GNSS time synchronization in redundant systems

A vehicle comprising:

• a Global Navigation Satellite System (GNSS) receiver;
• a vehicle radar system comprising a first radar subsystem having a first radar and a second radar subsystem having a second radar, wherein the vehicle radar system is configured to:
• cause the first radar subsystem to transmit a first radar signal at a first time, wherein the first time is determined based at least in part on a first clock;
• cause the second radar subsystem to transmit a second radar signal at a second time, wherein the second time is determined based at least in part on a second clock,
• wherein the first clock is synchronized to the second clock and the second clock is synchronized to GNSS time from the GNSS receiver;
• and
• responsive to detecting that GNSS time is temporarily unavailable from the GNSS receiver, transition the second clock to a holdover state such that the second clock maintains global time for cooperative operation of the first radar subsystem and the second radar subsystem.

A non-transitory computer-readable medium configured to store instructions, that when executed by a vehicle radar system comprising a first radar subsystem and a second radar subsystem, causes the vehicle radar system to perform operations comprising:

• causing the first radar subsystem to transmit a first radar signal at a first time, wherein the first time is determined based at least in part on a first clock;
• causing the second radar subsystem to transmit a second radar signal at a second time, wherein the second time is determined based at least in part on a second clock,
• wherein the first clock is synchronized to the second clock and the second clock is synchronized to Global Navigation Satellite System (GNSS) time from a GNSS receiver coupled to the vehicle radar system;
• and
• responsive to detecting that GNSS time is temporarily unavailable from the GNSS receiver, transitioning the second clock to a holdover state such that the second clock maintains global time for cooperative operation of the first radar subsystem and the second radar subsystem.