the first time by acquiring the time synchronization signal source information of multiple target vehicles around the vehicle when the vehicle cannot receive GNSS signals, and to synchronize the vehicle time according to the first time. This effectively solves the time synchronization problem when the vehicle cannot receive GNSS signals. By synchronizing the vehicle time according to the time synchronization signal source information of multiple target vehicles around the vehicle, the applicability and accuracy of the vehicle time synchronization method are improved.

[0064] Thirdly, this application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle time synchronization method as described in the first aspect above.

[0065] Fourthly, this application provides a vehicle that includes the terminal device as described in the second aspect above, or implements the vehicle time synchronization method as described in the first aspect above.

[0066] Fifthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle time synchronization method as described in the first aspect above.

[0067] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle time synchronization method as described in the first aspect above.

[0068] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0069] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0070] Figure 1 This is one of the flowcharts illustrating a vehicle time synchronization method provided in some embodiments of this application;

[0071] Figure 2 This is a schematic diagram illustrating the vehicle synchronization source priority provided in some embodiments of this application;

[0072] Figure 3 This is a flowchart illustrating the process of determining the first moment provided in some embodiments of this application;

[0073] Figure 4 This is a second schematic flowchart of a vehicle time synchronization method provided in some embodiments of this application;

[0074] Figure 5 This is a schematic diagram of the vehicle time synchronization device provided in some embodiments of this application;

[0075] Figure 6 This is a schematic diagram of the structure of a V2X terminal device provided in some embodiments of this application;

[0076] Figure 7 This is a schematic diagram of the structure of a terminal device provided in some embodiments of this application.

[0077] Explanation of reference numerals in the attached figures:

[0078] 500: Vehicle time synchronization device; 501: Acquisition unit; 502: First processing unit;

[0079] 503: Synchronization unit; 600: V2X terminal equipment; 601: V2X communication unit; 602: Processing unit;

[0080] 603: GNSS communication unit; 700: terminal equipment; 701: processor; 702: memory. Detailed Implementation

[0081] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0082] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0083] Intelligent connected vehicles, as the future trend of the automotive industry, rely on Vehicle-to-Everything (V2X) communication. V2X, through vehicle-to-vehicle and vehicle-to-infrastructure collaboration, can effectively enhance driving safety and improve traffic efficiency. Simultaneously, by combining artificial intelligence, big data, and advanced technologies such as radar and video perception, it propels automobiles from single-vehicle intelligence to connected intelligence. With the support of the Global Navigation Satellite System (GNSS), V2X can acquire crucial information such as second pulse signals, Universal Time Coordinated (UTC), and precise positioning.

[0084] However, V2X faces challenges in time synchronization, especially in areas with limited GNSS signals, such as tunnels, where its normal operation is hindered. Currently, common time synchronization methods in related technologies include relying on roadside units (RSUs) for relay synchronization, but RSU coverage is limited and reliability is difficult to guarantee. Another method is for vehicles to simulate their own time, but this method cannot achieve time synchronization between vehicles, and the simulated time may deviate significantly from the real time. Therefore, developing a reliable and accurate time synchronization method is crucial for the development of V2X.

[0085] The vehicle time synchronization method, apparatus, terminal equipment, and vehicle provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0086] The vehicle time synchronization method provided in this application embodiment can be executed by a terminal device or a functional module or entity in the terminal device that can implement the vehicle time synchronization method. The terminal devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras and wearable devices. The vehicle time synchronization method provided in this application embodiment is described below using a terminal device as the execution subject.

[0087] Figure 1 This is one of the flowcharts illustrating a vehicle time synchronization method provided in some embodiments of this application. For example... Figure 1 As shown, the vehicle time synchronization method includes steps 110, 120 and 130.

[0088] Step 110: When the vehicle cannot receive GNSS signals, acquire time synchronization signal source information of multiple target vehicles, wherein the target vehicles are any other vehicles around the vehicle.

[0089] Global Navigation Satellite System (GNSS) refers to a satellite navigation system that provides global positioning and time synchronization services, such as the US Global Positioning System (GPS) and the Chinese BeiDou Navigation Satellite System (BDS). GNSS transmits radio signals via satellites, enabling ground receiving equipment (such as vehicles or terminal devices) to determine its precise position and time. GNSS signals are radio signals transmitted by GNSS systems, and they include Coordinated Universal Time (UTC). Ground receiving equipment receives and processes GNSS signals to calculate its own position or time information.

[0090] It is understandable that the world standard time in GNSS signals is highly accurate, so GNSS is the preferred time synchronization signal source for vehicles. However, if a vehicle cannot receive GNSS signals, other methods can be used for time synchronization.

[0091] The target vehicle refers to other vehicles around the vehicle (which can be understood as the vehicle implementing the vehicle time synchronization method provided in the embodiments of this application) that are capable of communication and provide time synchronization signal source information. The specific range may depend on the coverage or communication capability of the communication network, etc.

[0092] Time synchronization signal source information refers to relevant information about the time synchronization signal source used to synchronize the vehicle's time. Optionally, the target vehicle's time synchronization signal source information includes the synchronization source priority and the target vehicle's Coordinated Universal Time (UTC). In some embodiments, the target vehicle's time synchronization signal source information also includes the target vehicle's estimated UTC and corresponding confidence level.

[0093] It is understood that a time synchronization signal source refers to a reference point or system that can provide time data, which can be GNSS or other vehicles, etc. In some embodiments, time synchronization signal source information is transmitted through Basic Safety Messages (BSMs). BSMs are a data transmission format used in vehicle-to-everything (V2X) communication, which can be used to transmit information between vehicles. A BSM message frame is the specific manifestation of a BSM message in the communication process. It follows a certain message layer architecture and encoding method to ensure the correct transmission and parsing of data.

[0094] Step 120: Determine the first time based on the time synchronization signal source information of the multiple target vehicles.

[0095] Understandably, the first time can be the time acquired or estimated by the vehicle, which can be used for time synchronization of the vehicle's internal clock or system. When the vehicle cannot receive GNSS signals, meaning it cannot directly use GNSS signals as a time synchronization source, it can acquire time synchronization signal source information from multiple surrounding target vehicles through vehicle-to-infrastructure (V2I) communication, determine the first time for synchronization based on this information, and then synchronize the vehicle's time.

[0096] Optionally, the target vehicle's time synchronization signal source information includes the synchronization source priority and the target vehicle's world standard time, used to indicate the target vehicle's time synchronization signal source.

[0097] Optionally, the time synchronization signal source information for the target vehicle may also include the target vehicle's estimated world standard time and corresponding confidence level.

[0098] It is understandable that the priority of the synchronization source in the time synchronization signal source information of the target vehicle can be used to determine whether the target vehicle directly or indirectly uses GNSS signals as its time synchronization signal source.

[0099] If at least one of the surrounding target vehicles directly uses GNSS signals as its time synchronization signal source, the world standard time of the target vehicle is obtained and the world standard time of the target vehicle is taken as the first time.

[0100] If at least one of the surrounding target vehicles indirectly uses GNSS signals as a time synchronization signal source, the world standard time of the target vehicle is obtained and the world standard time of the target vehicle is taken as the first time.

[0101] When multiple target vehicles in the vicinity do not directly or indirectly use GNSS signals as time synchronization signal sources, the estimated world time of the vehicle is obtained and set as the first time. Alternatively, the estimated world time of multiple target vehicles in the vicinity is obtained, and the first time is determined based on the estimated world time of the vehicle and the estimated world time of the multiple target vehicles in the vicinity.

[0102] Step 130: Synchronize the time of the vehicle according to the first time.

[0103] Understandably, real-time vehicle time synchronization involves calculating time differences, adjusting the vehicle's internal clock, and continuously monitoring and adjusting to maintain synchronization. This is achieved by using real-time time synchronization signal information from multiple surrounding vehicles, enabling time synchronization between the vehicle and its neighbors even when the vehicle cannot receive GNSS signals.

[0104] It is understandable that synchronizing the time of the vehicles according to the first time can help achieve time synchronization between different vehicles if the first time can be synchronized with the world standard time. When the time of multiple vehicles is consistent with the world standard time, the consistency and reliability of information exchange between vehicles can be improved.

[0105] In the above technical solution, when the vehicle cannot receive GNSS signals, the first time is determined by acquiring the time synchronization signal source information of multiple target vehicles in the vicinity, and the vehicle is time synchronized according to the first time. This effectively solves the time synchronization problem when the vehicle cannot receive GNSS signals. By synchronizing the vehicle time according to the time synchronization signal source information of multiple target vehicles in the vicinity, the applicability and accuracy of the vehicle time synchronization method are improved.

[0106] In one embodiment of this application, obtaining the time synchronization signal source information of multiple target vehicles includes:

[0107] The vehicle-road cooperative communication network receives time synchronization signal source information from multiple target vehicles, the time synchronization signal source information including the synchronization source priority of the target vehicle and the world standard time of the target vehicle;

[0108] The synchronization source priority of the target vehicle is used to indicate the time synchronization signal source of the target vehicle.

[0109] Vehicle-to-Everything (V2X) communication uses wireless communication methods such as Dedicated Short Range Communications (DSRC) and Cellular-Vehicle-to-Everything (C-V2X) to enable vehicles to obtain real-time information about their external environment, such as the status of other vehicles or road infrastructure. The V2X network is the foundation for realizing V2X. Optionally, vehicles can send or receive time synchronization signal source information through the V2X air interface. The V2X air interface is the physical interface used for wireless communication in V2X, defining the methods and rules for information exchange between vehicles and the external environment.

[0110] The synchronization source priority of the target vehicle is used to indicate the time synchronization signal source of the target vehicle. For example, when there are multiple target vehicles around the vehicle, the time synchronization signal source of each target vehicle can be determined according to the target vehicle synchronization source priority included in the time synchronization signal source information of multiple target vehicles, and then the time synchronization of the vehicle can be determined.

[0111] Universal Time Coordinated (UTC) is an internationally unified time standard based on atomic time, established by coordinating the time of various locations around the world. It serves as the benchmark for global time synchronization. Synchronizing vehicles with UTC helps achieve time synchronization between different vehicles, improving the consistency and reliability of information exchange between them. In some embodiments, vehicle time synchronization can also be performed based on standard time such as Greenwich Mean Time (GMT) or China Standard Time (CST).

[0112] It is understandable that when the target vehicle can receive GNSS signals, the target vehicle's world standard time refers to the world standard time obtained by the target vehicle from the GNSS signals. When the target vehicle cannot receive GNSS signals, the target vehicle's world standard time can be determined by estimation or based on the time synchronization signal source information of other target vehicles.

[0113] In the above technical solution, time synchronization signal source information of multiple target vehicles is received through the vehicle-road cooperative communication network, including the synchronization source priority of the target vehicles and the world standard time of the target vehicles. The time synchronization signal source information of the target vehicles can be used to determine the first time, and then the vehicles are time synchronized according to the first time. This effectively solves the time synchronization problem of vehicles when they cannot receive GNSS signals, and thus realizes the time synchronization of vehicles.

[0114] In one embodiment of this application, the synchronization source priority includes a first priority, a second priority, a third priority, and a fourth priority.

[0115] The first priority is used to instruct the vehicle to directly use GNSS signals as the time synchronization signal source;

[0116] The second priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the first priority;

[0117] The third priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the second priority;

[0118] The fourth priority is used to indicate that the vehicle needs to estimate Coordinated Universal Time.

[0119] Figure 2 This is a schematic diagram illustrating the vehicle synchronization source priority provided in some embodiments of this application. For example... Figure 2 As shown, the first priority is used to instruct the vehicle to directly use GNSS signals as its time synchronization signal source; the second priority is used to instruct the vehicle to use GNSS signals as its time synchronization signal source as a vehicle with the first priority, i.e., indirectly using GNSS signals as its time synchronization signal source; the third priority is used to instruct the vehicle to use GNSS signals as its time synchronization signal source as a vehicle with the second priority, i.e., indirectly using GNSS signals as its time synchronization signal source; the fourth priority is used to instruct the vehicle to estimate Coordinated Universal Time (UTC) to obtain a predicted UTC, and to determine a first time based on the predicted UTC of the vehicle and multiple target vehicles, and to synchronize the vehicle's time based on the first time.

[0120] First priority vehicles refer to vehicles with a synchronization source priority of first priority, second priority vehicles refer to vehicles with a synchronization source priority of second priority, and third priority vehicles refer to vehicles with a synchronization source priority of third priority.

[0121] Optionally, when the time synchronization signal source information is transmitted via BSM messages, a synchronization source priority is included as a data element in the time synchronization signal source information to indicate the vehicle's time synchronization signal source. The synchronization source priority data element is named DE_VehicleSynchronizationPriority, which defines four priorities as follows:

[0122] VehicleSynchronizationPriority::=ENUMERATED{

[0123] P1(0), -- 1st priority

[0124] P2(1), --2nd priority

[0125] P3(2), --3rd priority

[0126] P4(3), --4th priority

[0127] }

[0128] In the above technical solution, the vehicle synchronization source priority includes four priorities, which are used to indicate that the vehicle directly uses GNSS signals as the time synchronization signal source, uses the first priority vehicle as the time synchronization signal source, uses the second priority vehicle as the time synchronization signal source, and the vehicle needs to estimate the world standard time. The target vehicle's synchronization source priority indicates the target vehicle's time synchronization signal source, which can be used to determine the first time and synchronize the vehicle's time according to the first time. This effectively solves the time synchronization problem when the vehicle cannot receive GNSS signals, improves the applicability of the vehicle time synchronization method, and helps to achieve vehicle time synchronization in different application scenarios by dividing the priorities.

[0129] In one embodiment of this application, determining the first time based on the time synchronization signal source information of the plurality of target vehicles includes:

[0130] If at least one of the target vehicles has a synchronization source priority of the first priority, the world standard time of the first target vehicle is obtained, and the world standard time of the first target vehicle is set as the first time.

[0131] Wherein, the first target vehicle is the target vehicle whose synchronization source priority is the first priority.

[0132] It is understandable that the target vehicle's synchronization source priority is first priority, indicating that the target vehicle directly uses the GNSS signal as its time synchronization source. It can be assumed that the target vehicle has already been time-synchronized according to the Coordinated Universal Time (UTC) in the GNSS signal. The UTC of the first target vehicle is the UTC obtained by the target vehicle from the GNSS signal. Since the UTC in the GNSS signal is accurate, the corresponding UTC of the first target vehicle can also be considered accurate. Therefore, when at least one target vehicle's synchronization source priority is first priority, the UTC of that target vehicle (i.e., the first target vehicle) is obtained as the first time (indirectly obtaining the UTC from the GNSS signal), and the vehicle is time-synchronized according to this first time.

[0133] In some embodiments, the method further includes:

[0134] Set the synchronization source priority of the vehicle to the second priority.

[0135] The first target vehicle directly uses the GNSS signal as its time synchronization source, with a synchronization source priority of first priority. Based on the first target vehicle's Coordinated Universal Time (UTC), a first time is determined, and the vehicle is time-synchronized. That is, the vehicle uses the first target vehicle (the vehicle with the first-priority synchronization source) as its time synchronization signal source, and correspondingly sets its own synchronization source priority to second priority. It can be understood that the vehicle's synchronization source priority, when the vehicle is used as a time synchronization signal source, can be used by surrounding vehicles to determine the first time and perform time synchronization. This allows for time synchronization even when the vehicle cannot receive GNSS signals, improving the applicability of the vehicle time synchronization method.

[0136] In the above technical solution, when there is at least one target vehicle whose synchronization source priority is first priority, the world standard time of the first target vehicle (the vehicle whose synchronization source priority is first priority) is obtained, and the world standard time of the first target vehicle is set as the first time. The first time is synchronized with the world standard time in the GNSS signal. By synchronizing the vehicle with the first time, it is possible to synchronize the vehicle with the world standard time in the GNSS signal by means of surrounding vehicles that use the GNSS signal as the time synchronization signal source, even when the vehicle cannot receive the global navigation satellite system GNSS signal. This improves the applicability and accuracy of the vehicle time synchronization method.

[0137] In one embodiment of this application, determining the first time based on the time synchronization signal source information of the plurality of target vehicles includes:

[0138] If the synchronization source priority of the plurality of target vehicles does not have the first priority, and the synchronization source priority of at least one of the target vehicles is the second priority or the third priority, the world standard time of the second target vehicle is obtained, and the world standard time of the second target vehicle is set as the first time.

[0139] The second target vehicle is the target vehicle whose synchronization source priority is the second priority or the third priority.

[0140] It is understandable that if the synchronization source priority of the target vehicle is second priority, it indicates that the time synchronization signal source of this target vehicle (the second target vehicle) is a vehicle with a synchronization source priority of first priority. Since the first priority vehicle has already synchronized its time according to the Coordinated Universal Time (UTC) in the GNSS signal, the target vehicle indirectly obtains the UTC from the GNSS signal when its time synchronization signal source is a first priority vehicle. If, among multiple target vehicles, there is no target vehicle with a synchronization source priority of first priority, but there is a target vehicle with a synchronization source priority of second priority, it can be assumed that the UTC of the target vehicle with the second priority is transmitted through the first priority vehicle, and therefore has high accuracy. The UTC of the target vehicle with the second priority can be set as the first time.

[0141] It is understandable that if the target vehicle's synchronization source priority is third priority, it indicates that the target vehicle (second target vehicle) cannot directly obtain the world standard time from the GNSS signal, nor can it obtain the world standard time of a vehicle with a synchronization source priority of first priority. Instead, it uses a vehicle with a synchronization source priority of second priority as its time synchronization signal source, and synchronizes the second target vehicle's time based on the world standard time of the vehicle with the synchronization source priority of second priority. It can be considered that the world standard time of the target vehicle with a synchronization source priority of third priority is transmitted through the second priority vehicle. Although the world standard time in the GNSS signal has undergone multiple transmissions, it can still be considered that the world standard time of the target vehicle with a synchronization source priority of third priority is relatively accurate, and the world standard time of the target vehicle with a synchronization source priority of third priority can be set as the first time.

[0142] Understandably, as the number of time synchronizations increases, the accuracy of Coordinated Universal Time (UTC) may be affected to some extent.

[0143] In some embodiments, the method further includes:

[0144] The synchronization source priority of the vehicle is set to the third priority.

[0145] It is understandable that the second target vehicle is a target vehicle with a synchronization source priority of second or third priority. Based on the second target vehicle's Coordinated Universal Time (UTC), the first time is determined and the vehicle is time-synchronized. That is, the vehicle uses the second target vehicle (a vehicle with a synchronization source priority of second or third priority) as its time synchronization signal source, and correspondingly sets its own synchronization source priority to third priority. It is understandable that the vehicle's synchronization source priority, when the vehicle is used as a time synchronization signal source, can be used by surrounding vehicles to determine the first time and perform time synchronization. This enables time synchronization even when the vehicle cannot receive GNSS signals, improving the applicability of the vehicle time synchronization method.

[0146] In the above technical solution, when there is no vehicle with the first priority of synchronization source among multiple target vehicles and the synchronization source priority of at least one target vehicle is the second or third priority, the vehicle with the second or third priority of synchronization source (referred to as the second target vehicle) is selected as the time synchronization signal source, and its world standard time is obtained as the first time for synchronization. This enables the vehicle to obtain a relatively accurate world standard time even when it cannot receive the Global Navigation Satellite System (GNSS) signal, thus realizing time synchronization of the vehicle in different application scenarios.

[0147] In one embodiment of this application, determining the first time based on the time synchronization signal source information of the plurality of target vehicles includes:

[0148] In the case where the synchronization source priorities of the plurality of target vehicles do not include the first priority, the second priority, and the third priority:

[0149] Obtain the first estimated Coordinated Universal Time (UTC) of the vehicle and set the first estimated UTC as the first time.

[0150] It is understandable that the synchronization source priorities of multiple target vehicles do not include the first priority, the second priority, and the third priority, meaning that multiple vehicles around the target vehicle cannot directly or indirectly obtain the world standard time from the GNSS signal. Since there are no target vehicles with high synchronization source priorities to serve as time synchronization signal sources, in some embodiments, the vehicle's first estimated world standard time is obtained and set as the first time. This first estimated world standard time can be simulated and calculated using the vehicle's internal clock, historical time synchronization data, or other available time estimation methods.

[0151] In some embodiments, the method further includes:

[0152] The synchronization source priority of the vehicle is set to the fourth priority.

[0153] When multiple target vehicles lack a first, second, and third priority among their synchronization source priorities, time synchronization is performed based on the vehicle's estimated Coordinated Universal Time (UTC), and the vehicle's synchronization source priority is set to the fourth priority. It is understandable that the vehicle's synchronization source priority, when the vehicle acts as a time synchronization signal source, can be used by surrounding vehicles to determine the first time and perform time synchronization. This enables time synchronization even when GNSS signals are unavailable, improving the applicability of the vehicle time synchronization method.

[0154] In the above technical solution, when there is no first priority, second priority and third priority among the synchronization source priorities of multiple target vehicles, the first estimated world standard time of the vehicle is obtained and set as the first time. The vehicle is synchronized according to the first time, so that the vehicle can be synchronized according to the estimated time when the vehicle cannot receive the global navigation satellite system GNSS signal and there are no target vehicles around. This realizes the time synchronization of the vehicle in different application scenarios.

[0155] In one embodiment of this application, determining the first time based on the time synchronization signal source information of the plurality of target vehicles includes:

[0156] In the case where the synchronization source priorities of the plurality of target vehicles do not include the first priority, the second priority, and the third priority:

[0157] Obtain the first estimated Coordinated Universal Time (UTC) of the vehicle;

[0158] Obtain the estimated Coordinated Universal Time (UTC) of the multiple target vehicles, and retain the valid UTC among the multiple target vehicles;

[0159] The first time is determined based on the valid Coordinated Universal Time (UTC) among the plurality of target vehicles and the first estimated UTC.

[0160] In some embodiments, obtaining the estimated Coordinated Universal Time (UTC) of the plurality of target vehicles and retaining the valid UTC among the plurality of target vehicles includes:

[0161] The time synchronization signal source information of the multiple target vehicles is parsed to obtain multiple first data frames. The first data frame includes the estimated world standard time of the target vehicle and the confidence level corresponding to the estimated world standard time of the target vehicle.

[0162] If the confidence level is greater than a preset confidence threshold, the estimated world time of the target vehicle is retained as a valid estimated world time.

[0163] The confidence level corresponding to the estimated Coordinated Universal Time (UTC) of the target vehicle can be used to evaluate the accuracy of the estimated UTC obtained by simulation of the target vehicle. It may be a percentage, a probability value, or other form of quantitative indicator.

[0164] Optionally, when the time synchronization signal source information is transmitted via BSM messages, the first data frame in the target vehicle's time synchronization signal source information includes the target vehicle's estimated UST time and the confidence level corresponding to the estimated UST time. The first data frame is named DF_CalculateUTCTiming, where the estimated UST time is represented by the data element TimeMark with a resolution of 0.1 seconds and an effective range of 0 to 35999 seconds; the confidence level corresponding to the estimated UST time is represented by the data element Confidence with a resolution of 0.005. The first data frame is shown below:

[0165] CalculateUTCTiming::=SEQUENCE{

[0166] Calculate UTCtiming TimeMark,

[0167] timeConfidence Confidence

[0168] }

[0169] By analyzing the time synchronization signal source information of the target vehicle, a first data frame can be obtained, which includes the estimated world time of the target vehicle and the confidence level corresponding to the estimated world time of the target vehicle.

[0170] If the confidence level of the estimated world time of the target vehicle is greater than the preset confidence threshold, the estimated world time will be retained as a valid estimated world time to improve the reliability of the time data used for subsequent calculations.

[0171] For example, with a preset confidence threshold of 95%, if the confidence level of the estimated world time of the target vehicle is greater than 95%, the estimated world time will be retained as a valid estimated world time.

[0172] The system analyzes the time synchronization signal source information of the target vehicle to obtain the estimated world time (UTC) of the target vehicle and its corresponding confidence level. It retains the valid estimated UTC with a confidence level higher than the threshold, thereby improving the accuracy and reliability of the effective estimated UTC of the target vehicle. The effective estimated UTC of the target vehicle can be used to determine the first time and to synchronize the vehicle time based on the first time, thus improving the accuracy and reliability of vehicle time synchronization.

[0173] Optionally, by considering the effective world standard time (denoted as t1, t2, ..., t) of multiple target vehicles... n ) and the first estimated world standard time (denoted as t0) are used to calculate the root mean square to obtain the first time t:

[0174]

[0175] In some embodiments, the method further includes:

[0176] The synchronization source priority of the vehicle is set to the fourth priority.

[0177] When there are no first, second, and third priorities among the synchronization sources of multiple target vehicles, the vehicles are time-synchronized based on the valid UTC time and the first estimated UTC time among the multiple target vehicles, and the synchronization source priority of that vehicle is set to the fourth priority. It can be understood that the synchronization source priority of a vehicle, when the vehicle acts as a time synchronization signal source, can be used by surrounding vehicles to determine the first time and perform time synchronization, thereby enabling time synchronization even when GNSS signals are not received, improving the applicability of the vehicle time synchronization method.

[0178] Figure 3 This is a flowchart illustrating the process of determining the first moment according to some embodiments of this application. For example... Figure 3 As shown, in some embodiments, determining the first time based on the time synchronization signal source information of the plurality of target vehicles includes steps 310, 320 and 330.

[0179] Step 310: If the synchronization source priorities of the plurality of target vehicles do not include the first priority, the second priority, and the third priority:

[0180] The time synchronization signal source information of the multiple target vehicles is parsed to obtain multiple first data frames. The first data frame includes the estimated world standard time of the target vehicle and the confidence level corresponding to the estimated world standard time of the target vehicle.

[0181] Step 320: Determine whether the confidence level corresponding to the estimated world standard time of the target vehicle is greater than a preset confidence threshold;

[0182] Step 330: If the confidence level is greater than the preset confidence threshold, retain the estimated world time of the target vehicle as a valid estimated world time.

[0183] Step 340: If the confidence level is not greater than a preset confidence threshold, ignore and discard the estimated world time of the target vehicle;

[0184] Step 350: Determine the first time based on the valid world standard time among the plurality of target vehicles and the first estimated world standard time.

[0185] In the above technical solution, valid data from the estimated world standard time of multiple target vehicles are acquired and filtered out, and retained as valid world standard time. This data is then combined with the vehicle's first estimated world standard time to determine the first time. The vehicles are then synchronized based on this first time, enabling time synchronization between vehicles even when neither the vehicle nor surrounding vehicles can receive GNSS signals. Through data filtering and other processing, the accuracy of the first time used for time synchronization between vehicles is effectively improved, thereby enhancing the applicability and accuracy of vehicle time synchronization.

[0186] In one embodiment of this application, obtaining the first estimated Coordinated Universal Time (UTC) of the vehicle includes:

[0187] The vehicle continuously outputs a one-second periodic pulse signal and obtains a preliminary world standard time through simulation calculation. The preliminary world standard time is then aligned with the one-second periodic pulse signal, and the aligned preliminary world standard time is set as the first estimated world standard time.

[0188] The vehicle can use data such as the internal clock as a synchronization reference to perform simulation calculations to obtain a preliminary world standard time. In order to improve the accuracy and stability of the preliminary world standard time, the vehicle will also set a one-second periodic pulse signal (Pulse Per Second, PPS) and make it continuously output, that is, generate a pulse signal every second.

[0189] Aligning the preliminary world standard time with a one-second periodic pulse signal, that is, matching the preliminary world standard time with the starting point of the one-second periodic pulse signal or a specific time point, yields a more accurate and stable preliminary world standard time, which is set as the first estimated world standard time. This helps to eliminate errors and uncertainties in obtaining the first estimated world standard time of the vehicle.

[0190] In the above technical solution, the vehicle continuously outputs a one-second periodic pulse signal, and obtains a preliminary world standard time through simulation calculation. The preliminary world standard time is then aligned with the one-second periodic pulse signal to obtain the first estimated world standard time. This effectively reduces the errors and uncertainties in the simulation calculation and improves the accuracy and stability of the first estimated world standard time.

[0191] In one embodiment of this application, the method further includes:

[0192] Based on the application scenario of the vehicle, determine whether the vehicle can receive GNSS signals;

[0193] When the vehicle is able to receive GNSS signals, the world standard time in the GNSS signals is obtained, and the vehicle is time synchronized based on the world standard time in the GNSS signals;

[0194] The synchronization source priority of the vehicle is set to the first priority.

[0195] The application scenario of a vehicle can refer to its external environment, such as city streets, highways, tunnels, etc.

[0196] Depending on the application scenario of the vehicle, an attempt is made to directly acquire GNSS signals. If the vehicle can receive GNSS signals, then the world standard time in the GNSS signals is acquired, and the vehicle is time-synchronized based on the world standard time in the GNSS signals. The first priority is used to instruct the vehicle to directly use GNSS signals as the time synchronization signal source, and the synchronization source priority of the vehicle is set to the first priority.

[0197] It is understandable that the world standard time included in GNSS signals is considered highly accurate, and synchronizing vehicle time based on the world standard time in GNSS signals can greatly improve the accuracy and stability of vehicle time.

[0198] In the above technical solution, it is determined whether the vehicle can receive GNSS signals based on the application scenario. If it can receive them, the vehicle is time-synchronized based on the world standard time in the GNSS signal, and the synchronization source priority of the vehicle is set to the first priority. The world standard time in the GNSS signal is accurate. Time synchronization of the vehicle based on the world standard time in the GNSS signal improves the accuracy and stability of the vehicle's time.

[0199] In one embodiment of this application, the method further includes:

[0200] The vehicle is used as a time synchronization signal source to synchronize the time of surrounding vehicles.

[0201] It is understandable that using vehicles as time synchronization signal sources and sending vehicle time synchronization signal source information through vehicle-road cooperative communication networks to synchronize time with surrounding vehicles can improve the efficiency of time synchronization between vehicles. Time synchronization between vehicles provides strong support for collaborative control and data exchange between vehicles.

[0202] In the above technical solution, the vehicle is used as a time synchronization signal source to synchronize the time of surrounding vehicles, so that the surrounding vehicles can achieve time synchronization based on the vehicle's time synchronization signal source information, thereby improving the applicability of the vehicle time synchronization method.

[0203] Figure 4 This is a second schematic flowchart of a vehicle time synchronization method provided in some embodiments of this application. For example... Figure 4 As shown, the vehicle time synchronization method includes steps 410, 420, 430, 440, 450, and 460.

[0204] Step 410: Determine whether the vehicle can receive GNSS signals based on the application scenario in which the vehicle is located;

[0205] Step 420: If the vehicle is able to receive GNSS signals, obtain the world standard time in the GNSS signals, synchronize the vehicle's time based on the world standard time in the GNSS signals, and set the synchronization source priority of the vehicle to the first priority.

[0206] Step 430: When the vehicle cannot receive GNSS signals from the Global Navigation Satellite System, receive time synchronization signal source information of multiple target vehicles through the vehicle-road cooperative communication network. The time synchronization signal source information includes the synchronization source priority of the target vehicle and the world standard time of the target vehicle. The target vehicle is any other vehicle around the vehicle.

[0207] Step 440: If at least one of the target vehicles has a synchronization source priority of the first priority, obtain the world standard time of the first target vehicle and set the world standard time of the first target vehicle as the first time, wherein the first target vehicle is the target vehicle whose synchronization source priority is the first priority, set the synchronization source priority of the vehicle to the second priority, and synchronize the time of the vehicle according to the first time.

[0208] Step 450: When the synchronization source priority of the plurality of target vehicles does not have the first priority, and the synchronization source priority of at least one of the target vehicles is the second priority or the third priority, obtain the world standard time of the second target vehicle, and set the world standard time of the second target vehicle to the first time, wherein the second target vehicle is the target vehicle whose synchronization source priority is the second priority or the third priority, the synchronization source priority of the vehicle is set to the third priority, and the vehicle is time synchronized according to the first time;

[0209] Step 460: If the synchronization source priorities of the multiple target vehicles do not include the first priority, the second priority, and the third priority, the time synchronization signal source information of the multiple target vehicles is parsed to obtain multiple first data frames. The first data frame includes the estimated world standard time of the target vehicle and the confidence level corresponding to the estimated world standard time of the target vehicle. If the confidence level is greater than a preset confidence threshold, the estimated world standard time of the target vehicle is retained as a valid estimated world standard time. Based on the valid world standard time and the first estimated world standard time among the multiple target vehicles, the first time is determined, the synchronization source priority of the vehicle is set to the fourth priority, and the vehicle is time synchronized according to the first time.

[0210] In the above technical solution, it is determined whether the vehicle can receive GNSS signals. If the vehicle can receive GNSS signals, the vehicle is time-synchronized based on the Coordinated Universal Time (UTC) in the GNSS signals, and the synchronization source priority of the vehicle is set to the first priority. If the vehicle cannot receive GNSS signals, the time information of surrounding vehicles (target vehicles) is received through the vehicle-road cooperative communication network, and the first time is determined based on the synchronization source priority and UTC in the time synchronization signal source information of the target vehicle. The vehicle is time-synchronized based on the first time, and the vehicle synchronization source priority is adjusted synchronously. This realizes the time synchronization of the vehicle in different application scenarios and improves the flexibility of vehicle time synchronization.

[0211] The vehicle time synchronization method provided in this application does not rely on roadside equipment, thus improving the practicality of vehicle time synchronization.

[0212] The vehicle time synchronization method provided in this application can be executed by a vehicle time synchronization device. This application uses the example of a vehicle time synchronization device executing the vehicle time synchronization method to illustrate the vehicle time synchronization device provided in this application.

[0213] Figure 5 This is a schematic diagram of the structure of a vehicle time synchronization device provided in some embodiments of this application. For example... Figure 5 As shown, the vehicle time synchronization device 500 includes:

[0214] The acquisition unit 501 is used to acquire time synchronization signal source information of multiple target vehicles when the vehicle cannot receive GNSS signals from the Global Navigation Satellite System. The target vehicles are any other vehicles around the vehicle.

[0215] The first processing unit 502 is used to determine a first time based on the time synchronization signal source information of the plurality of target vehicles;

[0216] Synchronization unit 503 is used to synchronize the vehicle's time according to the first time.

[0217] Optionally, the acquisition unit 501 is used for:

[0218] The vehicle-road cooperative communication network receives time synchronization signal source information from multiple target vehicles, the time synchronization signal source information including the synchronization source priority of the target vehicle and the world standard time of the target vehicle;

[0219] The synchronization source priority of the target vehicle is used to indicate the time synchronization signal source of the target vehicle.

[0220] Optionally, the synchronization source priority includes a first priority, a second priority, a third priority, and a fourth priority.

[0221] The first priority is used to instruct the vehicle to directly use GNSS signals as the time synchronization signal source;

[0222] The second priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the first priority;

[0223] The third priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the second priority;

[0224] The fourth priority is used to indicate that the vehicle needs to estimate Coordinated Universal Time.

[0225] Optionally, the first processing unit 502 is used for:

[0226] If at least one of the target vehicles has a synchronization source priority of the first priority, the world standard time of the first target vehicle is obtained, and the world standard time of the first target vehicle is set as the first time.

[0227] Wherein, the first target vehicle is the target vehicle whose synchronization source priority is the first priority.

[0228] Optionally, the first processing unit 502 is also used for:

[0229] Set the synchronization source priority of the vehicle to the second priority.

[0230] Optionally, the first processing unit 502 is also used for:

[0231] If the synchronization source priority of the plurality of target vehicles does not have the first priority, and the synchronization source priority of at least one of the target vehicles is the second priority or the third priority, the world standard time of the second target vehicle is obtained, and the world standard time of the second target vehicle is set as the first time.

[0232] The second target vehicle is the target vehicle whose synchronization source priority is the second priority or the third priority.

[0233] Optionally, the first processing unit 502 is also used for:

[0234] The synchronization source priority of the vehicle is set to the third priority.

[0235] Optionally, the first processing unit 502 is also used for:

[0236] In the case where the synchronization source priorities of the plurality of target vehicles do not include the first priority, the second priority, and the third priority:

[0237] Obtain the first estimated Coordinated Universal Time (UTC) of the vehicle and set the first estimated UTC as the first time.

[0238] Optionally, the first processing unit 502 is also used for:

[0239] Obtain the estimated Coordinated Universal Time (UTC) of the multiple target vehicles, and retain the valid UTC among the multiple target vehicles;

[0240] The first time is determined based on the valid Coordinated Universal Time (UTC) among the plurality of target vehicles and the first estimated UTC.

[0241] Optionally, the first processing unit 502 is also used for:

[0242] The time synchronization signal source information of the multiple target vehicles is parsed to obtain multiple first data frames. The first data frame includes the estimated world standard time of the target vehicle and the confidence level corresponding to the estimated world standard time of the target vehicle.

[0243] If the confidence level is greater than a preset confidence threshold, the estimated world time of the target vehicle is retained as a valid estimated world time.

[0244] Optionally, obtaining the first estimated Coordinated Universal Time (UTC) of the vehicle includes:

[0245] The vehicle continuously outputs a one-second periodic pulse signal and obtains a preliminary world standard time through simulation calculation. The preliminary world standard time is then aligned with the one-second periodic pulse signal, and the aligned preliminary world standard time is set as the first estimated world standard time.

[0246] Optionally, the first processing unit 502 is also used for:

[0247] The synchronization source priority of the vehicle is set to the fourth priority.

[0248] Optionally, the vehicle time synchronization device 500 further includes a second processing unit, the second processing unit being used for:

[0249] Based on the application scenario of the vehicle, determine whether the vehicle can receive GNSS signals;

[0250] When the vehicle is able to receive GNSS signals, the world standard time in the GNSS signals is obtained, and the vehicle is time synchronized based on the world standard time in the GNSS signals;

[0251] The synchronization source priority of the vehicle is set to the first priority.

[0252] In the above technical solution, the vehicle time synchronization device is used to determine the first time by acquiring the time synchronization signal source information of multiple target vehicles around the vehicle when the vehicle cannot receive GNSS signals, and to synchronize the vehicle time according to the first time. This effectively solves the time synchronization problem when the vehicle cannot receive GNSS signals. By synchronizing the vehicle time according to the time synchronization signal source information of multiple target vehicles around the vehicle, the applicability and accuracy of the vehicle time synchronization method are improved.

[0253] The vehicle time synchronization device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the device.

[0254] The vehicle time synchronization device in this application embodiment can be a device with an operating system. This operating system can be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems; this application embodiment does not specifically limit it.

[0255] The vehicle time synchronization device provided in this application embodiment can realize the various processes implemented in the vehicle time synchronization method embodiment, and will not be described again here to avoid repetition.

[0256] Figure 6 This is a schematic diagram of the structure of a V2X terminal device provided in some embodiments of this application. In some embodiments, the terminal device of this application can be as follows: Figure 6 The V2X terminal device 600 shown includes:

[0257] V2X communication unit 601 is used to send the time synchronization signal source information of the vehicle through the vehicle-road cooperative communication network and / or receive the time synchronization signal source information of multiple surrounding vehicles through the vehicle-road cooperative communication network.

[0258] Processing unit 602 is used to execute the steps executed by the first processing unit in the above-described vehicle time synchronization device embodiment;

[0259] The GNSS communication unit 603 is used to determine whether the vehicle can receive GNSS signals based on the application scenario in which the vehicle is located.

[0260] In some embodiments, such as Figure 7 As shown, this application embodiment also provides a terminal device 700, including a processor 701, a memory 702, and a computer program stored in the memory 702 and executable on the processor 701. When the program is executed by the processor 701, it implements the various processes of the above-described vehicle time synchronization method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0261] This application embodiment also provides a vehicle, which may include, as in... Figure 6 The V2X terminal equipment shown or such Figure 7 The terminal device shown, or the various processes of implementing the above-described vehicle time synchronization method embodiments, can be understood by referring to the descriptions in the foregoing embodiments, and will not be repeated here.

[0262] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described vehicle time synchronization method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0263] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0264] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle time synchronization method.

[0265] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0266] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described vehicle time synchronization method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0267] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0268] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0269] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0270] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0271] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0272] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle time synchronization method, characterized in that, include: In the event that the vehicle cannot receive GNSS signals from the Global Navigation Satellite System, the time synchronization signal source information of multiple target vehicles is acquired, wherein the target vehicles are any other vehicles around the vehicle. The first time is determined based on the time synchronization signal source information of the multiple target vehicles; The vehicle is synchronized with time based on the first time.

2. The vehicle time synchronization method according to claim 1, characterized in that, The acquisition of time synchronization signal source information for multiple target vehicles includes: The vehicle-road cooperative communication network receives time synchronization signal source information from multiple target vehicles, the time synchronization signal source information including the synchronization source priority of the target vehicle and the world standard time of the target vehicle; The synchronization source priority of the target vehicle is used to indicate the time synchronization signal source of the target vehicle.

3. The vehicle time synchronization method according to claim 2, characterized in that, The synchronization source priorities include first priority, second priority, third priority, and fourth priority. The first priority is used to instruct the vehicle to directly use GNSS signals as the time synchronization signal source; The second priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the first priority; The third priority is used to indicate that the vehicle's time synchronization signal source is a vehicle with the second priority; The fourth priority is used to indicate that the vehicle needs to estimate Coordinated Universal Time.

4. The vehicle time synchronization method according to claim 3, characterized in that, Determining the first time based on the time synchronization signal source information of the multiple target vehicles includes: If at least one of the target vehicles has a synchronization source priority of the first priority, the world standard time of the first target vehicle is obtained, and the world standard time of the first target vehicle is set as the first time. Wherein, the first target vehicle is the target vehicle whose synchronization source priority is the first priority.

5. The vehicle time synchronization method according to claim 4, characterized in that, The method further includes: Set the synchronization source priority of the vehicle to the second priority.

6. The vehicle time synchronization method according to claim 3, characterized in that, Determining the first time based on the time synchronization signal source information of the multiple target vehicles includes: If the synchronization source priority of the plurality of target vehicles does not have the first priority, and the synchronization source priority of at least one of the target vehicles is the second priority or the third priority, the world standard time of the second target vehicle is obtained, and the world standard time of the second target vehicle is set as the first time. The second target vehicle is the target vehicle whose synchronization source priority is the second priority or the third priority.

7. The vehicle time synchronization method according to claim 6, characterized in that, The method further includes: The synchronization source priority of the vehicle is set to the third priority.

8. The vehicle time synchronization method according to claim 3, characterized in that, Determining the first time based on the time synchronization signal source information of the multiple target vehicles includes: In the case where the synchronization source priorities of the plurality of target vehicles do not include the first priority, the second priority, and the third priority: Obtain the first estimated Coordinated Universal Time (UTC) of the vehicle and set the first estimated UTC as the first time.

9. The vehicle time synchronization method according to claim 8, characterized in that, The method further includes: Obtain the estimated Coordinated Universal Time (UTC) of the multiple target vehicles, and retain the valid UTC among the multiple target vehicles; The first time is determined based on the valid Coordinated Universal Time (UTC) among the plurality of target vehicles and the first estimated UTC.

10. The vehicle time synchronization method according to claim 9, characterized in that, The step of obtaining the estimated Coordinated Universal Time (UTC) of the multiple target vehicles and retaining the valid UTC among the multiple target vehicles includes: The time synchronization signal source information of the multiple target vehicles is parsed to obtain multiple first data frames. The first data frame includes the estimated world standard time of the target vehicle and the confidence level corresponding to the estimated world standard time of the target vehicle. If the confidence level is greater than a preset confidence threshold, the estimated world time of the target vehicle is retained as a valid estimated world time.

11. The vehicle time synchronization method according to claim 8, characterized in that, The acquisition of the vehicle's first estimated Coordinated Universal Time includes: The vehicle continuously outputs a one-second periodic pulse signal and obtains a preliminary world standard time through simulation calculation. The preliminary world standard time is then aligned with the one-second periodic pulse signal, and the aligned preliminary world standard time is set as the first estimated world standard time.

12. The vehicle time synchronization method according to claim 8 or 9, characterized in that, The method further includes: The synchronization source priority of the vehicle is set to the fourth priority.

13. The vehicle time synchronization method according to claim 1, characterized in that, The method further includes: Based on the application scenario of the vehicle, determine whether the vehicle can receive GNSS signals; When the vehicle is able to receive GNSS signals, the world standard time in the GNSS signals is obtained, and the vehicle is time synchronized based on the world standard time in the GNSS signals; The synchronization source priority of the vehicle is set to the first priority.

14. The vehicle time synchronization method according to any one of claims 1 to 13, characterized in that, The method further includes: The vehicle is used as a time synchronization signal source to synchronize the time of surrounding vehicles.

15. A vehicle time synchronization device, characterized in that, include: The acquisition unit is used to acquire time synchronization signal source information of multiple target vehicles when the vehicle cannot receive GNSS signals from the Global Navigation Satellite System. The target vehicles are any other vehicles around the vehicle. The first processing unit is used to determine the first time based on the time synchronization signal source information of the plurality of target vehicles; A synchronization unit is used to synchronize the vehicle's time according to the first time.

16. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the vehicle time synchronization method as described in any one of claims 1 to 14.

17. A vehicle comprising the terminal device as described in claim 16, or implementing the vehicle time synchronization method as described in any one of claims 1 to 14.

18. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle time synchronization method as described in any one of claims 1 to 14.

19. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle time synchronization method as described in any one of claims 1 to 14.

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