Method, device and system for controlling unmanned driving of vehicle

Abstract

A method, device and system for controlling unmanned driving of a vehicle, the method comprising: the vehicle-mounted end sends the current position of the vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server, the server assigns the first type of coding information to each vehicle respectively, and the code value of the first type of coding information assigned to each vehicle is different, the vehicle-mounted end feeds back the first type of coding information assigned by the server to the laser radar of the vehicle, and adjusts the relevant parameters of the laser radar based on the first type of coding information. In the scenario where a large number of unmanned vehicles are driving on a road section not far apart, the present invention makes the parameters used by the laser radar on each vehicle different, thereby avoiding crosstalk and facilitating the laser radar on each vehicle to distinguish the echo signal from the signal of other laser radars.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a method, device and system for controlling unmanned driving of a vehicle. Background Art

[0002] With the continuous advancement of science and technology, driverless cars have gradually become a reality from a distant dream. In the future driverless scenarios, vehicles will need to rely on devices such as lidar to perceive other vehicles / objects around them.

[0003] The working principle of lidar is to emit a laser beam into the surrounding three-dimensional space as a detection signal. The laser beam is reflected after hitting the object to be measured in the surrounding three-dimensional space, which is called an echo signal. The lidar compares the received echo signal with the transmitted signal to obtain relevant information about the object to be measured, such as distance, speed, etc.

[0004] When multiple driverless cars are driving on a road not far from each other, the lidar sensor of each car may receive signals from other lidar sensors around it, resulting in crosstalk. In this case, the lidar needs to distinguish the echo signal from the signals of other lidar sensors.

[0005] In the prior art, one method of suppressing crosstalk between multiple laser radars is to control the phase relationship of the rotation of the multiple laser radars. This method is effective in suppressing crosstalk between several laser radars with fixed installation positions. However, for multiple laser radars installed on different cars, the relative position relationship between each laser radar changes in real time. In this case, the above method of suppressing crosstalk is difficult to work.

[0006] Another method to suppress crosstalk is based on coding. The specific coding method includes the laser light emission timing, laser power, laser frequency, etc. Each time each laser radar measures, the coding value changes randomly, thereby reducing the possibility of crosstalk.

[0007] However, this method of suppressing crosstalk can only reduce the possibility of crosstalk. For example, assuming that the total number of codes is N, there is still a 1 / N probability of crosstalk between two LiDARs when the above method of suppressing crosstalk is adopted. As the number of LiDARs increases, the probability of crosstalk increases linearly. If the probability of crosstalk is reduced by increasing the total number of codes N, it will lead to increased system power consumption, increased costs, reduced measurement frequency, and even difficult to achieve.

[0008] Currently, the total number of codes N of laser radars on the market that use random coding to suppress crosstalk is usually on the order of 10^2. For scenarios in the future where a large number of driverless cars are driving on roads not far apart, the effect of the above method in suppressing crosstalk is very limited (that is, there is still a high probability of crosstalk occurring). Summary of the invention

[0009] The technical problem solved by the present invention is: how to effectively avoid or reduce the possibility of crosstalk between multiple laser radars and improve the safety performance of unmanned driving.

[0010] In order to solve the above technical problems, an embodiment of the present invention provides a method for controlling unmanned driving of a vehicle, comprising:

[0011] Send the current location of the vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server;

[0012] Receiving the assigned first type of coded information;

[0013] The relevant parameters of the laser radar are adjusted based on the first type of coding information; wherein the allocated first type of coding information is allocated to each vehicle by a server, and the code value of the first type of coding information allocated to each vehicle is different.

[0014] In order to solve the above technical problems, an embodiment of the present invention further provides a method for controlling unmanned driving of a vehicle, comprising:

[0015] The vehicle-mounted terminal sends the current location of the vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server;

[0016] The server receives the current position of each vehicle sent by each vehicle-mounted terminal, and the first type of coding information currently used by the laser radar on the vehicle;

[0017] The server assigns first-class coding information to each vehicle, and the code value of the first-class coding information assigned to each vehicle is different;

[0018] The server sends the first type of coding information allocated to each vehicle to the vehicle-mounted terminal on the corresponding vehicle respectively;

[0019] The vehicle-mounted terminal receives the first type of coding information assigned by the server to the vehicle in which it is located;

[0020] The vehicle-mounted end feeds back the first type of coding information assigned by the server to the vehicle to which it is connected to to the laser radar of the vehicle, and adjusts the relevant parameters of the laser radar based on the first type of coding information.

[0021] Optionally, the vehicle-mounted terminal determines the current location of the vehicle through GPS.

[0022] Optionally, the first type of coded information is determined based on one or more of the laser light emission timing, power, and frequency corresponding to the light wave wavelength; the adjusting relevant parameters of the laser radar based on the first type of coded information includes: adjusting one or more of the laser light emission timing, power, and frequency corresponding to the light wave wavelength of the laser radar based on the first type of coded information.

[0023] Optionally, information is transmitted between the server and the vehicle-mounted terminal via a low-latency network.

[0024] Optionally, there are one or more servers, each server having its own jurisdiction;

[0025] The server assigning the first type of coding information to each vehicle includes: the server assigning the first type of coding information to each vehicle within its jurisdiction;

[0026] Specifically, the code values ​​of the first type of coding information assigned to each vehicle are different, which means that the code values ​​of the first type of coding information assigned to each vehicle within the jurisdiction of the same server are different;

[0027] The server sends the first type of coding information allocated to each vehicle to the vehicle-mounted terminal on the corresponding vehicle respectively, including: the server sends the first type of coding information allocated to each vehicle within its jurisdiction to the vehicle-mounted terminal on the corresponding vehicle respectively.

[0028] Optionally, the server sends the first type of coding information assigned to each vehicle to the on-board terminal on the corresponding vehicle, including: when the first type of coding information assigned to the vehicle by the server is different from the first type of coding information currently used by the laser radar on the vehicle previously sent by the on-board terminal, the server sends the first type of coding information assigned to the vehicle to the on-board terminal on the vehicle.

[0029] Optionally, the vehicle-mounted terminal sends the current position of its vehicle and the first type of coding information currently used by the laser radar on its vehicle to the server, including: the vehicle-mounted terminal sends the current position of its vehicle and the first type of coding information currently used by the laser radar on its vehicle to the server according to a predetermined time rule.

[0030] Optionally, the server stores the vehicle-mounted terminal number of each vehicle within its jurisdiction and the first type of coding information allocated to the vehicle in the form of a table.

[0031] Optionally, there are a server and a vehicle-mounted terminal, each of which is respectively arranged on each vehicle. The vehicle is also provided with a laser radar, and the vehicle realizes unmanned driving of the vehicle with the help of the laser radar.

[0032] In order to solve the above technical problems, an embodiment of the present invention further provides a device for controlling unmanned driving of a vehicle, comprising: a sending unit, a receiving unit and a regulating unit; wherein:

[0033] A sending unit, adapted to send the current position of the vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server;

[0034] A receiving unit, adapted to receive the allocated first type of coded information;

[0035] An adjustment unit is suitable for adjusting relevant parameters of the laser radar based on the first type of coding information; wherein the allocated first type of coding information is allocated to each vehicle by a server, and the code value of the first type of coding information allocated to each vehicle is different.

[0036] In order to solve the above technical problems, an embodiment of the present invention also provides a system for controlling unmanned driving of vehicles, including: one or more servers, and one or more vehicle-mounted terminals, each of which is respectively arranged on each vehicle, and the vehicle is also provided with a laser radar, and the vehicle uses the laser radar to achieve unmanned driving of the vehicle, wherein the vehicle-mounted terminal includes the device for controlling unmanned driving of the vehicle as described above.

[0037] In order to solve the above technical problems, an embodiment of the present invention further provides a method for controlling unmanned driving of a vehicle by a server, comprising a server and a vehicle-mounted terminal, each of which is respectively arranged on each vehicle, and a laser radar is also arranged on the vehicle, and the vehicle realizes unmanned driving of the vehicle by means of the laser radar. The method for controlling unmanned driving of the vehicle by a server comprises:

[0038] The server receives the current position of each vehicle sent by each vehicle-mounted terminal, and the first type of coding information currently used by the laser radar on the vehicle;

[0039] The server assigns first-class coding information to each vehicle, and the code value of the first-class coding information assigned to each vehicle is different;

[0040] The server sends the first type of coding information allocated to each vehicle to the vehicle-mounted terminal on the corresponding vehicle.

[0041] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0042] The vehicle-mounted end sends the current position of its vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server. The server assigns the first type of coding information to each vehicle. The code value of the first type of coding information assigned to each vehicle is different. The vehicle-mounted end feeds back the first type of coding information assigned by the server to the laser radar of its vehicle, and adjusts the relevant parameters of the laser radar based on the first type of coding information, so that the parameters used by the laser radar on each vehicle are different, thereby avoiding crosstalk and facilitating the laser radar on each vehicle to distinguish the echo signal from the signals of other laser radars.

[0043] Furthermore, there are multiple servers, each server has its own jurisdiction, and the server assigns first-class coding information to each vehicle within its jurisdiction. The code value of the first-class coding information assigned to each vehicle within the jurisdiction of the same server is different, thereby reducing the total number of codes required for the implementation of the solution, which is beneficial to reducing power consumption, saving costs, and increasing measurement frequency.

[0044] Furthermore, after a vehicle leaves the jurisdiction, the first type of coding information originally assigned to the vehicle can be reallocated to other vehicles, thereby further reducing the total number of codes required for the implementation of the solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a flow chart of a method for controlling unmanned driving of a vehicle in Embodiment 1 of the present invention;

[0046] Figure 2 This is a flow chart of a method for controlling unmanned driving of a vehicle in Embodiment 2 of the present invention;

[0047] Figure 3 This is a structural block diagram of a device for controlling unmanned driving of a vehicle in Embodiment 3 of the present invention;

[0048] Figure 4 This is a flow chart of a method for controlling unmanned driving of a vehicle by a server in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0049] According to the analysis in the background technology section, in the prior art, the coding value of each laser radar changes randomly each time it measures, thereby reducing the possibility of crosstalk.

[0050] However, the above-mentioned method of suppressing crosstalk can only reduce the possibility of crosstalk, but cannot completely eliminate it in theory. As the number of LiDARs increases, the probability of crosstalk increases linearly. Currently, the total number of codes N of LiDARs on the market that have the function of suppressing crosstalk by random coding is usually on the order of 10^2. For the scenario in the future where a large number of driverless cars are driving on roads not far apart, the effect of the above-mentioned method in suppressing crosstalk is very limited (that is, there is still a high probability of crosstalk).

[0051] To this end, after research, the inventor proposed a method that can effectively suppress crosstalk between multiple laser radars.

[0052] In order to enable those skilled in the art to better understand and implement the present invention, the present invention is described in detail below through specific embodiments with reference to the accompanying drawings.

[0053] Embodiment 1

[0054] Reference Figure 1 The flowchart of the method for controlling the unmanned driving of a vehicle is shown:

[0055] S101, sending the current position of the vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server;

[0056] S102, receiving the allocated first type of coding information;

[0057] S103: Adjust relevant parameters of the laser radar based on the first type of coding information.

[0058] The allocated first-category coding information is allocated to each vehicle by the server, and the code value of the first-category coding information allocated to each vehicle is different.

[0059] The solution of this embodiment can make the parameters used by the laser radar on each vehicle different in a scenario where a large number of driverless cars are traveling on a road section not far apart, thereby avoiding crosstalk and making it easier for the laser radar on each vehicle to distinguish the echo signal from the signals of other laser radars.

[0060] Embodiment 2

[0061] As described below, an embodiment of the present invention provides a method for controlling unmanned driving of a vehicle.

[0062] This method is applicable to unmanned driving scenarios. As mentioned above, multiple unmanned vehicles are traveling on a road not far apart, such as dozens or even hundreds of vehicles. The vehicles use laser radars to sense other vehicles / objects around them, thereby realizing unmanned driving of the vehicles. In such scenarios, the method provided by the present invention is used to distinguish the echo signal from the transmission signals of other laser radars, thereby effectively avoiding or reducing the possibility of crosstalk between multiple laser radars.

[0063] Reference Figure 2 The flowchart of the method for controlling the unmanned driving of a vehicle is shown in the figure, and the following is a detailed description through specific steps:

[0064] S201, the vehicle-mounted terminal sends the current location of the vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server;

[0065] The vehicle is equipped with an on-board terminal, which can exchange information with the server through a wireless communication network. The on-board terminal can directly or indirectly control the laser radar, and can also have other functions on this basis.

[0066] It is understandable that the vehicle-mounted terminal is capable of obtaining the current location of the vehicle, for example, this can be achieved through GPS and other means.

[0067] The first type of coded information (referring to a type of coded information) is one or more parameters of the laser used by the laser radar on the vehicle. For example, the above parameters can be laser emission timing, power, frequency corresponding to the wavelength of the light wave, etc. The laser radar can distinguish the echo signal from the signals of other laser radars based on the difference in the above parameters.

[0068] The solution of this embodiment can make the parameters (one or more of the laser light emission timing, power, frequency corresponding to the light wavelength, etc.) used by the laser radar on each vehicle that is not far from each other different, that is, the coding values ​​of the first type of coding information used by the laser radar on each vehicle are different.

[0069] Information transmission between the server and the vehicle terminal can be achieved through a low-latency network.

[0070] The number of servers can be one or more, and each server has its own jurisdiction.

[0071] The jurisdictions of various servers may usually be different, but some overlaps may exist.

[0072] The vehicle-mounted terminal may send the first type of coded information to the server when the vehicle-mounted terminal enters and / or leaves the jurisdiction of a server, or may send the first type of coded information currently used at predetermined intervals. The timing of sending the first type of coded information may be pre-agreed upon by the vehicle-mounted terminal and the server, or may be determined autonomously by the vehicle-mounted terminal, and this application does not limit this.

[0073] S202, the server receives the current position of each vehicle sent by each vehicle-mounted terminal, and the first type of coding information currently used by the laser radar on the vehicle;

[0074] The server may store the relevant information of each vehicle within its jurisdiction in the form of a table, for example, storing the vehicle-mounted terminal number and the first type of coding information of the vehicle where the vehicle-mounted terminal is located in correspondence.

[0075] It is understandable that the vehicle-mounted terminal number may be a login name when the vehicle-mounted terminal logs into the server, or may be other identifiers that can be used to distinguish different vehicle-mounted terminals.

[0076] S203, the server assigns first-type coding information to each vehicle, and the code value of the first-type coding information assigned to each vehicle is different;

[0077] In the subsequent steps, the laser radar of each vehicle will adjust the relevant parameters of the laser radar based on the first type of coding information assigned by the server to its on-board terminal. As mentioned above, the specific parameters may be laser light emission timing, power, frequency corresponding to the wavelength of the light wave, and other parameters.

[0078] Since the code values ​​of the first type of coding information assigned to each vehicle in the jurisdiction are different, that is, the laser beams emitted by the laser radars on each vehicle in the jurisdiction adopt different parameters, the laser radars on each vehicle can distinguish the echo signals from the signals of other laser radars, thereby avoiding mutual crosstalk between the laser radars.

[0079] The server assigns the first type of coding information to each vehicle when a new vehicle enters the jurisdiction of the server, the server receives the first type of coding information sent by the vehicle-mounted terminal of the new vehicle, and the first type of coding information conflicts with the first type of coding information of other vehicle-mounted terminals within the jurisdiction of the server.

[0080] The conflict may be that the first-class coding information of two or more vehicle-mounted terminals is the same, or is not completely the same, but the difference is too small (for example, the difference does not reach a predetermined threshold, which is not enough for the laser radar to effectively distinguish the echo signal from the signals of other laser radars).

[0081] The first type of coded information is allocated so as to prevent crosstalk between the laser radars on the vehicles within the jurisdiction of the server.

[0082] The above allocation is carried out in real time. After a vehicle leaves the jurisdiction area, the first type of coding information originally allocated to the vehicle can be reallocated to other vehicles.

[0083] It can be seen from the above description of the technical solution that in this embodiment, there are multiple servers, each server has its own jurisdiction, and the server assigns the first type of coding information to each vehicle in its jurisdiction. The code value of the first type of coding information assigned to each vehicle in the jurisdiction of the same server is different, thereby reducing the total number of codes required for the implementation of the solution, which is conducive to reducing power consumption, saving costs, and increasing the measurement frequency. Furthermore, after a vehicle leaves the jurisdiction, the first type of coding information originally assigned to the vehicle can be reallocated to other vehicles, thereby further reducing the total number of codes required for the implementation of the solution.

[0084] S204, the server sends the first type of coding information allocated to each vehicle to the vehicle-mounted terminal on the corresponding vehicle;

[0085] In the case of multiple servers, the server will send the first type of coding information allocated to each vehicle within its jurisdiction to the vehicle-mounted terminal on the corresponding vehicle.

[0086] The timing when the server sends the first type of coding information assigned to each vehicle to the on-board terminal on the corresponding vehicle can be that when the first type of coding information assigned to the vehicle by the server is different from the first type of coding information currently used by the laser radar on the vehicle previously sent by the on-board terminal, the server sends the first type of coding information assigned to the vehicle to the on-board terminal on the vehicle.

[0087] S205, the vehicle-mounted terminal receives the first type of coding information assigned by the server to the vehicle;

[0088] S206, the vehicle-mounted end feeds back the first type of coding information assigned by the server to the vehicle to which it is connected to to the laser radar of the vehicle, and adjusts the relevant parameters of the laser radar based on the first type of coding information.

[0089] After receiving the first type of coding information assigned by the server to its vehicle, the vehicle-mounted terminal feeds back the first type of coding information assigned by the server to its vehicle to the laser radar of its vehicle, and adjusts the relevant parameters of the laser radar based on the first type of coding information.

[0090] Specifically, each parameter involved in the first type of coding information may be adjusted, or only the changed parameters may be adjusted, which is not limited in the present application.

[0091] It can be seen from the above description of the technical solution that: in this embodiment, the vehicle-mounted end sends the current position of its vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server. The server assigns the first type of coding information to each vehicle respectively. The code value of the first type of coding information assigned to each vehicle is different. The vehicle-mounted end feeds back the first type of coding information assigned by the server to the laser radar of its vehicle, and adjusts the relevant parameters of the laser radar based on the first type of coding information, so that the parameters used by the laser radar on each vehicle are different, thereby avoiding crosstalk and facilitating the laser radar on each vehicle to distinguish the echo signal from the signals of other laser radars.

[0092] Embodiment 3

[0093] As described below, an embodiment of the present invention provides a device for controlling unmanned driving of a vehicle.

[0094] Reference Figure 3 The structural block diagram of the device for controlling unmanned driving of a vehicle is shown.

[0095] The device for controlling the unmanned driving of a vehicle comprises: a sending unit 301, a receiving unit 302 and a regulating unit 303; the main functions of each unit are as follows:

[0096] The sending unit 301 is adapted to send the current position of the vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server;

[0097] The receiving unit 302 is adapted to receive the allocated first type of coded information;

[0098] The adjustment unit 303 is suitable for adjusting relevant parameters of the laser radar based on the first type of coding information; wherein the allocated first type of coding information is allocated to each vehicle by the server, and the code value of the first type of coding information allocated to each vehicle is different.

[0099] It can be seen from the above description of the technical solution that: in this embodiment, the vehicle-mounted end sends the current position of its vehicle and the first type of coding information currently used by the laser radar on the vehicle to the server. The server assigns the first type of coding information to each vehicle respectively. The code value of the first type of coding information assigned to each vehicle is different. The vehicle-mounted end feeds back the first type of coding information assigned by the server to the laser radar of its vehicle, and adjusts the relevant parameters of the laser radar based on the first type of coding information, so that the parameters used by the laser radar on each vehicle are different, thereby avoiding crosstalk and facilitating the laser radar on each vehicle to distinguish the echo signal from the signals of other laser radars.

[0100] In a specific implementation, the vehicle-mounted terminal can determine the current location of its vehicle through GPS.

[0101] In a specific implementation, the first type of coded information can be determined based on one or more of the laser emission timing, power, and frequency corresponding to the light wave wavelength; adjusting the relevant parameters of the laser radar based on the first type of coded information may include: adjusting one or more of the laser emission timing, power, and frequency corresponding to the light wave wavelength of the laser radar based on the first type of coded information.

[0102] In a specific implementation, information can be transmitted between the server and the vehicle-mounted terminal through a low-latency network.

[0103] In a specific implementation, there may be one or more servers, each having its own jurisdiction; the server assigning first-class coding information to each vehicle may include: the server assigns first-class coding information to each vehicle within its jurisdiction; the first-class coding information assigned to each vehicle has different code values, which may specifically be: the vehicles within the jurisdiction of the same server have different code values ​​assigned to the first-class coding information; the server sending the first-class coding information assigned to each vehicle to the on-board terminal on the corresponding vehicle may include: the server sends the first-class coding information assigned to each vehicle within its jurisdiction to the on-board terminal on the corresponding vehicle.

[0104] The above allocation is carried out in real time. After a vehicle leaves the jurisdiction area, the first type of coding information originally allocated to the vehicle can be reallocated to other vehicles.

[0105] It can be seen from the above description of the technical solution that in this embodiment, there are multiple servers, each server has its own jurisdiction, and the server assigns the first type of coding information to each vehicle in its jurisdiction. The code value of the first type of coding information assigned to each vehicle in the jurisdiction of the same server is different, thereby reducing the total number of codes required for the implementation of the solution, which is conducive to reducing power consumption, saving costs, and increasing the measurement frequency. Furthermore, after a vehicle leaves the jurisdiction, the first type of coding information originally assigned to the vehicle can be reallocated to other vehicles, thereby further reducing the total number of codes required for the implementation of the solution.

[0106] In a specific implementation, the server sending the first-class coding information assigned to each vehicle to the on-board terminal on the corresponding vehicle may include: when the first-class coding information assigned to the vehicle by the server is different from the first-class coding information currently used by the laser radar on the vehicle previously sent by the on-board terminal, the server sends the first-class coding information assigned to the vehicle to the on-board terminal on the vehicle.

[0107] In a specific implementation, the vehicle-mounted terminal sends the current position of its vehicle and the first type of coding information currently used by the laser radar on its vehicle to the server, which may include: the vehicle-mounted terminal sends the current position of its vehicle and the first type of coding information currently used by the laser radar on its vehicle to the server according to a predetermined time rule.

[0108] In a specific implementation, the server may store the vehicle-mounted terminal number of each vehicle within its jurisdiction and the first type of coding information allocated to the vehicle in the form of a table.

[0109] In a specific implementation, there may be a server and a vehicle-mounted terminal, each of which is respectively arranged on each vehicle. The vehicle is also provided with a laser radar, and the vehicle realizes unmanned driving of the vehicle with the help of the laser radar.

[0110] Embodiment 4

[0111] As described below, an embodiment of the present invention provides a system for controlling unmanned driving of a vehicle.

[0112] The system for controlling unmanned driving of vehicles includes: one or more servers, and one or more vehicle-mounted terminals, each of which is respectively arranged on each vehicle. The vehicle is also provided with a laser radar, and the vehicle realizes unmanned driving of the vehicle with the help of the laser radar.

[0113] The difference from the prior art is that the system for controlling the unmanned driving of vehicles also includes the device for controlling the unmanned driving of vehicles as provided in the embodiment of the present invention. Therefore, the system for controlling the unmanned driving of vehicles can make the parameters used by the laser radar on each vehicle different in the scenario where a large number of unmanned vehicles are driving on a road section not far from each other, thereby avoiding crosstalk, making it easier for the laser radar on each vehicle to distinguish the echo signal from the signals of other laser radars, and reducing the total number of codes required for the implementation of the solution, which is conducive to reducing power consumption, saving costs, and increasing the measurement frequency.

[0114] Embodiment 5

[0115] Reference Figure 4 The flow chart of the method for controlling the unmanned driving of a vehicle by a server is shown as follows:

[0116] S401, the server receives the current position of each vehicle sent by each vehicle-mounted terminal, and the first type of coding information currently used by the laser radar on the vehicle;

[0117] S402, the server assigns first-type coding information to each vehicle, and the code value of the first-type coding information assigned to each vehicle is different;

[0118] S403, the server sends the first type of coding information allocated to each vehicle to the vehicle-mounted terminal on the corresponding vehicle.

[0119] The solution of this embodiment can make the parameters used by the laser radar on each vehicle different in a scenario where a large number of driverless cars are traveling on a road section not far apart, thereby avoiding crosstalk and making it easier for the laser radar on each vehicle to distinguish the echo signal from the signals of other laser radars.

[0120] A person skilled in the art can understand that, in the various methods of the above embodiments, all or part of the steps can be completed by hardware related to program instructions, and the program can be stored in a computer-readable storage medium, which may include: ROM, RAM, disk or CD, etc.

[0121] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A method for controlling an unmanned vehicle, characterized in that: include: Sending the first type of coding information currently used by the laser radar on the first vehicle to the server; When the first type of coding information currently used by the laser radar on the first vehicle conflicts with the first type of coding information on the laser radar on the second vehicle within the jurisdiction of the server, receiving the first type of coding information assigned by the server as the first type of coding information acquired by the first vehicle; Based on the acquired first type of coded information, relevant parameters of the laser radar on the first vehicle are adjusted.

2. The method for controlling an unmanned vehicle as claimed in claim 1, characterized in that: include: The current position of the first vehicle is sent to the server.

3. The method for controlling an unmanned vehicle as claimed in claim 2, characterized in that: include: According to a predetermined time rule, the current position of the first vehicle and the first type of coding information currently used by the laser radar on the first vehicle are sent to the server.

4. The method for controlling an unmanned vehicle as claimed in claim 2, characterized in that: include: The vehicle's current location information and the first-class coding information currently used by the vehicle's lidar are sent to the server through a low-latency network.

5. The method for controlling an unmanned vehicle as claimed in claim 2, characterized in that: Also includes: Determine the current location of the vehicle through GPS.

6. The method for controlling an unmanned vehicle as claimed in claim 1, characterized in that: include: After the first vehicle leaves the jurisdiction of the server, the server may distribute the acquired first-type coding information to other vehicles.

7. The method for controlling an unmanned vehicle as claimed in claim 1, characterized in that: The adjusting of relevant parameters of the laser radar on the first vehicle based on the acquired first type of coded information includes: adjusting one or more of the laser light emission timing, power, and frequency corresponding to the wavelength of the laser radar based on the first type of coded information.

8. The method for controlling an unmanned vehicle as claimed in claim 1, characterized in that: The first type of coded information obtained is different from the first type of coded information obtained last time.

9. A device for controlling an unmanned vehicle, characterized in that: include: A sending unit, adapted to send the first type of coding information currently used by the laser radar on the first vehicle to the server; a receiving unit adapted to receive the first type of coding information assigned by the server as the first type of coding information acquired by the first vehicle when the first type of coding information currently used by the laser radar on the first vehicle conflicts with the first type of coding information on the laser radar on the second vehicle within the jurisdiction of the server; An adjustment unit is adapted to adjust relevant parameters of the laser radar on the first vehicle based on the acquired first type of coded information.

10. The device for controlling an unmanned vehicle as claimed in claim 9, characterized in that: The sending unit is suitable for sending the current position of the first vehicle to the server.

11. A vehicle-mounted terminal, characterized in that: The invention comprises the device for controlling unmanned driving of a vehicle as claimed in claim 9 or 10.

12. A vehicle, characterized in that: include: A laser radar and the vehicle-mounted terminal as described in claim 11.

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