Vehicle satellite antenna angle adjusting method and device and vehicle

Abstract

The invention discloses a vehicle satellite antenna angle adjusting method and device and a vehicle, and the method comprises the steps: building a space coordinate system based on the current attitude information of the vehicle, and the space coordinate system comprises a plane quadrant and a space quadrant; acquiring a vehicle satellite antenna angle based on the space coordinate system; and performing angle adjustment on the vehicle satellite antenna based on the vehicle satellite antenna angle. According to the method and the device, a proper antenna angle can be found for the vehicle satellite antenna in the face of continuously changing topographic factors, so that the communication quality of the vehicle satellite is improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle communications, and specifically relates to a vehicle satellite antenna angle adjustment method, device and vehicle, as well as a vehicle satellite antenna control system, a computer-readable storage medium and a computer program product. Background Art

[0002] Existing vehicles are generally equipped with satellite communication systems, which have strict requirements on the angle of the vehicle-mounted satellite antenna. Only when the angle of the antenna is adjusted appropriately can the vehicle receive a strong satellite communication signal. However, in actual driving, the environment and road conditions of the vehicle are often complex and changeable. Both the position and posture of the vehicle will change with factors such as road conditions, terrain undulations, and driving operations. Due to the existence of these dynamic factors, it is difficult to find a suitable antenna angle for the vehicle satellite antenna, which makes it difficult to ensure the quality of vehicle satellite communication. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a vehicle satellite antenna angle adjustment method, device and vehicle, as well as a vehicle satellite antenna control system, a computer-readable storage medium and a computer program product, which can find a suitable antenna angle for the vehicle satellite antenna in the face of constantly changing terrain factors, thereby improving the vehicle satellite communication quality.

[0004] In a first aspect, an embodiment of the present application provides a method for adjusting the angle of a vehicle satellite antenna, comprising:

[0005] Establishing a spatial coordinate system based on the current posture information of the vehicle, the spatial coordinate system includes a plane quadrant and a space quadrant;

[0006] Based on the spatial coordinate system, obtaining a vehicle satellite antenna angle, the vehicle satellite angle comprising a first angle of the vehicle satellite antenna in a plane quadrant and a second angle in a space quadrant;

[0007] The vehicle satellite antenna is angle-adjusted based on the vehicle satellite antenna angle.

[0008] In some embodiments, the above-mentioned obtaining the vehicle satellite antenna angle based on the spatial coordinate system includes:

[0009] Determining a target plane quadrant and a target space quadrant based on measured signal strengths of the vehicle satellite antenna in the plane coordinate axes in the space coordinate system;

[0010] The vehicle satellite antenna angle is acquired in the upper target plane quadrant and the target space quadrant.

[0011] In some embodiments, the above-mentioned obtaining the vehicle satellite antenna angle in the target plane quadrant and the target space quadrant includes:

[0012] The vehicle satellite antenna angle is obtained in the target plane quadrant and the target space quadrant by dichotomy.

[0013] In some embodiments, obtaining the vehicle satellite antenna angle in the target plane quadrant and the target space quadrant by a dichotomy method includes:

[0014] determining a first angle in the target plane quadrant by bisection;

[0015] determining a calibration coordinate axis within a quadrant of the target plane based on the first angle;

[0016] Based on the calibration coordinate axis and the spatial coordinate axis, a second angle is determined in the target space quadrant by dichotomy.

[0017] In some embodiments, determining the first angle in the target plane quadrant by bisection method includes:

[0018] Performing a preset number of angle bisections in the target plane quadrant, and obtaining the measured signal strengths on two sides of the angle finally obtained by bisection;

[0019] The angle corresponding to the side with the strongest measurement signal strength is determined as the first angle.

[0020] In some embodiments, by performing a preset number of angle bisections in the target plane quadrant, comprising:

[0021] After the first angle bisection is performed in the target plane quadrant, the angle adjacent to the side with the stronger measured signal strength of the two sides of the last bisected angle is continuously selected for the next angle bisection until the preset number of times is reached.

[0022] In some embodiments, determining a second angle in the target space quadrant by dichotomy based on the calibration coordinate axis and the space coordinate axis includes:

[0023] Performing a preset number of angle bisections in the quadrant defined by the calibration coordinate axis and the spatial coordinate axis, and obtaining the measured signal strengths on the two sides of the bisected angle;

[0024] The angle corresponding to the side with the strongest measurement signal strength is determined as the second angle.

[0025] In some embodiments, performing a preset number of angle bisections within a quadrant defined by the calibration coordinate axis and the spatial coordinate axis includes:

[0026] After the first angle bisection is performed in the quadrant defined by the calibration coordinate axis and the spatial coordinate axis, the angle adjacent to the side with the stronger measured signal strength of the two sides of the last bisected angle is continuously selected for the next angle bisection until the preset number of times is reached. In some embodiments, it also includes:

[0027] The vehicle satellite antenna angle is sent to the cloud server to store the vehicle satellite antenna angle in the cloud server.

[0028] In some embodiments, the above-mentioned sending the vehicle satellite antenna angle to the cloud server includes:

[0029] The vehicle satellite antenna angle is sent to the domain controller, so that the domain controller can send the vehicle satellite antenna angle to the cloud server.

[0030] In some embodiments, it also includes:

[0031] Get vehicle location information;

[0032] The above method of sending the vehicle satellite antenna angle to the cloud server includes:

[0033] The vehicle location information and the vehicle satellite antenna angle corresponding to the vehicle location information are sent to the cloud server.

[0034] In some embodiments, before establishing the spatial coordinate system based on the current posture information of the vehicle, the method further includes:

[0035] The corresponding vehicle satellite antenna angle is obtained based on the vehicle's current position information, and the acquisition fails.

[0036] In some embodiments, the above-mentioned obtaining the corresponding vehicle satellite antenna angle based on the current position information of the vehicle includes:

[0037] Based on the current position information of the vehicle, the corresponding vehicle satellite antenna angle is obtained from the local storage module.

[0038] In some embodiments, the above-mentioned obtaining the corresponding vehicle satellite angle based on the current position information of the vehicle includes:

[0039] A vehicle satellite antenna angle acquisition request corresponding to the vehicle's current position information is sent to the cloud server.

[0040] In some embodiments, it also includes:

[0041] After the corresponding vehicle satellite angle is acquired based on the current position information of the vehicle, the vehicle satellite antenna is controlled to adjust its angle according to the acquired vehicle satellite antenna angle.

[0042] In a second aspect, an embodiment of the present application provides a vehicle satellite antenna angle adjustment device, comprising:

[0043] A coordinate system establishment module, used to establish a spatial coordinate system based on the current posture information of the vehicle, the spatial coordinate system including a plane quadrant and a space quadrant;

[0044] An angle acquisition module, used to acquire the vehicle satellite antenna angle based on the spatial coordinate system, the vehicle satellite antenna angle including a first angle of the vehicle satellite antenna in a plane quadrant and a second angle in a space quadrant;

[0045] The angle adjustment module is used to adjust the angle of the vehicle satellite antenna based on the vehicle satellite antenna angle.

[0046] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the vehicle satellite antenna angle adjustment method as described in the first aspect are implemented.

[0047] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the electronic device described in the third aspect, wherein a memory of the electronic device stores a program or instruction that can be run on a processor, and when the program or instruction is executed by the processor, the steps of the vehicle satellite antenna angle adjustment method described in the first aspect are implemented.

[0048] In a fifth aspect, an embodiment of the present application provides a vehicle satellite antenna control system, including a vehicle and a cloud server, wherein the cloud server is used to store vehicle position information and a vehicle satellite angle corresponding to the vehicle position information.

[0049] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the vehicle satellite antenna angle adjustment method as described in the first aspect are implemented.

[0050] In a seventh aspect, an embodiment of the present application provides a computer program product, which, when executed by a processor of a vehicle, implements the steps of the vehicle satellite antenna angle adjustment method as described in the first aspect.

[0051] The technical solution provided in the present application requires first establishing a spatial coordinate system based on the current posture information of the vehicle, where the spatial coordinate system includes a plane quadrant and a space quadrant, and then obtaining the vehicle satellite antenna angle based on the space coordinate system. Finally, the vehicle satellite antenna is adjusted based on the vehicle satellite antenna angle. The above-mentioned vehicle satellite angle includes a first angle of the vehicle satellite antenna in the plane quadrant and a second angle in the space quadrant. Since the above-mentioned technical solution can automatically adjust the angle of the vehicle satellite antenna to a suitable angle during the adjustment of the angle of the vehicle satellite antenna, it is ensured that the vehicle can receive high-quality satellite communication signals without changing the planned route regardless of whether it is in normal road conditions or in complex and changeable environments, thereby improving the convenience and safety of user travel.

[0052] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0054] Figure 1 A schematic diagram of a process of adjusting the angle of a vehicle satellite antenna in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of a spatial coordinate system in an embodiment of the present application;

[0056] Figure 3 for Figure 1 A schematic diagram of a specific execution flow of step 102 of the illustrated embodiment;

[0057] Figure 4 This is a schematic diagram of determining a first angle based on a dichotomy method in an embodiment of the present application;

[0058] Figure 5 This is a schematic diagram of determining a second angle based on a dichotomy method in an embodiment of the present application;

[0059] Figure 6 This is a structural schematic diagram of a vehicle satellite antenna angle adjustment device in an embodiment of the present application;

[0060] Figure 7 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application;

[0061] Figure 8 This is a schematic diagram of the structure of a vehicle in an embodiment of the present application;

[0062] Fig. 9This is a schematic diagram of the structure of a vehicle satellite antenna control system in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0064] It should be understood that the various steps described in the method implementation of the present application can be performed in different orders and / or performed in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0065] As described in the background technology section, with the development of automobile technology, more and more vehicles are equipped with satellite communication systems. However, since the satellite communication systems of various vehicles are connected to different satellites and the reception efficiency of receiving satellite signals varies, in many cases, especially when the vehicle is in a complex and changeable environment or road conditions, the signal quality of satellite communication is poor. This is mainly because it is difficult to find a suitable antenna angle for the vehicle satellite antenna, which in turn affects the quality stability of the vehicle satellite communication.

[0066] In addition, most existing methods for adjusting the angle of vehicle satellite antennas rely on changing the vehicle's driving route. However, in actual driving, vehicles must consider many limiting factors, such as driving along roads in cities and avoiding inaccessible areas such as mountains and rivers in the wild. Therefore, it is often difficult to find a satellite communication connection with a strong signal on a given driving route, thus limiting the effectiveness of satellite communication.

[0067] Therefore, the technical solution provided in the embodiment of the present application, in the process of adjusting the angle of the vehicle's satellite antenna, the method needs to first establish a spatial coordinate system based on the vehicle's current posture information, and the spatial coordinate system includes a plane quadrant and a space quadrant; then, based on the spatial coordinate system, the vehicle satellite antenna angle is obtained by dichotomy; finally, the vehicle satellite antenna is adjusted based on the vehicle satellite antenna angle; the above-mentioned vehicle satellite angle includes a first angle of the vehicle satellite antenna in the plane quadrant and a second angle in the space quadrant. Since the above-mentioned technical solution can automatically adjust the angle of the vehicle satellite antenna to a suitable angle during the process of adjusting the angle of the vehicle satellite antenna, it is ensured that the vehicle can receive high-quality satellite communication signals without changing the planned route regardless of whether it is in normal road conditions or in complex and changeable environments, thereby improving the convenience and safety of user travel.

[0068] Figure 1 FIG. 1 is a flow chart of a method for adjusting the angle of a vehicle satellite antenna in an embodiment of the present application. The method for adjusting the angle of a vehicle satellite antenna can be implemented by a corresponding vehicle satellite antenna angle adjustment device, such as Figure 1 As shown, the method comprises the following steps:

[0069] Step 101: Establish a spatial coordinate system based on the current posture information of the vehicle, where the spatial coordinate system includes a plane quadrant and a space quadrant;

[0070] The attitude information in the technical solution provided in the embodiment of the present application refers to various parameters used to describe the position and direction of the vehicle in three-dimensional space, including the vehicle's position information, yaw angle, pitch angle, angular velocity and other information, which can be obtained through inertial measurement units, laser radar and other sensors, global positioning systems and navigation systems and other equipment. The spatial coordinate system is constructed with the vehicle position where the vehicle-mounted satellite antenna is installed as the origin, wherein the axis consistent with the vehicle's forward direction is defined as the x-axis, the y-axis is perpendicular to the x-axis, usually pointing to the left or right side of the vehicle, and the z-axis is perpendicular to the plane formed by the x-axis and the y-axis, pointing upwards. The spatial coordinate system is only related to the vehicle and has nothing to do with the type of road surface on which the vehicle is located. For example, when it is a slope, the plane where the established spatial coordinate system is located also has a certain slope with the ground plane.

[0071] The above-mentioned plane quadrants are formed by dividing the plane parallel to the ground by the x-axis and the y-axis, including the first plane quadrant, the second plane quadrant, the third plane quadrant and the fourth plane quadrant; when using the x-axis, y-axis and z-axis to divide the space to obtain the spatial quadrant, due to practical needs, only the space in the positive direction of the above three coordinate axes is considered, that is, the spatial quadrant is obtained by dividing the space in the positive direction, including the first spatial quadrant, the second spatial quadrant, the third spatial quadrant and the fourth spatial quadrant. For example, Figure 2 As shown, the positive direction of the x-axis in the spatial coordinate system is the B axis, and the negative direction is the A axis; the positive direction of the y-axis is the D axis, and the negative direction is the C axis; at this time, the first plane quadrant is AOC, the second plane quadrant is COB, the third plane quadrant is BOD, and the fourth plane quadrant is DOA; the first spatial quadrant is AOCZ, the second spatial quadrant is COBZ, the third spatial quadrant is BODZ, and the fourth spatial quadrant is DOAZ.

[0072] Step 102: Based on the spatial coordinate system, obtain the vehicle satellite antenna angle, where the vehicle satellite angle includes a first angle of the vehicle satellite antenna in a plane quadrant and a second angle in a space quadrant;

[0073] On the basis of step 101, the vehicle satellite antenna angle is obtained according to the established spatial coordinate system. Specifically, the target plane quadrant and the target space quadrant are determined based on the measured signal strength of the plane coordinate axis of the vehicle satellite antenna in the spatial coordinate system, and then the vehicle satellite antenna angle is obtained in the target plane quadrant and the target space quadrant, wherein the target plane quadrant is one of the four plane quadrants, and the target space quadrant is also one of the four space quadrants.

[0074] Step 103: Adjust the angle of the vehicle satellite antenna based on the vehicle satellite angle.

[0075] In this step, after obtaining the angle of the vehicle's satellite antenna in step 102, the angle of the vehicle's satellite antenna is adjusted according to the angle of the satellite antenna. Specifically, the azimuth angle of the satellite antenna is adjusted according to a first angle, and then the elevation angle of the satellite antenna is adjusted according to a second angle, so as to adjust the satellite antenna to a suitable angle.

[0076] As described above, this method can adjust the vehicle satellite antenna angle in real time based on the spatial coordinate system established based on the current posture information, so that it can be automatically adjusted to the appropriate angle, thereby ensuring that the vehicle can receive high-quality satellite communication signals without changing the planned route regardless of whether it is in normal road conditions or complex and changeable environments, thereby improving the convenience and safety of user travel.

[0077] In some embodiments, the vehicle satellite antenna angle can be obtained in the target plane quadrant and the target space quadrant in the above steps by using binary search. The binary search is a mathematical principle, and its basic idea is to gradually narrow the range by continuously dividing the search interval into two until the target value is approached and found. The vehicle satellite antenna angle refers to the specific angle that the vehicle satellite antenna needs to be adjusted to obtain high-quality satellite communication signals. Specifically, the first angle in the target plane quadrant obtained in the embodiment of the present application is the azimuth angle of the vehicle satellite antenna. When the angle is obtained by binary search, the search range is 0° to 90°; the second angle in the target space quadrant is the elevation angle of the vehicle satellite antenna. At this time, when the angle is obtained by binary search, the search range is 0° to 90°.

[0078] In an embodiment of the present application, the vehicle satellite antenna angle is obtained in the target plane quadrant and the target space quadrant by bisection, and the first angle can be first determined in the target plane quadrant by bisection; then the calibration coordinate axis in the target plane quadrant is determined based on the first angle; finally, the second angle is determined in the target space quadrant by bisection based on the calibration coordinate axis and the space coordinate axis.

[0079] Specifically, the above-mentioned determining the first angle in the target plane quadrant by using the dichotomy method may include:

[0080] Step A: performing a preset number of angle bisections in the target plane quadrant, and obtaining the measured signal strengths on the two sides of the angle finally obtained by bisection;

[0081] In this step, after the first angle bisection of the 90° angle in the quadrant of the target plane, the angle adjacent to the side with the stronger measured signal strength of the two sides of the bisected angle is selected for the next angle bisection until the preset number of times is reached. That is, after each angle bisection, two angles are obtained, and it is necessary to consider determining the angle to be bisected next time. In the embodiment of the present application, the next angle bisection is performed based on the angle adjacent to the side with the stronger measured signal strength of the two sides of the last bisected angle until the preset number of times is reached. The above preset number of times can be set according to the accuracy requirements, because each bisection is performed on the basis of 90°, and each bisection is divided by 2. For example, the angle after 5 bisections is 2.81°, and the angle after 6 bisections is 1.4°.

[0082] Step B: Determine the angle corresponding to the side with the strongest measured signal strength as the first angle.

[0083] After the angle bisection is performed for a preset number of times, the angle corresponding to the side with the strongest measured signal strength may be determined as the first angle.

[0084] Specifically, the above-mentioned determining the second angle in the target space quadrant by dichotomy based on the calibration coordinate axis and the space coordinate axis may include:

[0085] Step A: performing a preset number of angle bisections within the quadrant defined by the calibration coordinate axis and the spatial coordinate axis, and obtaining the measurement signal strengths on the two sides of the bisected angle;

[0086] In this step, the calibration coordinate axis is located in the plane quadrant, so the quadrant defined by the calibration coordinate axis and the spatial coordinate axis is also a 90° quadrant. This step is to perform the first angle bisection in the 90° quadrant defined by the calibration coordinate axis and the spatial coordinate axis, and then continue to select the angle adjacent to the side with the stronger measured signal strength of the two sides of the last bisected angle for the next angle bisection until the preset number of times is reached. The process of continuously performing angle bisection can refer to the above-mentioned processing process of performing angle bisection in the plane quadrant, and the preset number of times can also be set according to the accuracy requirements, and the specifics can refer to the above-mentioned embodiment.

[0087] Step B: Determine the angle corresponding to the side with the strongest measured signal strength as the second angle.

[0088] Similarly, after the angle bisection is performed for a preset number of times, the angle corresponding to the side with the strongest measured signal strength can be determined as the first angle. In some embodiments, the specific process of obtaining the vehicle satellite antenna angle based on the dichotomy method can be as follows: Figure 3 As shown, the following steps are included:

[0089] Step 301, determining a target plane quadrant and a target space quadrant based on the measured signal strength of the vehicle satellite antenna on the plane coordinate axis in the space coordinate system;

[0090] After the spatial coordinate system is established in step 101, the target plane quadrant and the target space quadrant can be determined based on the measured signal strength of the plane coordinate axes of the satellite antenna in the above-mentioned spatial coordinate system. Specifically, the signal strength of each plane coordinate axis of the satellite antenna in the spatial coordinate system is measured to obtain the corresponding signal strength value, and then the various signal strength values ​​are compared, and then the target plane quadrant and the target space quadrant are determined based on the comparison results. The above-mentioned plane coordinate axes include the x-axis and the y-axis, that is, the A axis, the B axis, the C axis and the D axis; the target plane quadrant and the target space quadrant represent the plane quadrant and the space quadrant where the satellite is located.

[0091] For example, if the satellite dish is currently located at Figure 2 In the second spatial quadrant COBZ shown in the figure, the first step is to align the satellite antenna with the C axis and the D axis respectively, and then measure the measured signal strength of the satellite antenna on the C axis and the D axis respectively to obtain the corresponding signal strength C value and D value, and then compare the C value with the D value. If the C value is greater than the D value, it can be determined that the satellite antenna is in the first spatial quadrant AOCZ or the second spatial quadrant COBZ; the second step is to align the satellite antenna with the A axis and the B axis respectively, and then measure the measured signal strength of the satellite antenna on the A axis and the B axis respectively to obtain the corresponding measured signal strength A value and B value, and then compare the A value with the B value. If the B value is greater than the A value, it can be determined that the satellite antenna is in the second spatial quadrant COBZ. At this time, the target plane quadrant is the second plane quadrant COB, and the target space quadrant is the second space quadrant COBZ.

[0092] Step 302, determining a first angle in the target plane quadrant by bisection;

[0093] On the basis of step 301, the binary search is continuously performed in the determined target plane quadrant to determine the first angle, i.e., the optimal direction angle of the satellite antenna. Specifically, the target plane quadrant is first divided into two, and the angle bisector is set as a new axis, then the satellite antenna is aligned with the new axis to obtain the measured signal strength at this time, and the measured signal strength values ​​when the satellite antenna is aligned with each plane coordinate axis are compared, and the next bisected angle is determined accordingly, and the above process is continuously repeated to determine the first angle, i.e., the optimal direction angle.

[0094] For example, the second plane quadrant COB is first divided into two, and the angle bisector of the angle COB is set as the new axis E. At this time, the satellite antenna is aligned with the E axis, and the signal strength of the satellite antenna on the E axis is measured to obtain the measured signal strength E value. Then, the measured signal strength C value and B value measured in step 301 are compared. If the B value is greater than the C value, it is determined that the satellite antenna is in the space quadrant EOBZ; then, the angle bisector of the angle EOB is set as another new axis F. At this time, the satellite antenna is also aligned with the F axis, and the signal strength of the satellite antenna on the F axis is measured to obtain the measured signal strength F value. Then, the signal strength E value and B value are compared. If the E value is greater than the B value, it is determined that the satellite antenna is in the space quadrant EOFZ. The search is repeated several times until the preset number of times is reached, and the axis with the strongest measured signal strength is found, which is determined as the first angle of the satellite antenna, that is, the optimal direction angle, such as the angle corresponding to the M axis, such as Figure 4 As shown, the E axis, F axis, etc. determined in this embodiment are the sides that bisect the angle in the above embodiment.

[0095] Step 303: determining a calibration coordinate axis in the quadrant of the target plane based on the first angle;

[0096] After the first angle is determined in step 302, the calibration coordinate axis in the target plane quadrant is determined using the first angle. The calibration coordinate axis may be, for example, Figure 4 OM in.

[0097] Step 304: Based on the calibration coordinate axis and the spatial coordinate axis, determine the second angle in the target space quadrant by bisection.

[0098] On the basis of step 303, according to the calibration coordinate axis and the space coordinate axis, the second angle is determined in the target quadrant by using the bisection method. Specifically, in the target space quadrant, the plane quadrant in the vertical direction is first divided into two, and the bisector is set as the new axis. Then, the satellite antenna is aligned with the new axis to obtain the measurement signal strength at this time, and the measurement signal strength value when the satellite antenna is aligned with the calibration coordinate axis and the coordinate axis is compared. The next bisected angle is determined accordingly, and the above process is repeated to determine the second angle, that is, the optimal elevation angle.

[0099] For example, in the second spatial quadrant COBZ, the vertical plane quadrant MOZ is first divided into two, and the bisector of the angle MOZ is set as the new axis P. At this time, the satellite antenna is aligned with the calibration coordinate axes M and Z, and the signal strength of the satellite antenna on the M and Z axes is measured to obtain the measured signal strength M value and Z value. Then, the measured signal strength M value is compared with the Z value. If the M value is greater than the Z value, it is determined that the satellite antenna is in the vertical plane quadrant MOP; then, the bisector of the angle MOP is set as another new axis N. At this time, the satellite antenna is also aligned with the N axis, and the signal strength of the satellite antenna on the N axis is measured to obtain the measured signal strength N value. Then, the step signal strength N value is compared with the M value. If the N value is greater than the M value, it is determined that the satellite antenna is in the vertical spatial quadrant NOP. The search is repeated several times until the preset number of times is reached, and the axis with the strongest measured signal strength is found, which is determined as the second angle of the satellite antenna, that is, the optimal elevation angle, such as the angle corresponding to the angle P axis, such as Figure 5 As shown, the N axis, P axis, etc. determined in this embodiment are the sides that bisect the angle in the above embodiment.

[0100] In some embodiments, the vehicle satellite antenna angle obtained above is not only used to adjust the satellite antenna angle of the vehicle itself to optimize the quality of the received satellite communication signal, but will also be sent to the cloud server for storage, so that subsequent vehicles can use these historical data when passing the same location, and quickly adjust their own satellite antenna to the appropriate angle, thereby improving navigation accuracy and communication efficiency. The above-mentioned cloud server refers to a server that virtualizes server resources through cloud computing technology and is deployed in a cloud data center. The above process not only realizes the closed-loop utilization of data, but also promotes information sharing between vehicles and between vehicles and cloud servers.

[0101] In an embodiment of the present application, when the above-mentioned vehicle satellite antenna angle is sent to the cloud server for storage, the process is as follows: first send the acquired vehicle satellite antenna angle to the domain controller, such as the body domain controller, the domain controller will receive and process this information, and then send the processed vehicle satellite antenna angle information to the cloud server for storage. This can ensure the accuracy and integrity of the data and provide strong support for subsequent vehicle navigation, communication optimization, etc. The above-mentioned domain controller is a key component in the electronic and electrical architecture divided according to vehicle functions. It divides the vehicle into multiple functional domains, such as power domain, chassis domain, body domain, cockpit domain and autonomous driving domain, etc. Each domain has its specific functions and goals, and the domain controller is responsible for processing all information and control instructions within the domain.

[0102] In some embodiments, it is also necessary to obtain the vehicle's location information, which can be used to establish a spatial coordinate system, and then send the vehicle's location information and the vehicle's satellite antenna angle corresponding to the vehicle's location information to the cloud server. The above location information can also be obtained through inertial measurement units, lidar and other sensors, global positioning systems, and navigation systems.

[0103] Typically, cloud servers store vehicle satellite antenna angle information at multiple locations on each road. In this way, when the vehicle is traveling on different roads, it can receive corresponding satellite communication signals, thereby meeting vehicle navigation, precise positioning, and communication needs.

[0104] In some embodiments, before establishing a spatial coordinate system based on the current posture information of the vehicle, it is also necessary to first use the current position information of the vehicle to try to obtain the stored vehicle satellite antenna angle corresponding to the position information. If the acquisition fails, the spatial coordinate system based on the current vehicle posture information is used to obtain the satellite antenna angle of the vehicle at the current position, which is used to adjust its own satellite antenna angle. After the adjustment is completed, the vehicle's satellite antenna angle and its position information are saved and uploaded to the cloud server for storage. For example, the acquired satellite antenna angle information will be sent to the satellite antenna motor controller through the domain controller, and then the satellite antenna motor controller will align the current vehicle's satellite antenna with the above-mentioned vehicle satellite antenna angle to complete the angle adjustment; if the acquisition is successful, the acquired vehicle satellite antenna angle is directly used to adjust the vehicle's satellite antenna angle.

[0105] In the embodiment of the present application, the above-mentioned stored vehicle satellite angle corresponding to the position information is stored in the local storage module. When it is necessary to obtain the above-mentioned vehicle satellite antenna angle, the system can search in the database of the local storage module. Once the satellite antenna angle data matching the current vehicle position information is retrieved, the system will immediately extract the data and use this data to adjust the satellite antenna angle of the current vehicle to ensure the stability and efficiency of the vehicle satellite communication.

[0106] In an embodiment of the present application, before obtaining the vehicle satellite angle corresponding to the current position information of the vehicle stored in the local storage module, it is necessary to first send an acquisition request to the cloud server. The acquisition request includes the current position information of the vehicle, and is used to request to obtain the vehicle satellite antenna angle corresponding to the current position information. Only when the cloud server responds successfully and confirms that the above-mentioned vehicle satellite antenna angle data is stored in the local storage module, will it further retrieve these data from the local storage module and send them to the vehicle for its use.

[0107] In some embodiments, after obtaining the corresponding vehicle satellite angle based on the current position information of the vehicle, that is, obtaining the corresponding vehicle satellite antenna angle data from the local storage module, the vehicle satellite antenna is controlled to adjust the angle according to the obtained vehicle satellite angle. The process is as follows: first, the vehicle satellite antenna angle retrieved from the local storage module is sent to the domain controller, and then the domain controller decrypts these data and converts them into optimal vehicle satellite antenna angle instructions relative to the ground, and then sends the above instructions to the motor controller of the vehicle satellite antenna. After receiving the above instructions, the motor controller of the vehicle satellite antenna will automatically adjust the vehicle satellite antenna angle according to the content of the instruction to ensure that it remains aligned with the previously retrieved angle data, and achieve strong satellite communication signal reception in a state of relative stillness.

[0108] With the above Figure 1 Corresponding to the provided vehicle satellite antenna angle adjustment method, the embodiment of the present application provides a corresponding device. Figure 6 This is a schematic diagram of the structure of a vehicle satellite antenna angle adjustment device in an example of this application, such as Figure 6 As shown, the vehicle satellite antenna angle adjustment device includes a coordinate system establishment module 11, an angle acquisition module 12, and an angle adjustment module 13, wherein the coordinate system establishment module 11 is used to establish a space coordinate system based on the current posture information of the vehicle, and the space coordinate system includes a plane quadrant and a space quadrant; the angle acquisition module 12 is used to obtain the vehicle satellite antenna angle based on the space coordinate system, and the vehicle satellite antenna angle includes a first angle of the vehicle satellite antenna in the plane quadrant and a second angle in the space quadrant; the angle adjustment module 13 is used to adjust the angle of the vehicle satellite antenna based on the vehicle satellite antenna angle.

[0109] In some embodiments, the above-mentioned obtaining the vehicle satellite antenna angle based on the spatial coordinate system includes:

[0110] Determining a target plane quadrant and a target space quadrant based on measured signal strengths of the vehicle satellite antenna in the plane coordinate axes in the space coordinate system;

[0111] The vehicle satellite antenna angle is obtained in the target plane quadrant and the target space quadrant.

[0112] In some embodiments, the above-mentioned obtaining the vehicle satellite antenna angle in the target plane quadrant and the target space quadrant includes:

[0113] The vehicle satellite antenna angle is obtained in the target plane quadrant and the target space quadrant by dichotomy.

[0114] In some embodiments, obtaining the vehicle satellite antenna angle in the target plane quadrant and the target space quadrant by a dichotomy method includes:

[0115] determining a first angle in the target plane quadrant by bisection;

[0116] determining a calibration coordinate axis within a quadrant of the target plane based on the first angle;

[0117] Based on the calibration coordinate axis and the spatial coordinate axis, a second angle is determined in the target space quadrant by dichotomy.

[0118] In some embodiments, determining the first angle in the target plane quadrant by bisection includes:

[0119] Performing a preset number of angle bisections in the target plane quadrant, and obtaining the measured signal strengths on two sides of the angle finally obtained by bisection;

[0120] The angle corresponding to the side with the strongest measurement signal strength is determined as the first angle.

[0121] In some embodiments, by performing a predetermined number of angle bisections in a quadrant of the target plane, comprising:

[0122] After the first angle bisection is performed in the target plane quadrant, the angle adjacent to the side with the stronger measured signal strength of the two sides of the last bisected angle is continuously selected for the next angle bisection until the preset number of times is reached.

[0123] In some embodiments, determining the second angle in the target space quadrant by dichotomy based on the calibration coordinate axis and the space coordinate axis includes:

[0124] Performing a preset number of angle bisections in the quadrant defined by the calibration coordinate axis and the spatial coordinate axis, and acquiring measurement signal strengths on two sides of the bisected angle;

[0125] The angle corresponding to the side with the strongest measurement signal strength is determined as the second angle.

[0126] In some embodiments, performing a preset number of angle bisections within a quadrant defined by the calibration coordinate axis and the spatial coordinate axis includes:

[0127] After the first angle bisection is performed in the quadrant defined by the calibration coordinate axis and the spatial coordinate axis, the angle adjacent to the side with the stronger measured signal strength of the two sides of the last bisected angle is continuously selected for the next angle bisection until the preset number of times is reached. In some embodiments, it also includes:

[0128] The vehicle satellite antenna angle is sent to the cloud server to store the vehicle satellite antenna angle in the cloud server.

[0129] In some embodiments, the above-mentioned sending the vehicle satellite antenna angle to the cloud server includes:

[0130] The vehicle satellite antenna angle is sent to the domain controller, so that the domain controller can send the vehicle satellite antenna angle to the cloud server.

[0131] In some embodiments, it also includes:

[0132] Get vehicle location information;

[0133] The above method of sending the vehicle satellite antenna angle to the cloud server includes:

[0134] The vehicle location information and the vehicle satellite antenna angle corresponding to the vehicle location information are sent to the cloud server.

[0135] In some embodiments, before establishing the spatial coordinate system based on the current posture information of the vehicle, the method further includes:

[0136] The corresponding vehicle satellite antenna angle is obtained based on the vehicle's current position information, and the acquisition fails.

[0137] In some embodiments, the above-mentioned obtaining the corresponding vehicle satellite antenna angle based on the current position information of the vehicle includes:

[0138] Based on the current position information of the vehicle, the corresponding vehicle satellite antenna angle is obtained from the local storage module.

[0139] In some embodiments, the above-mentioned obtaining the corresponding vehicle satellite angle based on the current position information of the vehicle includes:

[0140] A vehicle satellite antenna angle acquisition request corresponding to the vehicle's current position information is sent to the cloud server.

[0141] In some embodiments, it also includes:

[0142] After the corresponding vehicle satellite angle is acquired based on the current position information of the vehicle, the vehicle satellite antenna is controlled to adjust its angle according to the acquired vehicle satellite antenna angle.

[0143] As described above, by using the above-mentioned vehicle satellite antenna angle adjustment device to adjust the vehicle's satellite antenna angle, it can be automatically adjusted to a suitable angle, thereby ensuring that the vehicle can receive high-quality satellite communication signals without changing the planned route regardless of whether it is in normal road conditions or complex and changeable environments, thereby improving the convenience and safety of user travel.

[0144] The present application also provides an electronic device, such as Figure 7 As shown, the electronic device includes: a processor 21 and a memory 22, the memory 22 stores programs or instructions that can be run on the processor, and the above-mentioned programs or instructions are executed by the processor to achieve the following Figure 1-Figure 5 The steps of the vehicle satellite antenna angle adjustment method.

[0145] The present application also provides a vehicle, such as Figure 8 As shown, the vehicle includes Figure 7 The electronic device 31, wherein the memory of the electronic device stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the following is achieved: Figure 1-Figure 5 The steps of the vehicle satellite antenna angle adjustment method.

[0146] The present application also provides a vehicle satellite antenna control system, such as Fig. 9 As shown, the vehicle satellite antenna control system includes a vehicle 41 and a cloud server 42, wherein the cloud server 42 is used to store vehicle position information and the vehicle satellite antenna angle corresponding to the vehicle position information.

[0147] The present application also provides a computer-readable storage medium, wherein a program or instruction is stored on the computer-readable storage medium, and when the program or instruction is executed by a processor, the following is implemented: Figure 1-Figure 5 The steps of the vehicle satellite antenna angle adjustment method.

[0148] The present application also provides a computer program product, which, when executed by a processor of a vehicle, implements the following Figure 1-Figure 5 The steps of the vehicle satellite antenna angle adjustment method.

[0149] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0150] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general hardware platform, and of course, can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, disk, CD, etc.), including several instructions to enable a terminal or a network-side device to execute the methods described in each embodiment of the present application.

[0151] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of the present application and the scope of protection of the claims, and these implementation methods are all within the protection of the present application.

Claims

1. A vehicle satellite antenna angle adjustment method, characterized in that: include: Establishing a spatial coordinate system based on the current posture information of the vehicle, wherein the spatial coordinate system includes a plane quadrant and a space quadrant; Based on the spatial coordinate system, acquiring the vehicle satellite antenna angle, the vehicle satellite angle comprising a first angle of the vehicle satellite antenna in a plane quadrant and a second angle in the spatial quadrant; The vehicle satellite antenna is angle-adjusted based on the vehicle satellite antenna angle.

2. The method according to claim 1, wherein the obtaining of the vehicle satellite antenna angle based on the spatial coordinate system comprises: determining a target plane quadrant and a target space quadrant based on measured signal strengths of the vehicle satellite antenna of the plane coordinate axes in the space coordinate system; The vehicle satellite antenna angle is acquired in the target plane quadrant and the target space quadrant.

3. The method according to claim 2, characterized in that The obtaining of the vehicle satellite antenna angle in the target plane quadrant and the target space quadrant comprises: The vehicle satellite antenna angle is obtained in the target plane quadrant and the target space quadrant by dichotomy.

4. The method according to claim 3, characterized in that The method of obtaining the vehicle satellite antenna angle in the target plane quadrant and the target space quadrant by using a dichotomy method includes: determining the first angle within the target plane quadrant by bisection; determining a calibration coordinate axis within a quadrant of the target plane based on the first angle; Based on the calibration coordinate axis and the space coordinate axis, the second angle is determined in the target space quadrant by bisection.

5. The method according to claim 4, characterized in that The determining the first angle in the target plane quadrant by bisection method comprises: Performing a preset number of angle bisections in the target plane quadrant, and obtaining measurement signal strengths on two sides of the angle finally obtained by bisection; The angle corresponding to the side with the strongest measurement signal strength is determined as the first angle.

6. The method according to claim 5, characterized in that The method of performing a preset number of angle bisections in the target plane quadrant comprises: After the first angle bisection is performed in the target plane quadrant, the angle adjacent to the side with the stronger measured signal strength of the two sides of the last bisected angle is continuously selected for the next angle bisection until the preset number of times is reached.

7. The method according to claim 4, characterized in that The determining the second angle in the target space quadrant by dichotomy based on the calibration coordinate axis and the space coordinate axis includes: Performing a preset number of angle bisections in the quadrant defined by the calibration coordinate axis and the spatial coordinate axis, and acquiring measurement signal strengths on two sides of the bisected angle; The angle corresponding to the side with the strongest measurement signal strength is determined as the second angle.

8. The method according to claim 7, characterized in that The performing a preset number of angle bisections in the quadrant defined by the calibration coordinate axis and the space coordinate axis comprises: After the first angle bisection is performed in the quadrant defined by the calibration coordinate axis and the spatial coordinate axis, the angle adjacent to the side with the stronger measured signal strength of the two sides of the last bisected angle is continuously selected for the next angle bisection until the preset number of times is reached.

9. The method according to any one of claims 1 to 8, characterized in that: Also includes: The vehicle satellite antenna angle is sent to a cloud server to store the vehicle satellite antenna angle in the cloud server.

10. The method according to claim 9, characterized in that The sending the vehicle satellite antenna angle to a cloud server includes: The vehicle satellite antenna angle is sent to a domain controller, so that the domain controller sends the vehicle satellite antenna angle to a cloud server.

11. The method according to claim 10, characterized in that Also includes: Get vehicle location information; The step of sending the vehicle satellite antenna angle to a cloud server comprises: The vehicle location information and the vehicle satellite antenna angle corresponding to the vehicle location information are sent to a cloud server.

12. The method according to claim 1, characterized in that Before establishing the space coordinate system based on the current posture information of the vehicle, the method further includes: The corresponding vehicle satellite antenna angle is obtained based on the vehicle's current position information, and the acquisition fails.

13. The method according to claim 12, characterized in that The obtaining of the corresponding vehicle satellite antenna angle based on the current position information of the vehicle includes: Based on the current position information of the vehicle, the corresponding vehicle satellite antenna angle is obtained from the local storage module.

14. The method according to claim 12, characterized in that The obtaining of the corresponding vehicle satellite angle based on the current position information of the vehicle includes: A vehicle satellite antenna angle acquisition request corresponding to the current position information of the vehicle is sent to a cloud server.

15. The method according to claim 12, characterized in that Also includes: After the corresponding vehicle satellite angle is acquired based on the current position information of the vehicle, the vehicle satellite antenna is controlled to adjust its angle according to the acquired vehicle satellite antenna angle.

16. A vehicle satellite antenna angle adjustment device, characterized in that: include: A coordinate system establishment module, used to establish a spatial coordinate system based on the current posture information of the vehicle, wherein the spatial coordinate system includes a plane quadrant and a space quadrant; An angle acquisition module, used for acquiring the vehicle satellite antenna angle based on the space coordinate system, wherein the vehicle satellite antenna angle includes a first angle of the vehicle satellite antenna in a plane quadrant and a second angle in the space quadrant; An angle adjustment module is used to adjust the angle of the vehicle satellite antenna based on the angle of the vehicle satellite antenna.

17. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle satellite antenna angle adjustment method as described in any one of claims 1 to 15 are implemented.

18. A vehicle, characterized in that: The electronic device comprises the electronic device as claimed in claim 17, wherein the memory of the electronic device stores a program or instruction that can be executed on a processor, and the program or instruction, when executed by the processor, implements the steps of the vehicle satellite antenna angle adjustment method as claimed in any one of claims 1 to 15.

19. A vehicle satellite antenna control system, characterized in that: It includes the vehicle and cloud server as described in claim 18, and the cloud server is used to store vehicle location information and the vehicle satellite antenna angle corresponding to the vehicle location information.

20. A computer-readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the vehicle satellite antenna angle adjustment method as described in any one of claims 1 to 15 are implemented.

21. A computer program product, characterized in that When the program product is executed by a processor of a vehicle, the steps of the vehicle satellite antenna angle adjustment method as described in any one of claims 1 to 15 are implemented.

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