Communication method and apparatus
Embodiments of this application generally disclose a communication method and apparatus. The method is applied to an intelligent device, and the intelligent device includes a plurality of sensors. The method includes determining N target sensors from a plurality of sensors, where N is an integer greater than 1. The method also includes, correcting to respective second moments of the N target sensors to a first moment of a first clock. According to embodiments of this application, time of different sensors in the intelligent device can be synchronized, to improve an accuracy for a fusion of data collected by the different sensors.
1. A communication method applied to an intelligent device, wherein the intelligent device comprises a plurality of sensors, and the method comprises:
determining N target sensors from the plurality of sensors, wherein Nis an integer greater than 1;
determining clock frequency offsets between respective clocks of the N target sensors and a first clock and determining respective transmission delays of the N target sensors based on a preset time synchronization protocol; and
performing time synchronization on the N target sensors based on the clock frequency offsets between the respective clocks of the N target sensors and the first clock, and the respective transmission delays of the N target sensors;
wherein the determining of the N target sensors from the plurality of sensors comprises:
determining, from the plurality of sensors based on M target sensors and a preset fusion rule, N−M target sensors configured to perform data fusion with the M target sensors, wherein the M target sensors belong to the N target sensors, M is an integer greater than or equal to 1, and the N−M target sensors belong to the N target sensors.
2. The method according to claim 1 , wherein the method further comprises:
obtaining current status information of the intelligent device, wherein the status information comprises at least one of speed information, direction information, or scenario information; and
determining the preset time synchronization protocol based on the status information, wherein the preset time synchronization protocol belongs to a time synchronization protocol set, and the time synchronization protocol set comprises at least one of a generalized precision time protocol (gPTP), a network time protocol (NTP), a time-sync protocol for sensor network (TPSN), or reference broadcast synchronization (RBS).
3. The method according to claim 1 , wherein the method further comprises:
obtaining the first clock based on a preset time synchronization cycle.
4. The method according to claim 1 , wherein the method further comprises:
receiving synchronization request messages respectively sent by the M target sensors in the plurality of sensors, wherein the synchronization request messages are messages sent after the M target sensors collect data at the respective second moments; and
obtaining the first clock based on the synchronization request messages respectively sent by the M target sensors.
5. The method according to claim 1 , wherein the time synchronization is a relative time synchronization or an absolute time synchronization; and when the time synchronization is the relative time synchronization, the first clock is a relative clock; or
when the time synchronization is the absolute time synchronization, the first clock is an absolute clock.
6. The method according to claim 1 , wherein the method further comprises:
performing data fusion on data respectively collected by the N target sensors.
7. A communication apparatus applied to an intelligent device, wherein the intelligent device comprises a plurality of sensors, and the apparatus comprises a processor, wherein the processor is coupled to a memory, and the processor is configured to:
determine N target sensors from the plurality of sensors, wherein N is an integer greater than 1;
determine clock frequency offsets between respective clocks of the N target sensors and the first clock and determine respective transmission delays of the N target sensor based on a preset time synchronization protocol; and
perform time synchronization on the N target sensors based on the clock frequency offsets between the respective clocks of the N target sensors and the first clock, and the respective transmission delays of the N target sensors;
adjust, based on a first clock, respective second moments of the N target sensors according to a first moment of the first clock;
wherein the determining of the N target sensors from the plurality of sensors comprises:
determining, from the plurality of sensors based on M target sensors and a preset fusion rule, N−M target sensors configured to perform data fusion with the M target sensors, wherein the M target sensors belong to the N target sensors, M is an integer greater than or equal to 1, and the N−M target sensors belong to the N target sensors.
8. The apparatus according to claim 7 , wherein the processor is further configured to:
obtain current status information of the intelligent device, wherein the status information comprises at least one of speed information, direction information, or scenario information; and
determine the preset time synchronization protocol based on the status information, wherein the preset time synchronization protocol belongs to a time synchronization protocol set, and the time synchronization protocol set comprises at least one of a generalized precision time protocol (gPTP), a network time protocol (NTP), a time-sync protocol for sensor network (TPSN), or reference broadcast synchronization (RBS).
9. The apparatus according to claim 7 , wherein the processor is further configured to:
obtain the first clock based on a preset time synchronization cycle.
10. The apparatus according to claim 7 , wherein the processor is further configured to:
receive synchronization request messages respectively sent by the M target sensors in the plurality of sensors, wherein the synchronization request messages are messages sent after the M target sensors collect data at the respective second moments; and
obtain the first clock based on the synchronization request messages respectively sent by the M target sensors.
11. The apparatus according to claim 7 , wherein the time synchronization is a relative time synchronization or an absolute time synchronization; and when the time synchronization is the relative time synchronization, the first clock is a relative clock; or when the time synchronization is the absolute time synchronization, the first clock is an absolute clock.
12. The apparatus according to claim 7 , wherein the processor is further configured to:
perform data fusion on data respectively collected by the N target sensors.
13. A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to claim 1 is implemented.
14. A computer program product that includes instructions stored on a memory, wherein when the instructions are executed by a processor, the method according to claim 1 is implemented.
15. A chip system that comprises a communication apparatus, the communication apparatus being configured to implement the method according to claim 1 .
16. A communication system that includes a communication apparatus, the communication apparatus being configured to implement the method according to claim 1 .