Systems and methods for time synchronization of multiple sensors in a vehicle

A method for time synchronization in a vehicle, the vehicle including a satellite navigation device, at least one light detection and ranging (LiDAR) device, at least one camera, and a controller, the method comprising:

• transmitting, by the satellite navigation device to the controller and the at least one LIDAR device, a coordinated universal time (UTC) and a pulse per second (PPS) signal, the PPS signal incorporating integer second information of the UTC, the satellite navigation device having a first clock;
• synchronizing, by the controller, a second clock of the controller with the first clock of the satellite navigation device based on the PPS signal and the UTC;
• synchronizing, by the at least one LiDAR device, a third clock of the at least one LIDAR device with the first clock of the satellite navigation device based on the PPS signal and the UTC;
• transmitting, by the at least one camera, an initial data package to the controller, the initial data package including a first timestamp according to a fourth clock of the at least one camera, the first timestamp indicating a time when the at least one camera transmits the initial data package;
• transmitting, by the controller after receiving the initial data package, a modified data package to the at least one camera, the modified data package including a second timestamp indicating a time when the controller receives the initial data package and a third timestamp indicating a time when the controller transmits the modified data package according to the second clock;
• recording, by the at least one camera after receiving the modified data package, a fourth timestamp according to the fourth clock of the at least one camera, indicating a time when the at least one camera receives the modified data package from the controller;
• determining, by the at least one camera, an offset between the second clock and the fourth clock based on the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp;
• and
• synchronizing, by the at least one camera, the fourth clock of the at least one camera with the second clock of the controller based on the offset.