Time synchronization equipment for automatic driving

Abstract

The utility model discloses time synchronization equipment for automatic driving. The time synchronization equipment comprises a shell, an Ethernet module, a PPS / TOD module and a PULSE output module, the Ethernet module, the PPS / TOD module and the PULSE output module are arranged in the shell or embedded in the shell; the Ethernet module is used for connecting the driving background and the vehicle end through a network; a GPS receiving module is integrated in the GPS time synchronization module, receives GPS signals to complete GPS time synchronization, and can also receive externally input PPS / TOD signals to complete GPS time synchronization; the PPS / TOD output interface is used for being connected with various sensors supporting hard synchronization; and the PULSE output interface is used for being connected with a sensor supporting trigger signal hard synchronization. The time synchronization device can adapt to synchronization modes of different types of domain controllers and sensors in the pilotless automobile.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic driving time synchronization, and in particular to a time synchronization device for automatic driving. Background Art

[0002] Cars have expanded the scope of people's travel, brought convenience to people's travel, and improved people's quality of life. With the development and progress of science and technology, driverless vehicles controlled by intelligent systems can obtain more driving information than manned cars and have higher safety, becoming an important trend in the future development of automobiles. Driverless vehicles use robot operating systems for information transmission, and rely on artificial intelligence, visual computing, video cameras, radar sensors, lidar and GPS (Global Positioning System) positioning systems to work together, allowing driverless vehicles to drive automatically and safely without any assistance.

[0003] Unmanned vehicles include a variety of sensors, each of which collects data. The processor controls the unmanned vehicle based on the collected data. The current mainstream time synchronization methods in the field of autonomous driving mainly include GPS-based time synchronization, precise time synchronization PTP / gPTP protocol-based time synchronization, and network time protocol NTP-based time synchronization.

[0004] Currently there is a lack of a device that supports synchronization of different types of domain controllers and sensors. Utility Model Content

[0005] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0006] The disclosed embodiments provide a time synchronization device for autonomous driving to solve the problem that no device in the prior art can adapt to the synchronization methods of different types of domain controllers and sensors in driverless cars.

[0007] In some embodiments, the time synchronization device for autonomous driving includes: a housing, an Ethernet module, a PPS / TOD module, and a PULSE output module; the Ethernet module, the PPS / TOD module, and the PULSE output module are arranged in the housing or embedded in the housing;

[0008] Ethernet module, used to connect the driving backend and the vehicle end through the network;

[0009] PPS / TOD interface, including:

[0010] External GPS input interface, connected to an external GPS receiver, receives GPS signals to complete GPS time synchronization;

[0011] PPS / TOD output interface, including at least: one 422 / 485 level standard output and multiple 232 / ttl level standard outputs;

[0012] PULSE output interface, used to connect sensors that support signal-triggered hard synchronization.

[0013] Preferably, the device further includes: a first USB interface for connecting to the vehicle end.

[0014] Preferably, the device further includes: an LED indicator light.

[0015] Preferably, the device further includes: a Bluetooth module.

[0016] Preferably, the device further includes: a power supply module.

[0017] Preferably, the power module includes: a second USB interface for connecting to the vehicle end to obtain electrical energy.

[0018] Preferably, the power module comprises: a rechargeable battery module.

[0019] Preferably, the device further comprises: a storage module for storing parameters of the Ethernet module, the PPS / TOD module and the PULSE output module.

[0020] The disclosed embodiment provides a time synchronization device for autonomous driving based on GPS+PTP / gPTP, which is also compatible with NTP synchronization service. It mainly solves the variability and complexity of synchronization modes supported by various sensors in the actual application of autonomous driving systems, and basically meets the needs of all sensors that support hard synchronization. After optimization, the complexity of hardware connection can be reduced, and the time synchronization device has a timekeeping function. When the GPS signal is lost, the device has a high-temperature compensation crystal oscillator inside, which can replace the GPS to output pulse signals and time, thereby improving the stability and reliability of time synchronization of the entire system. Specifically, the disclosed embodiment has the following advantages:

[0021] The time synchronization device outputs NTP / PTP / gPTP synchronization, which can adapt to various devices that support synchronization;

[0022] The time synchronization device outputs PPS / TOD signals at 232 / TTL / 485 / 422 levels, covering the signal level requirements of all current GPS synchronization sensors;

[0023] Timekeeping function: the device can continue to output signals and timestamps after the GPS signal is lost. The timekeeping accuracy is at the microsecond level within 24 hours.

[0024] The trigger time and frequency of the time synchronization device trigger signal are configurable. Currently, it is mainly used to trigger the camera, which can make the camera and LiDAR work at the same frequency, and supports setting the trigger time of the camera, so that the camera and LiDAR can achieve high-precision unity when collecting data.

[0025] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0027] Figure 1 is a structural schematic diagram of a time synchronization device for autonomous driving provided by an embodiment of the present disclosure;

[0028] Figure 2 is a schematic diagram of an interface of a time synchronization device for autonomous driving provided by an embodiment of the present disclosure;

[0029] Figure 3 This is a schematic diagram of synchronous deployment of a time synchronization device connected to a vehicle end provided by an embodiment of the present disclosure;

[0030] Figure 4 It is a schematic diagram of synchronous deployment of a time synchronization device connected to a driving background provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and systems can be simplified for display.

[0032] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0033] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated systems, elements or components to have specific directions, or to be constructed and operated in specific directions. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure may be understood according to specific circumstances.

[0034] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two systems, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0035] Unless otherwise stated, the term "plurality" means two or more.

[0036] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0037] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0038] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0039] Unmanned vehicles include a variety of sensors, each of which collects data. The processor controls the unmanned vehicle based on the collected data. The current mainstream time synchronization methods in the field of autonomous driving mainly include GPS-based time synchronization, PTP / gPTP-based time synchronization, and network time protocol NTP-based time synchronization. Currently, there is a lack of a device that supports synchronization methods for different types of domain controllers and sensors.

[0040] The disclosed embodiments provide a time synchronization device for autonomous driving to solve the problem that no device in the prior art can adapt to the synchronization methods of different types of domain controllers and sensors in driverless cars.

[0041] See also Figure 1 , the embodiment of the present disclosure provides a time synchronization device for autonomous driving, comprising: a housing, an Ethernet module, a PPS / TOD module and a PULSE output module; the Ethernet module, the PPS / TOD module and the PULSE output module are arranged in the housing or embedded in the housing;

[0042] Ethernet module, used to connect the driving backend and the vehicle end through the network;

[0043] PPS / TOD interface, including:

[0044] External GPS input interface. When the internal integrated GPS module fails, it can be connected to an external GPS receiver to receive GPS signals to complete GPS time synchronization.

[0045] PPS / TOD output interface, one 422 / 485 level standard output and multiple 232 / ttl level standard outputs, used to adapt to the level requirements of different sensors for signal connection.

[0046] PULSE output module for connecting sensors that support signal-triggered hard synchronization, such as cameras.

[0047] See also Figure 2 , which is a schematic diagram of an interface of a time synchronization device for autonomous driving provided in an embodiment of the present disclosure. Figure 2 There are multiple interfaces in it, which can meet the time synchronization connection of most sensors on the market.

[0048] The Ethernet interface is equipped with 3 Ethernet channels, one of which is used as the configuration network port. You can access the backend management to configure the IP and functions of other network ports, and you can also query the version information and status information of this module. The other two channels can be configured to output NTP / PTP / gPTP.

[0049] In the PPS / TOD interface, one channel receives PPS / TOD input signals, which can be connected to an external GPS receiver to synchronize the device with the GPS time; one channel outputs PPS / TOD signals, with an output level of 422 / 485. It is suitable for hard synchronization sensors that only support receiving 422 / 485 levels; multiple channels of PPS / TOD output signals, with an output level of 232 / ttl, are suitable for most sensors that support GPS synchronization.

[0050] In the PULSE output interface, multiple frequency-dividable pulse outputs are configured, which are mainly suitable for cameras that support trigger signal synchronization.

[0051] The USB interface communicates with the vehicle-side host to complete the status information exchange and parameter configuration between the device and the host.

[0052] LED indicator light can show the operating status of the entire device.

[0053] See also Figure 3 , which is a schematic diagram of synchronous deployment of a time synchronization device connected to a vehicle end in an embodiment of the present disclosure.

[0054] The types of vehicle-side sensors are complex, and the time synchronization methods supported by sensors of different manufacturers and types are also diverse. The time synchronization device can adapt to all current sensors that support hard synchronization. Referring to the vehicle-side application process in 3, for sensors that only support GPS synchronization, the time synchronization device can output PPS / TOD signals to connect to the sensor end. For cameras, it is now commonly used to trigger the camera to capture images through pulse signals. The trigger signal output of the time synchronization device can set the frequency and trigger time, which can minimize the error in data collection between the camera and other synchronization sensors, so that each sensor can be aligned with high precision at the time of collection.

[0055] The time synchronization device supports ptp synchronization, and can complete the synchronization alignment of domain controllers and other sensors supporting ptp / gptp synchronization in the local area network through switches and network cables, with a synchronization accuracy of us or less. In the vehicle-side autonomous driving system, the acquisition time and system time of all modules are highly aligned with the time synchronization device. Even when the GPS signal is unstable or lost, it can work under a precise time reference, thereby improving the safety and reliability of vehicle operation.

[0056] See also Figure 4 , which is a schematic diagram of synchronous deployment of a time synchronization device connected to a driving background in an embodiment of the present disclosure.

[0057] The driving backend mainly uses ptp synchronization to align each server with the time synchronization device. The synchronization accuracy within the local area network can reach us or less.

[0058] In summary, each module in the entire autonomous driving system on the vehicle side and the driving background uses the time synchronization device as the time source, effectively avoiding the excessive time difference caused by network communication delay. The theoretical error accuracy of synchronization between different modules is us or less. The timekeeping function of the time synchronization device can still continue to output high-precision PPS / TOD signals and timestamps when the GPS signal is lost, providing a stable and reliable time source for each module in the autonomous driving system.

[0059] In a preferred embodiment, the device further includes: a Bluetooth module.

[0060] The time synchronization device can be connected to the vehicle via a Bluetooth module.

[0061] In a preferred embodiment, the device further comprises: a power module. The power module comprises: a second USB interface for connecting to a vehicle end to obtain electrical energy.

[0062] Furthermore, the power supply module includes: a rechargeable battery module.

[0063] In a preferred embodiment, the device further includes: a storage module for storing parameters of the Ethernet module, the PPS / TOD module and the PULSE output module.

[0064] The disclosed embodiments provide a time synchronization device for autonomous driving based on GPS+PTP / gPTP, which is also compatible with NTP synchronization service. It mainly solves the variability and complexity of synchronization modes supported by various sensors in actual applications of autonomous driving systems, and basically meets the needs of all sensors supporting hard synchronization. After optimization, the complexity of hardware connection can be reduced, and the time synchronization device has a timekeeping function. When the GPS signal is lost, the device has a high-temperature compensation crystal oscillator inside, which can replace the GPS to output pulse signals and time, thereby improving the time synchronization stability and reliability of the entire system.

[0065] The utility model device can adapt to and be compatible with the synchronization methods of different types of domain controllers and sensors. After project verification and continuous optimization, it has gradually become stable and reliable during the project implementation process, and is equipped with a monitoring system to monitor the abnormal situation of synchronization error exceeding the threshold, and quickly feedback to the system when the abnormality occurs. The time synchronization device has a timekeeping function and can continue to provide a high-precision time source for the modules in the autonomous driving system after the signal is lost.

[0066] The above description and the accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A time synchronization device for autonomous driving, characterized in that: Connected with the driving backend and the vehicle end, including: a housing, an Ethernet module, a PPS / TOD module and a PULSE output module; the Ethernet module, the PPS / TOD module and the PULSE output module are arranged in the housing or embedded in the housing; Ethernet module, used to connect the driving backend and the vehicle end through the network; PPS / TOD interface, including: External GPS input interface, connected to an external GPS receiver, receives GPS signals to complete GPS time synchronization; PPS / TOD output interface, including at least: one 422 / 485 level standard output and multiple 232 / ttl level standard outputs; PULSE output module for connecting sensors that support signal-triggered hard synchronization.

2. The time synchronization device for autonomous driving according to claim 1, characterized in that: The device further comprises: The first USB interface is used for connecting to the vehicle end.

3. The time synchronization device for autonomous driving according to claim 1, characterized in that: The device further comprises: Led indicator light.

4. The time synchronization device for autonomous driving according to claim 1, characterized in that: The device further comprises: Bluetooth module.

5. The time synchronization device for autonomous driving according to claim 1, characterized in that: The device further comprises: Power module.

6. The time synchronization device for autonomous driving according to claim 5, characterized in that: The power module comprises: The second USB port is used to connect to the vehicle to obtain power.

7. The time synchronization device for autonomous driving according to claim 5, characterized in that: The power module comprises: Rechargeable battery module.

8. The time synchronization device for autonomous driving according to claim 1, characterized in that: The device further comprises: Storage module, used to store parameters of Ethernet module, PPS / TOD module and PULSE output module.

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