CN114545449A - Time synchronization method and device for vehicle controller, electronic device, and storage medium - Google Patents

Abstract

The application discloses a time synchronization method and device of a vehicle controller, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring the current navigation system time of a first satellite navigation system, the current navigation system time of a second satellite navigation system and the current network time of a vehicle; judging whether the time of the integrated navigation system meets the preset accuracy requirement or not; the integrated navigation system time is obtained based on the mean value of the current navigation system time of the first satellite navigation system and the second satellite navigation system; if the comprehensive navigation system time is judged to meet the preset accuracy requirement, taking the comprehensive navigation system time as the current synchronization time of the vehicle; if the comprehensive navigation system time is judged not to meet the preset accuracy requirement, taking the current network time of the vehicle as the current synchronization time of the vehicle; issuing the synchronization time to a plurality of controllers of the vehicle to update a time of each of the controllers to the synchronization time.

Description

Time synchronization method and device for vehicle controller, electronic device, and storage medium

technical field

The present application relates to the technical field of vehicle controller time synchronization, and in particular, to a time synchronization method and device for a vehicle controller, an electronic device, and a storage medium.

Background technique

With the development of vehicle intelligence, the data volume and types of controllers installed on vehicles are also increasing. Since each controller on the vehicle needs time in the control process, it needs to acquire and manage the time.

Today, the time acquisition and management of various controllers in a vehicle is not uniform. Many controllers have separate methods for acquiring and managing the required time. Since the accuracy of the time acquired by different acquisition methods cannot be guaranteed, the time acquired by each controller is likely to be quite different from the actual time, and the accuracy of different acquisition times is also likely to be quite different.

Therefore, there is likely to be a time difference between the controllers on the vehicle, and the obtained time has a low accuracy and is quite different from the actual time. The communication of external devices such as diagnostic equipment and cloud background is unstable, which affects the realization of the functions of the vehicle.

SUMMARY OF THE INVENTION

Based on the above-mentioned deficiencies of the prior art, the present application provides a time synchronization method and device for a vehicle controller, an electronic device, and a storage medium, so as to solve the problem that the time of each controller of the vehicle in the prior art is not synchronized, and the time is accurate. Sex cannot be guaranteed.

In order to achieve the above purpose, the application provides the following technical solutions:

A first aspect of the present application provides a time synchronization method for a vehicle controller, including:

collecting the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle;

Determine whether the integrated navigation system time meets the preset accuracy requirements; wherein, the integrated navigation system time is obtained based on the average value of the current navigation system time of the first satellite navigation system and the current navigation system time of the second satellite navigation system ;

If it is determined that the time of the integrated navigation system meets the preset accuracy requirement, the time of the integrated navigation system is used as the current synchronization time of the vehicle;

If it is determined that the time of the integrated navigation system does not meet the preset accuracy requirement, the current network time of the vehicle is used as the current synchronization time of the vehicle;

The synchronization time is published to a plurality of controllers of the vehicle to update the time of each of the controllers to the synchronization time.

Optionally, in the above method for time synchronization of a vehicle controller, before the collection of the current navigation time of the first satellite navigation system, the current navigation time of the second satellite navigation system, and the current network time of the vehicle, the method further includes:

Simultaneously collect the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times;

Using the collected navigation time of the first satellite navigation system and the navigation time of the second satellite navigation system, calculate the average between the first satellite navigation system and the second satellite navigation system Navigation time error;

Wherein, the integrated navigation system time is equal to the sum of the average value of the current navigation time of the first satellite navigation system and the current navigation time of the second satellite navigation system and the error of the average navigation time.

Optionally, in the above method for time synchronization of a vehicle controller, the synchronous acquisition of the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times includes:

The navigation time of the first satellite navigation system and the second satellite navigation system is synchronously collected once every first preset time length until the number of acquisitions reaches a preset number of acquisitions.

Optionally, in the above time synchronization method for a vehicle controller, the collecting the current network time of the vehicle includes:

detecting the current network time of the vehicle;

If the current network time of the vehicle is detected within the second preset time length, the detected current network time of the vehicle is collected.

Optionally, in the above method for time synchronization of a vehicle controller, after the detecting the current network time of the vehicle, the method further includes:

If the current network time of the vehicle is not detected within the second preset time length, add one to the recorded number of return executions, and determine whether the recorded number of return executions is greater than the preset number of returns;

If it is determined that the recorded number of times of return execution is not greater than the preset number of times of return, then return to execute the synchronous acquisition of the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times;

If it is determined that the recorded number of times of return execution is greater than the preset number of times of return, the recorded number of times of return execution is cleared, and after it is determined that the collection of the current network time of the vehicle fails, the execution of the judgment is performed to determine whether the time of the integrated navigation system satisfies the Preset accuracy requirements.

Optionally, in the above-mentioned time synchronization method for a vehicle controller, the judging whether the time of the integrated navigation system meets a preset accuracy requirement includes:

Determine whether the number of satellites searched by the vehicle is greater than the preset number of satellites; wherein, if it is determined that the number of satellites searched by the vehicle is greater than the preset number of satellites, the integrated navigation system time meets the preset accuracy requirement ; If it is determined that the number of satellites searched by the vehicle is not greater than the preset number of satellites, the time of the integrated navigation system does not meet the preset accuracy requirement.

Optionally, in the above time synchronization method for a vehicle controller, after judging that the current navigation system time does not meet the preset accuracy requirement, the method further includes:

Determine whether the current network time of the vehicle is successfully collected;

If it is determined that the current network time of the vehicle is successfully collected, executing the taking the current network time of the vehicle as the current synchronization time of the vehicle;

If it is determined that the current network time of the vehicle is not successfully acquired, it is determined that the current synchronization time of the vehicle is not acquired.

A second aspect of the present application provides a time synchronization device for a vehicle controller, including:

a first collection unit, configured to collect the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle;

The first judgment unit is used to judge whether the time of the integrated navigation system meets the preset accuracy requirement; wherein, the time of the integrated navigation system is based on the current navigation system time of the first satellite navigation system and the time of the second satellite navigation system. The mean value of the current navigation system time is obtained;

a first determination unit, configured to use the integrated navigation system time as the current synchronization time of the vehicle when the first determination unit determines that the integrated navigation system time meets a preset accuracy requirement;

a second determination unit, configured to use the current network time of the vehicle as the current synchronization time of the vehicle when the first determination unit determines that the time of the integrated navigation system does not meet the preset accuracy requirement;

A synchronization unit, configured to issue the synchronization time to a plurality of controllers of the vehicle, so as to update the time of each of the controllers to the synchronization time.

Optionally, in the above-mentioned time synchronization device of the vehicle controller, it also includes:

a second acquisition unit, configured to synchronously acquire the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times;

a computing unit, configured to calculate the first satellite navigation system and the second satellite by using the collected navigation times of the first satellite navigation system and the second satellite navigation systems Average navigation time error between navigation systems;

Wherein, the integrated navigation system time is equal to the sum of the average value of the current navigation time of the first satellite navigation system and the current navigation time of the second satellite navigation system and the error of the average navigation time.

Optionally, in the above-mentioned time synchronization device of a vehicle controller, the second acquisition unit includes:

The second acquisition subunit is configured to synchronously acquire the navigation time of the first satellite navigation system and the second satellite navigation system once every first preset time length until the number of acquisitions reaches the preset number of acquisitions.

Optionally, in the above-mentioned time synchronization device of the vehicle controller, when the first collection unit collects the current network time of the vehicle, it is used for:

The current network time of the vehicle is detected, and when the current network time of the vehicle is detected within a second preset time length, the detected current network time of the vehicle is collected.

Optionally, in the above-mentioned time synchronization device of the vehicle controller, it also includes:

A second judging unit, configured to add one to the recorded number of returning executions when the current network time of the vehicle is not detected within the second preset time length, and determine whether the recorded number of returning executions is greater than the predetermined number of times Set the number of returns;

The returning unit is configured to return to the second collection unit to perform the synchronous collection of the first satellite navigation system and the the navigation time of the second satellite navigation system;

A third determining unit, configured to clear the recorded number of times of returning to zero when the second determining unit determines that the number of times of returning executions recorded is greater than the preset number of returnings, and after determining to collect the current network time of the vehicle After failure, the first judging unit executes the judging whether the time of the integrated navigation system meets the preset accuracy requirement.

Optionally, in the above-mentioned time synchronization device for a vehicle controller, the first judgment unit includes:

a first judging subunit for judging whether the number of satellites searched by the vehicle is greater than a preset number of satellites; wherein, if it is judged that the number of satellites searched by the vehicle is greater than the preset number of satellites, the integrated navigation The system time meets the preset accuracy requirement; if it is determined that the number of satellites searched by the vehicle is not greater than the preset number of satellites, the integrated navigation system time does not meet the preset accuracy requirement.

Optionally, in the above-mentioned time synchronization device of the vehicle controller, it also includes:

a third judging unit, configured to judge whether the current network time of the vehicle is successfully collected after the first judging unit judges that the current navigation system time does not meet the preset accuracy requirement;

Wherein, if the third determination unit determines that the current network time of the vehicle is successfully collected, the second determination unit executes the process of using the current network time of the vehicle as the current synchronization time of the vehicle;

A fourth determination unit, configured to determine that the current synchronization time of the vehicle is not acquired when the third determination unit determines that the current network time of the vehicle has not been successfully acquired.

A third aspect of the present application provides an electronic device, comprising:

memory and processor;

Wherein, the memory is used to store programs;

The processor is configured to execute the program, and when the program is executed, it is specifically configured to implement the time synchronization method for a vehicle controller according to any one of the above.

A fourth aspect of the present application provides a storage medium for storing a computer program, and when the computer program is executed, is used to implement the time synchronization method for a vehicle controller as described in any one of the above.

The present application provides a time synchronization method for a vehicle controller, by collecting the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle, and then based on the first satellite navigation system time. The average value of the current navigation system time of one satellite navigation system and the current navigation system time of the second satellite navigation system obtains the integrated navigation system time, and judges whether the integrated navigation system time meets the preset accuracy requirement. Since the time of the navigation system has high accuracy, when it is judged that the time of the integrated navigation system meets the preset accuracy requirement, the time of the integrated navigation system is taken as the synchronization time of the current vehicle. If the accuracy requirements are set, the current network time of the vehicle is selected as the synchronization time of the current vehicle, and finally the synchronization time is released to multiple controllers of the vehicle, and the time of each controller is updated to the synchronization time, which realizes the synchronization of each time of the vehicle. Synchronized and unified, and use the navigation system time or network time to effectively ensure the accuracy of the time.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only It is an embodiment of the present application. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without any creative effort.

1 is a schematic structural diagram of a time synchronization system according to an embodiment of the present application;

2 is a flowchart of a time synchronization method for a vehicle controller provided by another embodiment of the present application;

3 is a flowchart of another time synchronization method for a vehicle controller provided by another embodiment of the present application;

4 is a schematic structural diagram of a time synchronization device of a vehicle controller provided by another embodiment of the present application;

FIG. 5 is a schematic structural diagram of an electronic device according to another embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In this application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that any such relationship exists between these entities or operations. an actual relationship or sequence. Also the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or apparatus that includes a list of elements includes not only those elements, but also not expressly listed Other elements, or elements that are inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The present application provides a time synchronization method for a vehicle controller, so as to solve the problems in the prior art that the time of each controller of the vehicle is not synchronized, and the accuracy of the time cannot be guaranteed.

Optionally, in order to realize the time synchronization method of the vehicle controller provided by the present application, an embodiment of the present application provides a time synchronization system, as shown in FIG. Radio Service, GPRS), the first satellite navigation system module 103 and the second satellite navigation system module 104 .

Among them, the wireless packet service module 102 is the GPRS module, which is mainly used to collect the current network time of the vehicle. The first satellite navigation system module 103 is mainly used to collect the current navigation system time and navigation time of the first satellite navigation system. The second satellite navigation system module 104 is mainly used to collect the current navigation system time and navigation time of the second satellite navigation system.

The processor 101 is mainly used for processing the data collected by the first satellite navigation system module 103 , the second satellite navigation system module 104 and the wireless packet service module 102 . Specifically can be used for: according to the current navigation system time of the first satellite navigation system and the current navigation time of the second satellite navigation system, calculate the time of the integrated navigation system, and comprehensively consider the time of the integrated navigation system and the current network time, from which the current vehicle is selected , and then send the synchronization time to each controller to update the time of each controller to the synchronization time.

Based on the time synchronization system provided above, another embodiment of the present application provides a time synchronization method for a vehicle controller, as shown in FIG. 2 , which specifically includes the following steps:

S201. Collect the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle.

The first satellite navigation system and the second satellite navigation system respectively refer to two different satellite navigation systems. Specifically, it may be a global positioning system (Global Positioning System, GPS) and a Beidou satellite navigation system. Of course, it can also be other satellite navigation systems, such as the Galileo satellite positioning system, the Russian GLONASS satellite positioning system, and the like.

The current navigation system time refers to the time point of the current satellite navigation system obtained from the satellite navigation system, and may specifically refer to Universal Time Coordinated (UTC). After the navigation system time and the current navigation system time of the second satellite navigation system, the two current navigation systems can be converted into time in a unified area, such as Beijing time, or the synchronization can be performed after the synchronization time is finally obtained. time to convert.

The current network time of the vehicle refers to the network time currently obtained through the general wireless packet service module of the vehicle, and may specifically be the UCT time.

It should be noted that the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle need to be synchronously collected at the current moment.

S202. Determine whether the time of the integrated navigation system meets the preset accuracy requirement.

The integrated navigation system time is obtained based on the average value of the current navigation system time of the first satellite navigation system and the current navigation system time of the second satellite navigation system.

The integrated navigation system time is the time obtained by integrating the current navigation system time of the first satellite navigation system and the current navigation system time of the second satellite navigation system. Specifically, it may be the average value of the current navigation system time of the first satellite navigation system and the current navigation system time of the second satellite navigation system, or a value obtained after the average value is corrected, so that the current navigation system of the two satellite navigation systems can be obtained through the current navigation system. system, the comprehensive navigation time is obtained as the synchronization time, so as to avoid the large error caused by the navigation system time of a single satellite navigation system.

Since the signal of the satellite navigation system received by the vehicle is not static, it cannot be guaranteed that the signal is always in a strong state. When the signal is weak, the accuracy of the collected navigation system time of the satellite navigation system is poor, and the accuracy of the calculated integrated navigation system time is also worse. Therefore, it is necessary to set the accuracy requirements in advance to judge whether the integrated navigation system time is When the preset accuracy requirements are met, the integrated navigation system time is used only when the accuracy requirements are met. Specifically, it can be determined whether the time of the integrated navigation system meets the preset accuracy requirement by detecting the strength of the satellite signal. Of course, other methods can also be used, such as the following methods.

Optionally, since the number of satellites that can be searched by the vehicle affects the strength of the satellite navigation system signal received by the vehicle, and the strength of the received satellite signal determines the accuracy of the time of the integrated navigation system, this application further In one embodiment, step S202 is specifically: judging whether the number of satellites searched by the vehicle is greater than the preset number of satellites.

Among them, the preset number of satellites can be set to 7, because the number of satellites is considered to be a critical sign of the strength of the satellite navigation signal. Therefore, when the number of satellite data is more than 7, it means that the satellite navigation signal is strong, and the time accuracy of the obtained navigation system is high; otherwise, it means that the satellite navigation signal is weak, and the time accuracy of the obtained navigation system is low. Therefore, when it is judged that the number of satellites searched by the vehicle is greater than the preset number of satellites, the integrated navigation system time meets the preset accuracy requirement; Navigation system time does not meet preset accuracy requirements. Of course, this is only one of the optional quantities, and it can also be set to a larger value to ensure higher accuracy.

It should be noted that the time of the navigation system is more accurate than the network time of the vehicle, and the network of the vehicle is more likely to fluctuate, and the accuracy cannot be guaranteed. Therefore, when it is determined that the integrated navigation system time meets the preset accuracy requirement, the integrated navigation system time is preferentially selected as the synchronization time of the current vehicle, that is, when it is determined that the integrated navigation system time meets the preset accuracy requirement, step S203 is performed. Correspondingly, if it is determined that the time of the integrated navigation system does not meet the preset accuracy requirement, step S204 is executed.

S203 , taking the time of the integrated navigation system as the synchronization time of the current vehicle.

S204 , taking the current network time of the vehicle as the synchronization time of the current vehicle.

It should also be noted that due to factors such as poor network in some locations, or even no network, the vehicle may not be able to connect to the network, so it cannot be effectively guaranteed that the current status of the vehicle can be obtained when step S201 is executed. network time. Therefore, optionally, in this embodiment of the present application, when step S202 is executed to determine that the current navigation system time does not meet the preset accuracy requirement, further execution may be performed first: judging whether the current network time of the vehicle is successfully collected.

Wherein, if it is determined that the current network time of the vehicle is successfully collected, S204 is executed again. Optionally, if it is determined that the current network time of the vehicle has not been successfully collected, step S204 is not executed. Because the time of the integrated navigation system at this time does not meet the preset accuracy requirements and cannot be used, therefore, at this time, the step of determining the synchronization time of the current vehicle that is not obtained is performed. Correspondingly, since the synchronization time of the current vehicle is not obtained, step S205 is not continued at this time, that is, the time of each controller is not updated this time, so as to prevent the controller from adopting a time with lower accuracy. Moreover, it is also possible to return to step S201 after a specified period of time or immediately, that is, to execute the method provided in the present application again, and then try to obtain a synchronization time whose accuracy meets the requirements, so as to update the time of the controller.

S205. Publish the synchronization time to multiple controllers of the vehicle, so as to update the time of each controller to the synchronization time.

Optionally, the obtained synchronization time may be published to multiple controllers of the vehicle through Ethernet or the CAN bus of the vehicle.

Optionally, after performing step S205, you can choose to immediately return to performing step S201, or return to performing step S201 after a certain period of time, and loop the method provided by this embodiment of the present application, thereby continuously updating the time of each controller of the vehicle. , to ensure the synchronization and accuracy of the time of each controller.

A time synchronization method for a vehicle controller provided by an embodiment of the present application collects the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle, and then based on the The average value of the current navigation system time of the first satellite navigation system and the current navigation system time of the second satellite navigation system is used to obtain the integrated navigation system time, and it is judged whether the integrated navigation system time meets the preset accuracy requirement. Since the time of the navigation system has high accuracy, when it is judged that the time of the integrated navigation system meets the preset accuracy requirements, the time of the integrated navigation system is used as the synchronization time of the current vehicle. If the accuracy requirement is set, the current network time of the vehicle is selected as the synchronization time of the current vehicle, and finally the synchronization time is released to multiple controllers of the vehicle, and the time of each controller is updated to the synchronization time, which realizes the synchronization of the various times of the vehicle. Synchronized and unified, and use the navigation system time or network time to effectively ensure the accuracy of the time.

Another embodiment of the present application provides a time synchronization method for a vehicle controller, as shown in FIG. 3 , which specifically includes the following steps:

S301 , synchronously collect the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times.

It should be noted that, because in the embodiment of the present application, the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times is collected, which is used to calculate the current average between the first satellite navigation system and the second satellite navigation system. Navigation time error, so the multiple times should be multiple times close to the current time, that is, the navigation times of the first satellite navigation system and the second satellite navigation system are collected synchronously at multiple times before the current time.

Optionally, in another embodiment of the present application, a specific implementation of step S301 is specifically: synchronously collect once every first preset time length, the navigation time of the first satellite navigation system and the second satellite navigation system , until the collection times reach the preset collection times.

For example, the first preset time length may be set to 10 milliseconds, and the preset number of acquisitions may be 10 times. If the first satellite navigation system and the second navigation system are GPS navigation systems and Beidou navigation systems, the acquired navigation time can be Record as: GPS_T1 and BeiDou_T1, GPS_T2 and BeiDou_T2, GPS_T3 and BeiDou_T3, ..., GPS_T10 and BeiDou_T10.

S302. Calculate the average navigation time error between the first satellite navigation system and the second satellite navigation system by using the collected navigation time of the first satellite navigation system and the navigation time of the second satellite navigation system.

Specifically, the difference between the navigation time of the first satellite navigation system and the navigation time of the second satellite navigation system that is synchronously collected at each moment is calculated separately, and then the sum of the calculated differences is at the preset number of collection times. , to obtain the average navigation time error between the first satellite navigation system and the second satellite navigation system.

For example, based on the above example, the average navigation time error between the first satellite navigation system and the second satellite navigation system is equal to: [(GPS_T1-BeiDou_T1)+(GPS_T2-BeiDou_T2)+( GPS_T3-BeiDou_T3)+…+(GPS_T10-BeiDou_T10)]/10.

Wherein, in the embodiment of the present application, the current navigation system time is equal to the average value of the current navigation time of the first satellite navigation system and the current navigation time of the second satellite navigation system, and the sum of the average navigation time error

S303: Collect the current navigation system time of the first satellite navigation system and the current navigation system time of the second satellite navigation system, and detect the current network time of the vehicle.

It should be noted that, since the average navigation time error is time-sensitive, step S303 needs to be performed immediately after step S302 is performed.

It should be noted that since the network of the vehicle is easily affected by various factors, it may not be possible to quickly collect the current network time. However, due to the problem of timeliness, it is necessary to ensure that the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle are collected at the same time, or a time close to the same time. Therefore, within the second preset time length of starting to detect the network time value of the vehicle, it is determined in real time whether the current network time of the vehicle is detected.

S304. Determine whether the current network time of the vehicle is detected within the second preset time length.

Specifically, within a second preset time length of starting to detect the network time value of the vehicle, it is determined in real time whether the current network time of the vehicle is detected. Due to the consideration of the problem of timeliness, the second preset time length is usually set relatively short, for example, set to 1 second.

Wherein, if the current network time of the vehicle is detected within the second preset time length, that is, if it is determined that the current network time of the vehicle is detected within the second preset time length, the determination can be stopped, and step S305 is performed. If the current network time of the vehicle is not detected within the second preset time length, step S306 is executed.

S305. Collect the current network time of the detected vehicle.

It should be noted that, after step S305 is executed, step S307 can be executed next.

S306. Add one to the recorded number of times of return execution, and determine whether the recorded number of times of return and execution is greater than the preset number of times of return.

Since the process of collecting data takes a relatively short time, in the embodiment of the present application, when the current network time of the vehicle fails to be collected, multiple attempts may be made to collect the data, and the subsequent steps will be performed after the multiple collections fail. . Since the acquisition of the current network time of the vehicle fails, if you try to collect the current network time of the vehicle again, the current navigation system time and the average navigation time error of the two satellite navigation systems previously acquired have lost their timeliness, so they must be acquired again. Therefore, in this embodiment of the present application, if it is determined that the recorded number of times of return execution is not greater than the preset number of times of return, the process returns to step S301.

Optionally, the return execution times is set to an integer greater than 0, but it should not be set too large, for example, it can be set to 3. Of course, the number of times of return execution can also be set to 0, that is, when the current network time of the vehicle is not collected, the subsequent steps are directly executed, and no attempt is made to obtain the current network time of the vehicle. Because when the current network time of the vehicle is not obtained, the time of the integrated navigation system that meets the preset accuracy requirement may have been collected, and at this time, the synchronization time with higher accuracy can be obtained. Even if the subsequent steps are performed and it is determined that the time of the integrated navigation system does not meet the preset accuracy requirement, the step S301 can be returned to execute at that time, and the purpose of obtaining the network time of the vehicle for multiple times can also be achieved.

If it is determined that the recorded number of times of return execution is greater than the preset number of times of return, step S307 is performed. Optionally, before step S307 is performed, it may also be performed first: clearing the recorded number of times of return execution to zero, and after it is determined that the collection of the current network time of the vehicle fails.

S307. Determine whether the time of the integrated navigation system meets the preset accuracy requirement.

It should be noted that, the specific implementation manner of step S307 may be the same as that of step S202, so reference may be made to the specific implementation process of step S202 in the above method embodiments, which will not be repeated here.

Wherein, if it is determined that the time of the integrated navigation system meets the preset accuracy requirement, step S308 is executed. If it is determined that the time of the integrated navigation system does not meet the preset accuracy requirement, step S309 is executed.

It should also be noted that the current navigation system time of the first satellite navigation system and the second satellite navigation system can usually be collected, so as to obtain the integrated navigation system time, but there is a problem of accuracy. However, it cannot be guaranteed that the time of the integrated navigation system can be obtained every time, so optionally, before step S307 is executed, it is also possible to further judge whether the time of the integrated navigation system is obtained. Then step S307 is executed, and if it is determined that the time of the integrated navigation system has not been obtained, step S309 may be executed directly.

S308, taking the current navigation system time as the synchronization time of the current vehicle.

It should be noted that, after step S308 is performed, step S312 is performed.

S309. Determine whether the current network time of the vehicle is successfully collected.

Wherein, if it is determined that the current network time of the vehicle is successfully collected, step S310 is executed. If it is determined that the current network time of the vehicle has not been successfully collected, step S311 is executed.

S310. Use the current network time of the vehicle as the synchronization time of the current vehicle.

It should be noted that, after step S310 is performed, step S312 is performed.

S311. Determine that the synchronization time of the current vehicle is not obtained.

It should be noted that, after step S311 is executed, it is equivalent to instructing that step S312 is not executed again. Optionally, after step S311 is performed, it is possible to choose to return to step S301 immediately, or return to perform step S301 after a certain period of time, thereby looping the method provided by this embodiment of the present application.

S312. Publish the synchronization time to multiple controllers of the vehicle, so as to update the time of each controller to the synchronization time

For the specific implementation of step S312, reference may be made to the implementation of step S205 in the foregoing embodiment, and details are not repeated here.

In a method for time synchronization of a vehicle controller provided by an embodiment of the present application, the navigation times of the first satellite navigation system and the second satellite navigation system are acquired at multiple times, and the two satellite navigation systems are obtained by calculating the acquired navigation time. Then collect the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle, based on the current navigation system time of the first satellite navigation system, The mean value of the current navigation system time and the average navigation time error of the second satellite navigation system can obtain the integrated navigation system time, thereby improving the accuracy of the integrated navigation system time. Then, after successfully obtaining the current network time or trying to obtain the current network time several times, if the time of the integrated navigation system meets the preset accuracy requirements, the time of the integrated navigation system is preferentially used as the synchronization time of the current vehicle; otherwise, the vehicle is selected to be The current network time is used as the synchronization time of the current vehicle, and finally the synchronization time is released to multiple controllers of the vehicle, and the time of each controller is updated to the synchronization time, which realizes the synchronization and unification of the various times of the vehicle, and uses the navigation system time. or network time, effectively guaranteeing the accuracy of the time.

Another embodiment of the present application provides a time synchronization device for a vehicle controller, as shown in FIG. 4 , including the following units:

The first collection unit 401 is configured to collect the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle.

The first judging unit 402 is configured to judge whether the time of the integrated navigation system meets the preset accuracy requirement.

The integrated navigation system time is obtained based on the average value of the current navigation system time of the first satellite navigation system and the current navigation system time of the second satellite navigation system.

The first determination unit 403 is configured to use the integrated navigation system time as the synchronization time of the current vehicle when the first determination unit 402 determines that the integrated navigation system time meets the preset accuracy requirement.

The second determination unit 404 is configured to use the current network time of the vehicle as the synchronization time of the current vehicle when the first determination unit 402 determines that the time of the integrated navigation system does not meet the preset accuracy requirement.

The synchronization unit 405 is configured to issue the synchronization time to multiple controllers of the vehicle, so as to update the time of each controller to the synchronization time.

Optionally, the time synchronization device for a vehicle controller provided by another embodiment of the present application further includes the following units:

The second acquisition unit is configured to synchronously acquire the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times.

The computing unit is used to calculate the average navigation time error between the first satellite navigation system and the second satellite navigation system by using the collected navigation time of the first satellite navigation system and the navigation time of the second satellite navigation system .

Wherein, the integrated navigation system time is equal to the average value of the current navigation time of the first satellite navigation system and the current navigation time of the second satellite navigation system, and the sum of the average navigation time error.

Optionally, the second acquisition unit in the time synchronization device of the vehicle controller provided by another embodiment of the present application includes:

The second acquisition subunit is configured to synchronously acquire the navigation time of the first satellite navigation system and the second satellite navigation system once every first preset time length until the number of acquisitions reaches the preset number of acquisitions.

Optionally, when the first collection unit in the time synchronization device of the vehicle controller provided by another embodiment of the present application collects the current network time of the vehicle, it is used for: detecting the current network time of the vehicle, and at the second preset time. When the current network time of the vehicle is detected within the length, the current network time of the detected vehicle is collected.

Optionally, the time synchronization device for a vehicle controller provided by another embodiment of the present application may further include the following units:

The second judging unit is configured to add one to the recorded return execution times when the current network time of the vehicle is not detected within the second preset time length, and determine whether the recorded return execution times is greater than the preset return times.

The returning unit is configured to return to the second acquisition unit to perform the synchronous acquisition of the navigation of the first satellite navigation system and the second satellite navigation system at multiple times when the second determination unit determines that the recorded number of times of return execution is not greater than the preset number of returns time.

The third determining unit is configured to clear the recorded number of times of returning to zero when the second determining unit determines that the number of times of returning executions recorded is greater than the preset number of returning, and after determining that the collection of the current network time of the vehicle fails, the first determination The unit executes judgment whether the time of the integrated navigation system meets the preset accuracy requirement.

Optionally, the first judgment unit in the time synchronization device of the vehicle controller provided by another embodiment of the present application includes:

The first judging subunit is used for judging whether the number of satellites searched by the vehicle is greater than the preset number of satellites.

Among them, if it is determined that the number of satellites searched by the vehicle is greater than the preset number of satellites, the integrated navigation system time meets the preset accuracy requirement; if it is determined that the number of satellites searched by the vehicle is not greater than the preset number of satellites, the integrated navigation system The system time does not meet the preset accuracy requirements.

Optionally, the time synchronization device for a vehicle controller provided by another embodiment of the present application may further include the following units:

The third judging unit is configured to judge whether the current network time of the vehicle is successfully collected after the first judging unit judges that the current navigation system time does not meet the preset accuracy requirement.

Wherein, if the third determination unit determines that the current network time of the vehicle is successfully collected, the second determination unit executes to use the current network time of the vehicle as the synchronization time of the current vehicle.

The fourth determination unit is configured to determine that the synchronization time of the current vehicle is not acquired when the third determination unit determines that the current network time of the vehicle has not been successfully acquired.

It should be noted that, for the specific working process of each unit in the foregoing embodiments of the present application, reference may be made to the implementation process of the corresponding steps in the foregoing method embodiments, which will not be repeated here.

Another embodiment of the present application provides a storage medium for storing a computer program. When the computer program is executed, the time synchronization method for a vehicle controller provided by any one of the foregoing embodiments is implemented.

Wherein, the storage medium is a computer storage medium, specifically including permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory ( ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, magnetic Magnetic tape cartridges, magnetic tape storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

Another embodiment of the present application provides an electronic device, as shown in FIG. 5 , including:

Memory 501 and processor 502.

Among them, the memory 501 is used to store programs. The processor 502 is configured to execute the program stored in the memory 501, and when the program is executed, it is specifically configured to implement the method for generating a video multimodal model provided by any one of the above embodiments or to implement the video provided by any one of the above embodiments. filter method.

Professionals may further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, the above description has generally described the components and steps of each example in terms of functionality. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this application is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. a time synchronization method of a vehicle controller, is characterized in that, comprising: collecting the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle; Determine whether the integrated navigation system time meets the preset accuracy requirements; wherein, the integrated navigation system time is obtained based on the average value of the current navigation system time of the first satellite navigation system and the current navigation system time of the second satellite navigation system ; If it is determined that the time of the integrated navigation system meets the preset accuracy requirement, the time of the integrated navigation system is used as the current synchronization time of the vehicle; If it is determined that the time of the integrated navigation system does not meet the preset accuracy requirement, the current network time of the vehicle is used as the current synchronization time of the vehicle; The synchronization time is published to a plurality of controllers of the vehicle to update the time of each of the controllers to the synchronization time. 2. The method according to claim 1, wherein before the current navigation time of the first satellite navigation system, the current navigation time of the second satellite navigation system, and the current network time of the vehicle are collected, the method further comprises: Simultaneously collect the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times; Using the collected navigation time of the first satellite navigation system and the navigation time of the second satellite navigation system, calculate the average between the first satellite navigation system and the second satellite navigation system Navigation time error; Wherein, the integrated navigation system time is equal to the sum of the average value of the current navigation time of the first satellite navigation system and the current navigation time of the second satellite navigation system and the error of the average navigation time. 3. The method according to claim 2, wherein the synchronous acquisition of the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times comprises: The navigation time of the first satellite navigation system and the second satellite navigation system is synchronously collected once every first preset time length until the number of acquisitions reaches a preset number of acquisitions. 4. The method according to claim 2, wherein the collecting the current network time of the vehicle comprises: detecting the current network time of the vehicle; If the current network time of the vehicle is detected within the second preset time length, the detected current network time of the vehicle is collected. 5. The method according to claim 4, wherein after the detecting the current network time of the vehicle, the method further comprises: If the current network time of the vehicle is not detected within the second preset time length, add one to the recorded number of return executions, and determine whether the recorded number of return executions is greater than the preset number of returns; If it is determined that the recorded number of times of return execution is not greater than the preset number of times of return, then return to execute the synchronous acquisition of the navigation time of the first satellite navigation system and the second satellite navigation system at multiple times; If it is determined that the recorded number of times of return execution is greater than the preset number of times of return, the recorded number of times of return execution is cleared, and after it is determined that the collection of the current network time of the vehicle fails, the execution of the judgment is performed to determine whether the time of the integrated navigation system satisfies the Preset accuracy requirements. 6. The method according to claim 1, wherein the judging whether the time of the integrated navigation system meets the preset accuracy requirement comprises: Determine whether the number of satellites searched by the vehicle is greater than the preset number of satellites; wherein, if it is determined that the number of satellites searched by the vehicle is greater than the preset number of satellites, the integrated navigation system time meets the preset accuracy requirement ; If it is determined that the number of satellites searched by the vehicle is not greater than the preset number of satellites, the time of the integrated navigation system does not meet the preset accuracy requirement. 7. The method according to any one of claims 1 to 6, wherein after judging that the current navigation system time does not meet a preset accuracy requirement, the method further comprises: Determine whether the current network time of the vehicle is successfully collected; If it is determined that the current network time of the vehicle is successfully collected, executing the taking the current network time of the vehicle as the current synchronization time of the vehicle; If it is determined that the current network time of the vehicle is not successfully acquired, it is determined that the current synchronization time of the vehicle is not acquired. 8. A time synchronization device for a vehicle controller, comprising: a first collection unit, configured to collect the current navigation system time of the first satellite navigation system, the current navigation system time of the second satellite navigation system, and the current network time of the vehicle; The first judgment unit is used to judge whether the time of the integrated navigation system meets the preset accuracy requirement; wherein, the time of the integrated navigation system is based on the current navigation system time of the first satellite navigation system and the time of the second satellite navigation system. The mean value of the current navigation system time is obtained; a first determination unit, configured to use the integrated navigation system time as the current synchronization time of the vehicle when the first determination unit determines that the integrated navigation system time meets a preset accuracy requirement; a second determination unit, configured to use the current network time of the vehicle as the current synchronization time of the vehicle when the first determination unit determines that the time of the integrated navigation system does not meet the preset accuracy requirement; A synchronization unit, configured to issue the synchronization time to a plurality of controllers of the vehicle, so as to update the time of each of the controllers to the synchronization time. 9. An electronic device, characterized in that, comprising: memory and processor; Wherein, the memory is used to store programs; The processor is configured to execute the program, and when the program is executed, it is specifically configured to implement the time synchronization method of the vehicle controller according to any one of claims 1 to 7. 10 . A storage medium, characterized in that it is used for storing a computer program, and when the computer program is executed, it is used to implement the time synchronization method of the vehicle controller according to any one of claims 1 to 7 .

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