Clock synchronization system and vehicle

Abstract

The utility model provides a clock synchronization system and a vehicle. The clock synchronization system comprises a positioning navigation module, a clock synchronizer, a central controller and a terminal network control unit, the positioning and navigation module is used for acquiring a positioning and navigation signal, and the positioning and navigation signal comprises positioning and navigation information and time information; the clock synchronizer is used for receiving the positioning and navigation information and distributing the positioning and navigation information into multiple paths of navigation signals; the central controller is used for receiving the time information sent by the positioning navigation module; and the terminal network control unit is used for receiving the time information sent by the central controller and at least one path of navigation signal distributed by the clock synchronizer. The clock synchronization system is a clock synchronization function technology which is perfect from the aspect of hardware, a convenient and effective clock synchronization continuing scheme is provided for a user, and the situation that GPS clock synchronization is unstable is solved.

Description

Technical Field

[0001] The present application relates to the technical field of road navigation, and in particular to a clock synchronization system and a vehicle. Background Art

[0002] In a network environment, basic clock characters can be transmitted between different computers through network protocols. Because of network delays, one client may obtain a clock character before another client. At the same time, the hardware time synchronization service also needs to ensure that the clock source being used by the system administrator is reliable. Clock synchronization is also important for communication between different components of the autonomous driving system to ensure that the vehicle runs safely and smoothly. By ensuring that all devices in the system (such as sensors, processors, and actuators) are synchronized with the same clock, it is easier to coordinate their actions.

[0003] During road navigation, the navigation signal in the weak signal area is poor, which will cause the GPS clock synchronization to be unstable. At this time, it is necessary to continuously maintain GPS clock synchronization to ensure the integrity and accuracy of road navigation. Most of the existing solutions start with software, and the existing technology uses hardware to solve the problem of unstable GPS clock synchronization in weak signal areas. The existing technology lacks a technology that can effectively improve the clock synchronization function from the hardware aspect, thereby further solving the unstable GPS clock synchronization. Utility Model Content

[0004] The present application provides a clock synchronization system and a vehicle, which are used to solve the technical problem that the prior art lacks a technology that can effectively improve the clock synchronization function from the hardware aspect, thereby further solving the technical problem of unstable GPS clock synchronization.

[0005] According to a first aspect of the present application, a clock synchronization system is provided, comprising a positioning and navigation module, a clock synchronizer, a central controller and a terminal network control unit; the positioning and navigation module is used to obtain a positioning and navigation signal, the positioning and navigation signal comprising positioning and navigation information and time information; the clock synchronizer is used to receive the positioning and navigation information and distribute the positioning and navigation information into multiple navigation signals; the central controller is used to receive the time information sent by the positioning and navigation module; the terminal network control unit is used to receive the time information sent by the central controller and at least one navigation signal distributed by the clock synchronizer.

[0006] In some implementations, a transmission rate of any one of the navigation signals is not less than a transmission rate at which the positioning and navigation module sends the positioning and navigation information to the clock synchronizer.

[0007] In some embodiments, the multiple navigation signals include a first navigation signal; the system also includes a laser radar, which is used to receive the first navigation signal distributed by the clock synchronizer and send the first navigation signal to the terminal network control unit.

[0008] In some embodiments, the multiple navigation signals further include a second navigation signal; the system further includes a camera, which is used to receive the second navigation signal distributed by the clock synchronizer and send the second navigation signal to the terminal network control unit.

[0009] In some implementations, a transmission rate of the second navigation signal is greater than a transmission rate of the first navigation signal.

[0010] In some embodiments, the multiple navigation signals also include a third navigation signal; the central controller is also communicatively connected to the clock synchronizer to receive the third navigation signal distributed by the clock synchronizer and send the second navigation signal to the terminal network control unit.

[0011] In some implementations, a transmission rate of the third navigation signal is lower than a transmission rate of the first navigation signal.

[0012] In some embodiments, the system further comprises a crystal oscillator, wherein the crystal oscillator is one or more of a temperature compensated crystal oscillator or an oven-controlled crystal oscillator.

[0013] According to a second aspect of the present application, a vehicle is provided, comprising the above-mentioned clock synchronization system, wherein the central controller of the clock synchronization system is a motor controller.

[0014] In summary, the clock synchronization system and vehicle provided by the present application have at least the following beneficial effects:

[0015] The clock synchronization system of the present application obtains positioning navigation information and time information through the positioning navigation module, receives the positioning navigation information through the clock synchronizer and distributes the positioning navigation information into multiple navigation signals, and receives the time information sent by the positioning navigation module through the central controller, and finally receives the time information sent by the central controller and at least one navigation signal distributed by the clock synchronizer through the terminal network control unit. The clock synchronization system of the present application uses the clock synchronizer as the main clock module, distributes multiple navigation signals through multiple clock synchronizers, and ensures the coordinated work of all navigation-related devices in the system by quickly locking to the positioning navigation module and distributing high-frequency clocks, thereby ensuring the functional safety of the vehicle. The clock synchronization system of the present application, when the GPS signal is lost (for example, when the vehicle passes through a weak signal area such as bad weather or a cave), realizes GPS clock synchronization in the weak signal area, ensuring the safe and stable operation of the vehicle. The clock synchronization system of the present application is a technology that improves the clock synchronization function from the hardware aspect, provides users with a convenient and effective clock synchronization solution, and solves the unstable situation of GPS clock synchronization. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A structural diagram of a clock synchronization system provided in an embodiment of the present application;

[0018] Figure 2 A structural diagram of a specific implementation process of a clock synchronization system provided by an embodiment of the present application;

[0019] Figure 3 A structural diagram of a clock synchronization system provided in an embodiment of the prior art. DETAILED DESCRIPTION

[0020] In order to make the above and other features and advantages of the present application more clear, the present application is further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0021] In the following description, many specific details are set forth to provide a thorough understanding of the present application. However, it is apparent to those skilled in the art that specific details need not be adopted to practice the present application. In other cases, well-known steps or operations are not described in detail to avoid blurring the present application.

[0022] In a related implementation of the prior art, hardware time synchronization refers to the act of sharing the same system time between a series of computers and devices. In modern computers, the hardware clock is usually driven by a quartz crystal that periodically emits an oscillation signal with a fixed frequency. This basic frequency is determined by the power supply and temperature of the computer.

[0023] See attached Figure 1 As shown, an embodiment of the present application provides a clock synchronization system, including a positioning and navigation module, a clock synchronizer, a central controller and a terminal network control unit.

[0024] The positioning and navigation module is used to obtain a positioning and navigation signal, and the positioning and navigation signal includes positioning and navigation information and time information.

[0025] The positioning and navigation information mainly comes from the acquired Global Navigation Satellite System (GNSS) information, such as the Global Positioning System (GPS) information.

[0026] The clock synchronizer is used to receive the positioning and navigation information and distribute the positioning and navigation information into multiple navigation signals.

[0027] Among them, the present application distributes the positioning and navigation information into multiple navigation signals, which can be carried out through lossless switching of GPS signals or through multi-channel output phase compensation, and is conveniently applied to clocks such as cameras (also known as cameras) or laser radars (also known as lidars).

[0028] The terminal network control unit is used to receive the time information sent by the central controller and at least one navigation signal distributed by the clock synchronizer.

[0029] The transmission rate of any one of the navigation signals is not less than the transmission rate of the positioning and navigation module sending the positioning and navigation information to the clock synchronizer, thereby ensuring that the time when the navigation signal arrives at the terminal network control unit is consistent with the time when at least one of the navigation signals distributed by the clock synchronizer arrives at the terminal network.

[0030] The clock synchronization system of the present application obtains the positioning navigation information and time information through the positioning navigation module, receives the positioning navigation information through the clock synchronizer and distributes the positioning navigation information into multiple navigation signals, and receives the time information sent by the positioning navigation module through the central controller, and finally receives the time information sent by the central controller and at least one navigation signal distributed by the clock synchronizer through the terminal network control unit. The clock synchronization system of the present application uses the clock synchronizer as the main clock module, distributes multiple navigation signals through multiple clock synchronizers, and ensures the coordinated work of all navigation-related devices in the system by quickly locking to the positioning navigation module and distributing high-frequency clocks, thereby ensuring the functional safety of the vehicle. The clock synchronization system of the present application, when the GPS signal is lost (for example, when the vehicle passes through a weak signal area such as bad weather or a cave), realizes the GPS clock synchronization in the weak signal area, ensuring the safe and stable operation of the vehicle. The clock synchronization system of the present application is a technology that improves the clock synchronization function from the hardware aspect, provides users with a convenient and effective clock synchronization solution, and solves the unstable situation of GPS clock synchronization.

[0031] See attached Figure 2 As shown, the present application provides a specific implementation process of a clock synchronization system, wherein the system includes: a positioning and navigation module, a clock synchronizer, a central controller, and a terminal network control unit.

[0032] The positioning and navigation module is used to obtain a positioning and navigation signal, and the positioning and navigation signal includes positioning and navigation information and time information.

[0033] The clock synchronizer is used to receive the positioning and navigation information and distribute the positioning and navigation information into multiple navigation signals.

[0034] For example, the positioning and navigation module sends positioning and navigation information to the clock synchronizer at a rate of 1 pulse per second (1 pps for short).

[0035] In some embodiments, the multiple navigation signals include a first navigation signal; the system also includes a laser radar, which is used to receive the first navigation signal distributed by the clock synchronizer and send the first navigation signal to the terminal network control unit.

[0036] For example, after the clock synchronizer (for example, the clock synchronizer can preferably be Microchip ZL3063X) obtains the positioning navigation information (such as GPS signal), the first navigation signal sends the navigation signal from the clock synchronizer to the laser radar device (referred to as Lidars, which can also be understood as a laser radar device group), wherein the rate at which the clock synchronizer sends to the laser radar device can be 10HZ.

[0037] In some embodiments, the multiple navigation signals further include a second navigation signal; the system further includes a camera, which is used to receive the second navigation signal distributed by the clock synchronizer and send the second navigation signal to the terminal network control unit.

[0038] The transmission rate of the second navigation signal is greater than the transmission rate of the first navigation signal.

[0039] For example, after the clock synchronizer obtains the positioning and navigation information, the second navigation signal sends the navigation signal from the clock synchronizer to the camera device (referred to as Cameras, which can also be understood as a camera device group), where the rate at which the clock synchronizer sends to the camera device can be 30HZ.

[0040] In some embodiments, the multiple navigation signals also include a third navigation signal; the motor controller is also communicatively connected to the clock synchronizer to receive the third navigation signal distributed by the clock synchronizer and send the second navigation signal to the terminal network control unit.

[0041] The transmission rate of the third navigation signal is lower than the transmission rate of the first navigation signal.

[0042] For example, after the clock synchronizer obtains the positioning and navigation information, the third navigation signal sends the navigation signal from the clock synchronizer to the motor controller (such as FPGA MCU, the Chinese name is field programmable gate array motor controller), where the rate at which the clock synchronizer sends to the motor controller can be 1pps.

[0043] The central controller is used to receive the time information sent by the positioning and navigation module.

[0044] For example, the positioning and navigation module sends positioning and navigation information to the clock synchronizer at a rate of 1 pulse per day (1ToD for short).

[0045] The terminal network control unit is used to receive the time information sent by the central controller and at least one navigation signal distributed by the clock synchronizer.

[0046] In some embodiments, the system further includes a crystal oscillator (XO for short), which is one or more of a temperature compensated crystal oscillator (TCXO for short) or an oven controlled crystal oscillator (OCXO for short).

[0047] Among them, the crystal oscillator can also be of other types besides the above two types, which is not limited in this application.

[0048] In some implementations, the first navigation signal, the second navigation signal, and the third navigation signal send navigation information to a terminal network control unit (eg, a TSN Switch, a switch with a time perception function).

[0049] The clock synchronization system of the present application, through the improvement of the first navigation signal, the second navigation signal and the third navigation signal and the corresponding rate, can support delay capability (maintain 1PPS output with very small phase shift) when the GPS signal is lost (for example, the vehicle passes through a weak signal area such as bad weather or a cave), and all devices (such as sensors, processors and actuators) can more easily coordinate their actions, while considering functional safety related situations. The clock synchronization system of the present application can ensure smaller clock synchronization errors as much as possible.

[0050] According to the present application, a vehicle is provided, comprising the above-mentioned clock synchronization system, wherein the motor controller of the clock synchronization system is a motor controller.

[0051] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A clock synchronization system, It is characterized in that It includes positioning and navigation module, clock synchronizer, central controller and terminal network control unit; The positioning and navigation module is used to obtain a positioning and navigation signal, wherein the positioning and navigation signal includes positioning and navigation information and time information; The clock synchronizer is used to receive the positioning and navigation information and distribute the positioning and navigation information into multiple navigation signals; The central controller is used to receive the time information sent by the positioning and navigation module; The terminal network control unit is used to receive the time information sent by the central controller and at least one navigation signal distributed by the clock synchronizer.

2. The clock synchronization system according to claim 1, It is characterized in that The transmission rate of any one of the navigation signals is not less than the transmission rate at which the positioning and navigation module sends the positioning and navigation information to the clock synchronizer.

3. The clock synchronization system according to claim 1, It is characterized in that The multiple navigation signals include a first navigation signal; The system further includes a laser radar, which is used to receive the first navigation signal distributed by the clock synchronizer and send the first navigation signal to the terminal network control unit.

4. The clock synchronization system according to claim 3, It is characterized in that The multiple navigation signals also include a second navigation signal; The system further includes a camera, which is used to receive the second navigation signal distributed by the clock synchronizer and send the second navigation signal to the terminal network control unit.

5. The clock synchronization system according to claim 4, It is characterized in that The transmission rate of the second navigation signal is greater than the transmission rate of the first navigation signal.

6. The clock synchronization system according to claim 3, It is characterized in that The multiple navigation signals also include a third navigation signal; The central controller is also in communication connection with the clock synchronizer, and is used for receiving the third navigation signal distributed by the clock synchronizer and sending the second navigation signal to the terminal network control unit.

7. The clock synchronization system according to claim 6, It is characterized in that The transmission rate of the third navigation signal is lower than the transmission rate of the first navigation signal.

8. The clock synchronization system according to any one of claims 1 to 7, It is characterized in that The system also includes a crystal oscillator, which is one or more of a temperature compensated crystal oscillator and an oven-controlled crystal oscillator.

9. A vehicle, It is characterized in that The clock synchronization system comprises the clock synchronization system as described in any one of claims 1 to 8, wherein the central controller of the clock synchronization system is a motor controller.

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