CN117715170A

CN117715170A - Synchronization system and synchronization method for automatic driving system

Info

Publication number: CN117715170A
Application number: CN202410053049.7A
Authority: CN
Inventors: 朱磊; 李国锋; 张树民
Original assignee: Zhidao Network Technology Beijing Co Ltd
Current assignee: Zhidao Network Technology Beijing Co Ltd
Priority date: 2024-01-15
Filing date: 2024-01-15
Publication date: 2024-03-15

Abstract

The application discloses a synchronization system and a synchronization method of an automatic driving system, wherein the synchronization system comprises V2X equipment, domain controller equipment and high-precision RTK equipment, and the synchronization system further comprises a time positioning synchronization unit which is used for receiving a 1PPS second pulse signal and position information sent by the high-precision RTK equipment; and the time positioning synchronization unit is further used for outputting the position information after fusion processing and the simulated 1PPS second pulse signal to the V2X device and the domain controller device when the working environment of the automatic driving system does not meet the preset condition. Through this application when the vehicle of carrying automatic driving system moves to the weaker region of GPS signal, time position synchronization signal still can keep higher precision, ensures V2X equipment with the normal work of domain controller equipment, in addition, this application can also reduce the use of antenna, the installation of the equipment of being convenient for.

Description

Synchronization system and synchronization method for automatic driving system

Technical Field

The application relates to the technical field of automatic driving, in particular to a synchronization system and a synchronization method of an automatic driving system.

Background

The V2X equipment is used as a necessary unit in the vehicle-road cooperation field, communication among vehicles, roads and vehicle-clouds can be provided, the automatic driving system can provide relevant information for the system by adopting the V2X equipment, and more basis conditions can be provided for decision judgment of the automatic driving system.

To achieve these basic functions, V2X devices require timing and location information provided by the GPS module; for the independent V2X equipment, a common GPS module is generally adopted. However, for an autopilot system, a high-precision positioning device is required, and an RTK device is generally adopted to realize centimeter-level positioning, meanwhile, the RTK device adopts a dual-antenna and dual-channel design, so that directional information can be provided for the autopilot vehicle, and a typical circuit structure is shown in fig. 1.

In the related art, the normal operation of the V2X device in the autopilot system depends on the high-precision time synchronization signal provided by the high-precision RTK device, and when the autopilot vehicle runs to an environment where the external GPS signal is weak or even lost, the high-precision RTK device cannot output the effective time synchronization signal and the position information, which may cause the abnormal operation of the autopilot system.

Disclosure of Invention

The embodiment of the application provides a synchronization system and a synchronization method of an automatic driving system, so as to ensure that a time position synchronization signal can still keep higher precision when a vehicle carrying the automatic driving system runs to a region with weaker GPS signals.

The embodiment of the application adopts the following technical scheme:

in a first aspect, embodiments of the present application provide a synchronization system for an autopilot system, wherein the synchronization system includes a V2X device, a domain controller device, and a high precision RTK device, the synchronization system further includes a time positioning synchronization unit,

the time positioning synchronization unit is used for receiving the 1PPS second pulse signal and the position information sent by the high-precision RTK equipment; and

the time positioning synchronization unit is further configured to output the fused position information and the simulated 1PPS second pulse signal to the V2X device and the domain controller device when the working environment of the autopilot system does not meet the preset condition.

In some embodiments, the time positioning synchronization unit further comprises: a comprehensive processing unit for

Judging the working environment of the current automatic driving system according to the information output by the high-precision RTK equipment;

according to the judging result of the working environment of the current automatic driving system, outputting a switch control signal to control the time positioning synchronization unit to output a simulated 1PPS second pulse signal or the 1PPS second pulse signal, wherein the 1PPS second pulse signal is used as an original 1PPS second pulse signal; and

and outputting a switch control signal to control the time positioning synchronization unit to output the position information or the original position information after fusion processing according to the judging result of the working environment of the current automatic driving system.

In some embodiments, the time positioning synchronization unit further comprises: a location synchronization module, the location synchronization module comprising: the vehicle CAN bus interface comprises a gyroscope, a vehicle CAN bus interface and a positioning fusion processing unit, wherein the positioning fusion processing unit is used for

Receiving CAN bus information of the vehicle and data output by the gyroscope, wherein the CAN bus information is transmitted through the CAN bus interface of the vehicle;

calculating the position information after fusion processing according to the position information recorded before the failure of the high-precision RTK equipment, the data output by the gyroscope and the vehicle wheel speed information in the CAN bus information of the vehicle;

and/or according to the GPS original observed quantity provided by the high-precision RTK equipment, the data output by the gyroscope and the vehicle wheel speed information in the CAN bus information of the vehicle, calculating the self-position information of the vehicle.

In some embodiments, the time positioning synchronization unit further comprises: a time synchronization module, the time synchronization module comprising: 1PPS synchronous holding functional unit, said 1PPS synchronous holding functional unit is used for

Keeping track of the synchronously received 1PPS second pulse signal transmitted by the high-precision RTK equipment in an initial state;

and outputting the simulated 1PPS second pulse signal to the V2X equipment and the domain controller equipment when the working environment of the current automatic driving system does not meet the preset condition.

In some embodiments, the determining the current operating environment of the autopilot system includes:

and the comprehensive processing unit is used for judging whether the GPS signal quality in the working environment of the current automatic driving system meets the requirement according to the satellite searching number of the high-precision RTK equipment, the carrier-to-noise ratio of the receiving satellites, the working state of the RTK and the resolving result of the RTK output data type.

In some embodiments, the time positioning synchronization unit is further configured to directly output the received 1PPS second pulse signal and the position information sent by the high-precision RTK device to the V2X device and the domain controller device when the working environment of the autopilot system meets a preset condition.

In some embodiments, the time positioning synchronization unit is further configured to

When the quality of the GPS signal currently working in the automatic driving system meets the requirement, a first switch control signal is generated, and the 1PPS second pulse signal and the position information output by the high-precision RTK equipment are directly output to the V2X equipment and the domain controller equipment.

And when the quality of the GPS signal currently working in the automatic driving system is not in accordance with the requirement, generating a second switch control signal, switching the 1PPS second pulse signal and the position information output by the high-precision RTK equipment to the self-simulated 1PPS second pulse signal and the position information after self-fusion, and outputting the 1PPS second pulse signal and the position information to the V2X equipment and the domain controller equipment.

In some embodiments, the fused position information and the position information are centimeter-level high-precision position information.

In a second aspect, an embodiment of the present application further provides a synchronization method of an autopilot system, applied to the synchronization system as described in the first aspect, where the method includes:

after the synchronous system is powered on, outputting a 1PPS second pulse signal and position information sent by the high-precision RTK device to the V2X device and the domain controller device;

judging whether the GPS signal quality of the working environment of the automatic driving system meets a preset condition or not;

and outputting the position information subjected to fusion processing and the simulated 1PPS second pulse signal to the V2X equipment and the domain controller equipment when the GPS signal quality of the working environment of the automatic driving system does not meet the preset condition.

The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect: the synchronization system of the automatic driving system comprises a V2X device, a domain controller device and a high-precision RTK device, and further comprises a time positioning synchronization unit. The time positioning synchronization unit can receive the 1PPS second pulse signal and the position information sent by the high-precision RTK device, and in addition, the time positioning synchronization unit can output the position information subjected to fusion processing and the 1PPS second pulse signal subjected to simulation to the V2X device and the domain controller device when the working environment of the automatic driving system does not meet the preset condition. Therefore, when the vehicle carrying the automatic driving system runs to the area with weak GPS signals, the time and position synchronous signals can still keep high precision, and normal operation of the V2X equipment and the domain controller equipment is ensured.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 is a schematic diagram of a synchronous system architecture for a V2X device and a domain controller device in the related art;

FIG. 2 is a schematic diagram of an internal structure of a synchronization system of an autopilot system according to an embodiment of the present application;

fig. 3 is a schematic circuit diagram of a synchronization system of an autopilot system according to an embodiment of the present application;

fig. 4 is a flowchart of a synchronization method of a synchronization system of an autopilot system according to an embodiment of the present application.

Detailed Description

For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.

An embodiment of the present application provides a synchronization system of an autopilot system, as shown in fig. 2, and provides a schematic diagram of a synchronization system 200 of the autopilot system in the embodiment of the present application, where the synchronization system includes a V2X device 210, a domain controller device 220, and a high-precision RTK device 240, and the synchronization system further includes a time positioning synchronization unit 230, where the time positioning synchronization unit 230 is configured to receive a 1PPS second pulse signal and position information sent by the high-precision RTK device; and the time positioning synchronization unit 230 is further configured to output the fused position information and the simulated 1PPS second pulse signal to the V2X device and the domain controller device when the working environment of the autopilot system does not meet the preset condition.

In particular, the V2X device 210 does not include a GPS module (i.e., the GPS module is a component of a conventional V2X device, and this module needs to be removed in the present application), but uses the unified time synchronization and positioning information provided by the synchronization system. Through the optimization mode, the number of GPS antennas outside the system can be reduced, and the wiring installation of the vehicle is facilitated. The domain controller device 220 is used for an autopilot system, and uses high-precision time synchronization and positioning information provided by a synchronization system. The high precision RTK device 240 is deployed outside the V2X device 210 and the domain controller device 220, the high precision RTK device 240 providing a master synchronization signal for a synchronization system: and outputting 1PPS high-precision time information and high-precision position signals. Meanwhile, the domain controller device 220 receives externally provided time and location information.

Further, the time positioning synchronization unit 230 obtains the running environment of the autopilot system from the information output by the high-precision RTK device 240:

in the case 1, when the automatic driving system operates in a better GPS signal environment, a control signal is output to directly output the 1PPS signal and the positioning information acquired by the RTK unit to the domain control main control and the V2X equipment.

In case 2, when it is detected that the autopilot system is operated in the GPS signal loss or signal degradation environment, the time-alignment synchronization unit 230 outputs a control signal to output the self-fused position information (fusion data that will simultaneously include the vehicle speed and the inertial navigation information) and the pps_simultaneous signal output by the self-synchronization holding function unit to the domain master control (domain controller device) and the V2X device.

It should be noted that the above-mentioned time, positioning data and PPS second pulse signals are transmitted to the V2X device and the domain controller device in two sets of four paths in synchronization.

It can be understood that the GPS module inside the V2X device receives the satellite weak signals through the antenna, then analyzes the signals and outputs positioning and time service information to the V2X module. Wherein the time and positioning data are typically transmitted by physical serial port, NMEA-0183 code stream, and the timing signal is transmitted in 1PPS second pulse level signal. Then in the synchronous system, a separate channel needs to be designed for adapting the time and positioning data of the V2X device, PPS second pulse signal.

It can be understood that the high-precision RTK device may use two high-precision GNSS antennas (obtain differential signals), and output time and positioning data to the autopilot domain controller device as well, and then in the synchronization system, the domain controller device and the master control of the V2X device may not perform information interaction, but receive the time and positioning data of different channels and PPS second pulse signals respectively.

Through the synchronous system, the positioning requirement of the V2X equipment in single use can be met, and meanwhile, the high-precision positioning requirement of the V2X equipment and the domain controller equipment in the automatic driving system can be compatible. In addition, on the hardware level, the number of GNSS antennas is reduced, the number of GPS/GNSS antennas of the synchronous system is reduced from 3 to 2, and wiring and installation of the whole vehicle are facilitated.

Through the synchronization system, the 1PPS second pulse signal and the position information sent by the high-precision RTK equipment are received through a newly added time positioning synchronization unit in the system, and the working environment where the current automatic driving system is located is judged based on the 1PPS second pulse signal. When the working environment of the automatic driving system does not meet the preset condition, the position information after fusion processing and the simulated 1PPS second pulse signal are output to the V2X equipment and the domain controller equipment, and the V2X equipment and the domain controller equipment can be used for the automatic driving system after synchronization.

The synchronization system has not only a position synchronization function (which can be used as a hardware or software unit alone) but also a time synchronization function (which can be used as a hardware or software unit alone). Based on the position synchronization function, when the autopilot system operates to an area where GPS signals are weak or the tunnel is free of GPS signals, the high-precision RTK module cannot output effective position information. Thereby performing position synchronization in time. Meanwhile, based on a time synchronization function, when the automatic driving system runs to a scene of poor GPS signals or GPS loss, a PPS-second pulse signal simulation PPS-simultaneous signal is provided for external use, so that time synchronization is performed in time.

Through the synchronous system, the synchronous system also has a comprehensive processing function (can be independently used as a hardware or software unit), the working environment of the current system can be comprehensively judged according to the information output by the high-precision RTK module, and then the output Switch enable switch_EN signal controls the time positioning synchronous unit to output a 1PPS signal or a simulated PPS_Simuline signal.

Considering that when the V2X equipment in the automatic driving system works normally, the time synchronization signal provided by the GPS is needed, the synchronization signal can ensure that all the V2X equipment carries out receiving and transmitting communication according to the same time pace, and when the V2X equipment in the synchronization system is independently used, the positioning and time service information provided by an internal common GPS module is generally adopted. When the V2X device is applied to an automatic driving system, high-precision positioning and timing information provided by the RTK device of the automatic driving system can be directly adopted. At this time, the domain controller device also adopts high-precision positioning and timing information provided by the autopilot system RTK device.

In contrast to the related art, when the autopilot vehicle runs to an environment where the external GPS signal is weak or even the signal is lost, such as a dense tree area or in a tunnel, the high-precision RTK device cannot output an effective time synchronization signal and position information, which may cause a problem of abnormal operation of the autopilot system. Through the synchronization system, when the automatic driving system is automatically detected to run to the GPS signal loss or signal degradation environment, the control signal is output to fuse the position information after the automatic driving system is self-fused, fusion data containing the speed and the inertial navigation information is output to the domain controller device and the V2X device based on the PPS_Simuline signal output by the synchronization maintaining function.

In contrast to the related art, since the V2X device in the synchronization system needs one GPS antenna, the high-precision RTK device needs two high-precision GNSS antennas, and the GNSS antennas have high requirements on the environment of the installation location, and all three antennas need to be installed at the high position of the roof, which results in difficult system installation. Through the synchronization system, the running environment of the automatic driving system is obtained from the information output by the high-precision RTK equipment, when the automatic driving system runs in the environment with good GPS signals, the synchronization system directly outputs the 1PPS signals and the positioning information obtained by the high-precision RTK equipment to the domain controller equipment and the V2X equipment through the output control signals, the number of GPS antennas of the system is reduced from three to two, and the wiring installation of the whole automobile is facilitated. In addition, since the V2X device adopts the unified time synchronization and positioning information provided by the synchronization system, the V2X device does not contain a GPS module (antenna interface and GNSS antenna) part, so that the number of GPS antennas outside the synchronization system can be reduced.

In one embodiment of the present application, the time positioning synchronization unit further includes: the comprehensive processing unit is used for judging the working environment of the current automatic driving system according to the information output by the high-precision RTK equipment; according to the judging result of the working environment of the current automatic driving system, outputting a switch control signal to control the time positioning synchronization unit to output a simulated 1PPS second pulse signal or the 1PPS second pulse signal, wherein the 1PPS second pulse signal is used as an original 1PPS second pulse signal; and outputting a switch control signal to control the time positioning synchronization unit to output the position information or the original position information after fusion processing according to the judging result of the working environment of the current automatic driving system.

Referring to fig. 3, the integrated processing unit monitors the high-precision PPS and the module output information (time, positioning data) sent by the high-precision RTK apparatus, and determines the current working environment of the autopilot system.

According to the information output by the high-precision RTK equipment, the working environment of the current automatic driving system is comprehensively judged, and then the switch_EN signal is output to control the synchronous unit to output a 1PPS signal or a simulated PPS_Simmulate signal. And simultaneously, the time positioning synchronization unit is controlled to output the position information after fusion processing or the position information through an output switch control signal.

It should be noted that the location information refers to the location information of the last time frame obtained when the working environment is good. The position information after the fusion processing refers to the positioning information which is more accurate than the original positioning information and is calculated according to the positioning information of the last time frame obtained when the working environment is good. Similarly, the analog pps_simultaneous signal is a 1PPS second pulse signal outputted as a synchronization hold signal.

It can be understood that the basis for determining the working environment may be the number of satellites searched by the high-precision RTK device and the carrier-to-noise ratio of each satellite received, the working state of the high-precision RTK device, the type of data output by the high-precision RTK device, and the like, which are not specifically limited in the embodiments of the present application.

In one embodiment of the present application, the time positioning synchronization unit further includes: a location synchronization module, the location synchronization module comprising: the vehicle positioning fusion processing unit is used for receiving CAN bus information of the vehicle and data output by the gyroscope, and the CAN bus information is transmitted through the vehicle CAN bus interface; calculating the position information after fusion processing according to the position information recorded before the failure of the high-precision RTK equipment, the data output by the gyroscope and the vehicle wheel speed information in the CAN bus information of the vehicle; and/or according to the GPS original observed quantity provided by the high-precision RTK equipment, the data output by the gyroscope and the vehicle wheel speed information in the CAN bus information of the vehicle, calculating the self-position information of the vehicle.

Referring to fig. 3, a newly added gyroscope (gyro) and a vehicle CAN bus interface in the position synchronization module are input to the positioning fusion processing unit. When the automatic driving system operates to a region with weak GPS signals or no GPS signals in a tunnel, the RTK module cannot output effective position information, and at the moment, the position fusion processing unit CAN fusion and calculate relatively accurate real-time position information according to the position information (the last moment or other historical moments) before, by combining data output by a gyroscope (gyro) and wheel speed information input by a vehicle CAN bus, and the real-time position information is provided for domain controller equipment (for automatic driving) and V2X equipment. Meanwhile, the position synchronization module CAN also calculate the position of the vehicle in real time by utilizing the GPS original observed quantity provided by the high-precision RTK equipment and combining the vehicle wheel speed information input by the gyroscope and the CAN bus, and provide the position for the domain controller equipment.

In one embodiment of the present application, the time positioning synchronization unit further includes: a time synchronization module, the time synchronization module comprising: the 1PPS synchronous holding functional unit is used for holding the 1PPS second pulse signal transmitted by the high-precision RTK equipment which is received in a tracking synchronous manner in an initial state; and outputting the simulated 1PPS second pulse signal to the V2X equipment and the domain controller equipment when the working environment of the current automatic driving system does not meet the preset condition.

Referring to fig. 3, under normal conditions in the time synchronization module, that is, when the GPS signal is good, the 1PPS signal sent by the high-precision RTK apparatus is directly output to the external device for use. When the integrated processing unit detects that the GPS signal is poor or the GPS is lost, the analog PPS_Simuline signal output by the PPS synchronous holding unit is provided for external use.

Further, the PPS synchronization maintaining unit in the time synchronization module initially tracks the 1PPS signal sent by the synchronous high-precision RTK device, and when the 1PPS signal quality of the external RTK device is poor or lost, the unit can automatically Simulate and output the 1PPS synchronization signal PPS_Simmulate with higher precision. And determining whether the time synchronization module outputs the original 1PPS signal or the analog pps_simultaneous of the synchronization holding unit is realized by the Switch enable switch_en signal outputted by the aforementioned integrated processing unit controlling the switching of the Switch.

It should be noted that the time synchronization module and the position synchronization module synchronously receive the time, the positioning data and the 1PPS second pulse signal sent by the external high-precision RTK device, and send the signals after processing.

It should be noted that, in the specific implementation, the time positioning synchronization unit may be selected in various ways, which is not specifically limited in the embodiments of the present application.

In some embodiments, when the time positioning synchronization unit is applied as an independent functional module, the time positioning synchronization unit may be implemented by an MCU or an FPGA.

In some embodiments, the time positioning synchronization unit may be integrated in a high-precision RTK device external to the previous stage, which may allow for higher integration and greater functionality of the high-precision RTK device.

In some embodiments, the time positioning synchronization unit may also be integrated in a later stage domain controller device to implement, so that the domain controller is more flexible, and particularly, the domain control calculation power is strong, and the implementation of the fusion algorithm of the position is more convenient.

In one embodiment of the present application, the determining the current operating environment of the autopilot system includes: and the comprehensive processing unit is used for judging whether the GPS signal quality in the working environment of the current automatic driving system meets the requirement according to the satellite searching number of the high-precision RTK equipment, the carrier-to-noise ratio of the receiving satellites, the working state of the RTK and the resolving result of the RTK output data type.

The comprehensive processing unit acquires the running environment of the automatic driving system from the information output by the RTK, judges whether the GPS signal quality in the working environment of the current automatic driving system meets the requirements according to different resolving results, and the specific resolving process is not described herein, so that the person skilled in the art can select according to the actual situation.

In an embodiment of the present application, the time positioning synchronization unit is further configured to directly output the received 1PPS second pulse signal and the position information sent by the high-precision RTK device to the V2X device and the domain controller device when the working environment of the autopilot system meets a preset condition.

When the working environment of the automatic driving system meets the preset condition, the switch_EN signal in the synchronous system is set low, the synchronous system is in a normal working state, and the position and the 1PPS signal sent by the high-precision RTK equipment are output to the domain controller equipment and the V2X equipment.

In an embodiment of the present application, the time positioning synchronization unit is further configured to generate a first switch control signal when a GPS signal quality currently operated by the autopilot system meets a requirement, and directly output a 1PPS second pulse signal and position information output by the high-precision RTK device to the V2X device and the domain controller device.

Referring to fig. 3, the integrated processing unit determines the quality of the GPS signal of the current working environment of the autopilot system according to the information output by the RTK, if the integrated processing unit considers that the quality of the GPS signal of the current working environment of the autopilot system is better, the output switch_en is set to a low level, and the Switch is controlled to directly output the 1PPS signal and the centimeter-level high-precision position information output by the RTK unit to the domain control master control and the V2X device for use.

In an embodiment of the present application, the time positioning synchronization unit is further configured to generate a second switch control signal when the quality of a GPS signal currently operated by the autopilot system does not meet a requirement, and switch the 1PPS second pulse signal and the position information output by the high-precision RTK device to the self-simulated 1PPS second pulse signal and the self-fused position information, and then output the 1PPS second pulse signal and the position information to the V2X device and the domain controller device.

Referring to fig. 3, the integrated processing unit determines the GPS signal quality of the current working environment of the autopilot system according to the information output by the RTK, if the integrated processing unit considers that the GPS signal quality of the current working environment of the autopilot system is poor and is not beneficial to communication between the system and the V2X device, the integrated processing unit sets the output switch_en to a high level, controls the Switch to Switch and output the pps_simultaneous signal output by the internal synchronous holding unit and the fused position information to the domain control master control and the V2X device, thereby ensuring that the autopilot system and the V2X device can work normally.

In an embodiment of the present application, the position information after the fusion processing and the position information are both centimeter-level high-precision position information.

The synchronization system in the application can still provide relatively high time and position synchronization precision when the GPS signal is weak or lost in a short period, so that the position information after fusion processing and the position information can be used as centimeter-level high-precision position information.

An embodiment of the application provides a synchronization method of an autopilot system, which is applied to the synchronization system, wherein the method comprises the following steps:

Please refer to fig. 4 and fig. 3, which are a schematic flowchart of a synchronization method of a synchronization system of an autopilot system according to an embodiment of the present application, which specifically includes the following steps:

in step S410, the synchronization system of the autopilot system is powered up and the (related software) program is run.

In step S420, switch_en is set low by the integrated processing unit.

And step S430, directly outputting the high-precision 1PPS signal and the high-precision position information generated by the external RTK to the post-stage domain controller and the V2X device.

In step S440, the integrated processing unit determines whether the GPS signal quality of the current operating environment of the autopilot system is good. And then triggering the corresponding execution flow according to different results of the GPS signal quality.

Under the condition, if the GPS signal quality synchronization quality of the current automatic driving system working environment is poor, the flow of the synchronization method is as follows:

in step S450, the GPS environment in which the autopilot system operates becomes worse.

In step S470, the integrated processing unit sets the output signal switch_en to a high level.

In step S490, the switch switching unit sends the pps_simultaneous signal, which is analog output by the time keeping unit and the positioning data after the synchronization, to the post-stage domain control master (domain controller device) and the V2X device for use.

Therefore, even if the GPS signal is poor or the GPS is lost, relatively high time and position synchronization accuracy can be provided, and the problem that the system cannot work normally when running to the area is solved.

Under another condition, if the GPS signal quality synchronization quality of the current automatic driving system working environment is judged to be better, the flow of the synchronization method is as follows:

step S460, the GPS environment where the autopilot system works is better.

In step S480, the integrated processing unit sets the output signal switch_en to a low level.

In step S4100, the switch switching unit directly outputs the high-precision 1PPS signal and the centimeter level positioning information provided by the RTK to the post-stage domain control master (domain controller device) and the V2X device for use.

Thus, when the GPS signal is good, centimeter-level positioning information and high-precision 1PPS signals are continuously output to the domain controller device and the V2X device for use.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A synchronization system for an autopilot system, wherein the synchronization system comprises a V2X device, a domain controller device and a high precision RTK device, the synchronization system further comprising a time positioning synchronization unit,

2. The synchronization system of claim 1, wherein the time positioning synchronization unit further comprises: a comprehensive processing unit for

3. The synchronization system of claim 2, wherein the time positioning synchronization unit further comprises: a location synchronization module, the location synchronization module comprising: the vehicle CAN bus interface comprises a gyroscope, a vehicle CAN bus interface and a positioning fusion processing unit, wherein the positioning fusion processing unit is used for

4. The synchronization system of claim 2, wherein the time positioning synchronization unit further comprises: a time synchronization module, the time synchronization module comprising: 1PPS synchronous holding functional unit, said 1PPS synchronous holding functional unit is used for

5. The synchronization system of claim 2, wherein said determining the current operating environment of the autopilot system comprises:

6. The synchronization system of claim 1, wherein the time positioning synchronization unit is further configured to directly output the received 1PPS second pulse signal and the position information sent by the high-precision RTK device to the V2X device and the domain controller device when the working environment of the autopilot system meets a preset condition.

7. The synchronization system of claim 1, wherein the time positioning synchronization unit is further configured to

8. The synchronization system of claim 7, wherein the time positioning synchronization unit is further configured to

9. The synchronization system of claim 8, wherein the fused positional information and the positional information are centimeter-level high-precision positional information.

10. A method of synchronizing an autopilot system for use in a synchronizing system according to any one of claims 1 to 9, wherein the method comprises:

after the synchronous system is powered on, outputting a 1PPS second pulse signal and position information sent by high-precision RTK equipment to the V2X equipment and the domain controller equipment;

judging whether the GPS signal quality of the working environment of the automatic driving system meets the preset condition;