A method for time synchronization between a receiver operating system and a requester operating system in a vehicle controller, executed by the requester operating system, wherein the receiver operating system is a first operating system in the controller and the requester operating system is a second operating system in the controller and the method comprises: sending a clock synchronization request message to a receiver operating system at least two times; the clock synchronization request message comprising message sending time based on a time reference of the requester operating system; acquiring a clock synchronization feedback message of the receiver operating system; the clock synchronization feedback message comprising message receiving time based on a time reference of the receiver operating system; determining a system time reference deviation between the requester operating system and the receiver operating system, based on the message receiving time and the message sending time of the clock synchronization at least two times; and wherein the determining the system time reference deviation between the requester operating system and the receiver operating system, based on the message receiving time and the message sending time of the clock synchronization at least two times, comprises: determining separately time differences between the message receiving time and the message sending time during the clock synchronization at least two times; and using a minimum time difference in the time differences of the clock synchronization at least two times as the system time reference deviation between the requester operating system and the receiver operating system; and wherein after determining the system time reference deviation between the requester operating system and the receiver operating system, the method further comprises: acquiring a target data message sent by the receiver operating system, wherein the target data message comprises target data sending time based on the time reference of the receiver operating system; and determining target data sending time based on the time reference of the requester operating system, based on the system time reference deviation and the target data sending time. sending a clock synchronization request message to a receiver operating system at least two times; the clock synchronization request message comprising message sending time based on a time reference of the requester operating system; acquiring a clock synchronization feedback message of the receiver operating system; the clock synchronization feedback message comprising message receiving time based on a time reference of the receiver operating system; determining a system time reference deviation between the requester operating system and the receiver operating system, based on the message receiving time and the message sending time of the clock synchronization at least two times; and wherein the determining the system time reference deviation between the requester operating system and the receiver operating system, based on the message receiving time and the message sending time of the clock synchronization at least two times, comprises: determining separately time differences between the message receiving time and the message sending time during the clock synchronization at least two times; and using a minimum time difference in the time differences of the clock synchronization at least two times as the system time reference deviation between the requester operating system and the receiver operating system; and determining separately time differences between the message receiving time and the message sending time during the clock synchronization at least two times; and using a minimum time difference in the time differences of the clock synchronization at least two times as the system time reference deviation between the requester operating system and the receiver operating system; and wherein after determining the system time reference deviation between the requester operating system and the receiver operating system, the method further comprises: acquiring a target data message sent by the receiver operating system, wherein the target data message comprises target data sending time based on the time reference of the receiver operating system; and determining target data sending time based on the time reference of the requester operating system, based on the system time reference deviation and the target data sending time. acquiring a target data message sent by the receiver operating system, wherein the target data message comprises target data sending time based on the time reference of the receiver operating system; and determining target data sending time based on the time reference of the requester operating system, based on the system time reference deviation and the target data sending time.