摘要
为解决自动驾驶系统时钟信号造成的自动驾驶系统不稳定或自动驾驶算法服务进程退出的问题,文章首先阐述了导航卫星授时技术可能存在的受干扰情况,并分析了时钟跳变对自动驾驶系统的影响;然后提出一种双时钟系统的解决方案,以自动驾驶域控制器的高精度晶振提供的时钟作为自动驾驶系统时钟,确保自动驾驶感知系统、规划控制系统的时间轴稳定且连续;其次也引入导航卫星授时同步时钟,作为车路协同等时钟对齐的依据,以及对日志、事件的真实时刻的记录;最后通过计算机编程试验,验证双时钟系统的稳定性,进一步验证设计方案的优越性。
In order to solve the problem of instability of automated driving system caused by clock signal of automated driving system,or the exit of automated driving algorithm service process,firstly,this article describes the interference factors of navigation satellite timing technology,and analyzes that how the clock jitter impacts the automated driving system.Then,a solution with a dual clock system is proposed.It is used as the system clock of the automated driving system,it is provided by the high-precision crystal oscillator of the automated driving domain controller.It ensures that the time of the automated driving sensing system,planning system and controlling system is stable and continuous.Next,the navigation satellite timing synchronization clock is introduced,it serves as the basis for clock alignment in vehicle-to-everything,and is used for recording logs and events with actual time.At last,the stability of the dual clock system is verified through computer programming experiments,and it further proves the superiority of the solution.
作者
朱健
ZHU Jian(China Automotive Innovation Corporation,Nanjing 211100,China)
出处
《汽车实用技术》
2025年第10期48-54,共7页
Automobile Applied Technology
关键词
自动驾驶
导航卫星授时
时钟跳变
双时钟
automated driving
navigation satellite timing
clock jitter
dual clock
