Autonomous driving vehicle identification method, device, equipment and readable storage medium

Abstract

The present application relates to a method, apparatus, device, and readable storage medium for identifying autonomous vehicles, and relates to the field of autonomous vehicle technology. The method comprises obtaining radar signals sent by other vehicles; detecting whether a fusion signal exists in the radar signal, wherein the fusion signal includes an amplitude modulation signal and a frequency modulation signal; and determining that the other vehicle is an autonomous vehicle if a fusion signal exists in the radar signal. The present application adds an amplitude modulation signal to the radar of each autonomous vehicle, so that a unique fusion signal containing an amplitude modulation signal and a frequency modulation signal exists in the radar signal of the autonomous vehicle, and effectively identifies the autonomous vehicle through the unique fusion signal.

Description

Technical Field

[0001] The present application relates to the field of vehicle autonomous driving technology, and in particular to an autonomous driving vehicle identification method, device, equipment and readable storage medium. Background Art

[0002] In recent years, with the continuous improvement of my country's economic living standards, the development speed of automobiles, as the most economical means of transportation in today's society, has also increased significantly; especially in today's rapid development of science and technology, various new automatic control technologies, sensing technologies and power technologies have gradually been applied to the automotive industry. That is, with the rapid development of science and technology such as intelligent transportation, the Internet of Things and artificial intelligence, autonomous driving technology has developed rapidly, and as people's requirements for transportation are getting higher and higher, autonomous driving vehicles will gradually become a tool for travel and logistics, so there will be more and more autonomous driving vehicles on the road.

[0003] There are significant differences between autonomous vehicles and non-autonomous vehicles in terms of lateral and longitudinal control. For example, an autonomous vehicle will not change lanes if it detects a vehicle behind it; it will maintain a certain headway between itself and the vehicle ahead, avoiding close following; and when braking is necessary, the typical process involves issuing a warning, intermittent braking, and then applying full braking.

[0004] Therefore, if the autonomous driving vehicles and non-autonomous driving vehicles are not identified, it is easy for the autonomous driving vehicle to blindly follow the vehicle in front. For example, the vehicle in front is a non-autonomous driving vehicle, and this vehicle is an autonomous driving vehicle and it does not know and cannot know that the vehicle in front is a non-autonomous driving vehicle. Therefore, when the speed of the vehicle in front is lower than that of this vehicle, this vehicle will decide to follow the vehicle, so that if the speed of the vehicle in front fluctuates, then this vehicle will also speed up and slow down according to its speed, which will bring an uncomfortable experience to the driver and passengers. Summary of the Invention

[0005] The present application provides a method, apparatus, device and readable storage medium for identifying an autonomous driving vehicle to solve the problem that related technologies cannot effectively identify autonomous driving vehicles.

[0006] In a first aspect, a method for identifying an autonomous driving vehicle is provided, comprising the following steps:

[0007] Acquire radar signals sent by other vehicles;

[0008] detecting whether there is a fusion signal in the radar signal, where the fusion signal includes an amplitude modulation signal and a frequency modulation signal;

[0009] If a fusion signal exists in the radar signal, it is determined that the other vehicle is an autonomous driving vehicle.

[0010] In some embodiments, when the other vehicle is an autonomous driving vehicle, before the step of acquiring the radar signal sent by the other vehicle, the method further includes:

[0011] When the other vehicles input the FM signal into the fusion module of the other vehicles, they also input the AM signal into the fusion module, so that the fusion module fuses the FM signal and the AM signal to obtain a fusion signal.

[0012] In some embodiments, when the other vehicle is located in front of the host vehicle, after determining that the other vehicle is an autonomous driving vehicle, the method further includes:

[0013] The vehicle is controlled to travel at the speed of the other vehicle, or the speed of the vehicle is increased to shorten the distance between the vehicle and the other vehicle.

[0014] In some embodiments, after the step of detecting whether a fusion signal exists in the radar signal, the method further includes:

[0015] If there is no fusion signal in the radar signal, it is determined that the other vehicle is a non-autonomous driving vehicle.

[0016] In some embodiments, when the other vehicle is located in front of the host vehicle, after determining that the other vehicle is a non-autonomous driving vehicle, the method further includes:

[0017] Control the vehicle to change lanes and exceed the speed limit, or control the vehicle to travel at a fixed speed.

[0018] In some embodiments, after the step of determining that the other vehicle is an autonomous driving vehicle, the method further includes:

[0019] Obtaining the phase difference when each antenna on a radar of the vehicle receives the radar signal sent by the other vehicle;

[0020] Calculating the azimuth angle of the other vehicle according to the phase difference;

[0021] The information of the other vehicle is found out from the surrounding target information obtained by analyzing the own echo signal of the vehicle according to the azimuth angle.

[0022] In a second aspect, an autonomous driving vehicle identification device is provided, comprising:

[0023] an acquisition unit, configured to acquire radar signals sent by other vehicles;

[0024] An identification unit is used to detect whether a fusion signal exists in the radar signal, where the fusion signal includes an amplitude modulation signal and a frequency modulation signal; if a fusion signal exists in the radar signal, it is determined that the other vehicle is an autonomous driving vehicle.

[0025] In some embodiments, the apparatus further comprises a control unit, and when the other vehicle is an autonomous driving vehicle, the control unit is configured to:

[0026] When the other vehicles input the FM signal into the fusion module of the other vehicles, they also input the AM signal into the fusion module, so that the fusion module fuses the FM signal and the AM signal to obtain a fusion signal.

[0027] In a third aspect, an autonomous driving vehicle identification device is provided, comprising: a memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the aforementioned autonomous driving vehicle identification method.

[0028] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the aforementioned autonomous driving vehicle identification method is implemented.

[0029] The beneficial effects brought about by the technical solution provided by this application include: effective identification of autonomous driving vehicles.

[0030] The present application provides a method, apparatus, device, and readable storage medium for identifying autonomous vehicles, including obtaining radar signals transmitted by other vehicles; detecting whether a fusion signal exists in the radar signal, wherein the fusion signal includes an amplitude modulation signal and a frequency modulation signal; and determining that the other vehicle is an autonomous vehicle if a fusion signal exists in the radar signal. The present application adds an amplitude modulation signal to the radar of each autonomous vehicle, so that a unique fusion signal containing an amplitude modulation signal and a frequency modulation signal exists in the radar signal of the autonomous vehicle, and the autonomous vehicle is effectively identified through the unique fusion signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 A flowchart of a method for identifying an autonomous driving vehicle provided in an embodiment of the present application;

[0033] Figure 2 It is a schematic diagram of the working mode of the radar in the prior art;

[0034] Figure 3A schematic diagram of the operating mode of the radar provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of a frequency modulation signal waveform provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of the amplitude modulation signal waveform provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of the fusion signal waveform provided in an embodiment of the present application;

[0038] Figure 7 A schematic diagram of an overtaking scenario provided in an embodiment of the present application;

[0039] Figure 8 A schematic diagram of a vehicle following scenario provided in an embodiment of the present application;

[0040] Figure 9 A schematic diagram of the structure of an autonomous driving vehicle identification device provided in an embodiment of the present application;

[0041] Figure 10 A schematic diagram of the structure of an autonomous driving vehicle identification device provided in an embodiment of the present application.

[0042] In the figure: 1-digital-to-analog converter, 2-voltage-controlled oscillator, 3-vibrator, 4-signal splitting module, 5-amplifier, 6-transmitting antenna, 7-receiving antenna, 8-mixer, 9-low-pass filter, 10-analog-to-digital converter, 11-switch module, 111-on / off key, 12-fusion module. DETAILED DESCRIPTION

[0043] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] The embodiments of the present application provide a method, apparatus, device, and readable storage medium for identifying an autonomous driving vehicle, which can solve the problem that related technologies cannot effectively identify autonomous driving vehicles.

[0045] Figure 1 An embodiment of the present application provides a method for identifying an autonomous driving vehicle, comprising the following steps:

[0046] Step S10: Acquire radar signals sent by other vehicles;

[0047] Step S20: Detecting whether there is a fusion signal in the radar signal, where the fusion signal includes an amplitude modulation signal and a frequency modulation signal;

[0048] Step S30: If there is a fusion signal in the radar signal, it is determined that the other vehicle is an autonomous driving vehicle.

[0049] It should be noted that the autonomous driving vehicle referred to in the embodiments of the present application is a vehicle that has autonomous driving capabilities and is in an autonomous driving state, while the non-autonomous driving vehicle may be a vehicle that has autonomous driving capabilities but is not in an autonomous driving state, or a vehicle that does not have autonomous driving capabilities.

[0050] This application adds an amplitude modulation signal to the radar of each autonomous driving vehicle so that a unique fusion signal containing an amplitude modulation signal and a frequency modulation signal exists in the radar signal of the autonomous driving vehicle, and the autonomous driving vehicle can be effectively identified through the unique fusion signal.

[0051] Furthermore, in an embodiment of the present application, when the other vehicle is an autonomous driving vehicle, before the step of acquiring the radar signal sent by the other vehicle, the following steps are further included:

[0052] When the other vehicles input the FM signal into the fusion module of the other vehicles, they also input the AM signal into the fusion module, so that the fusion module fuses the FM signal and the AM signal to obtain a fusion signal.

[0053] Furthermore, in the embodiment of the present application, when the other vehicle is located in front of the vehicle, after the step of determining that the other vehicle is an autonomous driving vehicle, the following steps are further included:

[0054] The vehicle is controlled to travel at the speed of the other vehicle, or the speed of the vehicle is increased to shorten the distance between the vehicle and the other vehicle.

[0055] Furthermore, in an embodiment of the present application, after the step of detecting whether a fusion signal exists in the radar signal, the following steps are further included:

[0056] If there is no fusion signal in the radar signal, it is determined that the other vehicle is a non-autonomous driving vehicle.

[0057] Furthermore, in the embodiment of the present application, when the other vehicle is located in front of the vehicle, after the step of determining that the other vehicle is a non-autonomous driving vehicle, the following steps are further included:

[0058] Control the vehicle to change lanes and exceed the speed limit, or control the vehicle to travel at a fixed speed.

[0059] Furthermore, in the embodiment of the present application, after the step of determining that the other vehicle is an autonomous driving vehicle, the following steps are further included:

[0060] Obtaining the phase difference when each antenna on a radar of the vehicle receives the radar signal sent by the other vehicle;

[0061] Calculating the azimuth angle of the other vehicle according to the phase difference;

[0062] The information of the other vehicle is found out from the surrounding target information obtained by analyzing the own echo signal of the vehicle according to the azimuth angle.

[0063] The working principle of the embodiment of the present application will be further explained and illustrated below in conjunction with relevant drawings.

[0064] V2X (Vehicle to X, the connection between vehicles and everything) is a key technology for future intelligent transportation systems. It enables communication between vehicles, vehicles and base stations, and base stations, thereby obtaining a series of traffic information such as real-time road conditions, road information, pedestrian information, etc., thereby improving driving safety, reducing congestion, improving traffic efficiency, and providing in-vehicle entertainment information. Therefore, in related technologies, information exchange between different vehicles is usually carried out through V2X, that is, by equipping the vehicle with a communication terminal, it can not only communicate and interact with surrounding vehicles, but also communicate and interact with traffic infrastructure, and can also greatly enhance the communication distance through the cellular network. For example, when a vehicle is judging whether to overtake, it first determines whether the driving trajectory of the target vehicle in front is at risk of collision with the vehicle (that is, the relative position of the two vehicles) based on the V2X message. If a collision risk is detected, the vehicle will give up overtaking.

[0065] However, the inventors discovered that while V2X technology enables information exchange between different vehicles, it cannot identify whether the interacting vehicle is an autonomous vehicle. Furthermore, information exchange requires that the V2X systems on each vehicle be of the same brand and model; otherwise, communication will be impossible, resulting in poor compatibility. Furthermore, adding V2X also incurs additional costs. Furthermore, determining the relative position of two vehicles using V2X technology requires that both interacting vehicles have high-precision positioning systems, or require detection via directional antennas or roadside equipment, which is costly. Therefore, V2X technology is not suitable for identifying autonomous vehicles.

[0066] In addition, current autonomous vehicles are generally equipped with five millimeter-wave radars, namely one millimeter-wave radar installed at each of the four corners and the front of the vehicle. The millimeter-wave radars on the four corners provide 360-degree coverage around the vehicle, while the millimeter-wave radar in the front (front radar) can detect at a longer distance. However, since these millimeter-wave radars are generally FMCW (Frequency Modulated Continuous Wave), they are generally designed to avoid interference from other radars. In other words, the vehicle will not receive millimeter-wave radars transmitted by other vehicles. Specific methods for avoiding interference include coding and frequency modulation.

[0067] See also Figure 2 As shown, the working mode of the radar in the prior art is as follows:

[0068] The digital-to-analog converter 1 converts the input digital control signal into a voltage analog signal, and inputs the voltage analog signal into the voltage-controlled oscillator 2 and the source 3 respectively; the voltage-controlled oscillator 2 generates signals of different frequencies according to the size of the input voltage, and the source 3 cooperates with the voltage-controlled oscillator 2 to generate a high-frequency electrical signal, and outputs a frequency-modulated signal to the signal splitting module 4; the signal splitting module 4 splits one input signal into two FM signals for output, one FM signal is input to the amplifier 5, and the other FM signal is input to the mixer 8; the amplifier 5 amplifies the FM signal and sends it to the transmitting antenna 6 for output, wherein the amplifier 5 in the figure can use different amplification factors according to actual needs; the transmitting antenna 6, the telecommunications The signal is converted into electromagnetic waves (millimeter waves) and sent into space for target detection; the receiving antenna 7 receives the electromagnetic waves (millimeter waves) in space and converts them into electrical signals for processing, and inputs the antenna signal into the mixer 8; the mixer 8 mixes the antenna signal (high frequency) and the frequency modulation signal (high frequency) to generate a frequency difference signal (low frequency) for easy signal processing; since the two high-frequency signals are mixed, there may be residual high-frequency signals in the signals, and the frequency difference signal is filtered by the low-pass filter 9 to filter out the residual high-frequency signals, and the processed frequency difference signal is input into the analog-to-digital converter 10 after passing through the amplifier 5; the analog-to-digital converter 10 converts the analog signal into a digital signal for easy subsequent program processing.

[0069] In order to realize the recognition of autonomous driving vehicles in the embodiment of the present application, the working mode of the radar is improved. Figure 3As shown, the radar in the embodiment of the present application also includes a switch module 11 and a fusion module 12, wherein the function of the switch module 11 is to determine whether the amplitude modulated signal is input into the fusion module 12; the function of the fusion module 12 is to fuse the frequency modulated signal and the amplitude modulated signal to obtain a fusion signal, that is, when the vehicle is an autonomous driving vehicle, the switch module 11 closes the switch key 111 to input the amplitude modulated signal a into the fusion module 12, and when the vehicle is a non-autonomous driving vehicle, the switch module 11 opens the switch key 111 to prevent the amplitude modulated signal a from being input into the fusion module 12.

[0070] Specifically: the digital-to-analog converter 1 converts the input digital control signal into a voltage analog signal, and inputs the voltage analog signal into the voltage-controlled oscillator 2 and the source 3 respectively; the voltage-controlled oscillator 2 generates signals of different frequencies according to the size of the input voltage, and the source 3 cooperates with the voltage-controlled oscillator 2 to generate a high-frequency electrical signal, and outputs a frequency-modulated signal to the signal splitting module 4; the signal splitting module 4 splits one input signal into two frequency-modulated signals for output, one frequency-modulated signal is input to the fusion module 12, and the other frequency-modulated signal is input to the mixer 8; therefore, if the vehicle is an autonomous vehicle, the amplitude-modulated signal will enter the fusion module 12 through the switch module 11, and the fusion module 12 will process the frequency-modulated signal (see Figure 4 shown) and amplitude modulated signals (see Figure 5 As shown) are fused to obtain the fusion signal (see Figure 6 As shown), the fused signal is transmitted to the amplifier 5; the fused signal then passes through the transmitting antenna 6, the receiving antenna 7, the mixer 8, the low-pass filter 9, the amplifier 5 and the analog-to-digital converter 10 in sequence, and is then sent to other vehicles, thereby informing other vehicles that the vehicle is an autonomous driving vehicle.

[0071] If the vehicle is not an autonomous driving vehicle, the switch module 11 will control the amplitude modulation signal not to be input into the fusion module 12, so the fusion module 12 directly transmits the frequency modulation signal to the amplifier 5; then the frequency modulation signal will also pass through the transmitting antenna 6, the receiving antenna 7, the mixer 8, the low-pass filter 9, the amplifier 5 and the analog-to-digital converter 10 in sequence before being sent to other vehicles.

[0072] Therefore, when the radar signal received by this vehicle from another vehicle contains a fusion signal, it means that the other vehicle is an autonomous driving vehicle. If the radar signal only contains a frequency modulation signal, it means that the other vehicle is a non-autonomous driving vehicle.

[0073] See also Figure 7As shown, assuming that both vehicle A and vehicle B are autonomous vehicles, the radars in the embodiment of the present application are installed on autonomous vehicle A and autonomous vehicle B respectively (the black rectangle in the figure is the radar); when the radar on autonomous vehicle A receives information sent by the radar on autonomous vehicle B, although autonomous vehicle A cannot learn its distance from autonomous vehicle B based on the signal sent by the radar on autonomous vehicle B, because the radar in the embodiment of the present application is different from the transmission and reception in the prior art, the azimuth of autonomous vehicle B can be calculated based on the phase difference of the information sent by the radar of autonomous vehicle B received by each antenna of a certain radar on autonomous vehicle A, and the target is searched for in the surrounding target information parsed from the echo signal of autonomous vehicle A itself based on this azimuth. When a target with the same azimuth (a certain deviation is allowed) is found, it can be known that this target is autonomous vehicle B.

[0074] Based on this, the embodiment of the present application uses two functional scenarios, overtaking and following, to illustrate the driving decision of the vehicle after the autonomous driving vehicle is identified.

[0075] Take overtaking as an example: see Figure 7 As shown, assuming that the current traffic conditions allow vehicle A (this vehicle) to overtake vehicle B (the other vehicle), where both vehicle A and vehicle B are self-driving vehicles but are not equipped with the radar in the embodiment of the present application, and vehicle A does not know that vehicle B is a self-driving vehicle, then according to the existing technology, vehicle A will not be able to determine whether vehicle B is in an autonomous driving state. At this time, the motion trajectory of vehicle B will be calculated. When vehicle A finds that the motion trajectory of vehicle B may collide with its own trajectory, it will cancel the overtaking action. It can be seen that since the current millimeter-wave radar is not accurate enough in measuring the lateral velocity and acceleration of the target, it is easy to cause misjudgment, which leads to the scene where overtaking is possible being stopped.

[0076] If both vehicle A and vehicle B are equipped with the radar in the embodiment of the present application, then vehicle A can detect the fusion signal from the radar signal emitted by vehicle B. At this time, vehicle A can clearly know that vehicle B is in the automatic driving state; and according to the automatic driving condition of "when there is an approaching target from the side and rear, the automatic driving vehicle is not allowed to change lanes" (this automatic driving condition is the default function design of the current automatic driving), vehicle A can determine that vehicle B will not change lanes to the left at this time, and therefore can overtake with confidence, thereby avoiding the failure of overtaking due to radar false alarms.

[0077] Take following a car as an example: Figure 8As shown, vehicle C is in autonomous driving mode. If vehicle C cannot determine whether vehicle E is in autonomous driving mode, and if vehicle E's speed is lower than vehicle C's cruising speed (e.g., 80 km / h), vehicle C will follow vehicle E's speed. That is, if vehicle E accelerates and decelerates, vehicle C will also accelerate or decelerate, causing discomfort to the driver and passengers. However, if both vehicle C and vehicle E are equipped with radars according to the embodiments of the present application, vehicle C can determine that vehicle E is in autonomous driving mode based on the fusion signal in the radar signal emitted by vehicle E. Since vehicle E is an autonomous vehicle, it cruises at a fixed speed (e.g., 80 km / h), and vehicle C can then follow vehicle E. If vehicle C does not detect the fusion signal in the radar signal emitted by vehicle E, it will determine that vehicle E is not in autonomous driving mode. In this case, vehicle C can adjust its driving strategy, such as changing lanes to overtake or adjusting its following speed, to avoid discomfort to the driver and passengers due to the speed changes of the preceding vehicle.

[0078] Similarly, see Figure 8 As shown, vehicle C is in autonomous driving mode. If vehicle C cannot know whether vehicle E is in autonomous driving mode, due to the risk of sudden braking of the preceding vehicle, vehicle C will maintain a large time distance between vehicle E and vehicle C. Assuming the speed is set to a constant value, this is equivalent to a large distance between the two vehicles. However, if both vehicle C and vehicle E are equipped with the radar in the embodiment of the present application, vehicle C can know that vehicle E is in autonomous driving mode based on the fusion signal in the radar signal emitted by vehicle E. Under the same conditions, the following distance d can be reduced. Because if vehicle E encounters an emergency and needs to brake quickly, it can transmit this information to vehicle C via radar. Vehicle C will also brake quickly after receiving the information. At this time, the following distance (time distance) can be adjusted to a very small distance while ensuring safety. There are two advantages to reducing the following distance: one is that it takes up less space to avoid traffic jams, and the other is to prevent other vehicles from cutting in.

[0079] It can be seen that the embodiment of the present application only needs to make modifications to the internal part of the radar to solve the problem that existing vehicles cannot identify whether surrounding targets are autonomous driving vehicles. It is not only low-cost and has no impact on the vehicle's appearance, but also makes functions such as following and overtaking safer and more comfortable.

[0080] See also Figure 9 As shown, the embodiment of the present application also provides an autonomous driving vehicle identification device, including:

[0081] an acquisition unit, configured to acquire radar signals sent by other vehicles;

[0082] An identification unit is used to detect whether a fusion signal exists in the radar signal, where the fusion signal includes an amplitude modulation signal and a frequency modulation signal; if a fusion signal exists in the radar signal, it is determined that the other vehicle is an autonomous driving vehicle.

[0083] This application adds an amplitude modulation signal to the radar of each autonomous driving vehicle so that a unique fusion signal containing an amplitude modulation signal and a frequency modulation signal exists in the radar signal of the autonomous driving vehicle, and the autonomous driving vehicle can be effectively identified through the unique fusion signal.

[0084] Furthermore, in an embodiment of the present application, the device also includes a control unit. When the other vehicle is an autonomous driving vehicle, the control unit is used to: when the other vehicle inputs the frequency modulation signal into the fusion module of the other vehicle, it also inputs the amplitude modulation signal into the fusion module, so that the fusion module can fuse the frequency modulation signal and the amplitude modulation signal to obtain a fusion signal.

[0085] Furthermore, in an embodiment of the present application, when the other vehicle is located in front of this vehicle, the control unit is also used to: control this vehicle to travel at the speed of the other vehicle, or increase the speed of this vehicle to shorten the distance between this vehicle and the other vehicle.

[0086] Furthermore, in an embodiment of the present application, the identification unit is also used to: if there is no fusion signal in the radar signal, determine that the other vehicle is a non-autonomous driving vehicle.

[0087] Furthermore, in an embodiment of the present application, when the other vehicle is located in front of the vehicle, the control unit is further used to: control the vehicle to change lanes and overspeed, or control the vehicle to travel at a fixed speed.

[0088] Furthermore, in an embodiment of the present application, the control unit is also used to: obtain the phase difference when each antenna on a radar of the vehicle receives the radar signal sent by the other vehicle; calculate the azimuth of the other vehicle based on the phase difference; and find the information of the other vehicle from the surrounding target information obtained by the vehicle based on its own echo signal analysis based on the azimuth.

[0089] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned embodiment of the autonomous driving vehicle identification method, and will not be repeated here.

[0090] The autonomous driving vehicle identification device provided in the above embodiment can be implemented in the form of a computer program. The computer program can be used in Figure 10 The autonomous vehicle identification device shown is running on the device.

[0091] An embodiment of the present application also provides an autonomous driving vehicle identification device, comprising: a memory, a processor, and a network interface connected via a system bus, wherein at least one instruction is stored in the memory, and at least one instruction is loaded and executed by the processor to implement all or part of the steps of the aforementioned autonomous driving vehicle identification method.

[0092] Among them, the network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0093] The processor may be a CPU, or other general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor, or any conventional processor. The processor is the control center of a computer device, connecting various parts of the entire computer device using various interfaces and lines.

[0094] The memory can be used to store computer programs and / or modules. The processor implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store an operating system, at least one application required for a function (such as a video playback function, an image playback function, etc.), etc.; the data storage area can store data created based on the use of the mobile phone (such as video data, image data, etc.). In addition, the memory can include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0095] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the steps of the aforementioned autonomous driving vehicle identification method are implemented.

[0096] The embodiments of the present application implement all or part of the aforementioned processes, and may also be completed by instructing related hardware through a computer program. The computer program may be stored in a computer-readable storage medium, and the computer program, when executed by a processor, may implement the steps of each of the above methods. Among them, the computer program includes computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0097] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, servers, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage) containing computer-usable program code.

[0098] 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.

[0099] The serial numbers in the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0100] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0101] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A method for identifying an autonomous driving vehicle, characterized in that: The following steps are involved: Acquire radar signals sent by other vehicles; detecting whether there is a fusion signal in the radar signal, where the fusion signal includes an amplitude modulation signal and a frequency modulation signal; If a fusion signal exists in the radar signal, determining that the other vehicle is an autonomous driving vehicle; Wherein, when the other vehicle is an autonomous driving vehicle, before the step of obtaining the radar signal sent by the other vehicle, the method further includes: When the other vehicles input the FM signal into the fusion module of the other vehicles, they also input the AM signal into the fusion module, so that the fusion module fuses the FM signal and the AM signal to obtain a fusion signal.

2. The method for identifying an autonomous driving vehicle according to claim 1, wherein: When the other vehicle is located in front of the vehicle, after determining that the other vehicle is an autonomous driving vehicle, the method further includes: The vehicle is controlled to travel at the speed of the other vehicle, or the speed of the vehicle is increased to shorten the distance between the vehicle and the other vehicle.

3. The method for identifying an autonomous driving vehicle according to claim 1, wherein: After the step of detecting whether a fusion signal exists in the radar signal, the method further includes: If there is no fusion signal in the radar signal, it is determined that the other vehicle is a non-autonomous driving vehicle.

4. The method for identifying an autonomous driving vehicle according to claim 3, wherein: When the other vehicle is located in front of the vehicle, after determining that the other vehicle is a non-automated driving vehicle, the method further includes: Control the vehicle to change lanes and exceed the speed limit, or control the vehicle to travel at a fixed speed.

5. The method for identifying an autonomous driving vehicle according to claim 1, wherein: After the step of determining that the other vehicle is an autonomous driving vehicle, the method further includes: Obtaining the phase difference when each antenna on a radar of the vehicle receives the radar signal sent by the other vehicle; Calculating the azimuth angle of the other vehicle according to the phase difference; The information of the other vehicle is found out from the surrounding target information obtained by analyzing the own echo signal of the vehicle according to the azimuth angle.

6. An autonomous driving vehicle identification device, characterized in that: include: an acquisition unit, configured to acquire radar signals sent by other vehicles; an identification unit configured to detect whether a fusion signal exists in the radar signal, the fusion signal comprising an amplitude modulation signal and a frequency modulation signal; and if the fusion signal exists in the radar signal, determining that the other vehicle is an autonomous driving vehicle; A control unit, when the other vehicle is an autonomous driving vehicle, configured to: When the other vehicles input the FM signal into the fusion module of the other vehicles, they also input the AM signal into the fusion module, so that the fusion module fuses the FM signal and the AM signal to obtain a fusion signal.

7. An autonomous driving vehicle identification device, characterized in that: include: A memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the autonomous driving vehicle identification method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the autonomous driving vehicle identification method according to any one of claims 1 to 5.

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