Automatic driving method, system and equipment based on frequency hopping positioning and storage medium

Abstract

The invention relates to an automatic driving method, system and device based on frequency hopping positioning and a storage medium. The method comprises the steps that the method is applied to a frequency hopping positioning system, an automatic driving path of a vehicle is obtained, the automatic driving path comprises a plurality of roadside positioning nodes, a frequency hopping positioning instruction is received, the frequency hopping positioning instruction is used for configuring a frequency hopping navigation table corresponding to the roadside positioning nodes, and when it is detected that the vehicle enters a signal coverage area of the roadside positioning nodes, the signal coverage area of the roadside positioning nodes corresponds to the frequency hopping navigation table. And setting the roadside positioning node as the current positioning node, extracting positioning information from the frequency hopping navigation table, and performing communication configuration and path control on the vehicle according to the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes an automatic driving path. The scheme provided by the invention not only ensures the accuracy of positioning and path control, but also has the advantage of low price, and is especially suitable for a scene of large-scale deployment.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to an autonomous driving method, system, device, and storage medium based on frequency hopping positioning. Background Art

[0002] With the continuous development of intelligent transportation systems, vehicle-road-cloud integration has gradually become the development direction of intelligent connected vehicles. In the field of intelligent transportation systems, vehicle-road-cloud integration mainly works through the system among vehicles, road facilities, and the cloud to achieve information sharing, thereby providing reliable data support and decision-making basis for autonomous driving technology.

[0003] Current vehicle-road-cloud solutions usually use artificial intelligence algorithms to process data and perceive the road environment for autonomous driving based on the processed data. This also means that it is necessary to deploy related devices with high performance to ensure the normal operation of artificial intelligence algorithms. However, in actual applications, the traffic scope covered by autonomous driving is wide and the road conditions are complex, and the hardware and algorithm investment costs required by the above solutions are high, making it difficult to meet the needs of large-scale deployment. Summary of the Invention

[0004] To solve or partially solve the problems existing in the related art, this application provides an autonomous driving method, system, device, and storage medium based on frequency hopping positioning, which can reduce the cost of autonomous driving while ensuring the accuracy of positioning and path control, and is applicable to large-scale deployment scenarios.

[0005] In the first aspect of this application, an autonomous driving method based on frequency hopping positioning is provided, which is applied to a frequency hopping positioning system. The method includes: Obtain the autonomous driving path of the vehicle, where the autonomous driving path includes multiple roadside positioning nodes; Receive a frequency hopping positioning instruction, which is used to configure the frequency hopping navigation table corresponding to the roadside positioning node; When it is detected that the vehicle enters the signal coverage area of the roadside positioning node, set the roadside positioning node as the current positioning node, and extract positioning information from the frequency hopping navigation table; Perform communication configuration and path control on the vehicle according to the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the autonomous driving path.

[0006] In one example, the frequency hopping positioning system is communicatively connected to multiple wireless positioning devices, and the frequency hopping navigation table is generated as follows: In the order of the roadside positioning nodes in the autonomous driving path, sequentially find the wireless positioning devices corresponding to the roadside positioning nodes; Establish a data mapping relationship between the roadside positioning node and the wireless positioning device to generate the frequency hopping navigation table.

[0007] In one example, the establishment of the data mapping relationship between the roadside positioning node and the wireless positioning device to generate the frequency hopping navigation table includes: Assign a node number to each roadside positioning node; Collect the positioning information of the wireless positioning device associated with each roadside positioning node; One-to-one correspond the node number of the roadside positioning node with the positioning information of the wireless positioning device to obtain the data mapping relationship; Generate the frequency hopping navigation table in combination with the data mapping relationship and a preset frequency hopping strategy.

[0008] In one example, the positioning information at least includes the number information and positioning frequency of the wireless positioning device. The number information of each wireless positioning device is different, and the positioning frequencies between adjacent wireless positioning devices are at least N megahertz apart, where N is an integer greater than or equal to 1.

[0009] In one example, the frequency hopping positioning system is communicatively connected to the radio frequency chip of the vehicle through a digital interface. The communication configuration and path control of the vehicle according to the positioning information include: Perform the communication configuration on the radio frequency chip according to the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table to obtain a communication channel for receiving the broadcast signal sent by the wireless positioning device; and, Under the communication channel, receive the broadcast signal sent by the wireless positioning device to which the current positioning node belongs, and perform the path control on the vehicle according to the broadcast signal and the number information corresponding to the current positioning node in the frequency hopping navigation table.

[0010] In one example, the performing the communication configuration on the radio frequency chip according to the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table to obtain a communication channel for receiving the broadcast signal sent by the wireless positioning device includes: Configure the channel parameters of the radio frequency chip based on the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table, and adjust the gain parameters of the radio frequency chip through the digital interface to obtain the communication channel, so that the radio frequency chip can listen to the broadcast signal sent by the wireless positioning device in real time through the communication channel.

[0011] In one example, the receiving the broadcast signal sent by the wireless positioning device to which the current positioning node belongs under the communication channel and performing the path control on the vehicle according to the broadcast signal and the number information corresponding to the current positioning node in the frequency hopping navigation table includes: Receive the broadcast signal sent by the wireless positioning device to which the current positioning node belongs under the communication channel; Parse the current serial number information from the broadcast signal; If the current serial number information is the same as the serial number information corresponding to the current positioning node in the frequency hopping navigation table, generate a path control instruction for the current positioning node.

[0012] The second aspect of the present application provides a frequency hopping positioning system, including: A positioning node acquisition module, configured to acquire an automatic driving path of a vehicle, where the automatic driving path includes a plurality of roadside positioning nodes; A positioning instruction receiving module, configured to receive a frequency hopping positioning instruction, where the frequency hopping positioning instruction is used to configure a frequency hopping navigation table corresponding to the roadside positioning node; A node determination module, configured to set the roadside positioning node as the current positioning node when it is detected that the vehicle enters a signal coverage area of the roadside positioning node, and extract positioning information from the frequency hopping navigation table; A vehicle control module, configured to perform communication configuration and path control on the vehicle according to the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the automatic driving path.

[0013] The third aspect of the present application provides an electronic device, including: A processor; and A memory, on which executable code is stored, and when the executable code is executed by the processor, the processor is caused to execute the method described above.

[0014] The fourth aspect of the present application provides a computer-readable storage medium, on which executable code is stored, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the method described above.

[0015] The fifth aspect of the present application provides a computer program product, where the computer program product includes computer instructions, and when the computer instructions are executed by a processor, the method described above is implemented.

[0016] The technical solution provided by the present application may include the following beneficial effects: In an embodiment of the present application, which is applied to a frequency-hopping positioning system, an autonomous driving path of a vehicle is obtained. The autonomous driving path includes multiple roadside positioning nodes. A frequency-hopping positioning instruction is received, and the frequency-hopping positioning instruction is used to configure a frequency-hopping navigation table corresponding to the roadside positioning node. When it is detected that the vehicle enters the signal coverage area of the roadside positioning node, the roadside positioning node is set as the current positioning node, and positioning information is extracted from the frequency-hopping navigation table. Communication configuration and path control are performed on the vehicle according to the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the autonomous driving path.

[0017] Compared with the related art, the technical solution of the present application enables the frequency-hopping positioning system to directly and quickly extract positioning information from the frequency-hopping navigation table when it is detected that the vehicle enters the signal coverage area of the roadside positioning node by automatically configuring the frequency-hopping navigation table corresponding to the roadside positioning node. Based on the positioning information, communication configuration and path control are completed, realizing that it is possible to control the vehicle to stably travel from the current positioning node to the next roadside positioning node without configuring high-cost equipment, thereby reducing the cost of autonomous driving. Moreover, since the frequency-hopping positioning system of the present application does not rely on high-cost equipment, but specifically configures a frequency-hopping navigation table that meets the requirements of autonomous driving, it not only ensures the accuracy of positioning and path control, but also has the advantage of low price. Therefore, it is particularly suitable for large-scale deployment scenarios.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By describing the exemplary embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more apparent. Among them, in the exemplary embodiments of the present application, the same reference numerals generally represent the same components.

[0020] Figure 1 is a schematic flowchart of an autonomous driving method based on frequency-hopping positioning shown in an embodiment of the present application; Figure 2 is another schematic flowchart of an autonomous driving method based on frequency-hopping positioning shown in an embodiment of the present application; Figure 3 is a schematic diagram of frequency-hopping positioning of a block road network shown in an embodiment of the present application; Figure 4 is a schematic structural diagram of a frequency-hopping positioning system shown in an embodiment of the present application; Figure 5 is a schematic structural diagram of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0022] The terms used in the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0023] It should be understood that although the terms "first", "second", "third", etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0024] With the continuous development of intelligent transportation systems, vehicle-road-cloud integration has gradually become the development direction of intelligent connected vehicles. In the field of intelligent transportation systems, vehicle-road-cloud integration mainly works through the system among vehicles, road facilities and the cloud to achieve information sharing, so as to provide reliable data support and decision-making basis for autonomous driving technology.

[0025] Among them, the vehicle includes sensors, various control systems and communication modules equipped on the vehicle body to sense its own state and surrounding environment information in real time. Road facilities include roadside units, intelligent traffic lights, cameras, radars, monitoring stations, etc., to collect traffic flow, road conditions and other information, and interact with the vehicle end or the cloud through wireless communication. The cloud provides services such as big data storage, intelligent analysis and decision support.

[0026] Current vehicle-road-cloud solutions usually use artificial intelligence algorithms to process data and sense the road environment for autonomous driving based on the processed data. This also means that it is necessary to deploy related devices with high performance to ensure the normal operation of artificial intelligence algorithms. However, in practical applications, the traffic scope covered by autonomous driving is wide and the road conditions are complex. The hardware and algorithm investment required by the above solutions is high, making it difficult to meet the needs of large-scale deployment.

[0027] In the related art, there are problems in the autonomous driving technology that the hardware and algorithm investment costs are high and it is difficult to meet the requirements of large-scale deployment.

[0028] In view of the above problems, the embodiments of the present application provide a frequency hopping positioning method for a vehicle, which can reduce the cost of autonomous driving and meet the requirements of large-scale deployment.

[0029] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0030] Figure 1 It is a schematic flowchart of autonomous driving based on frequency hopping positioning shown in the embodiments of the present application.

[0031] See Figure 1 , which is applied to a frequency hopping positioning system and at least includes the following steps: Step 101, obtain the autonomous driving path of the vehicle, where the autonomous driving path includes a plurality of roadside positioning nodes.

[0032] In the embodiments of the present application, the frequency hopping positioning system can automatically obtain the autonomous driving path of the vehicle, and the autonomous driving path includes a plurality of roadside positioning nodes.

[0033] Among them, the autonomous driving path is a driving route generated based on a navigation task, and the generation process of the driving route at least includes the following steps: First, the user inputs the departure place and the destination in the user interface provided by the vehicle (such as the navigation interface), and the system automatically generates multiple feasible driving routes, and at the same time provides route screening controls that meet various driving requirements, such as the route with the fewest traffic lights, the shortest time-consuming route, the least energy-consuming route, the shaded route, and so on. Then, the user selects a certain route screening control based on the current autonomous driving requirement, and locks the driving route that matches the route screening control from the multiple feasible driving routes. Finally, send the driving route to the frequency hopping navigation system.

[0034] In the present application, the autonomous driving path includes a plurality of roadside positioning nodes. The roadside positioning nodes refer to key position points extracted one by one along the driving direction of the autonomous driving path, such as road intersections, ramp entrances and exits, traffic signal intersections, etc.

[0035] It can be understood that the roadside positioning nodes can be pre-set nodes, which are usually set based on the traffic environment and change characteristics of the road network. Each roadside positioning node usually corresponds to at least one wireless positioning device or other broadcast devices.

[0036] Step 102, receive a frequency hopping positioning instruction, where the frequency hopping positioning instruction is used to configure the frequency hopping navigation table corresponding to the roadside positioning node.

[0037] In an embodiment of the present application, after receiving a frequency hopping positioning instruction, the frequency hopping positioning system needs to configure a frequency hopping navigation table corresponding to multiple roadside positioning nodes.

[0038] Among them, the frequency hopping positioning instruction can be generated by the control system of the vehicle, and the ways to trigger the generation of the frequency hopping positioning instruction include: text input method and voice input method.

[0039] For example, if the user manually enters destination information or selects a preset route through the navigation interface of the in-vehicle terminal, the frequency hopping positioning instruction is automatically triggered. Or, if the in-vehicle voice interaction system receives the voice content issued by the user, and keywords such as "automatic", "navigation", "planning", "place name" are parsed, the frequency hopping positioning instruction is automatically triggered.

[0040] In the present application, the frequency hopping positioning instruction at least includes information such as the departure place, passing places, destination, optimal route of the vehicle's current navigation, and roadside positioning nodes associated with the optimal route.

[0041] As an example, after receiving the frequency hopping positioning instruction or before configuring the frequency hopping navigation table corresponding to the roadside positioning node, the validity of the frequency hopping positioning instruction can also be verified. For example, check whether the data format of the frequency hopping positioning instruction conforms to the preset format, whether the autonomous driving path carried in the frequency hopping positioning instruction conforms to the current state of the vehicle, and whether each roadside positioning node carried in the frequency hopping positioning instruction exists in the map, etc.

[0042] When the frequency hopping positioning instruction passes the verification, the frequency hopping positioning system can configure the frequency hopping navigation table by using the information carried in the frequency hopping positioning instruction, so as to realize that there is no need to call a high-performance data processing device to parse data during the autonomous driving process, thereby improving the processing efficiency of the frequency hopping positioning system and reducing the device load pressure and device cost.

[0043] When the frequency hopping positioning instruction fails the verification, the frequency hopping positioning system can generate a reminder message and feedback the reminder message to other control systems of the vehicle. Other control systems can analyze the reason for the instruction error and try to resend. If the number of resends exceeds the preset number, a manual intervention request is initiated.

[0044] Step 103, when it is detected that the vehicle enters the signal coverage area of the roadside positioning node, set the roadside positioning node as the current positioning node, and extract positioning information from the frequency hopping navigation table.

[0045] In an embodiment of the present application, when the frequency hopping positioning system detects that a vehicle enters the signal coverage area of a roadside positioning node, it indicates that the vehicle has accurately reached the position point corresponding to the roadside positioning node. At this time, the current roadside positioning node can be determined as the current positioning node, the position point corresponding to the roadside positioning node can be determined as the latest position of the vehicle on the autonomous driving path, and then the positioning information of the current positioning node can be accurately extracted from the frequency hopping navigation table.

[0046] Among them, the signal coverage area refers to the physical area range where the wireless positioning device associated with the roadside positioning node emits wireless signals, and the signal strength of the signal coverage area should be maintained within the intensity range received by the vehicle. For example, centered on the wireless positioning device, it presents a circular or elliptical distribution. However, in the actual road environment, the signal coverage area may be affected by obstacles and thus present an irregular shape distribution.

[0047] The positioning information refers to a set of key information associated with the roadside positioning node, including at least the number information and positioning frequency of the wireless positioning device corresponding to the roadside positioning node, which is mainly used for the communication configuration between the frequency hopping positioning system and the vehicle, as well as the driving control of the vehicle.

[0048] The frequency hopping positioning system of the present application determines the current positioning node to real-time sense the latest position of the vehicle, and accurately extracts the positioning information from the frequency hopping navigation table, thereby reducing the positioning delay and effectively ensuring the continuous frequency hopping of the vehicle.

[0049] Step 104, perform communication configuration and path control on the vehicle according to the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the autonomous driving path.

[0050] In an embodiment of the present application, after obtaining the positioning information, the frequency hopping positioning system can also perform communication configuration and path control on the vehicle based on the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the entire autonomous driving path and ends the autonomous driving task.

[0051] Among them, the communication configuration refers to the process in which the frequency hopping positioning system adjusts the communication module of the vehicle according to the positioning information to ensure that the vehicle can accurately receive the broadcast signal from the wireless positioning device within the signal coverage area of the current positioning node.

[0052] The path control refers to that after the communication configuration is completed and the effective broadcast signal of the current roadside positioning node is successfully received, the frequency hopping positioning system again plans and executes a series of driving control actions based on the positioning information in the frequency hopping navigation table and in combination with the current roadside positioning node of the vehicle, so that the vehicle can drive from the current roadside positioning node to the next roadside positioning node along the specified autonomous driving path.

[0053] In an embodiment of the present application, which is applied to a frequency-hopping positioning system, an autonomous driving path of a vehicle is obtained. The autonomous driving path includes multiple roadside positioning nodes. A frequency-hopping positioning instruction is received. The frequency-hopping positioning instruction is used to configure a frequency-hopping navigation table corresponding to the roadside positioning node. When it is detected that the vehicle enters the signal coverage area of the roadside positioning node, the roadside positioning node is set as the current positioning node, and positioning information is extracted from the frequency-hopping navigation table. Communication configuration and path control are performed on the vehicle according to the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the autonomous driving path.

[0054] Compared with the related art, the technical solution of the present application enables the frequency-hopping positioning system to directly and quickly extract positioning information from the frequency-hopping navigation table when it detects that the vehicle enters the signal coverage area of the roadside positioning node by automatically configuring the frequency-hopping navigation table corresponding to the roadside positioning node. Based on the positioning information, communication configuration and path control are completed, realizing that it is possible to control the vehicle to stably travel from the current positioning node to the next roadside positioning node without configuring high-cost equipment, thereby reducing the cost of autonomous driving. Moreover, since the frequency-hopping positioning system of the present application does not rely on high-cost equipment, but specifically configures a frequency-hopping navigation table that meets the requirements of autonomous driving, it not only ensures the accuracy of positioning and path control, but also has the advantage of low price. Therefore, it is particularly suitable for scenarios with large-scale deployment.

[0055] Figure 2 It is another schematic flowchart of autonomous driving based on frequency-hopping positioning shown in the embodiment of the present application. Figure 2 Relative Figure 1 The technical solution of the embodiment of the present application is described in more detail. Applied to a frequency-hopping positioning system, it at least includes the following steps: Step 201, obtain the autonomous driving path of the vehicle. The autonomous driving path includes multiple roadside positioning nodes.

[0056] In an embodiment of the present application, the autonomous driving path generated by the in-vehicle navigation system is received, and along the driving direction of the autonomous driving path, multiple roadside positioning nodes are divided or identified.

[0057] As an example, the frequency-hopping positioning system is communicatively connected to the cloud. After the in-vehicle navigation system plans the autonomous driving path based on the user input content and travel requirements, the autonomous driving path is uploaded to the cloud, facilitating the frequency-hopping positioning system to send a path acquisition request to the cloud, thereby obtaining the corresponding autonomous driving path.

[0058] After receiving the autonomous driving path returned by the cloud, the frequency hopping positioning system can divide the autonomous driving path at set distance intervals to generate a number of roadside positioning nodes, or divide or identify the autonomous driving path according to the key position points of the road network to obtain a number of roadside positioning nodes. In actual use, the above two division methods can be used independently or in combination to generate a more reasonable set of roadside positioning nodes.

[0059] For example, the autonomous driving path includes roadside positioning node ①, roadside positioning node ②, roadside positioning node ③, roadside positioning node ④... roadside positioning node ⑩, etc. Among them, roadside positioning node ① corresponds to the starting point, roadside positioning node ② corresponds to the ramp entrance, roadside positioning node ③ corresponds to the ramp exit, roadside positioning node ④ corresponds to the traffic signal intersection... roadside positioning node ⑩ corresponds to the end point.

[0060] Step 202, receive a frequency hopping positioning instruction for configuring a frequency hopping navigation table corresponding to the roadside positioning node.

[0061] In the embodiment of the present application, if the user selects to start the navigation function in the navigation interface of the in-vehicle terminal, a frequency hopping positioning instruction is triggered. After the frequency hopping positioning system receives the frequency hopping positioning instruction, it is necessary to configure a frequency hopping navigation table corresponding to the roadside positioning node.

[0062] Among them, the frequency hopping navigation table includes the data mapping relationship between each roadside positioning node and the wireless positioning device. For example, the frequency hopping navigation table is {the first data mapping relationship; the second data mapping relationship; the third data mapping relationship}.

[0063] In the present application, the frequency hopping positioning system is communicatively connected to multiple wireless positioning devices. The generation method of the frequency hopping navigation table is as follows: According to the node order of the roadside positioning nodes in the autonomous driving path, sequentially search for the wireless positioning devices corresponding to the roadside positioning nodes, establish the data mapping relationship between the roadside positioning nodes and the wireless positioning devices, and generate the frequency hopping navigation table.

[0064] Furthermore, the data mapping relationship is a one-to-one correspondence between the node numbers of the roadside positioning nodes and the positioning information of the wireless positioning devices. The positioning information includes at least the number information and positioning frequency of the wireless positioning devices. The number information of each wireless positioning device is different, and the positioning frequencies between adjacent wireless positioning devices are at least N megahertz apart, where N is an integer greater than or equal to 1. For example, the frequency hopping navigation table is {the first data mapping relationship: roadside positioning node ① - the positioning information of wireless positioning device ①; the second data mapping relationship: roadside positioning node ② - the positioning information of wireless positioning device ②; the third data mapping relationship: roadside positioning node ③ - the positioning information of wireless positioning device ③}.

[0065] In one example, relevant technicians have previously set up several high-frequency wireless transmission devices, namely wireless positioning devices, in the road network. The frequency band range of the high-frequency wireless transmission devices is from 5725 MHz to 5850 MHz. The reason for selecting the positioning frequency in the range of 5725 - 5850 MHz is that the signal attenuation is relatively large, the signal coverage range is small, and the signal interference to the surrounding is small.

[0066] The frequency of each high-frequency wireless transmitter is at least 1 MHz apart to ensure little spectrum interference. For example, the operating frequency of transmitter A is 5725 MHz, the operating frequency of transmitter B is 5825 MHz, the operating frequency of transmitter C is 5795 MHz, and so on.

[0067] Moreover, the high-frequency wireless transmitter can also broadcast device ID (Identity document, unique code) information. Each device ID is different and unique, which not only effectively reduces the interference of adjacent wireless signals, but also the frequency hopping communication does not require high-cost lidar or image recognition, with low cost and fast deployment. For example, the ID information of transmitter A is DEV00001, the ID information of transmitter B is DEV00002, the ID information of transmitter C is DEV00003, the ID information of transmitter D is DEV00004, the ID information of transmitter E is DEV00005, and the ID information of transmitter F is DEV00006.

[0068] In this application, the process of establishing the data mapping relationship between the roadside positioning node and the wireless positioning device and generating the frequency hopping navigation table at least includes: allocating a node number to each roadside positioning node, collecting the positioning information of the wireless positioning device associated with each roadside positioning node, corresponding the node number of the roadside positioning node with the positioning information of the wireless positioning device one by one to obtain the data mapping relationship, and generating the frequency hopping navigation table by combining the data mapping relationship and the preset frequency hopping strategy.

[0069] Among them, the preset frequency hopping strategy is a set of rules previously set by relevant technicians according to the positioning requirements, at least including the frequency hopping order of the roadside positioning nodes. For example, the way of jumping from the current positioning node to the next roadside positioning node in the preset frequency hopping strategy is to jump in ascending order of the node numbers of the roadside positioning nodes.

[0070] In one example, it is assumed that the autonomous driving path includes four roadside positioning nodes, and a node number is assigned to each roadside positioning node, that is, roadside positioning node ①, roadside positioning node ②, roadside positioning node ③, and roadside positioning node ④. Then, the wireless positioning device ① corresponding to roadside positioning node ①, the wireless positioning device ② corresponding to roadside positioning node ②, the wireless positioning device ③ corresponding to roadside positioning node ③, and the wireless positioning device ④ corresponding to roadside positioning node ④ are respectively found, and the positioning information of the wireless positioning device ①, the wireless positioning device ②, the wireless positioning device ③, and the wireless positioning device ④ is collected. Then, the node numbers are put into one-to-one correspondence with the number information and positioning frequencies in the positioning information to obtain a data mapping relationship. Finally, a frequency hopping navigation table is generated by combining the data mapping relationship and a preset frequency hopping strategy.

[0071] On this basis, the frequency hopping navigation table is illustrated with relevant data, as shown in Table 1 below:

[0072] Table 1 The entire autonomous driving process can be as follows: When the frequency hopping positioning system detects a broadcast signal carrying the number information DEV00001 sent by the wireless positioning device ① in the 5725 MHz frequency band, it determines that the current position of the vehicle is point A and executes a straight line.

[0073] After hopping to the 5825 MHz frequency band and receiving a broadcast signal carrying the number information DEV00002 sent by the wireless positioning device ②, it indicates that the vehicle has reached point B from point A, and executes a right turn.

[0074] After hopping to the 5795 MHz frequency band and receiving a broadcast signal carrying the number information DEV00003 sent by the wireless positioning device ③, it indicates that the vehicle has reached point C from point B, and executes a left turn.

[0075] Finally, after hopping to the 5777 MHz frequency band and receiving a broadcast signal carrying the number information DEV00004 sent by the wireless positioning device ④, it is confirmed that the vehicle has reached point D, and a straight line operation is executed again.

[0076] And so on in sequence until the entire autonomous driving path is completed.

[0077] It should be noted that since the autonomous driving path covers the departure location, the passing locations, and the destination, the first roadside positioning node among the roadside positioning nodes often corresponds to the departure location node, the last roadside positioning node corresponds to the destination node, and the other roadside positioning nodes belong to the nodes corresponding to the passing locations. For example, roadside positioning node ① can be the starting node corresponding to the departure location, roadside positioning node ② can be the branch node corresponding to the ramp entrance, roadside positioning node ③ can be the branch node corresponding to the ramp exit, and roadside positioning node ④ can be the termination node corresponding to the destination.

[0078] Step 203: When it is detected that the vehicle enters the signal coverage area of the roadside positioning node, set the roadside positioning node as the current positioning node, and extract the positioning information from the frequency hopping navigation table.

[0079] In the embodiment of the present application, the frequency hopping positioning system can sequentially detect whether the vehicle enters the signal coverage area of the roadside positioning node, and after each successful detection, set the node as the current positioning node, and extract the corresponding positioning information from the frequency hopping navigation table to support communication configuration and path control operations. This process will continue to be executed until the vehicle completes the entire autonomous driving path.

[0080] In one example, the frequency hopping positioning system can calculate the predicted time to reach the roadside positioning node based on the current driving speed of the vehicle. If the vehicle still has not been detected to enter the signal coverage area within the predicted time, the frequency hopping positioning system can appropriately delay the time and make a judgment again, so as to reduce the situation of misjudgment.

[0081] Step 204: Configure the radio frequency chip according to the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table to obtain a communication channel for receiving the broadcast signal sent by the wireless positioning device.

[0082] In the embodiment of the present application, the frequency hopping positioning system can configure the channel parameters of the radio frequency chip based on the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table, and adjust the gain parameters of the radio frequency chip through a digital interface to obtain a communication channel, so that the radio frequency chip can listen to the broadcast signal sent by the wireless positioning device in real time through the communication channel.

[0083] In the present application, the radio frequency chip refers to a chip that sends and receives wireless signals, and supports functions such as frequency tuning, signal modulation, and gain control, such as receiving the broadcast signal of the wireless positioning device. By using a low-cost and stable radio frequency chip to achieve reliable frequency hopping communication, the deployment and operation and maintenance costs of the autonomous driving system can be significantly reduced. Among them, the channel parameters of the radio frequency chip at least include the center frequency and the bandwidth, and the gain parameters at least include the signal gain value.

[0084] In one example, the gain control register is written to the radio frequency chip through the SPI interface (Serial Peripheral Interface) or the I2C interface (Inter-Integrated Circuit), and the coarse adjustment (0x08) and fine adjustment (0x09) gain values are directly set to maximize the gain at the specified frequency, thereby completing the communication configuration.

[0085] For example, the frequency hopping positioning system first reads the positioning frequency corresponding to the current positioning node from the frequency hopping navigation table. The positioning frequency is 5725 MHz. The frequency hopping positioning system configures the center frequency to 5725 MHz, configures the preset bandwidths such as 5 MHz, 10 MHz, 20 MHz, etc., and writes the corresponding signal gain values to the gain control register of the radio frequency chip through the SPI interface. For example, gain modulation is performed through 0x08 and 0x09 respectively, so as to form a stable communication channel, enabling the radio frequency chip to listen to the broadcast signal sent by the wireless positioning device at 5725 MHz in real time through the communication channel.

[0086] It is worth noting that each time a new positioning frequency is jumped to, the gain needs to be dynamically adjusted to make the signal reception effect the strongest at the positioning frequency, ensuring the best sensitivity and signal-to-noise ratio.

[0087] Step 205, under the communication channel, receive the broadcast signal sent by the wireless positioning device to which the current positioning node belongs, and perform path control on the vehicle according to the broadcast signal and the number information corresponding to the current positioning node in the frequency hopping navigation table, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the automatic driving path.

[0088] In the embodiment of the present application, the frequency hopping positioning system can receive the broadcast signal sent by the wireless positioning device to which the current positioning node belongs under the communication channel, parse the current number information from the broadcast signal. If the current number information is the same as the number information corresponding to the current positioning node in the frequency hopping navigation table, a path control instruction for the current positioning node is generated, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the automatic driving path.

[0089] In the present application, the frequency hopping positioning system has completed the communication configuration of the radio frequency chip using the positioning frequency. Under the communication channel formed after the communication configuration, it receives the broadcast signal sent by the wireless positioning device to which the current positioning node belongs, extracts the current number information from the broadcast signal data frame. If the current number information is the same as the number information corresponding to the current positioning node in the frequency hopping navigation table, it indicates that the vehicle is accurately at the physical position of the current positioning node. At this time, a path control instruction for the current positioning node can be generated according to the driving direction in the frequency hopping navigation table.

[0090] In one example, assume that the current positioning node is the roadside positioning node ②. Information about the roadside positioning node ② can be obtained from the frequency hopping navigation table. See Table 2 below:

[0091] Table 2 After the frequency hopping positioning system receives the broadcast signal sent by the wireless positioning device to which the current positioning node belongs on the communication channel of 5825 MHz, the current serial number information is parsed from the broadcast signal.

[0092] If the current serial number information is DEV00003, it indicates that the current serial number information is different from the serial number information in the frequency hopping navigation table. At this time, it is determined that the vehicle has not reached the expected positioning node, and there are problems such as positioning errors or abnormal frequency hopping configurations. Then, an abnormal handling process is entered, and a reminder message is generated. Among them, the abnormal handling process includes a retry mechanism, a repositioning mechanism, etc.

[0093] If the current serial number information is DEV00002, it indicates that the current serial number information is the same as the serial number information (positioning information) in the frequency hopping navigation table. At this time, it is determined that the vehicle has reached point B, and a right turn instruction for point B can be generated, so as to control the vehicle to enter the right turn trajectory and drive towards the roadside positioning node ③.

[0094] This application effectively avoids the problem of mispositioning caused by environmental interference or equipment abnormalities by real-time monitoring of broadcast signals and serial number verification, ensuring the correctness of vehicle path switching and the stability of the autonomous driving process.

[0095] In one example, referring to Figure 3 , Figure 3 is a schematic diagram of frequency hopping positioning of the block road network shown in the embodiment of this application. Figure 3 In it, A, B, C, D, E, and F are the location points where high-frequency wireless signal transmitters are deployed in a certain block. The circular area formed with the center of each location point as the center is the signal coverage area of the wireless positioning device.

[0096] The frequency hopping positioning system first obtains the autonomous driving path of the vehicle as: A→B→E→F. At the same time, it determines the corresponding roadside positioning nodes of A, B, E, and F, and obtains the serial number information and positioning frequency of the wireless positioning devices passing through each location point. Then, a frequency hopping navigation table is configured based on the node numbers of the roadside positioning nodes, the serial number information and positioning frequency of the wireless positioning devices, and the location points where the wireless positioning devices are deployed.

[0097] After the vehicle departs and enters the signal coverage area of Point A, the frequency hopping positioning system controls the RF chip to establish a communication channel at the positioning frequency (such as 5725 MHz) configured in the frequency hopping navigation table. Under the communication channel, the RF chip receives the broadcast signal sent by the high-frequency wireless signal transmitter deployed at Point A, parses out the current serial number information as DEV00001, and compares it with the serial number information corresponding to Point A in the frequency hopping navigation table. If the two are consistent, it indicates that the vehicle has entered the correct node, generates a path control instruction, and instructs the vehicle to travel along a straight path to Point B.

[0098] When the vehicle exits the signal coverage area of Point A and enters the signal coverage area of Point B, the frequency hopping positioning system hops to the positioning frequency corresponding to Node B (such as 5825 MHz). This process requires adjusting the directional gain of the receiving antenna so that the RF chip receives the broadcast signal in the 5825 MHz frequency band, parses out the current serial number information as DEV00002, which is consistent with the serial number information stored in the frequency hopping navigation table, and confirms that the vehicle is currently at Point B. The system updates the positioning status. At this time, the path control instruction is updated to "turn right" to go to Point E.

[0099] The vehicle turns right and enters Point E. The system performs the same processing, hops again (such as 5795 MHz), confirms that the current positioning serial number is DEV00005, which is consistent with the serial number information stored in the frequency hopping navigation table, and confirms that the vehicle is currently at Point E. The system updates the positioning status. At this time, the path control instruction is updated to "turn right" to go to Point F.

[0100] After the vehicle enters Point F, it continues to hop (such as 5777 MHz), receives the broadcast signal, and parses out the current serial number information as DEV00006, which is consistent with the serial number information stored in the frequency hopping navigation table, confirms reaching the end point, and the frequency hopping positioning system terminates the path control.

[0101] During the frequency hopping process, if no valid current serial number information is received, an exception handling process is triggered. Among them, the exception handling process includes receiving valid current serial number information again according to the preset number of retries, receiving valid current serial number information after delaying the listening time, etc.

[0102] If the received current serial number information is inconsistent with the serial number information stored in the frequency hopping navigation table, an exception handling process is triggered. Among them, the exception handling process includes continuously listening to the current serial number information and comparing the current serial number information with the serial number information stored in the frequency hopping navigation table again.

[0103] It can be seen that the frequency hopping positioning system reduces interference by using different positioning frequencies and adjusting different frequency bands of the RF chip in real time according to the positioning frequencies in the frequency hopping navigation table. Moreover, by analyzing the unique current number information, misidentification is effectively prevented, and the path control logic is triggered in combination with the number matching result to ensure that the vehicle accurately completes the autonomous driving path from A to F.

[0104] In the embodiment of the present application, an autonomous driving path of a vehicle is obtained. The autonomous driving path includes multiple roadside positioning nodes. A frequency hopping positioning instruction is received. The frequency hopping positioning instruction is used to configure the frequency hopping navigation table corresponding to the roadside positioning nodes. When it is detected that the vehicle enters the signal coverage area of the roadside positioning node, the roadside positioning node is set as the current positioning node, and positioning information is extracted from the frequency hopping navigation table. The RF chip is configured for communication according to the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table to obtain a communication channel for receiving the broadcast signal sent by the wireless positioning device. Moreover, under the communication channel, the broadcast signal sent by the wireless positioning device to which the current positioning node belongs is received, and path control is performed on the vehicle according to the broadcast signal and the number information corresponding to the current positioning node in the frequency hopping navigation table. Thus, on the one hand, by configuring the frequency hopping navigation table and establishing a data mapping relationship, the frequency hopping positioning system can quickly identify the vehicle position, smoothly realize frequency hopping positioning based on high frequency bands, and significantly improve the positioning reliability and autonomous driving accuracy of the frequency hopping positioning system in the autonomous driving scenario. On the other hand, by deploying a large number of low-cost and low-power wireless positioning devices and using the broadcast information sent by the wireless positioning devices, reliable frequency hopping communication is realized, the dependence on high-power devices is reduced, and the system deployment cost and maintenance difficulty are greatly reduced.

[0105] Corresponding to the foregoing embodiment of the application function implementation method, the present application also provides a frequency hopping positioning system, an electronic device, and corresponding embodiments.

[0106] Figure 4 It is a schematic structural diagram of the frequency hopping positioning system shown in the embodiment of the present application.

[0107] See Figure 4 , the frequency hopping positioning system at least includes: A positioning node acquisition module 401, configured to acquire an autonomous driving path of a vehicle, where the autonomous driving path includes multiple roadside positioning nodes; A positioning instruction receiving module 402, configured to receive a frequency hopping positioning instruction, where the frequency hopping positioning instruction is used to configure the frequency hopping navigation table corresponding to the roadside positioning nodes; A node determination module 403, configured to set the roadside positioning node as the current positioning node and extract positioning information from the frequency hopping navigation table when it is detected that the vehicle enters the signal coverage area of the roadside positioning node; A vehicle control module 404, configured to perform communication configuration and path control on the vehicle according to positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the autonomous driving path.

[0108] As an alternative example of the present application, the frequency hopping positioning system is communicatively connected to multiple wireless positioning devices, and the generation process of the frequency hopping navigation table includes the following modules: A positioning device search module, configured to sequentially search for the wireless positioning devices corresponding to the roadside positioning nodes according to the node order of the roadside positioning nodes in the autonomous driving path; A frequency hopping navigation table generation module, configured to establish a data mapping relationship between the roadside positioning nodes and the wireless positioning devices, and generate a frequency hopping navigation table.

[0109] As an alternative example of the present application, the frequency hopping navigation table generation module is configured to: Assign a node number to each roadside positioning node; Collect the positioning information of the wireless positioning devices associated with each roadside positioning node; Put the node numbers of the roadside positioning nodes in one-to-one correspondence with the positioning information of the wireless positioning devices to obtain a data mapping relationship; Generate a frequency hopping navigation table in combination with the data mapping relationship and a preset frequency hopping strategy.

[0110] As an alternative example of the present application, the positioning information at least includes the number information and positioning frequency of the wireless positioning devices. The number information of each wireless positioning device is different, and the positioning frequencies between adjacent wireless positioning devices are at least separated by N megahertz, where N is an integer greater than or equal to 1.

[0111] As an alternative example of the present application, the frequency hopping positioning system is communicatively connected to the radio frequency chip of the vehicle through a digital interface. The vehicle control module 404 includes: A communication configuration sub-module, configured to perform communication configuration on the radio frequency chip according to the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table to obtain a communication channel for receiving the broadcast signal sent by the wireless positioning device; and A path control sub-module, configured to, under the communication channel, receive the broadcast signal sent by the wireless positioning device to which the current positioning node belongs, and perform path control on the vehicle according to the broadcast signal and the number information corresponding to the current positioning node in the frequency hopping navigation table.

[0112] As an alternative example of the present application, the communication configuration sub-module is configured to: Configure the channel parameters of the radio frequency chip based on the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table, and adjust the gain parameters of the radio frequency chip through the digital interface to obtain a communication channel, so that the radio frequency chip can listen to the broadcast signal sent by the wireless positioning device in real time through the communication channel.

[0113] As an optional example of the present application, the path control sub-module is configured to: Receive a broadcast signal sent by a wireless positioning device to which the current positioning node belongs under a communication channel; Parse the current serial number information from the broadcast signal; If the current serial number information is the same as the serial number information corresponding to the current positioning node in the frequency hopping navigation table, generate a path control instruction for the current positioning node.

[0114] Regarding the system in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0115] Figure 5 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.

[0116] See Figure 5 , the electronic device 500 includes a memory 510 and a processor 520.

[0117] The processor 520 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The memory 510 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, the ROM can store static data or instructions required by the processor 520 or other modules of the computer. The permanent storage device can be a readable and writable storage device. The permanent storage device can be a non-volatile storage device that does not lose the stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device employs a mass storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, optical drive). The system memory can be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory can store some or all of the instructions and data required by the processor during operation. In addition, the memory 510 can include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks can also be used. In some embodiments, the memory 510 can include a removable storage device that is readable and / or writable, such as a compact disc (CD), read-only digital versatile disc (such as DVD-ROM, dual-layer DVD-ROM), read-only Blu-ray disc, super density disc, flash memory card (such as SD card, min SD card, Micro-SD card, etc.), magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and instantaneous electronic signals transmitted wirelessly or wired.

[0118] Executable code is stored on the memory 510, and when the executable code is processed by the processor 520, it can cause the processor 520 to execute some or all of the methods described above.

[0119] In addition, the method according to the present application can also be implemented as a computer program or computer program product, which includes computer program code instructions for executing some or all of the steps of the above method of the present application.

[0120] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium), on which executable code (or computer program or computer instruction code) is stored and when executed by a processor of an electronic device (or server, etc.), causes the processor to execute some or all of the steps of the above method according to the present application.

[0121] The present application also provides a computer program product, the computer program product includes computer instructions, and when the computer instructions are executed by a processor, the method described above is implemented.

[0122] The embodiments of the present application have been described above. The above description is exemplary and not exhaustive, and is also not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of the technology in the market, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An autonomous driving method based on frequency hopping positioning, characterized in that Applied to a frequency hopping positioning system, the method includes: Obtain the autonomous driving path of the vehicle, where the autonomous driving path includes multiple roadside positioning nodes; Receive a frequency hopping positioning instruction for configuring a frequency hopping navigation table corresponding to the roadside positioning node; When it is detected that the vehicle enters the signal coverage area of the roadside positioning node, set the roadside positioning node as the current positioning node, and extract positioning information from the frequency hopping navigation table; Perform communication configuration and path control on the vehicle according to the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the autonomous driving path.

2. The method according to claim 1, wherein The frequency hopping positioning system is communicatively connected to multiple wireless positioning devices, and the generation method of the frequency hopping navigation table is as follows: Sequentially search for the wireless positioning device corresponding to the roadside positioning node according to the node order of the roadside positioning node in the autonomous driving path; Establish a data mapping relationship between the roadside positioning node and the wireless positioning device to generate the frequency hopping navigation table.

3. The method according to claim 2, characterized in that, The establishing a data mapping relationship between the roadside positioning node and the wireless positioning device to generate the frequency hopping navigation table includes: Assign a node number to each roadside positioning node; Collect the positioning information of the wireless positioning device associated with each roadside positioning node; Make the node number of the roadside positioning node correspond one-to-one with the positioning information of the wireless positioning device to obtain the data mapping relationship; Generate the frequency hopping navigation table in combination with the data mapping relationship and a preset frequency hopping strategy.

4. The method according to claim 3, wherein The positioning information includes at least the number information and positioning frequency of the wireless positioning device. The number information of each wireless positioning device is different, and the positioning frequencies between adjacent wireless positioning devices are at least N megahertz apart, where N is an integer greater than or equal to 1.

5. The method according to claim 4, characterized in that, The frequency hopping positioning system is communicatively connected to the radio frequency chip of the vehicle through a digital interface. The performing communication configuration and path control on the vehicle according to the positioning information includes: Perform the communication configuration on the radio frequency chip according to the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table to obtain a communication channel for receiving the broadcast signal sent by the wireless positioning device; and Under the communication channel, receive the broadcast signal sent by the wireless positioning device to which the current positioning node belongs, and perform the path control on the vehicle according to the broadcast signal and the number information corresponding to the current positioning node in the frequency hopping navigation table.

6. The method according to claim 5, characterized in that The performing communication configuration on the radio frequency chip according to the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table to obtain a communication channel for receiving the broadcast signal sent by the wireless positioning device includes: Configure the channel parameters of the radio frequency chip based on the positioning frequency corresponding to the current positioning node in the frequency hopping navigation table, and adjust the gain parameters of the radio frequency chip through the digital interface to obtain the communication channel, so that the radio frequency chip can monitor the broadcast signal sent by the wireless positioning device in real time through the communication channel.

7. The method according to claim 5, wherein Under the communication channel, receiving a broadcast signal sent by a wireless positioning device to which the current positioning node belongs, and performing the path control on the vehicle according to the broadcast signal and the number information corresponding to the current positioning node in the frequency-hopping navigation table, including: Under the communication channel, receiving a broadcast signal sent by a wireless positioning device to which the current positioning node belongs; Parsing the current number information from the broadcast signal; If the current number information is the same as the number information corresponding to the current positioning node in the frequency-hopping navigation table, generating a path control instruction for the current positioning node.

8. A frequency hopping positioning system, characterized in that, Including: A positioning node acquisition module, configured to acquire an automatic driving path of a vehicle, where the automatic driving path includes a plurality of roadside positioning nodes; A positioning instruction receiving module, configured to receive a frequency-hopping positioning instruction for configuring a frequency-hopping navigation table corresponding to the roadside positioning node; A node determination module, configured to set the roadside positioning node as the current positioning node when it is detected that the vehicle enters a signal coverage area of the roadside positioning node, and extract positioning information from the frequency-hopping navigation table; A vehicle control module, configured to perform communication configuration and path control on the vehicle according to the positioning information, so that the vehicle travels from the current positioning node to the next roadside positioning node until the vehicle completes the automatic driving path.

9. An electronic device, characterized in that, Including: A processor; And A memory, storing executable code thereon, and when the executable code is executed by the processor, causing the processor to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, storing executable code thereon, and when the executable code is executed by a processor of an electronic device, causing the processor to execute the method according to any one of claims 1-7.

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