Control System Clock Synchronization for Consistent Sensor Timestamps
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Solution Overview
Problem
In autonomous driving systems, the use of multiple clock units in a control system leads to deviations in time indicated by different clock units, resulting in inconsistent timestamps for sensor data, which affects the accuracy of service processing and normal operation.
Innovation Solution
A clock synchronization method is implemented where controllers in the system add timestamps to sensor data using a unified clock, either by synchronizing the clocks of different units or converting timestamps to a unified time frame, ensuring consistency across all sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple clock units are deployed in the control system to provide clocks for sensor data, then the system can collect data from multiple sensors with different time references, but the timestamps of the sensor data become inconsistent and cannot be aligned
Solution Approach 1:
The patent merges multiple clock units (first clock unit and second clock unit) into a unified time reference system. The first controller synchronizes the second clock unit to the first clock unit, combining their time references so that all sensor data timestamps can be aligned to a single consistent time base, resolving the inconsistency problem while maintaining multi-sensor capability
Solution Approach 2:
The first controller acts as an intermediary between the first clock unit and second clock unit. It receives time information from both clock units and performs synchronization processing, converting timestamps from different time references into a unified time reference, thereby enabling consistent timestamp alignment across all sensors
2Measurement precision
If the clock of the third clock unit is synchronized to the clock of the first clock unit, then timestamps of sensor data from both controllers become consistent, but the system complexity increases due to synchronization processing
Solution Approach 1:
The second controller performs self-synchronization by automatically adjusting its third clock unit to match the first clock unit's time reference. The synchronization process is implemented within the controller itself using local time information and communication with the first controller, eliminating the need for external synchronization devices and reducing overall system complexity
Data Source
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AI summary
This application provides a clock synchronization method of a control system and a control system. The control system includes a first controller and a second controller, the first controller includes a first clock unit and a second clock unit, and the second controller includes a third clock unit. A clock of the first clock unit is different from a clock of the third clock unit, and a clock of the second clock unit is the same as the clock of the third clock unit. The method includes: The first controller and the second controller add a timestamp to sensor data by using a first clock, where the first clock is the clock of the first clock unit or the clock of the third clock unit, to ensure clock consistency of the sensor data. This improves accuracy of subsequent service processing.