CN112564883B - Time synchronization apparatus, method and automatic driving system - Google Patents
Time synchronization apparatus, method and automatic driving system Download PDFInfo
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- CN112564883B CN112564883B CN202011413215.8A CN202011413215A CN112564883B CN 112564883 B CN112564883 B CN 112564883B CN 202011413215 A CN202011413215 A CN 202011413215A CN 112564883 B CN112564883 B CN 112564883B
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- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention provides a time synchronization device, a time synchronization method and an automatic driving system, which relate to the technical field of automatic control, wherein the time synchronization device comprises: the device comprises a time service information receiving interface, a PTP module, a frequency division module and a conversion module, wherein the PTP module, the frequency division module and the conversion module are connected with the time service information receiving interface; the time service information receiving interface is used for receiving time service information carrying reference input; the PTP module is used for carrying out time synchronization on the whole second moment of the current automatic driving system based on the reference input, and the frequency division module is used for carrying out frequency division processing on the reference input; the conversion module is used for converting the time service information into at least one path of sub time service information. The time synchronization device, the time synchronization method and the automatic driving system provided by the invention can provide consistent time reference and stable trigger signals for the sensor included in the automatic driving system, thereby not only optimizing the automatic driving performance, but also being beneficial to reducing potential safety hazards.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to time synchronization equipment, a time synchronization method and an automatic driving system.
Background
The automatic driving system usually comprises a centralized computing processing unit and a plurality of sensor subsystems, and the system time between the centralized computing processing unit and each sensor subsystem is independent, so that the data sent by the sensors to the centralized computing processing unit is not located in a unified space-time coordinate system. The traditional automatic driving system mainly works in the low-speed field, and the processing method of the traditional automatic driving system for the problems is to use the system time of a centralized computing processing unit as the reference time of the automatic driving system, subtract the pre-estimated line transmission delay by the time when data reaches the centralized computing processing unit, and obtain the estimated time of the data sampling time.
This problem is not obvious when the automatic driving is operated in a low speed region, but becomes more prominent when the automatic driving system is operated in a high speed region, greatly deteriorating the automatic driving performance, and even causing the automatic driving system to be unusable, resulting in a great potential safety hazard.
Disclosure of Invention
In view of the above, the present invention provides a time synchronization apparatus, a time synchronization method and an automatic driving system to alleviate the above technical problems.
In a first aspect, an embodiment of the present invention provides a time synchronization device, which is disposed in an automatic driving system, where the automatic driving system includes at least one of the following sensors: millimeter wave radar sensor, vision sensor, laser radar sensor; the time synchronization apparatus includes: the device comprises a time service information receiving interface, a PTP module, a frequency division module and a conversion module, wherein the PTP module, the frequency division module and the conversion module are connected with the time service information receiving interface; the time service information receiving interface is used for receiving time service information carrying reference input; the PTP module is used for extracting the reference input, carrying out time synchronization on the whole second moment of the current automatic driving system based on the reference input, and sending the synchronized time information to the automatic driving system so as to synchronize the system time of the automatic driving system with the reference input; the frequency division module is used for carrying out frequency division processing on the reference input to obtain a plurality of paths of trigger signals so as to trigger a visual sensor of the automatic driving system; the conversion module is used for converting the time service information into at least one path of sub time service information and sending the sub time service information to the automatic driving system so that the automatic driving system can carry out time synchronization on the laser radar sensor.
Preferably, in a possible embodiment, the PTP module includes a PTP chip, and a PTP output interface connected to the PTP chip; the reference input comprises a pulse per second signal and UTC time; the PTP chip is used for aligning the whole second moment of the system time of the automatic driving system with the rising edge of the pulse per second signal so as to synchronize the system time of the automatic driving system with the UTC time; and sending the synchronized time information containing the time stamp to the automatic driving system based on a PTP protocol.
Preferably, in a possible implementation, the frequency dividing module includes a frequency dividing chip and a pulse output interface; the pulse output interface is used for being connected with a visual sensor of the automatic driving system; the frequency division chip is used for acquiring the pulse per second signal, dividing the frequency of the pulse per second signal into at least one trigger signal with variable duty ratio, and triggering the visual sensor of the automatic driving system to expose for a preset time at a preset moment.
Preferably, in a possible implementation, the conversion module includes a conversion chip and a conversion output interface, and the conversion output interface is connected to the lidar sensor of the automatic driving system; the UTC time is carried in an RMC statement; the conversion chip is used for converting the time service information into at least one path of sub time service information comprising the RMC statement and the pulse per second signal, and sending the sub time service information to the laser radar sensor through the conversion output interface so as to perform time synchronization on the laser radar sensor.
Preferably, in a possible implementation, the frequency division chip is a CPLD chip of the Altera MAX ii series.
Preferably, in one possible implementation, the conversion chip is an ADM2567 or admm 6420 series of conversion isolation chips.
In a second aspect, an embodiment of the present invention further provides a time synchronization method, which is applied to the time synchronization device in the first aspect, where the time synchronization device includes: the device comprises a time service information receiving interface, a PTP module, a frequency division module and a conversion module, wherein the PTP module, the frequency division module and the conversion module are connected with the time service information receiving interface; the method comprises the following steps: receiving time service information carrying reference input through the time service information receiving interface; the PTP module is used for extracting the reference input, carrying out time synchronization on the whole second moment of the current automatic driving system based on the reference input, and sending the synchronized time information to the automatic driving system so as to synchronize the system time of the automatic driving system with the reference input; the frequency division module is used for carrying out frequency division processing on the reference input to obtain a plurality of paths of trigger signals so as to trigger a visual sensor of the automatic driving system; the conversion module is used for converting the time service information into at least one path of sub time service information and sending the sub time service information to the automatic driving system so that the automatic driving system can carry out time synchronization on the laser radar sensor.
In a third aspect, an embodiment of the present invention further provides an automatic driving system, where the automatic driving system includes an automatic driving controller, a sensor unit, and the time synchronization apparatus of the first aspect; the automatic driving controller and the sensor unit are both connected with the time synchronization equipment; the time synchronization device is configured to perform the method of the second aspect, time-synchronizing the automatic driving controller and the sensor unit.
Preferably, in a possible embodiment, the automatic driving system further comprises an ethernet switch; the sensor unit comprises at least one of the following sensors: millimeter wave radar sensor, vision sensor, laser radar sensor; the input end of the Ethernet switch is connected with the time synchronization equipment, and the output end of the Ethernet switch is used for being connected with the automatic driving controller, the millimeter wave radar sensor and the vision sensor; the Ethernet switch is used for sending the time information synchronized by the time synchronization equipment to the automatic driving controller, the millimeter wave radar sensor and the vision sensor so as to perform time synchronization.
Preferably, in a possible embodiment, the automatic driving system further comprises a combined navigation device; and the combined navigation equipment is connected with the time synchronization equipment and is used for sending time service information carrying reference input to the time synchronization equipment.
The embodiment of the invention has the following beneficial effects:
according to the time synchronization device, the time synchronization method and the automatic driving system, time service information carrying reference input can be received through the time service information receiving interface; then, a PTP module extracts a reference input, time synchronization is carried out on the whole second moment of the current automatic driving system based on the reference input, and the synchronized time information is sent to the automatic driving system, so that the system time of the automatic driving system is synchronized with the reference input; in addition, the frequency division module can also perform frequency division processing on the reference input to obtain a multi-channel trigger signal so as to trigger a visual sensor of the automatic driving system; the conversion module can convert the time service information into at least one path of sub time service information and send the sub time service information to the automatic driving system, so that the automatic driving system can carry out time synchronization on the laser radar sensor, therefore, the time synchronization equipment can provide consistent time reference and stable trigger signals for the sensor included in the automatic driving system, the automatic driving performance is optimized, and potential safety hazards are reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a time synchronization apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another time synchronization apparatus according to an embodiment of the present invention;
fig. 3 is a flowchart of a time synchronization method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic driving system according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Generally, the system time between the centralized computing processing unit and each sensor subsystem in the automatic driving system is independent, so that the data sent to the centralized computing processing unit by the sensors is not located in a unified space-time coordinate system, and the automatic driving performance is easily degraded, thereby causing potential safety hazards. Based on this, the time synchronization device, the time synchronization method and the automatic driving system provided by the embodiments of the present invention can alleviate the above problems.
To facilitate understanding of the embodiment, a detailed description will be given of a time synchronization apparatus disclosed in the embodiment of the present invention.
In one possible implementation, the embodiment of the invention provides a time synchronization device, and particularly the time synchronization device is arranged in an automatic driving system.
In general, an autopilot system includes an autopilot controller and a sensor unit to meet the sensed demands of the autopilot on the vehicle surroundings, and typically the sensor unit includes a plurality of sensors including at least one of the following sensors: the time synchronization device provided by the embodiment of the invention can perform time synchronization between the automatic driving controller and the plurality of sensors in the automatic driving system.
Specifically, as shown in fig. 1, a schematic structural diagram of a time synchronization device is provided, where the time synchronization device provided in the embodiment of the present invention includes: a time service information receiving interface 10, and a PTP (precision time protocol) module 20, a frequency dividing module 30, and a conversion module 40 connected to the time service information receiving interface 10.
The time service information receiving interface 10 is used for receiving time service information carrying reference input; the PTP module 20 is configured to extract the reference input, perform time synchronization on the entire second time of the current automatic driving system based on the reference input, and send the synchronized time information to the automatic driving system, so as to synchronize the system time of the automatic driving system with the reference input.
Further, the frequency division module 30 is configured to perform frequency division processing on the reference input to obtain multiple paths of trigger signals, so as to trigger a visual sensor of the automatic driving system;
the conversion module 40 is configured to convert the time service information into at least one path of sub time service information, and send the sub time service information to the automatic driving system, so that the automatic driving system performs time synchronization on the laser radar sensor.
In a specific implementation, the time service information receiving interface may be connected to the integrated Navigation device, and receive time service information carrying a reference input and sent by the integrated Navigation device, and specifically, the integrated Navigation device is generally a Navigation device provided with a GNSS (Global Navigation Satellite System) receiver, and may obtain a Global Satellite positioning System time, and send the time service information to the time synchronization device according to the embodiment of the present invention in a form of the reference input, so as to implement time synchronization of an automatic Navigation System.
Furthermore, the time synchronization device in the embodiment of the present invention integrates the PTP module, the frequency division module, and the conversion module, so that each sensor can be time-synchronized based on the reference input according to the actual sensor setting condition of the automatic driving system, thereby providing a consistent time reference for the automatic driving system.
Therefore, the time synchronization device provided by the embodiment of the invention can receive the time service information carrying the reference input through the time service information receiving interface; then, a PTP module extracts a reference input, time synchronization is carried out on the whole second moment of the current automatic driving system based on the reference input, and the synchronized time information is sent to the automatic driving system, so that the system time of the automatic driving system is synchronized with the reference input; in addition, the frequency division module can also carry out frequency division processing on the reference input to obtain a plurality of paths of trigger signals so as to trigger a visual sensor of the automatic driving system; the conversion module can convert the time service information into at least one path of sub time service information and send the sub time service information to the automatic driving system, so that the automatic driving system can carry out time synchronization on the laser radar sensor, therefore, the time synchronization equipment can provide consistent time reference and stable trigger signals for the sensor included in the automatic driving system, the automatic driving performance is optimized, and potential safety hazards are reduced.
In actual use, the PTP module is a functional module satisfying a PTP time protocol, and the PTP module may be set in a form of a PTP board card and integrated into a time synchronization device, so as to implement PTP time service, for convenience of understanding, on the basis of fig. 1, fig. 2 further shows a schematic structural diagram of another time synchronization device, specifically, as shown in fig. 2, the PTP module 20 includes a PTP chip 201 and a PTP output interface 202 connected to the PTP chip 201.
Specifically, the reference input includes a pulse per second signal and a UTC Time (UTC, Universal Time Coordinated); the PTP chip 201 is configured to align the whole second time of the system time of the automatic driving system with the rising edge of the pulse per second signal, so as to synchronize the system time of the automatic driving system with the UTC time; and sending the time information which is synchronized and contains the time stamp to an automatic driving system based on a PTP protocol.
Specifically, the Pulse Per Second signal included in the reference input may also be referred to as a PPS (Pulse Per Second) signal, and the PTP chip is generally a PTP time service chip, and may receive time service information carrying the reference input and sent by the integrated navigation device, use the reference input as time reference information, and perform time synchronization. Generally, a time synchronization device including a PTP module may be used as a master device, a sensor included in an autopilot system may be used as a slave device, and in the master device, after time information including a timestamp obtained through synchronization processing by a PTP chip is sent to the slave device, the slave device may modify local time according to the timestamp, so that the slave device time and the master device time maintain a consistent frequency, phase, and the like, thereby achieving the purpose of time synchronization.
In actual use, the PTP chip is usually a central processing unit CPU of the PTP module, and the PTP module may further include a high-precision temperature compensation crystal oscillator and other devices to improve the time synchronization precision.
Further, as shown in fig. 2, the frequency dividing module 30 further includes a frequency dividing chip 301 and a pulse output interface 302.
Specifically, the pulse output interface 302 is used for connecting with a vision sensor of an automatic driving system; the frequency division chip 301 is configured to obtain the pulse-per-second signal, and frequency-divide the pulse-per-second signal into at least one trigger signal with a variable duty ratio, so as to trigger a visual sensor of the automatic driving system to expose for a preset duration at a preset time.
Specifically, the frequency division chip may adopt an Altera MAX ii series CPLD (Complex programmable logic device) chip, for example, a chip with a model of EPM570, and the like, which is based on practical use and is not limited in this embodiment of the present invention.
Further, as shown in fig. 2, the conversion module 40 includes a conversion chip 401 and a conversion output interface 402, and the conversion output interface 402 is connected to the lidar sensor of the autopilot system.
Specifically, the UTC time is carried in an RMC statement; therefore, the time service information generally includes a pulse per second signal and an RMC statement, and the RMC statement carries the UTC time.
Further, the conversion chip 401 is configured to convert the time information into at least one path of sub-time information including RMC statements and pulse per second signals, and send the sub-time information to the lidar sensor through the conversion output interface, so as to perform time synchronization on the lidar sensor.
Specifically, the conversion chip is usually an ADM2567 or admm 6420 series of conversion isolation chips, and can convert 1 path of time information including RMC statements and pulse-per-second signals into multiple paths of sub-time information including RMC statements and pulse-per-second signals, and the chip delay of the series can be kept at ns level, thereby effectively ensuring the precision of time synchronization.
Further, based on the time synchronization device, an embodiment of the present invention further provides a time synchronization method, and specifically, the method is applied to the time synchronization device shown in fig. 1 or fig. 2, and as can be seen from the foregoing embodiment, the time synchronization device includes: the device comprises a time service information receiving interface, a PTP module, a frequency division module and a conversion module, wherein the PTP module, the frequency division module and the conversion module are connected with the time service information receiving interface; specifically, as shown in fig. 3, a flow chart of a time synchronization method includes the following steps:
step S302, receiving time service information carrying reference input through a time service information receiving interface;
step S304, the PTP module is used for extracting reference input, carrying out time synchronization on the whole second moment of the current automatic driving system based on the reference input, and sending the synchronized time information to the automatic driving system so as to synchronize the system time of the automatic driving system with the reference input;
step S306, the frequency division module is used for carrying out frequency division processing on the reference input to obtain a plurality of paths of trigger signals so as to trigger a visual sensor of the automatic driving system;
and step S308, the conversion module is used for converting the time service information into at least one path of sub time service information and sending the sub time service information to the automatic driving system so that the automatic driving system can carry out time synchronization on the laser radar sensor.
Further, an embodiment of the present invention also provides an automatic driving system, specifically, the automatic driving system includes an automatic driving controller, a sensor unit, and a time synchronization apparatus shown in fig. 1 or fig. 2.
Wherein, the automatic driving controller and the sensor unit are both connected with the time synchronization equipment;
the time synchronization apparatus is used to perform the time synchronization method shown in fig. 3, time-synchronize an automatic driving controller and a sensor unit.
Further, the automatic driving system also comprises an Ethernet switch; the sensor unit includes at least one of the following sensors: millimeter wave radar sensor, vision sensor, laser radar sensor.
The input end of the Ethernet switch is connected with the time synchronization equipment, and the output end of the Ethernet switch is used for being connected with the automatic driving controller, the millimeter wave radar sensor and the vision sensor. The Ethernet switch is used for sending the time information synchronized by the time synchronization equipment to the automatic driving controller, the millimeter wave radar sensor and the visual sensor so as to perform time synchronization.
Further, the automatic driving system further comprises a combined navigation device; the combined navigation equipment is connected with the time synchronization equipment and is used for sending time service information carrying reference input to the time synchronization equipment.
For convenience of understanding, fig. 4 shows a schematic structural diagram of an autopilot system, as shown in fig. 4, the autopilot system includes a time synchronization device and the autopilot system, wherein, for convenience of description, fig. 4 shows a time service information receiving interface 10, a PTP chip 201, a PTP output interface 202, a frequency division chip 301, a pulse output interface 302, a conversion chip 401 and a conversion output interface 402 of the time synchronization device.
Further, fig. 4 shows a partial structure of an automatic driving system, which includes an automatic driving controller 501, an ethernet switch 502, a combined navigation device 503, and a plurality of sensors included in a sensor unit, specifically, the sensors include a millimeter wave radar sensor 504, a vision sensor 505, and a laser radar sensor 506, where the number of each sensor included in the sensor unit may be one or more, and in fig. 4, only a limited number is shown, and may be specifically set according to an actual use situation, which is not limited in this embodiment of the present invention.
In addition, the automatic driving Controller is generally provided with a centralized computing processing Unit, and may acquire and analyze detection data including an obstacle collected by each sensor, so as to implement detection and analysis of the obstacle, and further implement an automatic driving function, and therefore, the automatic driving Controller may also be an ADCU (ADAS Domain Controller Unit, ADCU, automatic driving control Unit), and a specific automatic driving Controller may be set according to an actual use situation, which is not limited in this embodiment of the present invention.
Based on the automatic driving system shown in fig. 4, the automatic driving system includes the following processes when performing time synchronization:
(1) the integrated navigation device 503 provides 1 path of time service information carrying reference input, and specifically, the time service information may include RMC statements and pulse per second signals.
The pulse per second signal in the time service information is aligned to the corresponding time of the UTC time, the time error is less than 50ns, and meanwhile, the RMC statement provided by the combined navigation equipment contains the UTC time of the rising edge time of the pulse per second signal.
(2) The time synchronization equipment receives the pulse-per-second signal and the RMC statement inside, and sends the pulse-per-second signal and the RMC statement to the PTP module, the PTP module tracks the UTC time in real time through a PTP chip, and sends the synchronized reference time to all devices supporting the PTP protocol through the Ethernet switch 502, such as an automatic driving controller 501, a millimeter wave radar sensor 504 and a vision sensor 505 in an automatic driving system.
In addition, considering that some types of laser radar sensors do not support a PTP synchronization protocol (a certain standard ethernet protocol), all the laser radar sensors can be synchronized in a form of RMC (serial port) + PPS, and therefore, the time synchronization device can perform time synchronization on the laser radar sensors by using the conversion module.
Specifically, the conversion chip 401 of the conversion module is a low-delay high-speed magnetic coupling conversion chip, and can convert the 1 st second pulse signal and the RMC statement into the multiple second pulse signals and the RMC statement, and the conversion chip adopts a conversion isolation chip of ADM2567 or admm 6420 series, so that the delay can be lower than 50 ns.
(3) The time synchronization device can also input the pulse per second signal to the frequency division module, wherein the frequency division chip 301 of the frequency division module is generally a programmable device, and the programmable device can multiply the frequency of the pulse per second signal to the sampling frequency of the vision sensor to generate the shutter trigger signal of the vision sensor, and control the pulse width of the trigger signal through an internal program to control the exposure time of the vision sensor.
The equipment capable of being synchronized by the method comprises a camera, a laser radar, a combined navigation unit, an IMU (inertial measurement Unit), a millimeter wave radar and an ADCU (advanced digital control Unit) automatic driving control unit, and the method can provide consistent time reference and stable sampling trigger signals for each equipment.
In summary, the autopilot system provided by the embodiment of the invention has the advantages that the structure for performing time synchronization through the time synchronization device comprises the autopilot controller, the millimeter wave radar sensor, the vision sensor and the laser radar sensor, can provide consistent time reference for each structure, stably samples trigger signals, optimizes autopilot performance and is also beneficial to reducing potential safety hazards.
The automatic driving system provided by the embodiment of the invention has the same technical characteristics as the time synchronization equipment provided by the embodiment, so that the same technical problems can be solved, and the same technical effects are achieved.
The time synchronization device, the time synchronization method, and the computer program product of the automatic driving system provided in the embodiments of the present invention include a computer-readable storage medium storing program codes, where instructions included in the program codes may be used to execute the methods described in the foregoing method embodiments, and specific implementations may refer to the method embodiments and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A time synchronization apparatus, provided in an autonomous driving system, the autonomous driving system including at least one of the following sensors: millimeter wave radar sensor, vision sensor, laser radar sensor; the time synchronization apparatus includes: the device comprises a time service information receiving interface, a PTP module, a frequency division module and a conversion module, wherein the PTP module, the frequency division module and the conversion module are connected with the time service information receiving interface;
the time service information receiving interface is used for receiving time service information carrying reference input;
the PTP module is used for extracting the reference input, carrying out time synchronization on the whole second moment of the current automatic driving system based on the reference input, and sending the synchronized time information to the automatic driving system so as to synchronize the system time of the automatic driving system with the reference input;
the frequency division module is used for carrying out frequency division processing on the reference input to obtain a plurality of paths of trigger signals so as to trigger a visual sensor of the automatic driving system;
the conversion module is used for converting the time service information into at least one path of sub time service information and sending the sub time service information to the automatic driving system so that the automatic driving system can carry out time synchronization on the laser radar sensor;
the PTP module comprises a PTP chip and a PTP output interface connected with the PTP chip;
the reference input comprises a pulse per second signal and UTC time;
the PTP chip is used for aligning the whole second moment of the system time of the automatic driving system with the rising edge of the pulse per second signal so as to synchronize the system time of the automatic driving system with the UTC time; sending the time information which is synchronized and contains the time stamp to the automatic driving system based on a PTP protocol;
the frequency division module comprises a frequency division chip and a pulse output interface;
the pulse output interface is used for being connected with a visual sensor of the automatic driving system;
the frequency division chip is used for acquiring the pulse per second signal, dividing the pulse per second signal into at least one trigger signal with variable duty ratio, and triggering a visual sensor of the automatic driving system to expose for a preset duration at a preset time;
the conversion module comprises a conversion chip and a conversion output interface, and the conversion output interface is connected with the laser radar sensor of the automatic driving system;
the UTC time is carried in an RMC statement;
the conversion chip is used for converting the time service information into at least one path of sub time service information comprising the RMC statement and the pulse per second signal, and sending the sub time service information to the laser radar sensor through the conversion output interface so as to carry out time synchronization on the laser radar sensor.
2. The time synchronization apparatus of claim 1, wherein the frequency-dividing chip is a CPLD chip of the Altera MAX ii series.
3. The device of claim 1, wherein the conversion chip is an ADM2567 or ADUM6420 series of conversion isolation chips.
4. A time synchronization method applied to the time synchronization device according to any one of claims 1 to 3, the time synchronization device comprising: the device comprises a time service information receiving interface, a PTP module, a frequency division module and a conversion module, wherein the PTP module, the frequency division module and the conversion module are connected with the time service information receiving interface; the method comprises the following steps:
receiving time service information carrying reference input through the time service information receiving interface;
the PTP module is used for extracting the reference input, carrying out time synchronization on the whole second moment of the current automatic driving system based on the reference input, and sending the synchronized time information to the automatic driving system so as to synchronize the system time of the automatic driving system with the reference input;
the frequency division module is used for carrying out frequency division processing on the reference input to obtain a plurality of paths of trigger signals so as to trigger a visual sensor of the automatic driving system;
the conversion module is used for converting the time service information into at least one path of sub time service information and sending the sub time service information to the automatic driving system so that the automatic driving system can carry out time synchronization on the laser radar sensor;
the PTP module comprises a PTP chip and a PTP output interface connected with the PTP chip;
the reference input comprises a pulse per second signal and UTC time;
the PTP chip is used for aligning the whole second moment of the system time of the automatic driving system with the rising edge of the pulse per second signal so as to synchronize the system time of the automatic driving system with the UTC time; sending the synchronized time information containing the time stamp to the automatic driving system based on a PTP (precision time protocol);
the frequency division module comprises a frequency division chip and a pulse output interface;
the pulse output interface is used for being connected with a visual sensor of the automatic driving system;
the frequency division chip is used for acquiring the pulse per second signal, dividing the pulse per second signal into at least one trigger signal with variable duty ratio, and triggering a visual sensor of the automatic driving system to expose for a preset duration at a preset time;
the conversion module comprises a conversion chip and a conversion output interface, and the conversion output interface is connected with the laser radar sensor of the automatic driving system;
the UTC time is carried in an RMC statement;
the conversion chip is used for converting the time service information into at least one path of sub time service information comprising the RMC statement and the pulse per second signal, and sending the sub time service information to the laser radar sensor through the conversion output interface so as to perform time synchronization on the laser radar sensor.
5. An autopilot system, comprising an autopilot controller, a sensor unit, and a time synchronization device according to any one of claims 1 to 3;
the automatic driving controller and the sensor unit are both connected with the time synchronization equipment;
the time synchronization device is configured to perform the method of claim 4, time synchronizing the autonomous driving controller and the sensor unit.
6. The autopilot system of claim 5 wherein the autopilot system further includes an ethernet switch;
the sensor unit comprises at least one of the following sensors: millimeter wave radar sensor, vision sensor, laser radar sensor;
the input end of the Ethernet switch is connected with the time synchronization equipment, and the output end of the Ethernet switch is used for being connected with the automatic driving controller, the millimeter wave radar sensor and the vision sensor;
the Ethernet switch is used for sending the time information synchronized by the time synchronization equipment to the automatic driving controller, the millimeter wave radar sensor and the vision sensor so as to perform time synchronization.
7. The autopilot system of claim 5 or 6 wherein the autopilot system further comprises a combination navigation device;
and the combined navigation equipment is connected with the time synchronization equipment and is used for sending time service information carrying reference input to the time synchronization equipment.
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