Vehicle-mounted antenna adjustment control method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle-mounted antenna adjustment and control method, apparatus, device, and storage medium. The method is applied to a vehicle-mounted antenna adjustment and control device mounted on a vehicle, comprising: obtaining the communication status of the data communication when the vehicle communicates data with a platoon vehicle via the vehicle-mounted antenna; obtaining the height of an obstacle between the vehicle and the platoon vehicle when the communication status does not meet a preset condition; determining a target height of the vehicle-mounted antenna based on the height of the obstacle; and adjusting the height of the vehicle-mounted antenna based on the target height. Because the present invention obtains the height of the obstacle between the vehicle and the platoon vehicle when the communication status does not meet a preset condition between the vehicle and the platoon vehicle via the vehicle-mounted antenna, and adjusts the height of the vehicle-mounted antenna based on the height of the obstacle, so that the communication status meets the preset condition, the present invention solves the technical problem of obstacles interfering with data communication between vehicles in a platoon, and improves the quality of data communication between vehicles in a platoon.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle-mounted antenna adjustment control method, device, equipment and storage medium. Background Art

[0002] Antennas are components used in radio equipment to transmit or receive electromagnetic waves. Any transmission of information via electromagnetic waves relies on antennas. Antennas are generally reversible, meaning the same antenna can be used as both a transmitting and receiving antenna. The basic characteristic parameters of the same antenna are the same for both applications.

[0003] When vehicles are traveling in a platoon, real-time communication between vehicles is required through V2X. Each vehicle in the platoon is equipped with an on-board terminal, which establishes a V2X connection through dedicated short-range communication or cellular communication signals to achieve platoon management. Vehicles can maintain a certain safe distance and share relevant data during driving. On-board antennas serve as a bridge for communication between vehicles and are crucial to platooning. During platoon driving, if signal loss or communication interruption occurs, it may cause serious traffic accidents. Therefore, how to improve the quality of data communication between vehicles in a platoon has become a technical problem that needs to be solved urgently.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of the present invention is to provide a vehicle-mounted antenna adjustment control method, device, equipment and storage medium, aiming to solve the technical problem of low quality of data communication between vehicles in vehicle formations in the prior art.

[0006] To achieve the above object, the present invention provides a vehicle-mounted antenna adjustment control method, which is applied to a vehicle-mounted antenna adjustment control device mounted on a vehicle, and comprises the following steps:

[0007] When the vehicle performs data communication with the platoon vehicles via the vehicle-mounted antenna, obtaining a communication status of the data communication;

[0008] When the communication state does not meet a preset condition, obtaining a height of an obstacle between the vehicle and the platoon vehicles;

[0009] Determining a target height of the vehicle-mounted antenna according to the height of the obstacle;

[0010] The vehicle-mounted antenna is height-adjusted according to the target height.

[0011] Optionally, determining the target height of the vehicle-mounted antenna according to the height of the obstacle includes:

[0012] Obtaining the current position of the vehicle;

[0013] Searching for height restriction information corresponding to the current location;

[0014] The target height of the vehicle-mounted antenna is determined according to the height of the obstacle and the height limit information.

[0015] Optionally, adjusting the height of the vehicle-mounted antenna according to the target height includes:

[0016] Determining whether the target height is less than the maximum adjustable height of the vehicle-mounted antenna;

[0017] When the target height is less than the maximum adjustment height of the vehicle-mounted antenna, adjusting the height of the vehicle-mounted antenna according to the target gear position corresponding to the target height;

[0018] When the target height is greater than or equal to the maximum adjustment height of the vehicle-mounted antenna, the height of the vehicle-mounted antenna is adjusted to the maximum adjustment height according to the highest adjustment gear of the vehicle-mounted antenna.

[0019] Optionally, obtaining the height of an obstacle between the vehicle and the platoon vehicles includes:

[0020] Obtaining a measurement angle of an obstacle between the vehicle and the platoon vehicles by using a plurality of laser radars provided on the vehicle;

[0021] The height of the obstacle is determined according to the measured angle.

[0022] Optionally, the laser radar includes a first laser radar, a second laser radar and a third laser radar;

[0023] Determining the height of the obstacle according to the measurement angle includes:

[0024] Determine the height of the obstacle using a preset formula according to the measurement angle;

[0025] Wherein, the preset formula is:

[0026]

[0027] Where h is the height of the obstacle, θ1 is the measurement angle from the first laser radar to the top of the obstacle, θ2 is the measurement angle from the second laser radar to the bottom of the obstacle, θ3 is the measurement angle from the third laser radar to the bottom of the obstacle, a is the height difference between the first and second laser radars, and b is the height difference between the second and third laser radars.

[0028] Optionally, after adjusting the height of the vehicle-mounted antenna according to the target height, the method further includes:

[0029] Obtaining the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles;

[0030] determining a target angle of the vehicle-mounted antenna according to the shortest path;

[0031] The vehicle-mounted antenna is adjusted in angle according to the target angle.

[0032] Optionally, obtaining the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles includes:

[0033] Obtaining the Martian coordinates of the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles;

[0034] The shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antenna is determined according to the Martian coordinates.

[0035] In addition, to achieve the above-mentioned purpose, the present invention further provides a vehicle-mounted antenna adjustment control device, the device comprising:

[0036] A communication status acquisition module is used to acquire the communication status of data communication when the vehicle communicates data with the platoon vehicles through the vehicle-mounted antenna;

[0037] a height acquisition module, configured to acquire the height of an obstacle between the vehicle and the platoon vehicles when the communication state does not satisfy a preset condition;

[0038] a determination module, configured to determine a target height of the vehicle-mounted antenna according to a height of the obstacle;

[0039] A height adjustment module is used to adjust the height of the vehicle-mounted antenna according to the target height.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle-mounted antenna adjustment control device, which includes: a memory, a processor, and a vehicle-mounted antenna adjustment control program stored in the memory and executable on the processor, wherein the vehicle-mounted antenna adjustment control program is configured to implement the steps of the vehicle-mounted antenna adjustment control method described above.

[0041] In addition, to achieve the above objectives, the present invention also proposes a storage medium, which stores a vehicle antenna adjustment control program. When the vehicle antenna adjustment control program is executed by a processor, the steps of the vehicle antenna adjustment control method described above are implemented.

[0042] The present invention obtains the communication status of data communication when a vehicle communicates data with a platoon vehicle via an onboard antenna; obtains the height of an obstacle between the vehicle and the platoon vehicle when the communication status does not meet a preset condition; determines a target height of the onboard antenna based on the height of the obstacle; and adjusts the height of the onboard antenna based on the target height. Because the present invention obtains the height of the obstacle between the vehicle and the platoon vehicle when the communication status does not meet a preset condition via the onboard antenna, and adjusts the height of the onboard antenna based on the height of the obstacle, so that the communication status meets the preset condition, this solves the technical problem of obstacles interfering with inter-vehicle data communication and improves the quality of inter-vehicle data communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of a first embodiment of a vehicle-mounted antenna adjustment control method according to the present invention;

[0044] Figure 2 Schematic diagram showing the comparison of the vehicle antenna before and after height adjustment in an embodiment of the vehicle antenna adjustment control method of the present invention;

[0045] Figure 3 A schematic diagram of a measurement angle for determining an obstacle in an embodiment of a vehicle-mounted antenna adjustment control method of the present invention;

[0046] Figure 4 This is a flow chart of a second embodiment of a vehicle-mounted antenna adjustment control method according to the present invention;

[0047] Figure 5 Schematic diagram of the structure of a vehicle-mounted antenna in an embodiment of a vehicle-mounted antenna adjustment control method of the present invention;

[0048] Figure 6 This is a flow chart of a third embodiment of a vehicle-mounted antenna adjustment control method according to the present invention;

[0049] Figure 7 A schematic diagram of adjusting the angle of a vehicle-mounted antenna in an embodiment of a vehicle-mounted antenna adjustment control method of the present invention;

[0050] Figure 8 It is a structural diagram of a vehicle-mounted antenna adjustment control device in a hardware operating environment involved in an embodiment of the present invention;

[0051] Figure 9This is a structural block diagram of the first embodiment of the vehicle-mounted antenna adjustment control device of the present invention.

[0052] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] The embodiment of the present invention provides a vehicle-mounted antenna adjustment control method, which is applied to a vehicle-mounted antenna adjustment control device mounted on a vehicle, referring to Figure 1 , Figure 1 FIG. 1 is a flow chart of a first embodiment of a vehicle-mounted antenna adjustment control method according to the present invention.

[0055] In this embodiment, the vehicle-mounted antenna adjustment control method includes the following steps:

[0056] Step S10: When the vehicle performs data communication with the platoon vehicles via the vehicle-mounted antenna, the communication status of the data communication is acquired.

[0057] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of performing the above functions, such as a vehicle-mounted antenna adjustment and control device. The following uses the vehicle-mounted antenna adjustment and control device as an example to illustrate this embodiment and the following embodiments.

[0058] It should be understood that the vehicle-mounted antenna adjustment control device may be a vehicle controller, a vehicle-mounted computer or other device with the same or similar functions; the platoon vehicle may be a vehicle in a vehicle platoon queue.

[0059] It can be understood that the vehicle-mounted antenna is an antenna installed on the vehicle for data communication. The vehicle formation mainly exchanges data through data communication between vehicles, and the data communication between vehicles is realized through the vehicle-mounted antenna; the vehicle formation can be a heavy-duty truck formation, an off-road vehicle formation, etc. This embodiment takes a heavy-duty truck formation as an example for explanation.

[0060] It should be understood that the communication status is the status of the communication quality of data communication between vehicles. The communication status can be represented by the data frame loss rate and / or the duration of communication interruption during the data communication process. The data frame loss rate can be obtained by dividing the total amount of data frame loss per unit time by the total amount of data transmission.

[0061] In a specific implementation, when heavy trucks are traveling in a platoon, the on-board antenna adjustment and control device obtains the data frame loss rate and / or communication interruption duration during the data communication process when the vehicle communicates data with the platoon vehicles through the on-board antenna.

[0062] Step S20: When the communication state does not meet a preset condition, obtaining the height of an obstacle between the vehicle and the platoon vehicles.

[0063] It can be understood that the preset conditions are pre-set conditions for judging the quality of data communication. The preset conditions can be set to that the data frame loss rate is less than a preset threshold within a preset time period and the communication interruption duration is less than a preset duration. When the communication status does not meet the preset conditions, it indicates that the quality of data communication between vehicles is low.

[0064] It is understandable that the communication status does not meet the preset condition may be that the data frame loss rate within the preset time period is greater than a preset threshold and / or the communication interruption duration is greater than a preset duration.

[0065] It should be understood that an obstacle is an object that interferes with data communication between a vehicle and platoon vehicles. During the driving of a heavy truck platoon, if a non-platoon vehicle merges between platoon vehicles and interferes with data communication between the vehicle and other platoon vehicles, then the non-platoon vehicle that merges is an obstacle. The height of the obstacle can be obtained by measuring equipment installed on the vehicle. The obstacle can also be other objects that interfere with data communication between vehicles, and this embodiment does not impose any restrictions on this.

[0066] In a specific implementation, the vehicle-mounted antenna adjustment control device obtains the height of non-formation vehicles between the vehicle merging into the heavy truck formation and the formation vehicle that is conducting data communication when the data frame loss rate of the data communication between the vehicle and the formation vehicle is greater than a preset threshold and / or the communication interruption duration is greater than a preset duration.

[0067] Step S30: determining the target height of the vehicle-mounted antenna according to the height of the obstacle.

[0068] It should be understood that the vehicle-mounted antenna is set on the vehicle and has a certain initial height, that is, the height of the position set on the vehicle from the ground. The height of the obstacle minus the initial height is the critical height, and the target height of the vehicle-mounted antenna is determined to be a height greater than the critical height.

[0069] Step S40: adjusting the height of the vehicle-mounted antenna according to the target height.

[0070] It can be understood that after the target height of the vehicle-mounted antenna is determined, the vehicle-mounted antenna adjustment control device adjusts the height of the vehicle-mounted antenna according to the target height. After the height adjustment, the height of the vehicle-mounted antenna is higher than the height of the obstacle, thereby avoiding the problem of low communication quality of data communication due to obstruction by obstacles.

[0071] In the specific implementation, refer to Figure 2 For example, when heavy trucks are traveling in a platoon, the vehicle antenna adjustment control device obtains a data frame loss rate and / or a communication interruption duration of the data communication when the vehicle communicates data with the platoon vehicles in the heavy truck platoon through the vehicle-mounted antenna. When the data frame loss rate is greater than a preset threshold and / or the communication interruption duration is greater than a preset duration, the vehicle antenna adjustment control device obtains a height of the vehicle between the vehicle merging into the heavy truck platoon and the other vehicles in the data communication platoon, determines a target height of the vehicle-mounted antenna based on the height of the merging vehicle, and adjusts the height of the vehicle-mounted antenna based on the target height so that the height of the vehicle-mounted antenna is higher than the height of the merging vehicle, thereby avoiding the problem of low communication quality of data communication due to obstruction by obstacles.

[0072] Furthermore, in order to accurately determine the height of an obstacle and improve the quality of data communication between vehicles in a platoon, obtaining the height of the obstacle between the vehicle and the platoon includes: obtaining a measurement angle of the obstacle between the vehicle and the platoon through multiple laser radars installed on the vehicle; and determining the height of the obstacle based on the measurement angle.

[0073] In a specific implementation, each vehicle in the vehicle formation is equipped with multiple laser radars. The vehicle-mounted antenna adjustment control device obtains the measurement angle of the obstacle between the vehicle and the formation vehicles that are communicating data through multiple laser radars, and determines the height of the obstacle based on the obtained measurement angle.

[0074] Furthermore, in order to accurately determine the height of an obstacle and improve the data communication quality between vehicles in the platoon, the laser radar includes a first laser radar, a second laser radar, and a third laser radar; and determining the height of the obstacle based on the measurement angle includes:

[0075] Determine the height of the obstacle using a preset formula according to the measurement angle;

[0076] Wherein, the preset formula is:

[0077]

[0078] Where h is the height of the obstacle, θ1 is the measurement angle from the first laser radar to the top of the obstacle, θ2 is the measurement angle from the second laser radar to the bottom of the obstacle, θ3 is the measurement angle from the third laser radar to the bottom of the obstacle, a is the height difference between the first and second laser radars, and b is the height difference between the second and third laser radars.

[0079] It is understandable that there are three laser radars installed on the vehicle. The specific settings of the three laser radars can be referred to Figure 3 ,exist Figure 3 In the figure, D1 represents the first laser radar, D2 represents the second laser radar, and D3 represents the third laser radar.

[0080] It should be understood that continuing to refer to Figure 3 , the following equation can be obtained from the trigonometric formula:

[0081] L1=x*tanθ1 (Formula 1)

[0082] L2=x*tanθ3 (Equation 2)

[0083] L2+b=x*tanθ2 (Equation 3)

[0084] h=L1+L2+a+b (Equation 4)

[0085] In the above formula, h is the height of the obstacle, θ1 is the measurement angle from the first laser radar to the top of the obstacle, θ2 is the measurement angle from the second laser radar to the bottom of the obstacle, θ3 is the measurement angle from the third laser radar to the bottom of the obstacle, a is the height difference between the first laser radar and the second laser radar, b is the height difference between the second laser radar and the third laser radar, x is the horizontal distance between the obstacle and the laser radar, L1 is the height difference between the top of the obstacle and the first laser radar D1, and L2 is the height difference between the third laser radar and the bottom of the obstacle. The preset formula can be obtained from Formula 1, Formula 2, Formula 3, and Formula 4:

[0086]

[0087] By substituting the measurement angles measured by the three laser radars, the height difference between the first laser radar and the second laser radar, and the height difference between the second laser radar and the third laser radar into the preset formula, the height of the obstacle can be obtained.

[0088] It can be understood that θ1 is the measurement angle of the first laser radar D1 reaching the top of the obstacle. The laser radar D1 scans from a horizontal position to the top of the obstacle. When the laser signal reaches the top of the obstacle, the laser scanning angle is θ1; θ2 is the measurement angle of the second laser radar reaching the bottom of the obstacle. The laser radar D2 scans from a horizontal position to the bottom of the obstacle. When the laser signal reaches the bottom of the obstacle, the laser scanning angle is θ2; θ3 is the measurement angle of the third laser radar reaching the bottom of the obstacle. The laser radar D3 scans from a horizontal position to the bottom of the obstacle. When the laser signal reaches the bottom of the obstacle, the laser scanning angle is θ3.

[0089] It should be understood that at least three laser radars are installed on the vehicle. When the number of laser radars installed on the vehicle is greater than three, three laser radars can be arbitrarily selected as measuring laser radars. According to the height difference between the selected three laser radars and the measurement angle of each laser radar scanning, the height of the obstacle can be determined by a preset formula. For example, five laser radars are installed on the vehicle, and the positions from top to bottom are M1, M2, M3, M4 and M5. If the selected laser radars are M2, M4 and M5, the height difference between M2 and M4 is a, the height difference between M4 and M5 is b, the measurement angle when M2 scans to the top of the obstacle is θ1, the measurement angle when M4 scans to the bottom of the obstacle is θ2, and the measurement angle when M5 scans to the bottom of the obstacle is θ3. The above values are substituted into the preset formula to obtain the height of the obstacle.

[0090] In a specific implementation, for example, when a heavy truck platoon is traveling, the on-board antenna adjustment and control device obtains the data frame loss rate and / or communication interruption duration of the data communication when the vehicle communicates data with the platoon vehicles through the on-board antenna. When the data frame loss rate is greater than a preset threshold and / or the communication interruption duration is greater than a preset duration, the three laser radars arranged on the vehicle obtain the measurement angle of the obstacle, and the height of the obstacle between the vehicle and the platoon vehicles performing data communication is determined by a preset formula based on the measurement angle, the height difference between the first laser radar and the second laser radar, and the height difference between the second laser radar and the third laser radar. The target height of the on-board antenna is determined based on the height of the obstacle and the initial height of the on-board antenna set on the vehicle. The on-board antenna adjustment and control device adjusts the height of the on-board antenna according to the target height, so that the height of the on-board antenna is greater than the height of the obstacle, thereby avoiding interference of the obstacle in data communication, so that the communication status between the vehicle and the platoon vehicles performing data communication meets the preset conditions.

[0091] This embodiment obtains the communication status of data communication when a vehicle communicates data with a platoon vehicle via its onboard antenna; obtains the height of an obstacle between the vehicle and the platoon vehicle if the communication status does not meet a preset condition; determines a target height for the onboard antenna based on the height of the obstacle; and adjusts the height of the onboard antenna based on the target height. Because this embodiment obtains the height of the obstacle between the vehicle and the platoon vehicle if the communication status does not meet a preset condition, and adjusts the height of the onboard antenna based on the height of the obstacle, so that the communication status meets the preset condition, this solves the technical problem of obstacles interfering with data communication between vehicles in a platoon and improves the quality of data communication between vehicles in the platoon.

[0092] refer to Figure 4 , Figure 4FIG. 2 is a flow chart of a second embodiment of a vehicle-mounted antenna adjustment control method according to the present invention.

[0093] Based on the above first embodiment, in this embodiment, step S30 includes:

[0094] Step S301: Acquire the current position of the vehicle.

[0095] It can be understood that the current position of the vehicle can be obtained through a high-precision map, and the vehicle-mounted antenna adjustment control device can obtain the current position of the vehicle through the high-precision map in real time, or obtain the current position of the vehicle through the high-precision map at preset time intervals. This embodiment does not limit this.

[0096] Step S302: Searching for height limit information corresponding to the current position.

[0097] It should be understood that the height restriction information of each road section or area is marked in the high-precision map. The height restriction information may include the restricted height and restriction type. The height restriction type may be a tunnel height restriction type and a bridge height restriction type, etc.

[0098] It is understandable that a preset range can be set in advance. When the current position of the vehicle is obtained, the height limit information in the vehicle's driving direction within the preset range corresponding to the current position is searched in the high-precision map.

[0099] It should be understood that the height limit information in the high-precision map may have an update lag compared to the actual height limit situation. In order to determine the height limit information more accurately and achieve precise adjustment of the vehicle antenna, the height limit information corresponding to the current position can also be determined in combination with the camera height limit information in front of the vehicle's driving road identified by the vehicle-mounted camera installed in front of the vehicle.

[0100] In a specific implementation, for example, the vehicle-mounted antenna adjustment and control device obtains the current position of the vehicle in a high-precision map, searches for the map height limit information corresponding to the current position within a preset range, and the vehicle-mounted antenna adjustment and control device obtains the camera height limit information of the road in front of the vehicle through the vehicle-mounted camera. When the map height limit information is consistent with the camera height limit information, the height limit information corresponding to the current position is determined to be the map height limit information; when the map height limit information is inconsistent with the camera height limit information, the height limit information corresponding to the current position is determined to be the height limit information with a lower limit height; when one of the map height limit information and the camera height limit information cannot be obtained, the height limit information corresponding to the current position is determined to be the obtained height limit information.

[0101] Step S303: determining a target height of the vehicle-mounted antenna according to the height of the obstacle and the height limit information.

[0102] It is understandable that the restricted height can be obtained from the height restriction information, and the target height of the vehicle antenna plus the initial height should be greater than the height of the obstacle and less than the restricted height.

[0103] In a specific implementation, the vehicle-mounted antenna adjustment and control device obtains the current position of the vehicle from a high-precision map, searches for map height limit information within a preset range in the high-precision map, obtains camera height limit information of the road ahead of the vehicle through a camera, determines the height limit information corresponding to the current position based on the map height limit information and the camera height limit information, obtains the restricted height from the height limit information, and determines the target height of the vehicle-mounted antenna based on the restricted height and the obstacle height, wherein the target height of the vehicle-mounted antenna plus the initial height is greater than the height of the obstacle and less than the restricted height.

[0104] Furthermore, in order to achieve precise adjustment of the vehicle antenna height, step S40 includes:

[0105] Step S401: Determine whether the target height is less than the maximum adjustable height of the vehicle-mounted antenna.

[0106] It should be understood that the structural diagram of the vehicle-mounted antenna can be referred to Figure 5 The vehicle antenna can be adjusted in multiple gears, and each adjustment gear corresponds to a certain height; the maximum adjustment height can be the antenna height corresponding to the highest adjustment gear of the vehicle antenna.

[0107] Step S402: When the target height is less than the maximum adjustment height of the vehicle-mounted antenna, the vehicle-mounted antenna is height-adjusted according to a target gear position corresponding to the target height.

[0108] It should be understood that when the target height is less than the maximum adjustment height of the vehicle antenna, it indicates that when it is adjusted to the maximum adjustment height, there is a risk of collision for the vehicle antenna. At this time, the corresponding target adjustment gear pair is determined according to the target height of the vehicle antenna. The target adjustment gear corresponding to the target height can be obtained by looking up the preset mapping relationship table.

[0109] In a specific implementation, for example, the target height of the vehicle-mounted antenna is 0.5 meters, which is less than the maximum adjustment height of 0.8 meters. At this time, the vehicle-mounted antenna adjustment control device determines that the target adjustment gear is gear 2 by looking up the mapping relationship table, and then sets the gear of the vehicle-mounted antenna to gear 2, thereby adjusting the vehicle-mounted antenna to the target height.

[0110] Step S403: When the target height is greater than or equal to the maximum adjustment height of the vehicle-mounted antenna, the height of the vehicle-mounted antenna is adjusted to the maximum adjustment height according to the highest adjustment gear of the vehicle-mounted antenna.

[0111] When the target height is greater than or equal to the maximum adjustment height of the vehicle antenna, it indicates that there is no collision risk when the vehicle antenna is adjusted to the maximum adjustment height. At this time, adjusting the vehicle antenna to the maximum adjustment height according to the highest adjustment gear of the vehicle antenna can further improve the communication quality between vehicles.

[0112] This embodiment obtains the current location of the vehicle; searches for height restriction information corresponding to the current location; and determines the target height of the vehicle antenna based on the height of the obstacle and the height restriction information. Because this embodiment determines the corresponding height restriction information based on the vehicle's current location and determines the target height of the vehicle antenna based on the height restriction information and the height of the obstacle, antenna damage caused by height restriction objects is avoided, improving communication quality while preventing antenna damage.

[0113] refer to Figure 6 , Figure 6 FIG. 4 is a flow chart of a third embodiment of a vehicle-mounted antenna adjustment control method according to the present invention.

[0114] Based on the above embodiments, in this embodiment, after step S40, the method further includes:

[0115] Step S50: Obtain the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles.

[0116] It can be understood that when the path between the vehicle-mounted antenna and the communication vehicle-mounted antenna of the platoon vehicle is shortest, the communication quality of data communication is best, and the vehicle-mounted antenna adjustment control device can obtain the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antenna of the platoon vehicle from the high-precision map.

[0117] Step S60: determining the target angle of the vehicle-mounted antenna according to the shortest path.

[0118] It can be understood that the target angle is the angle between the vehicle's onboard antenna and the onboard antenna of the platoon vehicle that conducts data communication; during the vehicle's driving process, the onboard antenna can update the Martian coordinate system in real time, and calculate the shortest path between the two onboard antennas based on the Martian coordinates of the two onboard antennas.

[0119] Step S70: adjusting the angle of the vehicle-mounted antenna according to the target angle.

[0120] In a specific implementation, the vehicle-mounted antenna adjustment control device adjusts the angle of the vehicle-mounted antenna according to the target angle, and the path between the vehicle-mounted antenna after the angle adjustment and the communication vehicle-mounted antenna is the shortest path.

[0121] Furthermore, in order to accurately determine the shortest path, step S50 includes: obtaining the Martian coordinates of the vehicle-mounted antenna and the communication vehicle-mounted antenna of the platoon vehicle; and determining the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antenna based on the Martian coordinates.

[0122] In the specific implementation, refer to Figure 7 For example, the vehicle antenna adjustment control device obtains the real-time updated Mars coordinates of the vehicle antenna as (x1, y1, z1), and the Mars coordinates of the communication vehicle antenna are (x2, y2, z2). Then the distance between the two vehicle antennas is According to the Mars coordinates of the vehicle-mounted antenna corresponding to the minimum value of L and the current Mars coordinates of the vehicle-mounted antenna, the angle between the two positions can be determined. This angle is the target angle β of the vehicle-mounted antenna. With the current position of the vehicle-mounted antenna as the origin, the vehicle-mounted antenna is controlled to rotate by an angle of β to complete the angle adjustment of the vehicle-mounted antenna.

[0123] This embodiment obtains the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles; determines the target angle of the vehicle-mounted antenna based on the shortest path; and adjusts the angle of the vehicle-mounted antenna based on the target angle. Because this embodiment determines the target angle of the vehicle-mounted antenna based on the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antenna, and adjusts the angle of the vehicle-mounted antenna based on the target angle, the vehicle-mounted antenna performs data communication at the optimal angle, thereby improving the quality of data communication.

[0124] In addition, an embodiment of the present invention further provides a storage medium storing a vehicle antenna adjustment control program. When the vehicle antenna adjustment control program is executed by a processor, the steps of the vehicle antenna adjustment control method described above are implemented.

[0125] Reference Figure 8 , Figure 8 This is a structural diagram of a vehicle-mounted antenna adjustment control device in the hardware operating environment involved in an embodiment of the present invention.

[0126] like Figure 8As shown, the vehicle-mounted antenna adjustment control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection and communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0127] Those skilled in the art will understand that Figure 8 The structure shown in the figure does not constitute a limitation on the vehicle-mounted antenna adjustment control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0128] like Figure 8 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle antenna adjustment control program.

[0129] exist Figure 8 In the illustrated vehicle-mounted antenna adjustment and control device, the network interface 1004 is primarily used for data communication with a network server; the user interface 1003 is primarily used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle-mounted antenna adjustment and control device of the present invention can be provided in the vehicle-mounted antenna adjustment and control device. The vehicle-mounted antenna adjustment and control device calls the vehicle-mounted antenna adjustment and control program stored in the memory 1005 via the processor 1001 and executes the vehicle-mounted antenna adjustment and control method provided in an embodiment of the present invention.

[0130] Reference Figure 9 , Figure 9 This is a structural block diagram of the first embodiment of the vehicle-mounted antenna adjustment control device of the present invention.

[0131] like Figure 9 As shown, the vehicle-mounted antenna adjustment control device proposed in the embodiment of the present invention includes: a communication status acquisition module 10 , a height acquisition module 20 , a determination module 30 and a height adjustment module 40 .

[0132] The communication status acquisition module 10 is used to acquire the communication status of data communication when the vehicle communicates data with the platoon vehicles through the vehicle-mounted antenna;

[0133] The height acquisition module 20 is used to acquire the height of the obstacle between the vehicle and the platoon vehicles when the communication status does not meet the preset conditions;

[0134] The determination module 30 is configured to determine a target height of the vehicle-mounted antenna according to the height of the obstacle;

[0135] The height adjustment module 40 is configured to adjust the height of the vehicle-mounted antenna according to the target height.

[0136] This embodiment obtains the communication status of data communication when a vehicle communicates data with a platoon vehicle via its onboard antenna; obtains the height of an obstacle between the vehicle and the platoon vehicle if the communication status does not meet a preset condition; determines a target height for the onboard antenna based on the height of the obstacle; and adjusts the height of the onboard antenna based on the target height. Because this embodiment obtains the height of the obstacle between the vehicle and the platoon vehicle if the communication status does not meet a preset condition, and adjusts the height of the onboard antenna based on the height of the obstacle, so that the communication status meets the preset condition, this solves the technical problem of obstacles interfering with data communication between vehicles in a platoon and improves the quality of data communication between vehicles in the platoon.

[0137] Based on the first embodiment of the vehicle-mounted antenna adjustment control device of the present invention, a second embodiment of the vehicle-mounted antenna adjustment control device of the present invention is proposed.

[0138] In this embodiment, the height acquisition module 20 is further configured to acquire a measurement angle of an obstacle between the vehicle and the platoon vehicles through a plurality of laser radars provided on the vehicle; and determine the height of the obstacle according to the measurement angle.

[0139] The height acquisition module 20 is further configured to determine the height of the obstacle using a preset formula according to the measurement angle; the laser radar includes a first laser radar, a second laser radar, and a third laser radar; wherein the preset formula is:

[0140]

[0141] Where h is the height of the obstacle, θ1 is the measurement angle from the first laser radar to the top of the obstacle, θ2 is the measurement angle from the second laser radar to the bottom of the obstacle, θ3 is the measurement angle from the third laser radar to the bottom of the obstacle, a is the height difference between the first and second laser radars, and b is the height difference between the second and third laser radars.

[0142] The determination module 30 is further configured to obtain the current position of the vehicle; search for height limit information corresponding to the current position; and determine the target height of the vehicle antenna according to the height of the obstacle and the height limit information.

[0143] The height adjustment module 40 is further configured to determine whether the target height is less than the maximum adjustment height of the vehicle-mounted antenna; when the target height is less than the maximum adjustment height of the vehicle-mounted antenna, adjust the height of the vehicle-mounted antenna according to the target gear corresponding to the target height; and when the target height is greater than or equal to the maximum adjustment height of the vehicle-mounted antenna, adjust the height of the vehicle-mounted antenna to the maximum adjustment height according to the highest adjustment gear of the vehicle-mounted antenna.

[0144] The height adjustment module 40 is further configured to obtain the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles; determine the target angle of the vehicle-mounted antenna based on the shortest path; and adjust the angle of the vehicle-mounted antenna based on the target angle.

[0145] The height adjustment module 40 is further configured to obtain the Martian coordinates of the vehicle-mounted antenna and the communication vehicle-mounted antenna of the platoon vehicle; and determine the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antenna based on the Martian coordinates.

[0146] Other embodiments or specific implementations of the vehicle-mounted antenna adjustment control device of the present invention can refer to the above-mentioned method embodiments and will not be described in detail here.

[0147] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0148] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0149] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0150] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle-mounted antenna adjustment control method, characterized in that: The method is applied to a vehicle-mounted antenna adjustment control device mounted on a vehicle, and the method comprises: When the vehicle performs data communication with the platoon vehicles via the vehicle-mounted antenna, obtaining a communication status of the data communication; When the communication status does not meet a preset condition, obtaining the height of the obstacle between the vehicle and the platoon vehicles, wherein the preset condition is that the data frame loss rate is less than a preset threshold within a preset time period and the communication interruption duration is less than a preset duration; Determining a target height of the vehicle-mounted antenna according to the height of the obstacle; Adjusting the height of the vehicle-mounted antenna according to the target height; The obtaining of the height of the obstacle between the vehicle and the platoon vehicles includes: Obtaining a measurement angle of an obstacle between the vehicle and the platoon vehicles by using a plurality of laser radars provided on the vehicle; determining the height of the obstacle according to the measurement angle; The laser radar includes a first laser radar, a second laser radar and a third laser radar; Determining the height of the obstacle according to the measurement angle includes: Determine the height of the obstacle using a preset formula according to the measurement angle; Wherein, the preset formula is: Where h is the height of the obstacle, θ1 is the measurement angle from the first laser radar to the top of the obstacle, θ2 is the measurement angle from the second laser radar to the bottom of the obstacle, θ3 is the measurement angle from the third laser radar to the bottom of the obstacle, a is the height difference between the first and second laser radars, and b is the height difference between the second and third laser radars.

2. The method according to claim 1, wherein The determining the target height of the vehicle-mounted antenna according to the height of the obstacle includes: Obtaining the current position of the vehicle; Searching for height restriction information corresponding to the current location; The target height of the vehicle-mounted antenna is determined according to the height of the obstacle and the height limit information.

3. The method according to claim 1, wherein The step of adjusting the height of the vehicle-mounted antenna according to the target height includes: Determining whether the target height is less than the maximum adjustable height of the vehicle-mounted antenna; When the target height is less than the maximum adjustment height of the vehicle-mounted antenna, adjusting the height of the vehicle-mounted antenna according to the target gear position corresponding to the target height; When the target height is greater than or equal to the maximum adjustment height of the vehicle-mounted antenna, the height of the vehicle-mounted antenna is adjusted to the maximum adjustment height according to the highest adjustment gear of the vehicle-mounted antenna.

4. The method according to any one of claims 1 to 3, wherein After adjusting the height of the vehicle-mounted antenna according to the target height, the method further includes: Obtaining the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles; determining a target angle of the vehicle-mounted antenna according to the shortest path; The vehicle-mounted antenna is adjusted in angle according to the target angle.

5. The method according to claim 4, wherein The obtaining of the shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles includes: Obtaining the Martian coordinates of the vehicle-mounted antenna and the communication vehicle-mounted antennas of the platoon vehicles; The shortest path between the vehicle-mounted antenna and the communication vehicle-mounted antenna is determined according to the Martian coordinates.

6. A vehicle-mounted antenna adjustment control device, characterized in that: The device comprises: A communication status acquisition module is used to acquire the communication status of data communication when the vehicle communicates data with the platoon vehicles through the vehicle-mounted antenna; a height acquisition module, configured to acquire the height of an obstacle between the vehicle and the platoon vehicles when the communication status does not meet a preset condition, wherein the preset condition is that the data frame loss rate is less than a preset threshold within a preset time period and the communication interruption duration is less than a preset duration; a determination module, configured to determine a target height of the vehicle-mounted antenna according to a height of the obstacle; A height adjustment module, configured to adjust the height of the vehicle-mounted antenna according to the target height; The obtaining of the height of the obstacle between the vehicle and the platoon vehicles includes: Obtaining a measurement angle of an obstacle between the vehicle and the platoon vehicles by using a plurality of laser radars provided on the vehicle; determining the height of the obstacle according to the measurement angle; The laser radar includes a first laser radar, a second laser radar and a third laser radar; Determining the height of the obstacle according to the measurement angle includes: Determine the height of the obstacle using a preset formula according to the measurement angle; Wherein, the preset formula is: Where h is the height of the obstacle, θ1 is the measurement angle from the first laser radar to the top of the obstacle, θ2 is the measurement angle from the second laser radar to the bottom of the obstacle, θ3 is the measurement angle from the third laser radar to the bottom of the obstacle, a is the height difference between the first and second laser radars, and b is the height difference between the second and third laser radars.

7. A vehicle-mounted antenna adjustment control device, characterized in that: The device includes: a memory, a processor, and a vehicle antenna adjustment control program stored in the memory and executable on the processor, wherein the vehicle antenna adjustment control program is configured to implement the steps of the vehicle antenna adjustment control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a vehicle-mounted antenna adjustment control program, and when the vehicle-mounted antenna adjustment control program is executed by the processor, the steps of the vehicle-mounted antenna adjustment control method according to any one of claims 1 to 5 are implemented.

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