CN111586566B - Communication time slot allocation method and device and server - Google Patents
Communication time slot allocation method and device and server Download PDFInfo
- Publication number
- CN111586566B CN111586566B CN202010438345.0A CN202010438345A CN111586566B CN 111586566 B CN111586566 B CN 111586566B CN 202010438345 A CN202010438345 A CN 202010438345A CN 111586566 B CN111586566 B CN 111586566B
- Authority
- CN
- China
- Prior art keywords
- vehicles
- vehicle
- target
- range
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0446—Resources in time domain, e.g. slots or frames
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/50—Allocation or scheduling criteria for wireless resources
- H04W72/51—Allocation or scheduling criteria for wireless resources based on terminal or device properties
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention provides a method and a device for allocating communication time slots and a server, wherein the method comprises the following steps: receiving driving related information sent by a plurality of vehicles; respectively determining the geographical range of each vehicle by adopting the driving correlation information; different radar communication time slots are allocated to a plurality of target vehicles in the same target geographic range. By the communication time slot allocation method, the vehicles with the similar distances can send and receive radar signals based on different radar communication time slots, so that the interference of the radar signals among the vehicles with the similar distances is reduced, and the radar is ensured to have good detection capability.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a method and an apparatus for allocating communication timeslots, and a server.
Background
With the development of driver assistance technology, more and more vehicles are loaded with radars to measure a vehicle speed, a distance between vehicles, and the like, and to provide assistance for a driver in driving the vehicle. Generally, vehicle-mounted radars usually adopt 24GHz frequency spectrums and 76GHz to 81GHz frequency spectrums, and as the number of radars on a road increases, the radars with the same type and modulation are easy to generate mutual interference, and the detection capability of the radars is influenced.
Particularly, in the case of radars using Frequency Modulated Continuous Wave (FMCW) technology, since they continuously transmit frequency modulated signals, radars using the FMCW technology are more likely to interfere with each other, and are more likely to affect the detection capability of the radars.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are proposed to provide a method and a corresponding device for allocating communication slots, and a server, which overcome or at least partially solve the above problems.
In order to solve the above problem, an embodiment of the present invention discloses a method for allocating communication timeslots, which is applied to a server and includes:
receiving driving related information sent by a plurality of vehicles;
determining the geographical range of each vehicle respectively by adopting the driving correlation information;
different radar communication time slots are allocated to a plurality of target vehicles in the same target geographic range.
Optionally, the driving-related information includes at least one of driving information, navigation information, and positioning information.
Optionally, the step of determining the geographical range of each vehicle by using the driving related information includes:
respectively determining the current geographic range of each vehicle by adopting the driving associated information; and/or determining the geographical range of each vehicle in the next N time periods respectively by adopting the running related information, wherein N is a positive integer greater than or equal to 1.
Optionally, the step of determining the current geographic range of each vehicle by using the driving related information includes:
determining current positions of the plurality of vehicles by using the positioning information;
determining a geographic range in which the plurality of vehicles are currently located based on the current locations of the plurality of vehicles.
Optionally, the step of determining the geographical range of each vehicle in the next N time periods respectively by using the driving related information includes:
predicting the geographical ranges of the plurality of vehicles in the next N time periods by adopting the running information and the navigation information; or the like, or, alternatively,
and predicting the geographical ranges of the plurality of vehicles in the next N time periods by adopting the running information and the positioning information.
Optionally, the step of allocating different radar communication timeslots to a plurality of target vehicles in the same target geographic area includes:
allocating different radar communication time slots for a plurality of target vehicles currently in the same target geographic range; and/or the presence of a gas in the gas,
and allocating different radar communication time slots for a plurality of target vehicles in the same target geographic range in the last N time periods.
Optionally, the step of allocating different radar communication timeslots to a plurality of target vehicles in the same target geographic area includes:
determining whether at least two vehicles in the plurality of vehicles have the same radar communication time slot within the same target geographic range;
and if at least two vehicles have the same radar communication time slot, determining the vehicles with the same radar communication time slot as target vehicles, and reallocating the radar communication time slots to the target vehicles.
Optionally, the method further comprises:
determining whether the number of target vehicles in the target geographic range is greater than a preset threshold value;
and if the number of the target vehicles in the target geographic range is larger than a preset threshold value, sending prompt information to at least part of the target vehicles in the target geographic range.
Optionally, the method further comprises:
judging whether the current position of the vehicle is matched with the geographical range of the vehicle in the last N time periods predicted by history or not by adopting the running related information;
and if the real-time position of the vehicle is not matched with the historically predicted geographical range of the vehicle in the last N time periods, executing the step of respectively determining the geographical range of each vehicle by adopting the driving correlation information.
The embodiment of the invention also provides a device for allocating communication time slots, which is applied to a server and comprises the following components:
the receiving module is used for receiving the driving related information sent by a plurality of vehicles;
the geographic range determining module is used for respectively determining the geographic range of each vehicle by adopting the driving associated information;
and the distribution module is used for distributing different radar communication time slots for a plurality of target vehicles in the same target geographic range.
Optionally, the driving-related information includes at least one of driving information, navigation information, and positioning information.
Optionally, the geographic range determination module includes:
the first range determining submodule is used for respectively determining the current geographical range of each vehicle by adopting the running associated information; and/or the presence of a gas in the gas,
and the second range determining submodule is used for respectively determining the geographical ranges of the vehicles in the next N time periods by adopting the driving correlation information, wherein N is a positive integer greater than or equal to 1.
Optionally, the first range determination sub-module includes:
a current position determining unit configured to determine current positions of the plurality of vehicles using the positioning information;
a current range determining unit, configured to determine, based on current positions of the plurality of vehicles, a geographic range in which the plurality of vehicles are currently located.
Optionally, the second range determination submodule includes:
a first next-N time period range determining unit, configured to predict geographical ranges of the multiple vehicles in next N time periods by using the driving information and the navigation information; or the like, or, alternatively,
and the second last N time period range determining unit is used for predicting the geographical ranges of the vehicles in the last N time periods by adopting the running information and the positioning information.
Optionally, the allocation module comprises:
the first time slot allocation submodule is used for allocating different radar communication time slots for a plurality of target vehicles which are currently located in the same target geographic range; and/or the presence of a gas in the atmosphere,
and the second time slot allocation submodule is used for allocating different radar communication time slots for a plurality of target vehicles in the same target geographic range in the next N time slots.
Optionally, the allocation module comprises:
the same time slot determining submodule is used for determining whether at least two vehicles in the plurality of vehicles have the same radar communication time slot within the same target geographic range;
and the redistribution submodule is used for determining the vehicles with the same radar communication time slot as target vehicles if at least two vehicles have the same radar communication time slot, and redistributing the radar communication time slots to the target vehicles.
Optionally, the apparatus further comprises:
the quantity determining module is used for determining whether the quantity of the target vehicles in the target geographic range is larger than a preset threshold value or not;
and the prompting module is used for sending prompting information to at least part of the target vehicles in the target geographic range if the number of the target vehicles in the target geographic range is greater than a preset threshold value.
Optionally, the apparatus further comprises:
the matching module is used for judging whether the current position of the vehicle is matched with the geographical range of the vehicle in the last N time periods predicted by the history or not by adopting the running related information;
and the execution module is used for executing the step of respectively determining the geographical range of each vehicle by adopting the driving relevant information if the real-time position of the vehicle is not matched with the geographical range of the vehicle in the last N time periods predicted by history.
An embodiment of the present invention further provides a server, including:
one or more processors; and
one or more machine-readable media having instructions stored thereon, which when executed by the one or more processors, cause the server to perform one or more methods as described in embodiments of the invention.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more methods as described in embodiments of the invention.
The embodiment of the invention has the following advantages:
by the communication time slot distribution method, the running related information sent by a plurality of vehicles is received; determining the geographical range of each vehicle respectively by adopting the driving correlation information; different radar communication time slots are allocated to a plurality of target vehicles in the same target geographic range. Therefore, radar signals can be sent out and received based on different radar communication time slots between vehicles with similar distances, radar signal interference between the vehicles with similar distances is reduced, and the radar is ensured to have good detection capability.
Drawings
FIG. 1 is a flow chart illustrating the steps of an embodiment of a method for allocating communication timeslots according to the present invention;
FIG. 2 is a flow chart of steps in another embodiment of a method of allocating communication timeslots in accordance with the present invention;
fig. 3 is a block diagram of an embodiment of an apparatus for allocating communication time slots according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
One of the core ideas of the embodiment of the invention is to determine the geographical range of each vehicle and allocate different radar communication time slots to a plurality of target vehicles in the same target geographical range so as to ensure that vehicle radars with close distances do not interfere with each other and ensure that the vehicle radars have good detection capability.
Referring to fig. 1, a flowchart of steps of an embodiment of a method for allocating communication timeslots according to the present invention is shown, where the method is applied in a server, and specifically includes the following steps:
in the embodiment of the present invention, a server may be provided, and the vehicle may send the running related information to the operation service server at regular time. So that the server can receive the travel-related information transmitted from a plurality of vehicles. Specifically, the vehicle may send the driving related information to the cloud terminal based on an internet of vehicles, or send the driving related information to the cloud terminal based on a mobile communication network, which is not limited in the present invention. The driving related information may be information related to vehicle driving generated by the vehicle during driving, such as positioning information, vehicle speed information, navigation information, and the like.
in the embodiment of the invention, the map can be divided in advance to obtain a plurality of geographical ranges. The geographic area may include at least one section of a vehicle road. The size of the geographic range may be determined based on the detectable range of the radar. For example, if the detectable range of the radar is 200m, the geographic range may be determined as a region not smaller than the detectable range of the radar, for example, a circular region with a diameter of 200m, a circular region with a diameter of 300m, a circular region with a diameter of 400m, a square region with a side length of 400m, and the like, which is not limited by the present invention.
In the embodiment of the invention, vehicles in the same geographic range have a short distance, and the radar of the vehicles can have mutual influence. Therefore, the driving related information corresponding to each vehicle can be analyzed, and the geographic range of each vehicle is respectively determined; and then vehicles in the same geographic range are determined, and different radar communication time slots are allocated to a plurality of target vehicles in the same target geographic range.
And 103, allocating different radar communication time slots for a plurality of target vehicles in the same target geographic range.
In the embodiment of the invention, vehicles in the same geographic range can be determined based on the geographic range in which each vehicle is located; when vehicles in the same geographic range comprise a plurality of vehicles, whether radar signals of the vehicles in the same geographic range interfere with each other or not can be judged. If the radar signals of the vehicles in the same geographic range interfere with each other, the same geographic range can be determined as a target geographic range, and the vehicles in the target geographic range are called target vehicles.
For a plurality of target vehicles in the same target geographical range, the radar loaded on the vehicles may affect each other, and the detection capability of the radar is reduced. Therefore, different radar communication time slots can be allocated to a plurality of target vehicles in the same target geographic range, so that the target vehicles in the target geographic range can send and receive radar signals in different radar communication time slots, and radar interference among the target vehicles is reduced.
Wherein the radar may have a communication cycle, and the communication cycle may be divided into a plurality of time intervals, such that each time interval may be a communication gap of the radar. As an example of the present invention, the communication period may be 2ms, and the communication period may be divided into 1000 time intervals, so that adjacent communication gaps may have a time difference of 2 μ s.
Optionally, the vehicle may be provided with at least one radar. In the case where the vehicle has multiple radars, different radar communication time slots may be assigned to each of the radars on multiple target vehicles within the same target geographic range. Under the condition of reducing the mutual interference of radar signals among target vehicles, the mutual interference of the radar signals on the same vehicle can be avoided, and the detection capability of the radar is reduced.
By the communication time slot distribution method, the driving related information sent by a plurality of vehicles is received; respectively determining the geographical range of each vehicle by adopting the driving correlation information; different radar communication time slots are allocated to a plurality of target vehicles in the same target geographic range. Therefore, radar signals can be sent out between vehicles with similar distances based on different radar communication time slots, radar signal interference between the vehicles with similar distances is reduced, and good detection capability of the radar is ensured.
Referring to fig. 2, a flowchart illustrating steps of an embodiment of a method for allocating a communication timeslot according to the present invention is shown, which may specifically include the following steps:
in the embodiment of the present invention, a server may be provided, and the vehicle may periodically send the running related information to the operation service server. So that the server can receive the travel-related information transmitted from a plurality of vehicles. Specifically, the vehicle may send the driving related information to the cloud based on an internet of vehicles, or may send the driving related information to the cloud based on a mobile communication network, which is not limited in the present invention. The driving related information may be information related to vehicle driving generated by the vehicle during driving, such as positioning information, vehicle speed information, navigation information, and the like.
In one embodiment of the present invention, the driving-related information may include at least one of driving information, navigation information, and positioning information.
In the embodiment of the present invention, the driving information may be information generated by the vehicle during driving, such as vehicle speed information and direction information. The vehicle speed information may be traveling speed information of the vehicle. The direction information may be driving direction information of the vehicle on a road.
In the embodiment of the present invention, the navigation information may be navigation information set for the vehicle. The navigation information may specifically include navigation path information, navigation destination information, information about a current position of the vehicle in the navigation path, and the like.
In an embodiment of the present invention, the positioning information may be information of a current location of the vehicle. The positioning information of the vehicle may be determined based on the internet of vehicles and a Global Positioning System (GPS).
In particular implementations, the vehicle may determine a range of locations at which the vehicle is currently substantially located by communicating with a global positioning system. Then, the vehicle can further acquire environmental information around the vehicle based on a camera, a radar sensor, a radio frequency communication device, a bluetooth communication device and the like mounted on the vehicle, and communicate with nearby vehicles, drive test infrastructures and the like through the internet of vehicles, so that the current position of the vehicle is further accurately determined, and the positioning information is obtained.
in the embodiment of the invention, the map can be divided in advance to obtain a plurality of geographic ranges. The geographic area may include at least one section of a vehicle road. The size of the geographic range may be determined based on the detectable range of the radar.
In the embodiment of the invention, vehicles in the same geographic range have a short distance, and the radar of the vehicles can have mutual influence. Therefore, the current geographical range of each vehicle can be respectively determined by adopting the driving related information; and/or determining the geographical range of each vehicle in the next N time periods respectively by adopting the running related information, wherein N is a positive integer greater than or equal to 1. Different radar communication time slots are then allocated to a plurality of target vehicles within the same target geographic area.
In the embodiment of the present invention, the driving related information may be used to determine the current geographic range of each vehicle, so as to determine a plurality of vehicles in the same geographic range.
In the embodiment of the present invention, the driving related information may be used to respectively determine the geographical range of each vehicle in the next N time periods, where N is a positive integer greater than or equal to 1. Therefore, the geographical range of the vehicle in the next time period or a plurality of time periods can be predicted based on the running related information, so that a plurality of vehicles in the same geographical range in the next N time periods can be determined.
In the embodiment of the present invention, after the driving related information sent by the multiple vehicles is received, the geographical range where each vehicle is currently located may be determined respectively by using the driving related information according to actual needs. The travel related information may be used to predict a geographical range in which each vehicle is located in the next N time periods. The driving related information can also be simultaneously adopted to respectively determine the current geographic range of each vehicle, and the driving related information is adopted to predict the geographic range of each vehicle in the next N time periods.
In an embodiment of the present invention, the step of determining the current geographic range of each vehicle by using the driving related information includes:
s11, determining the current positions of the vehicles by adopting the positioning information;
in an embodiment of the present invention, the current positions of the plurality of vehicles may be determined using the positioning information.
In particular implementations, the positioning information may be determined based on the internet of vehicles and a Global Positioning System (GPS). The current locations of the plurality of vehicles may be determined using positioning information transmitted by the plurality of vehicles in real time.
S12, determining the geographical range of the vehicles based on the current positions of the vehicles.
In the embodiment of the present invention, the geographical ranges to which the current positions of the plurality of vehicles belong may be determined based on the current positions of the plurality of vehicles, respectively, so as to determine the geographical ranges in which the plurality of vehicles are currently located.
In an embodiment of the present invention, the step of determining the geographical range of each vehicle in the next N time periods respectively by using the driving related information includes:
s21, adopting the running information and the navigation information to predict the geographical ranges of the vehicles in the next N time periods; or the like, or, alternatively,
in the embodiment of the present invention, in a case where the vehicle is provided with navigation, positions of the plurality of vehicles on the navigation route in the next N time periods may be predicted using the travel information and the navigation information, so as to predict geographical ranges of the plurality of vehicles in the next N time periods. Each of the time periods may include one communication cycle or a plurality of communication cycles, which is not limited in the present invention.
In particular implementations, a navigation route of the vehicle and a current location in the navigation route may be determined based on the navigation information. Thereafter, it may be predicted that the vehicle may move to a location in the navigation route in the next N time periods based on the vehicle speed information, the navigation route in the navigation information, and the location where the vehicle is currently located in the navigation route, and a geographical range where the vehicle may move to the location in the navigation route is determined. Therefore, the geographical ranges of the vehicles in the next N time periods can be predicted by adopting the running information and the navigation information.
And S22, predicting the geographical ranges of the plurality of vehicles in the next N time periods by adopting the running information and the positioning information.
In the embodiment of the present invention, the driving information and the positioning information may be used to predict the positions of the vehicles in the next N time periods, so as to predict the geographical ranges of the vehicles in the next N time periods.
In particular implementations, the location information may be employed to determine a current location of the vehicle. Thereafter, the direction in which the vehicle is likely to move may be predicted using the vehicle-direction information in the travel information. Thereafter, the location to which the vehicle is likely to move in the next N time periods may be predicted based on the current location of the vehicle, the vehicle speed information, and the direction in which the vehicle is likely to move, and the geographical range in which the location to which the vehicle is likely to move is determined. And predicting the geographical range of the plurality of vehicles in the next N time periods by adopting the running information and the positioning information.
And step 203, allocating different radar communication time slots to a plurality of target vehicles in the same target geographic range.
In the embodiment of the invention, vehicles in the same geographic range can be determined based on the geographic range in which each vehicle is located; when vehicles in the same geographic range comprise a plurality of vehicles, whether radar signals of the vehicles in the same geographic range interfere with each other or not can be judged. If the radar signals of the vehicles within the same geographic range interfere with each other, the same geographic range can be determined as a target geographic range, and the vehicles within the target geographic range are called target vehicles.
For a plurality of target vehicles in the same target geographical range, the radars loaded on the vehicles may affect each other, and the detection capability of the radars is reduced. Therefore, different radar communication time slots can be allocated to a plurality of target vehicles in the same target geographic range, so that the target vehicles in the target geographic range can send and receive radar signals in different radar communication time slots, and radar interference among the target vehicles is reduced.
Wherein the radar may have a communication cycle, and the communication cycle may be divided into a plurality of time intervals, such that each time interval may be a communication gap of the radar. As an example of the present invention, the communication period may be 2ms, and the communication period may be divided into 1000 time intervals, so that adjacent communication gaps may have a time difference of 2 μ s.
In an embodiment of the present invention, the step of allocating different radar communication timeslots to a plurality of target vehicles in the same target geographic area includes:
s31, allocating different radar communication time slots for a plurality of target vehicles currently in the same target geographic range; and/or allocating different radar communication time slots for a plurality of target vehicles in the same target geographic range in the last N time periods.
In the embodiment of the invention, in order to ensure that the mutual interference among radar signals can be reduced for a plurality of target vehicles in the same target geographic range in the current time period, different radar communication time slots can be allocated to the plurality of target vehicles in the same target geographic range.
In a specific implementation, the current time period may have one or more communication cycles, which is not limited by the invention. Different radar communication time slots can be allocated to a plurality of target vehicles which are currently in the same target geographic range, so that each target vehicle has a certain radar communication time slot in one or more communication cycles in the current time period, and the radar communication time slots among the target vehicles are different, so that the condition that radar signals of the target vehicles in the same target geographic range interfere with each other in the current time period can be reduced.
In the embodiment of the invention, the positions of the vehicles in the next N time periods can be predicted, and different radar communication time slots are allocated to the target vehicles in the same target geographic range in the next N time periods in advance based on the positions of the vehicles in the next N time periods, so as to ensure that the target vehicles in the same target geographic range can have different radar communication time slots in the next N time periods. And through the radar communication time slots of N time periods after the first allocation, the radar communication time slots do not need to be allocated in real time subsequently, and the requirement on computing resources is reduced.
In a specific implementation, the time period may have one or more communication cycles, which is not limited by the present invention. The locations of the plurality of vehicles in each of the next N time periods may be determined in turn, thereby determining a plurality of vehicles within the same geographic area for each time period. And different radar communication time slots are sequentially allocated to a plurality of target vehicles in the same target geographic range in each time period. Thus, for each vehicle, the radar communication time slot for each of the next N time periods may be acquired at a time, and one or more communication cycles within each time period may have a certain radar communication time slot. Therefore, in the last N time periods, a plurality of target vehicles in the same target geographical range can have different radar communication time slots, and the condition of mutual interference of radar signals is reduced.
In the embodiment of the invention, different radar communication time slots can be allocated to a plurality of target vehicles currently in the same target geographic range at the same time, and different radar communication time slots can be allocated to a plurality of target vehicles in the same target geographic range in the next N time periods, so that the radar communication time slots in the current time period and the next N time periods can be allocated at the same time, and the requirement on computing resources is further reduced.
In an embodiment of the present invention, the step of allocating different radar communication timeslots to a plurality of target vehicles in the same target geographic area includes:
s41, determining whether at least two vehicles in the plurality of vehicles have the same radar communication time slot in the same target geographic range;
in an embodiment of the present invention, after determining the geographic range in which each vehicle is located, it may be further determined whether at least two vehicles having the same radar communication timeslot exist for a plurality of vehicles within the same target geographic range.
Specifically, there may be one group of vehicles among the plurality of vehicles having the same radar communication time slot, and there may also be a plurality of groups of vehicles each having the same radar communication time slot. Each group of vehicles contains at least two vehicles.
And S42, if at least two vehicles have the same radar communication time slot, determining the vehicles with the same radar communication time slot as target vehicles, and reallocating the radar communication time slots to the target vehicles.
In the embodiment of the invention, radar communication time slots do not need to be reallocated for all vehicles in the same target geographic range according to actual needs, and only the target vehicles with the same radar communication time slots need to be reallocated. Therefore, for a plurality of vehicles in the same target geographic range, if at least two vehicles have the same radar communication time slot, the vehicles with the same radar communication time slot can be determined as target vehicles, and the radar communication time slots can be reallocated to the target vehicles with the same radar communication time slot, so that the radar communication time slots can be reallocated to the target vehicles with the same radar communication time slot.
In one embodiment of the invention, the method further comprises:
s51, determining whether the number of the target vehicles in the target geographic range is larger than a preset threshold value;
in the embodiment of the invention, because the communication period of the radar can be divided into a larger number of radar communication time slots, generally, the situation that the number of target vehicles in a target geographic range is more than the number of assignable radar communication time slots is less. However, there may be a case where the radar communication timeslot cannot be timely issued to all target vehicles within the target geographic range due to performance limitations of the server.
Thus, it may be determined whether the number of target vehicles within the target geographic range is determined to be greater than a preset threshold. If the number of the target vehicles in the target geographic range is larger than a preset threshold value, the radar communication time slot may not be issued to all the target vehicles in the target geographic range in time. If the number of the target vehicles in the target geographic range is not larger than a preset threshold value, the probability that the radar communication time slot cannot be timely issued to all the target vehicles in the target geographic range is low.
And S52, if the number of the target vehicles in the target geographic range is larger than a preset threshold value, sending prompt information to at least part of the target vehicles in the target geographic range.
In the embodiment of the present invention, if the number of target vehicles within the target geographic range is greater than a preset threshold, a situation that the radar communication timeslot cannot be timely issued to all target vehicles within the target geographic range may occur, so that radar signals may interfere with each other between the target vehicles within the target geographic range, which may result in a situation that the radar detection capability is reduced. Thus, a message may be sent to at least some vehicles within the target geographic area. The prompt message may be used to prompt the vehicle that the data of the radar sensor may be inaccurate, or prompt the vehicle to recommend evacuation to a location with a small number of vehicles because the data of the radar sensor may be inaccurate.
Wherein, the vehicle which does not successfully transmit the radar communication gap can be determined as the target vehicle; vehicles which are located at the edge of the geographic range and are easy to evacuate can also be determined as target vehicles, and the invention does not limit the target vehicles.
In one embodiment of the invention, the method further comprises:
s61, judging whether the current position of the vehicle is matched with the geographical range predicted by history in the last N time periods or not by adopting the running related information;
in the embodiment of the present invention, the running related information periodically transmitted by the vehicle according to the preset period may be continuously received. Therefore, whether the current position of the vehicle is matched with the geographical range of the historical prediction in the last N time periods can be judged by adopting the running related information so as to determine whether the geographical range of the historical prediction in the last N time periods is correct.
In a specific implementation, the driving related information may include positioning information. The current location of the vehicle may be determined using the positioning information. And judging whether the current position of the vehicle is matched with the geographic range of the vehicle in the historical prediction time period corresponding to the current moment.
And S62, if the real-time position of the vehicle does not match the geographical range of the vehicle in the last N time periods determined in advance, executing the step of respectively determining the geographical range of each vehicle by adopting the driving related information.
In the embodiment of the present invention, if the real-time location of the vehicle does not match the historically predicted geographical range in the last N time periods, it may be considered that there may be an error in the historically predicted geographical range in the last N time periods, and at this time, the vehicle may encounter another vehicle having the same radar communication time slot as the vehicle, so that radar signals between the vehicles may interfere with each other. Thus, the step of determining the geographical range in which each vehicle is located by using the travel-related information may be performed, and the step of allocating different radar communication time slots to a plurality of target vehicles in the same target geographical range may be performed to reallocate radar communication time slots to the vehicles.
In the embodiment of the present invention, if the real-time location of the vehicle matches the historically predicted geographical range in the last N time periods, it may be considered that there may be no error in the historically predicted geographical range in the last N time periods, and at this time, the vehicle may not encounter another vehicle having the same radar communication time slot. The step S61 may be continued until the current time reaches the last N +1 time periods of the historical prediction, and then the step S of receiving the driving related information sent by the plurality of vehicles may be executed; determining the geographical range of each vehicle respectively by adopting the driving correlation information; and allocating different radar communication time slots for a plurality of target vehicles in the same target geographic range.
By the communication time slot distribution method, the driving related information sent by a plurality of vehicles is received; respectively determining the geographical range of each vehicle by adopting the driving correlation information; and/or determining the geographical range of each vehicle in the next N time periods respectively by adopting the running related information, wherein N is a positive integer greater than or equal to 1; different radar communication time slots are allocated to a plurality of target vehicles in the same target geographic range. Therefore, radar signals can be sent out between vehicles with similar distances based on different radar communication time slots, radar signal interference between the vehicles with similar distances is reduced, and good detection capability of the radar is ensured.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 3, a block diagram of a structure of an embodiment of an apparatus for allocating communication timeslots according to the present invention is shown, where the apparatus is applied to a server, and specifically includes the following modules:
a receiving module 301, configured to receive driving related information sent by multiple vehicles;
a geographic range determining module 302, configured to determine a geographic range in which each vehicle is located respectively by using the driving related information;
the allocating module 303 is configured to allocate different radar communication timeslots to multiple target vehicles in the same target geographic area.
In one embodiment of the invention, the driving-related information includes at least one of driving information, navigation information and positioning information.
In an embodiment of the present invention, the geographic range determining module 302 includes:
the first range determining submodule is used for respectively determining the current geographical range of each vehicle by adopting the running associated information; and/or the presence of a gas in the gas,
and the second range determining submodule is used for respectively determining the geographical range of each vehicle in the next N time periods by adopting the running related information, wherein N is a positive integer greater than or equal to 1.
In one embodiment of the present invention, the first range determination submodule includes:
a current position determining unit for determining current positions of the plurality of vehicles by using the positioning information;
a current range determining unit, configured to determine, based on current positions of the plurality of vehicles, a geographic range in which the plurality of vehicles are currently located.
In one embodiment of the present invention, the second range determination submodule includes:
a first next-N time period range determining unit, configured to predict geographical ranges of the multiple vehicles in next N time periods by using the driving information and the navigation information; or the like, or, alternatively,
and the second last N time period range determining unit is used for predicting the geographical ranges of the vehicles in the last N time periods by adopting the driving information and the positioning information.
In an embodiment of the present invention, the allocating module 303 includes:
the first time slot allocation submodule is used for allocating different radar communication time slots for a plurality of target vehicles which are currently located in the same target geographic range; and/or the presence of a gas in the gas,
and the second time slot allocation submodule is used for allocating different radar communication time slots for a plurality of target vehicles in the same target geographic range in the next N time slots.
In an embodiment of the present invention, the allocating module 303 includes:
the same time slot determining submodule is used for determining whether at least two vehicles in the plurality of vehicles have the same radar communication time slot within the same target geographic range;
and the redistribution submodule is used for determining the vehicles with the same radar communication time slot as target vehicles if at least two vehicles have the same radar communication time slot, and redistributing the radar communication time slots to the target vehicles.
In one embodiment of the invention, the apparatus further comprises:
the quantity determining module is used for determining whether the quantity of the target vehicles in the target geographic range is larger than a preset threshold value or not;
and the prompting module is used for sending prompting information to at least part of the target vehicles in the target geographic range if the number of the target vehicles in the target geographic range is greater than a preset threshold value.
In one embodiment of the invention, the apparatus further comprises:
the matching module is used for judging whether the current position of the vehicle is matched with the geographical range of the vehicle in the last N time periods predicted by the history or not by adopting the running related information;
and the execution module is used for executing the step of respectively determining the geographical range of each vehicle by adopting the driving relevant information if the real-time position of the vehicle is not matched with the geographical range of the vehicle in the last N time periods predicted by history.
For the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
An embodiment of the present invention further provides a server, including:
one or more processors; and
one or more machine-readable media having instructions stored thereon, which when executed by the one or more processors, cause the server to perform a method as described in embodiments of the invention.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the methods described in embodiments of the invention.
The embodiments in the present specification are all described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same and similar between the embodiments may be referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or terminal equipment comprising the element.
The present invention provides a method for allocating communication time slots, a corresponding apparatus for allocating communication time slots, and a server, which have been described in detail above, and specific examples are applied herein to illustrate the principles and embodiments of the present invention, and the description of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (12)
1. A method for allocating communication time slots, applied to a server, includes:
receiving driving related information sent by a plurality of vehicles;
determining the geographical range of each vehicle respectively by adopting the driving correlation information; the geographic range is divided in advance based on a map;
allocating different radar communication time slots for a plurality of target vehicles in the same target geographic range;
wherein, the step of respectively determining the geographical range of each vehicle by adopting the driving correlation information comprises the following steps:
and respectively determining the geographical range of each vehicle in the next N time periods by adopting the running associated information, wherein N is a positive integer greater than or equal to 1, and allocating different radar communication time slots to a plurality of target vehicles in the same target geographical range in the next N time periods in advance.
2. The method of claim 1, wherein the driving-related information comprises at least one of driving information, navigation information, and positioning information.
3. The method of claim 2, wherein the step of using the driving correlation information to determine the geographical range of each vehicle comprises:
respectively determining the current geographic range of each vehicle by adopting the driving associated information; and (c) and (d),
and respectively determining the geographical range of each vehicle in the next N time periods by adopting the running related information, wherein N is a positive integer greater than or equal to 1.
4. The method of claim 3, wherein the step of using the driving correlation information to respectively determine the current geographic range of each vehicle comprises:
determining current positions of the plurality of vehicles by using the positioning information;
determining a geographic range in which the plurality of vehicles are currently located based on the current locations of the plurality of vehicles.
5. The method according to claim 3, wherein the step of using the driving correlation information to respectively determine the geographical range of each vehicle in the next N time periods comprises:
predicting the geographical ranges of the plurality of vehicles in the next N time periods by adopting the running information and the navigation information; or the like, or a combination thereof,
and predicting the geographical ranges of the plurality of vehicles in the next N time periods by adopting the running information and the positioning information.
6. The method of claim 3, wherein the step of allocating different radar communication timeslots to a plurality of target vehicles within the same target geographic area comprises:
allocating different radar communication time slots for a plurality of target vehicles currently in the same target geographic range; and (c) and (d),
and allocating different radar communication time slots for a plurality of target vehicles in the same target geographic range in the last N time periods.
7. The method of claim 1, wherein the step of allocating different radar communication timeslots to a plurality of target vehicles within the same target geographic area comprises:
determining whether at least two vehicles in the plurality of vehicles have the same radar communication time slot within the same target geographic range;
and if at least two vehicles have the same radar communication time slot, determining the vehicles with the same radar communication time slot as target vehicles, and reallocating the radar communication time slots to the target vehicles.
8. The method of claim 1, further comprising:
determining whether the number of target vehicles in the target geographic range is greater than a preset threshold value;
and if the number of the target vehicles in the target geographic range is larger than a preset threshold value, sending prompt information to at least part of the target vehicles in the target geographic range.
9. The method of claim 3, further comprising:
judging whether the current position of the vehicle is matched with the geographical range of the vehicle in the last N time periods predicted by history or not by adopting the running related information;
and if the real-time position of the vehicle is not matched with the historically predicted geographical range of the vehicle in the last N time periods, executing the step of respectively determining the geographical range of each vehicle by adopting the driving correlation information.
10. An apparatus for allocating communication time slots, applied to a server, comprising:
the receiving module is used for receiving the driving related information sent by a plurality of vehicles;
the geographic range determining module is used for respectively determining the geographic range of each vehicle by adopting the driving associated information; the geographic range is divided in advance based on a map;
the distribution module is used for distributing different radar communication time slots for a plurality of target vehicles in the same target geographic range;
wherein, the step of respectively determining the geographical range of each vehicle by adopting the driving correlation information comprises the following steps:
and respectively determining the geographical range of each vehicle in the next N time periods by adopting the running associated information, wherein N is a positive integer greater than or equal to 1, and allocating different radar communication time slots to a plurality of target vehicles in the same target geographical range in the next N time periods in advance.
11. A server, comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the server to perform any of the methods of claims 1-9.
12. One or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform any of the methods of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010438345.0A CN111586566B (en) | 2020-05-21 | 2020-05-21 | Communication time slot allocation method and device and server |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010438345.0A CN111586566B (en) | 2020-05-21 | 2020-05-21 | Communication time slot allocation method and device and server |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111586566A CN111586566A (en) | 2020-08-25 |
| CN111586566B true CN111586566B (en) | 2022-08-19 |
Family
ID=72114081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010438345.0A Active CN111586566B (en) | 2020-05-21 | 2020-05-21 | Communication time slot allocation method and device and server |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111586566B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112261609B (en) * | 2020-10-16 | 2022-02-11 | 北京邮电大学 | Millimeter wave internet of vehicles resource allocation method and device, electronic equipment and storage medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10440709B1 (en) * | 2018-06-04 | 2019-10-08 | Nokia Technologies Oy | Resource allocation scheme for vehicle-to-vehicle (V2V) communications |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160223643A1 (en) * | 2015-01-28 | 2016-08-04 | Wenhua Li | Deep Fusion of Polystatic MIMO Radars with The Internet of Vehicles for Interference-free Environmental Perception |
| CN107300013A (en) * | 2017-07-11 | 2017-10-27 | 吉林工程技术师范学院 | A kind of automatic transmission identification of road grade method and system |
| US10168418B1 (en) * | 2017-08-25 | 2019-01-01 | Honda Motor Co., Ltd. | System and method for avoiding sensor interference using vehicular communication |
| US11656320B2 (en) * | 2018-01-15 | 2023-05-23 | Metawave Corporation | Method and apparatus for radar waveforms using orthogonal sequence sets |
| CN110275170B (en) * | 2018-03-15 | 2021-12-03 | 郑州宇通客车股份有限公司 | Radar detection control method for vehicle and vehicle |
-
2020
- 2020-05-21 CN CN202010438345.0A patent/CN111586566B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10440709B1 (en) * | 2018-06-04 | 2019-10-08 | Nokia Technologies Oy | Resource allocation scheme for vehicle-to-vehicle (V2V) communications |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111586566A (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3681132A1 (en) | On-demand formation of stationary vehicular micro clouds | |
| US11507107B2 (en) | Map information system | |
| US10598499B2 (en) | Method and device for accelerated map-matching | |
| KR102666327B1 (en) | Information processing devices, information processing methods, and servers | |
| CN107430198B (en) | Self-organizing real-time dynamic roaming network for automobile | |
| CN110392396B (en) | Cloud-based network optimizer for connecting vehicles | |
| EP3589979A1 (en) | Method, devices, system and computer program product for increasing the positioning accuracy of a mobile user equipment by using data of a global navigation satellite system | |
| CN109910896A (en) | Congestion in road prediction technique and device | |
| CN111586566B (en) | Communication time slot allocation method and device and server | |
| US11200798B2 (en) | Grouping of moving objects | |
| CN114509068B (en) | Method and device for judging positions of vehicles on multilayer roads | |
| CN109029418A (en) | A method of vehicle is positioned in closed area | |
| EP3917173B1 (en) | Resource determination method and device for self-driving vehicles | |
| US10771119B2 (en) | Intelligent antenna system | |
| JP2018173800A (en) | Automatic travel control device | |
| CN114323693B (en) | Test method, device and equipment of vehicle road cloud sensing system and storage medium | |
| US20170339532A1 (en) | Data providing system | |
| US20220057809A1 (en) | Method and Apparatus for Predicting Demand for Personal Mobility Vehicle and Redistributing Personal Mobility Vehicle | |
| JP2019096084A (en) | Information processing device | |
| EP3514563B1 (en) | Vehicle with target localization | |
| JP2019096085A (en) | Information processing device | |
| US11776392B2 (en) | Method for assigning ego vehicle to a lane | |
| CN114627670A (en) | Vehicle positioning method, device and system and storage medium | |
| CN113438735B (en) | Vehicle positioning method and device, electronic equipment and storage medium | |
| US20240298294A1 (en) | System And Method For Road Monitoring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Applicant after: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Applicant before: Guangzhou Xiaopeng Internet of vehicles Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201218 Address after: Room 246, 333 jiufo Jianshe Road, Zhongxin Guangzhou Knowledge City, Guangzhou, Guangdong 510000 Applicant after: GUANGZHOU CHENGXING ZHIDONG AUTOMOBILE SCIENCE & TECHNOLOGY Co.,Ltd. Applicant after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Applicant before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |