CN113645567A

CN113645567A - Communication state map construction method and unmanned equipment control method and device

Info

Publication number: CN113645567A
Application number: CN202110855413.8A
Authority: CN
Inventors: 孔力; 王凤华
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2021-11-12

Abstract

The specification discloses a method for constructing a communication state map, and a method and a device for controlling unmanned equipment based on the communication state map, which relate to the field of unmanned driving.

Description

Communication state map construction method and unmanned equipment control method and device

Technical Field

The present disclosure relates to the field of unmanned driving, and in particular, to a method for constructing a communication status map and a method and an apparatus for controlling an unmanned device.

Background

With the continuous development of scientific technology, unmanned equipment has been applied to various fields and performs corresponding tasks in the various fields. If, can carry out goods delivery through unmanned equipment, not only very big human cost of having saved has also improved the delivery efficiency of goods to a certain extent.

During the task execution process, the unmanned device generally needs to receive remote data and transmit data based on the network environment, for example, the unmanned device generally needs to rely on the control instruction received from the remote end to execute the distribution task.

In practical application, the communication network environment is often complex, the communication network state in some locations is good, and the communication network state in some locations is poor, which causes the communication network switching to be required when the unmanned device runs in the location with the poor communication network state, so as to recover the normal communication state in this way. However, the unmanned device often performs communication network switching (communication network switching includes switching of communication signal frequency bands and switching of communication carriers) when the unmanned device is already in a position with a poor communication network state, which results in a certain communication network switching hysteresis, thereby affecting the normal communication of the unmanned device to some extent. Moreover, after the communication network is switched, normal communication of the subsequent unmanned equipment cannot be effectively guaranteed, for example, the situation that the communication network state of the communication network which is just switched is poor occurs at the next position, so that the unmanned equipment continues to switch the communication network, and further the task execution of the unmanned equipment is influenced to a certain extent.

Therefore, how to ensure that the unmanned device is in a good communication network environment as much as possible in the task execution process to ensure the normal communication of the unmanned device is a problem to be solved urgently.

Disclosure of Invention

The present specification provides a method for constructing a communication state map, and a method and an apparatus for controlling an unmanned aerial vehicle, which partially solve the above problems in the prior art.

The technical scheme adopted by the specification is as follows:

the specification provides a method for constructing a communication state map, which is applied to the field of unmanned driving and comprises the following steps:

acquiring communication signal parameters of each position acquired by each unmanned device in the task execution process;

determining a geographical area needing to construct a communication state map as a target area, and dividing the target area to obtain each unit area;

for each unit area, determining communication signal parameters belonging to the unit area according to the position information based on the communication signal parameters acquired by the unmanned equipment;

determining a communication signal state corresponding to the unit area according to the communication signal parameter of the unit area;

and constructing a communication state map aiming at the target area according to the communication signal state corresponding to each unit area, wherein the communication state map is used for controlling the unmanned equipment.

Optionally, determining a geographic area in which the communication state map needs to be constructed specifically includes:

and determining a route on which each unmanned device executes a task, and taking a geographical area covered by the route as a geographical area needing to construct a communication state map.

Optionally, the dividing the target area to obtain each unit area specifically includes:

rasterizing a space corresponding to the target area to obtain each space grid;

obtaining each unit area according to each space grid;

the method further comprises the following steps:

and generating a unit identifier corresponding to each unit area, wherein the unit identifiers corresponding to different unit areas are different.

Optionally, the communication signal parameters include: at least one of public land mobile network PLMN, cell unique identifier ECI, network frequency point information, reference signal received power RSRP, signal to interference plus noise ratio SINR and round trip time RTT.

Optionally, for each unit area, determining, according to the location information based on the communication signal parameters acquired by the unmanned devices, a communication signal parameter belonging to the unit area, specifically including:

for each unit area, according to a preset communication parameter dimension, according to the position information based on each communication signal parameter acquired by each unmanned device, determining the communication signal parameter acquired by each unmanned device in the unit area and belonging to the communication parameter dimension as the communication signal parameter belonging to the unit area, where the communication parameter dimension includes: at least one of communication operator and communication signal frequency point.

Optionally, determining a communication signal state corresponding to the unit area according to the communication signal parameter of the unit area, specifically including:

if the communication parameter dimension is a communication operator, determining a communication signal parameter belonging to the communication operator from communication signal parameters belonging to the unit area for each communication operator;

determining various communication state indexes of the communication operator aiming at the unit area according to the communication signal parameters belonging to the communication operator;

and determining the communication signal state corresponding to the unit area according to various communication state indexes of each communication operator in the unit area.

Optionally, the communication status indicators of the communication operator for the unit area include: at least one of an average RTT of the communications carrier in the cell area, an offline rate of the communications carrier in the cell area, a downlink rate of the communications carrier in the cell area, and a proportion of unusual frequency points of the communications carrier occurring in the cell area;

determining a communication signal state corresponding to the unit area according to each communication state index of each communication operator in the unit area, specifically comprising:

for each communication operator, judging whether each communication state index of the communication operator in the unit area meets a first state condition, and obtaining a communication state judgment result of the communication operator in the unit area, wherein meeting the first state condition comprises: the average RTT of the communication operator in the cell area is smaller than a first RTT threshold, the offline rate of the communication operator in the cell area is smaller than a first offline rate threshold, the downlink rate of the communication operator in the cell area is greater than the maximum service demand rate, and the occupation ratio of the unconventional frequency points of the communication operator appearing in the cell area is smaller than at least one of the set occupation ratios;

and determining the communication signal state corresponding to the unit area according to the communication state judgment result of each communication operator in the unit area.

if the communication parameter dimension is a communication signal frequency point, determining a communication signal parameter belonging to the communication signal frequency point from the communication signal parameters belonging to the unit area aiming at each communication signal frequency point;

determining various communication state indexes of the communication signal frequency point aiming at the unit area according to the communication signal parameters belonging to the communication signal frequency point;

and determining the communication signal state corresponding to the unit area according to each communication state index of each communication signal frequency point in the unit area.

Optionally, the communication signal frequency point includes, for each item of communication status indicator of the unit area: the average RTT of the communication signal frequency point in the unit area, the off-line rate of the communication signal frequency point in the unit area, the downlink rate of the communication signal frequency point in the unit area, and the number of ECIs of the communication signal frequency point, which are communication signals appearing in the unit area;

determining the communication signal state corresponding to the unit area according to each communication state index of each communication signal frequency point in the unit area, specifically comprising:

for each communication signal frequency point, judging whether each communication state index of the communication signal frequency point corresponding to the unit area meets a second state condition, and obtaining a communication state judgment result of the communication signal frequency point in the unit area, wherein meeting the second state condition comprises: the average RTT of the communication signal frequency point in the unit area is smaller than a second RTT threshold, the off-line rate of the communication signal frequency point in the unit area is not larger than a second off-line rate threshold, the downlink rate of the communication signal frequency point in the unit area is larger than the maximum service demand rate, and the number of ECIs of the communication signal frequency point in the unit area is not larger than at least one of the set ECIs;

and determining the communication signal state corresponding to the unit area according to the communication state judgment result of each communication signal frequency point in the unit area.

Optionally, the method further comprises:

and marking the unit area with the communication state meeting the preset condition from the constructed communication state map so that the unmanned equipment executes the task according to the unit area meeting the preset condition.

The specification provides an unmanned equipment control method based on a communication state map, which is applied to the field of unmanned driving and comprises the following steps:

determining a task starting point and a task end point of the target unmanned equipment;

according to the task starting point and the task ending point, determining a unit area with a communication state meeting a preset condition from a pre-constructed communication state map as an available unit area, wherein the communication state map is constructed by the construction method of the communication state map;

determining a driving route of the target unmanned equipment and a communication strategy on the driving route according to the communication related information corresponding to the available unit area;

and controlling the target unmanned equipment to execute tasks according to the determined driving route and the communication strategy.

Optionally, the communication-related information includes: available communication signal frequency points corresponding to the available unit areas;

determining a driving route of the target unmanned aerial vehicle and a communication strategy on the driving route according to the communication related information corresponding to the available unit area, specifically comprising:

and determining a running route of the target unmanned equipment and a communication strategy on the running route according to the available communication signal frequency points corresponding to the available unit areas.

Optionally, determining a driving route of the target unmanned aerial vehicle and a communication strategy on the driving route according to available communication signal frequency points corresponding to the available unit areas specifically includes:

merging the available communication signal frequency points corresponding to the available unit areas according to a preset merging rule to obtain available communication signal frequency bands corresponding to the available unit areas;

and determining a driving route of the target unmanned equipment and a communication strategy on the driving route according to the available communication signal frequency band corresponding to the available unit area.

Optionally, determining a driving route of the target unmanned aerial vehicle and a communication policy on the driving route according to an available communication signal frequency band corresponding to the available unit area specifically includes:

screening a target frequency band from available communication signal frequency bands corresponding to the available unit areas according to a preset frequency band screening rule, wherein for any two available communication signal frequency bands, if an area covered by one available communication signal frequency band is smaller than an area covered by the other available communication signal frequency band and is completely covered by the area covered by the other available communication signal frequency band, the available communication signal frequency band with a larger coverage area is screened as the target frequency band;

and determining a driving route of the target unmanned equipment and a communication strategy on the driving route according to the target frequency band.

Optionally, the communication-related information includes: available communication operators corresponding to the available unit areas;

and determining a driving route of the target unmanned equipment and a communication strategy on the driving route according to an available communication operator corresponding to the available unit area.

The present specification provides a communication state map construction device, which is applied to the field of unmanned driving, and comprises:

the acquisition module is used for acquiring communication signal parameters of each position acquired by each unmanned device in the task execution process;

the dividing module is used for determining a geographical area needing to construct a communication state map as a target area and dividing the target area to obtain each unit area;

the parameter determination module is used for determining communication signal parameters belonging to each unit area according to the position information based on the communication signal parameters acquired by each unmanned device;

the state determining module is used for determining the communication signal state corresponding to the unit area according to the communication signal parameters of the unit area;

and the building module is used for building a communication state map aiming at the target area according to the communication signal state corresponding to each unit area, and the communication state map is used for controlling the unmanned equipment.

This specification provides a communication state map-based unmanned equipment control device, the device is applied to the unmanned driving field, includes:

the task determining module is used for determining a task starting point and a task ending point of the target unmanned equipment;

the area determining module is used for determining a unit area with a communication state meeting a preset condition from a pre-constructed communication state map as an available unit area according to the task starting point and the task ending point, wherein the communication state map is constructed by the construction method of the communication state map;

the route determining module is used for determining a driving route of the target unmanned equipment and a communication strategy on the driving route according to the communication related information corresponding to the available unit area;

and the control module is used for controlling the target unmanned equipment to execute tasks according to the determined driving route and the communication strategy.

The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described communication state map construction method or communication state map-based unmanned equipment control method.

The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the above-mentioned method for constructing a communication status map or the method for controlling an unmanned device based on the communication status map when executing the program.

The technical scheme adopted by the specification can achieve the following beneficial effects:

in the method for constructing a communication state map and the method and apparatus for controlling an unmanned aerial vehicle based on the communication state map provided in this specification, first, communication signal parameters of positions acquired by each unmanned aerial vehicle during a task execution process are acquired, a target area in which the communication state map needs to be constructed is determined, and the target area is divided to obtain each unit area, then, for each unit area, communication signal parameters belonging to the unit area are determined according to position information based on the communication signal parameters acquired by each unmanned aerial vehicle, communication signal states corresponding to the unit area are determined according to the communication signal parameters of the unit area, a communication state map for the target area is constructed according to the communication signal states corresponding to each unit area, and in a subsequent process, a driving route of the target unmanned aerial vehicle and a communication policy on the driving route are determined through the communication state map, and controlling the target unmanned equipment according to the driving route and the communication strategy.

According to the method, the communication state map capable of representing the communication state of each area can be constructed in advance, so that the target unmanned equipment can travel in the area with a good communication state as much as possible in the traveling process, the communication state of the front road section can be predicted in advance, and communication network switching can be performed in time, so that the normal communication of the target unmanned equipment in the task execution process can be effectively ensured as much as possible, the traveling safety of the target unmanned equipment is ensured, and the task execution efficiency of the target unmanned equipment is improved to a certain extent.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:

fig. 1 is a schematic flow chart of a method for constructing a communication status map provided in this specification;

FIG. 2 is a schematic diagram of the division of each unit area provided in the present specification;

fig. 3 is a schematic flowchart of an unmanned device control method based on a communication status map provided in the present specification;

fig. 4 is a schematic diagram of the filtering of target frequency bands provided in the present specification;

fig. 5 is a schematic diagram of a communication status map constructing apparatus provided in the present specification;

fig. 6 is a schematic diagram of an unmanned aerial vehicle control device based on a communication state map provided in the present specification;

fig. 7 is a schematic diagram of an electronic device corresponding to fig. 1 or fig. 3 provided in the present specification.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.

The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a method for constructing a communication status map provided in this specification, including the following steps:

s101: and acquiring communication signal parameters of each position acquired by each unmanned device in the task execution process.

In this specification, communication signal parameters acquired by each unmanned device in the process of executing a task may be acquired, where the task mentioned herein may be understood as a historical task executed by each unmanned device. That is, for any unmanned device, during the task execution process, the unmanned device can collect and upload communication signal parameters at each position where the unmanned device travels. Accordingly, by summarizing the communication signal parameters collected by each unmanned device at each position when each unmanned device executes each historical task, a communication state map which can roughly represent whether the communication state at each position is good or not can be finally determined, so that the communication state map can be used for determining and controlling the subsequent unmanned device on the driving route.

The communication signal parameters may include: cell Identity (ECI), Public Land Mobile Network (PLMN), Network frequency point information, Reference Signal Receiving Power (RSRP), Signal to Interference plus Noise Ratio (SINR), Round-Trip Time (RTT), and the like. These parameters can characterize to some extent the communication state within a cell region.

For example, since communication carriers generally set communication base stations according to residential cells and business districts, communication signals of a residential cell are covered by a communication base station. Therefore, if the number of ECIs involved in one cell area is large, it is described that the cell area includes a plurality of communication base stations. If there are too many communication base stations in one area, it means that when the unmanned device travels into the area, it may need to perform multiple communication network switching, thereby affecting the normal communication of the unmanned device, and therefore, the communication state in the cell area may be determined to be poor.

For another example, if the RTT in a cell area is large, it indicates that the communication network in the cell area is unstable, and therefore the communication state in the cell area is poor.

Of course, in this specification, the communication Signal parameters may also include other types of parameters, such as Reference Signal Receiving Quality (RSRQ), power absolute value dbm, etc., which are not illustrated in detail herein.

The unmanned equipment mentioned above may refer to equipment capable of realizing automatic driving, such as unmanned vehicles, unmanned aerial vehicles, automatic distribution equipment, and the like. Based on this, the method for constructing the communication state map and the method for controlling the unmanned aerial vehicle based on the communication state map provided by the present specification can be used for determining the driving route of the unmanned aerial vehicle, and the unmanned aerial vehicle is particularly applicable to the field of distribution by the unmanned aerial vehicle, such as a business scene of distribution such as express delivery, logistics, and takeout by using the unmanned aerial vehicle.

Further, in practical applications, the state of the ground communication network is relatively good compared to the state of the air, so the unmanned device mentioned in this specification may specifically refer to an unmanned aerial vehicle that performs tasks on various flight routes. The following description mainly takes the case where the unmanned aerial vehicle is an unmanned aerial vehicle, and describes a method for constructing a communication state map and a method for controlling the unmanned aerial vehicle based on the communication state map provided in this specification.

In the present specification, an execution subject for implementing the method for constructing the communication state map may refer to a device such as a server installed on a service platform, or may refer to a terminal device such as a desktop computer or a notebook computer.

S102: and determining a geographical area needing to construct a communication state map as a target area, and dividing the target area to obtain each unit area.

The server can determine a geographical area needing to establish a communication state as a target area while acquiring the communication signal parameters. In this specification, the target area may refer to all geographical areas if a corresponding communication status map is not previously constructed for any geographical area. Of course, the target area mentioned here may also refer to a part of the geographical area where the communication state needs to be determined according to actual needs.

Specifically, the geographic area in which the communication state map needs to be constructed may refer to an area corresponding to a flight route on which the unmanned aerial vehicle executes a task, so that if each unmanned aerial vehicle is an unmanned aerial vehicle, the server may determine a flight route on which each unmanned aerial vehicle executes a task, and use the geographic area covered by the flight route as the geographic area in which the communication state map needs to be constructed.

The flight path refers to an air traffic line, which is divided according to the requirements of air traffic control, and not only indicates the general flight direction of the airplane, but also specifies the width and the flight height of the flight path.

The geographical area covered by the flight route may be a geographical space area occupied by the flight route, and the communication state map needs to show the communication states at different positions because the communication state map needs to be constructed to plan the flight route for the subsequent task execution of the unmanned equipment. In this regard, in the present specification, it is possible to divide each unit area in the target area and embody the communication state at different positions in the form of the unit area in the constructed communication state map.

Therefore, the server may obtain each spatial grid by rasterizing the space corresponding to the target area, and further obtain each unit area from each spatial grid, as shown in fig. 2.

Fig. 2 is a schematic diagram of dividing each cell area provided in this specification.

In fig. 2, the cuboid can be regarded as a part of the spatial region in the target region, and the server can rasterize the spatial region to obtain individual spatial grids as shown in fig. 2. Each spatial grid corresponds to a geospatial region in reality.

In this specification, the server may use one spatial grid as one unit area, or may combine a plurality of adjacent spatial grids to combine one unit area, for example, combine four adjacent spatial grids, i.e., up, down, left, and right, into one unit area. Further, in order to further perform statistics on communication signal parameters of each unit area, the server may generate, for each divided unit area, a unit identifier corresponding to the unit area, where the unit identifiers corresponding to different unit areas are different. In this way, the server may subsequently divide the acquired communication signal parameters according to different unit identifiers and different unit areas.

S103: and for each unit area, determining the communication signal parameters belonging to the unit area according to the position information based on the communication signal parameters acquired by the unmanned equipment.

When each unmanned device collects each communication signal parameter, the unmanned devices upload position information based on the collected communication signal parameter to the server together, so that after the server divides each unit area, the server can determine the communication signal parameter belonging to the unit area according to the position information based on each communication signal parameter collected by each unmanned device. In other words, for any one cell area, the server needs to determine which communication information parameters are from the geospatial area corresponding to the cell area.

The server determines the communication signal parameters which are acquired by the unmanned equipment in the unit area and belong to the communication parameter dimension according to the preset communication parameter dimension and the position information based on the communication signal parameters acquired by the unmanned equipment, and the communication signal parameters serve as the communication signal parameters which belong to the unit area. The communication parameter dimensions may include: communication operators and communication signal frequency points.

If the communication parameter dimension refers to a communication operator, determining the communication signal parameters belonging to the communication parameter dimension in one unit area, and particularly dividing the communication signal parameters acquired by each unmanned device in the unit area according to different communication operators. For example, assuming that there is the communications carrier A, B, C, the server may determine the communications signal parameters whose corresponding acquisition locations are located in the unit area, and then divide the communications signal parameters into the communications signal parameters belonging to the unit area and the communications signal parameters belonging to the communications carrier a, the communications signal parameters belonging to the unit area and the communications signal parameters belonging to the communications carrier B and the communications signal parameters belonging to the unit area and the communications signal parameters belonging to the communications carrier C according to different communications carriers. All three groups of communication signal parameters are regarded as communication signal parameters belonging to the unit area, and the communication signal parameters belonging to the unit area are further distinguished according to different communication operators.

If the communication parameter dimension refers to a communication signal frequency point, the communication signal parameter belonging to the communication parameter dimension is determined in one unit area, and the communication signal parameters acquired by each unmanned device in the unit area can be divided according to different communication signal frequency points. For example, assuming that 5 communication signal frequency points are involved in the unit area, the server may determine each communication signal parameter whose corresponding acquisition position is located in the unit area, and then may divide the communication signal parameters into five groups of communication signal parameters which belong to the unit area and belong to five different communication signal frequency points according to different communication signal frequency points. All the five groups of communication signal parameters are regarded as communication signal parameters belonging to the unit area, and the communication signal parameters belonging to the unit area are further distinguished according to different communication signal frequency points. For the communication signal parameters belonging to one communication signal frequency point, the communication signal parameters may include communication signal parameters of different communication operators.

Of course, in this specification, the server may determine the communication signal parameters belonging to the cell area according to the two communication parameter dimensions. It should be understood that the communication signal parameters belonging to the cell area are determined mainly by collecting the position, but the communication signal parameters belonging to the cell area are further divided by the communication parameter dimensions.

S104: and determining the communication signal state corresponding to the unit area according to the communication signal parameters of the unit area.

As described above, various types of communication signal parameters are listed, and as can be seen from these types of communication signal parameters, once the server determines communication signal parameters belonging to one unit area, it can determine the communication state of the unit area based on these communication signal parameters.

Specifically, if the communication parameter dimension is a communication carrier, the server may determine, for each communication carrier, a communication signal parameter belonging to the communication carrier from the communication signal parameters belonging to the unit area, and then, the server may determine, according to the communication signal parameter belonging to the communication carrier, each communication state index of the communication carrier for the unit area, and finally determine, according to each determined communication state index of each communication carrier in the unit area, a communication signal state corresponding to the unit area. That is, each communication carrier corresponds to one communication state in the cell area.

In this specification, if the communication parameter dimension is a communication operator, the aforementioned communication status indicators may include: the communication state indexes of the communication operator for the unit area comprise: the average RTT of the communication operator in the cell area, the offline rate of the communication operator in the cell area, the downlink rate of the communication operator in the cell area, and the occupation ratio of the unconventional frequency points of the communication operator appearing in the cell area.

The irregular frequency points mentioned here can be understood as the irregular frequency points appearing in the unit area, for example, in practical applications, when an operator approaches a special area such as a railway, a station, and the like, a private communication network of some special frequency points may be set, and the frequency points in the private communication network belong to the appearing irregular frequency points.

Further, for each communication carrier, the server may determine whether each communication state index of the communication carrier in the unit area satisfies a first state condition, and determine a communication signal state corresponding to the unit area based on a communication state determination result of each communication carrier in the unit area. The communication signal state corresponding to the cell area can be understood as whether the communication signal of the cell area is good or not as a whole. If the communication signals of all communication operators in the cell area are poor according to the obtained communication state judgment result, the overall communication signal state in the cell area is poor.

Of course, the communication signal state of the cell area may also be used to measure the communication signal states of different communication carriers in the cell area, that is, in the above manner, it may be determined which communication carrier has a better communication signal and which communication carrier has a poorer communication signal in the cell area.

The first status condition may be in various specific forms, and if the server determines that the average RTT of the communications carrier in the cell area is smaller than the first RTT threshold, it determines that the communications carrier is in the cell area, and the communications status indicator RTT satisfies the first status condition. If the server determines that the offline rate of the communications carrier in the cell area is less than the first offline rate threshold, it may be determined that the communications carrier in the cell area satisfies the first status condition for the offline rate, which is the communications status indicator.

If the server determines that the downlink rate of the communications carrier in the cell area is greater than the maximum service demand rate, it may be determined that the communications carrier satisfies the first status condition for the communications status indicator, which is the downlink rate, in the cell area. If the server determines that the proportion of the unconventional frequency points of the communication operator appearing in the unit area is smaller than the set proportion, the communication signal frequency points provided by the communication operator in the unit area are stable and all belong to conventional frequency points, and the first state condition is met in the communication state index of the provided communication signal frequency points.

In the present specification, if the communications carrier satisfies any of the first status conditions, the communications carrier may be considered to have a good communications state in the cell area, or the number of the various communications state indexes satisfying the first status conditions exceeds a set index number, the communications carrier may be determined to have a good communications state in the cell area, and may be specifically determined according to actual network requirements. Of course, the server may also determine, for each communication status indicator, a score value for representing the communication status indicator according to the communication status indicator and a corresponding threshold thereof (such as the aforementioned first RTT threshold, the set occupancy, and the like), and further determine the communication signal status of the communication carrier in the cell area according to the score value corresponding to each communication status indicator and the weight corresponding to each communication status indicator.

If the communication parameter dimension is a communication signal frequency point, the server can determine the communication signal parameters belonging to the communication signal frequency point from the communication signal parameters belonging to the unit area for each communication signal frequency point, and then the server can determine each communication state index of the communication signal frequency point for the unit area according to the communication signal parameters belonging to the communication signal frequency point, and further determine the communication signal state corresponding to the unit area according to each communication state index of each communication signal frequency point in the unit area.

The above mentioned communication signal frequency point is a frequency point in the communication field, and the frequency point refers to a number of a fixed frequency. Therefore, if the communication signal frequency point is taken as the communication parameter dimension, the determined communication signal state of the cell area can be understood as determining the communication signal state of each communication signal frequency point in the cell area. That is to say, by the above-mentioned method, it can be determined which communication signal frequency point has a good communication signal and which communication signal frequency point has a poor communication signal in the cell area.

In this specification, the communication signal frequency point may include, for each communication state index of the unit area: the average RTT of the communication signal frequency point in the unit area, the off-line rate of the communication signal frequency point in the unit area, the downlink rate of the communication signal frequency point in the unit area, and the number of ECIs of the communication signal frequency point, which are communication signals appearing in the unit area.

Correspondingly, the server can judge whether each communication state index of the communication signal frequency point in the unit area meets the second state condition or not aiming at each communication signal frequency point, so that the communication state judgment result of the communication signal frequency point in the unit area is obtained. And finally, determining the communication signal state corresponding to the unit area according to the communication state judgment result of each communication signal frequency point in the unit area.

Similar to the communication parameter dimension being a communication operator, if one communication state index satisfies the second state condition, it may be determined that the communication signal state of the communication signal frequency point in the unit area is good, and of course, the index number satisfying the second state condition in determining each communication state index may also satisfy the set index number, and it is determined that the communication signal state of the communication signal frequency point in the unit area is good, which may be specifically determined according to actual service requirements. And others will not be described in detail herein.

The specific form of the second state condition may be multiple, and if the server determines that the average RTT of the communication signal frequency point in the unit area is smaller than the second RTT threshold, it determines that the communication signal frequency point is in the unit area, and the communication state indicator of RTT satisfies the second state condition.

If the server determines that the offline rate of the communication signal frequency point in the unit area is not greater than the second offline rate threshold, it can be determined that the communication signal frequency point in the unit area meets the second state condition for the offline rate, which is the communication state index.

If the server determines that the downlink rate of the communication signal frequency point in the unit region is greater than the maximum service demand rate, it can be determined that the communication signal frequency point in the unit region meets the second state condition for the communication state index of the downlink rate.

If the server determines that the number of ECIs of the communication signal frequency point of the communication signal appearing in the unit area is not more than the set number of ECIs, the communication signal frequency point provided in the unit area is stable, and the second state condition is met in the communication state index of the provided communication signal frequency point.

Since a communications carrier can provide multiple communications signal frequency points, the communications carrier can provide normal communications service in the cell area as long as the communications signal state corresponding to one communications signal frequency point is good, and certainly, if the communications signal state corresponding to no less than a set number of communications signal frequency points among the communications signal frequency points provided by the communications carrier is good, the communications carrier can provide normal communications service in the cell area. For a single communication signal frequency point, the quality of the communication signal state corresponding to the communication signal frequency point directly affects the communication condition of the unmanned equipment using the communication signal frequency point.

Therefore, in order to ensure normal communication of the unmanned device, the second offline rate threshold may also be directly 0, and correspondingly, the offline rate of the communication signal frequency point in the unit area is not greater than the second offline rate threshold, which may mean that the second state condition is satisfied only when the offline rate of the communication signal frequency point in the unit area is equal to 0.

If the second offline rate threshold is not 0, the second offline rate threshold may be set to a tolerable minimum offline rate, and correspondingly, the first offline rate threshold is also set to a tolerable maximum offline rate. Similarly, the second RTT threshold may be set to a tolerable minimum RTT, and the first RTT threshold may be set to a tolerable maximum RTT. The above-mentioned number of the configured ECIs may be set to 1, that is, the second status condition is satisfied only when the number of the ECIs of the communication signal frequency point appearing in the cell area is 1.

Of course, the server may use any one of the communication parameter dimensions to determine the communication signal state of the cell area, or may use both of the communication parameter dimensions to determine the communication signal state in each cell area. For example, for a cell area, if at least one communication carrier with a good communication signal status exists in the cell area, and the communication carrier with the good communication status has at least one communication signal frequency point with a good communication signal status in the cell area, it can be determined that the communication signal status of the cell area is good. The determination of the communication signal state corresponding to each unit region through two communication parameter dimensions may also include other manners, which are not illustrated in detail herein. And which mode is specifically adopted can be determined according to the actual business requirements.

S105: and constructing a communication state map aiming at the target area according to the communication signal state corresponding to each unit area, wherein the communication state map is used for controlling the unmanned equipment.

After the communication signal state corresponding to each unit area is determined, a corresponding communication state map can be constructed. After the communication state map is constructed, the unit area of which the communication state meets the preset condition can be marked in the communication state map, that is, the unit area with good communication state is marked. In this way, it is possible to plan a travel route for the unmanned aerial device that needs to execute the task and to prepare a communication policy to be used when the unmanned aerial device follows the travel route, based on the cell areas with good communication conditions.

It should be noted that after the communication state map is constructed, the server may still obtain each communication signal parameter continuously acquired by the unmanned aerial vehicle, and further update the communication state of each unit area in the communication state map by using the communication signal parameters and combining the previously acquired communication signal parameters, so as to ensure the accuracy of the communication state noted by the communication state map in each unit area.

Through the communication state map, a corresponding driving route is determined for the subsequent unmanned equipment which needs to execute the task, and the specific process is shown in fig. 3.

Fig. 3 is a schematic flowchart of an unmanned device control method based on a communication status map, provided in this specification, including:

s301: and determining a task starting point and a task ending point of the target unmanned device.

The target unmanned device is the unmanned device which needs to execute the task, corresponding task starting point and task end point are preset in the task executing process of the target unmanned device, and based on the task starting point and the task end point, the driving route based on the target unmanned device executing the task can be planned by combining the constructed communication state map.

In this specification, an execution subject for executing the method for controlling the unmanned aerial vehicle based on the communication state map may be the unmanned aerial vehicle itself or may be a server, and for convenience of description, the method for controlling the unmanned aerial vehicle will be described in detail below by taking only the server as the execution subject.

S302: and according to the task starting point and the task ending point, determining a unit area with a communication state meeting a preset condition from a pre-constructed communication state map as an available unit area, wherein the communication state map is constructed by the construction method of the communication state map.

The server may determine, in a communication state map constructed in advance, unit areas where the task start point and the task end point are located, and determine, as an available unit area, a unit area with a good communication signal state between the two unit areas.

S303: and determining a driving route of the target unmanned equipment and a communication strategy on the driving route according to the communication related information corresponding to the available unit area.

In this specification, each available unit area may correspond to communication related information, and the communication related information may include an available communication signal frequency point corresponding to the available unit area, where the available communication signal frequency point refers to a communication signal frequency point with a good communication signal state.

Based on the method, the server can determine the running route of the target unmanned equipment according to the available communication signal frequency points corresponding to the available unit areas. For example, for a plurality of continuous unit areas in the direction pointing to the task end point according to the task starting point, if the unit areas all contain the same available communication signal frequency point, the route formed by connecting the unit areas can be used as a part of the running route of the target unmanned equipment according to the available communication signal frequency point. The server can finally determine a complete driving route and a communication strategy required by the unmanned equipment when the unmanned equipment drives on the driving route by adopting the mode, wherein the communication strategy is a communication signal frequency point adopted by the unmanned equipment for communication in each section of the driving route.

For another example, the server may merge available communication signal frequency points corresponding to the available unit areas according to a preset merging rule to obtain available communication signal frequency bands corresponding to the available unit areas, and then determine a driving route of the target unmanned device and a communication strategy on the driving route according to the available communication signal frequency bands.

Here, the communication signal frequency Band (i.e., Band in the communication field) refers to a frequency range, and the communication signal frequency points refer to fixed frequencies, so that the communication signal frequency points can be merged to obtain different communication signal frequency bands according to a predetermined frequency range of the communication signal.

The server may screen out target frequency bands from available communication signal frequency bands corresponding to the available unit areas according to a preset frequency band screening rule, and determine a driving route of the target unmanned device and a communication strategy on the driving route according to the target frequency bands. If the area covered by one available communication signal frequency band is smaller than the area covered by the other available communication signal frequency band and the area covered by the other available communication signal frequency band is completely covered for any two available communication signal frequency points, the available communication signal frequency band with a larger coverage area can be screened out as the target frequency band.

That is, if a plurality of available communication signal bands overlap each other in a geographic area, in order to reduce the number of times of switching communication networks during traveling of the target unmanned aerial device, the available communication signal band with the longest coverage geographic area may be selected as the target band, as shown in fig. 4.

Fig. 4 is a schematic diagram of the screening target frequency band provided in the present specification.

In fig. 4, from the task start point to the task end point, the available communication signal frequency bands 1 to 5, wherein the areas covered by the available communication signal frequency bands 2 and 3 are the same as the area covered by the available communication signal frequency band 1, and the length of the area covered by the available communication signal frequency band 1 is the longest, the server can use the available communication signal frequency bands 1, 4 and 5 as the available communication signal frequency bands used by the determined driving route, and eliminate the available communication signal frequency bands 2 and 3.

As can be seen from the above method, since each unit area in the communication state map corresponds to a different geographical area, and the communication state map is also marked with the communication signal state of each unit area, the server can determine not only the travel route of the target unmanned aerial vehicle according to the communication state map, but also further determine an available communication signal band, i.e., a communication policy, to be used on each route when the target unmanned aerial vehicle travels along the travel route.

In addition, in practical applications, an optimal available communication signal frequency band may not be selected in a part of the driving route, which may be because communication signal parameters of the part of the cell area are not collected before the communication state map is constructed, so that the communication signal state of the part of the cell area cannot be determined. The reason may be that all the cell areas corresponding to the part of the route relate to available communication signal bands with good communication signal states, or that an optimal communication signal band relating to the cell area corresponding to the part of the route cannot be determined. For this case, an available communication signal band may be arbitrarily used in this part of the cell area for communication by the target drone in this part of the cell area.

In this specification, the communication-related information may include: for example, if three carriers provide communication network services in one available cell area, but only the communication signal status of carrier a is good, carrier a may be the carrier corresponding to the available cell area.

Then, a traveling route of the target unmanned aerial device and a communication strategy on the traveling route can be determined according to an available communication carrier corresponding to the available unit area. In this case, each link on the determined travel route corresponds to a different communication carrier, that is, the communication policy indicates which communication carrier's communication network should be used after the target unmanned device travels to which link on the travel route.

S304: and controlling the target unmanned equipment to execute tasks according to the determined driving route and the communication strategy.

After determining the driving route and the communication strategy, the server may control the target unmanned device to execute the task according to the driving route and the communication strategy. In the process of controlling the target unmanned equipment, the communication signal parameters related to the driving route can be acquired through the target unmanned equipment, so that the communication signal states of the unit areas marked in the communication state map are updated in time, and better communication service is provided for the unmanned equipment.

Based on the same idea, the present specification also provides a corresponding communication state map construction device and a communication state map-based unmanned equipment control device, as shown in fig. 5 and 6.

Fig. 5 is a schematic diagram of a communication status map building apparatus provided in this specification, including:

an obtaining module 501, configured to obtain communication signal parameters of each position, which are collected by each piece of unmanned equipment in a task execution process;

a dividing module 502, configured to determine a geographic area in which a communication state map needs to be constructed, as a target area, and divide the target area to obtain each unit area;

a parameter determining module 503, configured to determine, for each unit area, a communication signal parameter belonging to the unit area according to location information based on each communication signal parameter acquired by each piece of unmanned equipment;

a state determining module 504, configured to determine, according to the communication signal parameter of the unit area, a communication signal state corresponding to the unit area;

a building module 505, configured to build a communication state map for the target area according to the communication signal state corresponding to each unit area, where the communication state map is used for controlling the unmanned device.

Optionally, the dividing module 502 is specifically configured to determine an airline on which each of the unmanned devices executes a task, and use a geographic area covered by the airline as a geographic area in which a communication state map needs to be constructed.

Optionally, the dividing module 502 is specifically configured to perform rasterization on a space corresponding to the target area to obtain each space grid; obtaining each unit area according to each space grid;

the dividing module 502 is further configured to, for each unit area, generate a unit identifier corresponding to the unit area, where the unit identifiers corresponding to different unit areas are different.

Optionally, the parameter determining module 503 is specifically configured to, for each unit area, determine, according to a preset communication parameter dimension, a communication signal parameter that is acquired by each unmanned aerial vehicle in the unit area and belongs to the communication parameter dimension, as the communication signal parameter that belongs to the unit area, according to location information based on each communication signal parameter acquired by each unmanned aerial vehicle, where the communication parameter dimension includes: at least one of communication operator and communication signal frequency point.

Optionally, the state determining module 504 is specifically configured to, if the communication parameter dimension is a communication carrier, determine, for each communication carrier, a communication signal parameter belonging to the communication carrier from communication signal parameters belonging to the unit area; determining various communication state indexes of the communication operator aiming at the unit area according to the communication signal parameters belonging to the communication operator; and determining the communication signal state corresponding to the unit area according to various communication state indexes of each communication operator in the unit area.

the state determining module 504 is specifically configured to, for each communication carrier, determine whether each communication state index of the communication carrier in the unit area satisfies a first state condition, and obtain a communication state determination result of the communication carrier in the unit area, where satisfying the first state condition includes: the average RTT of the communication operator in the cell area is smaller than a first RTT threshold, the offline rate of the communication operator in the cell area is smaller than a first offline rate threshold, the downlink rate of the communication operator in the cell area is greater than the maximum service demand rate, and the occupation ratio of the unconventional frequency points of the communication operator appearing in the cell area is smaller than at least one of the set occupation ratios; and determining the communication signal state corresponding to the unit area according to the communication state judgment result of each communication operator in the unit area.

Optionally, the state determining module 504 is specifically configured to, if the communication parameter dimension is a communication signal frequency point, determine, for each communication signal frequency point, a communication signal parameter belonging to the communication signal frequency point from the communication signal parameters belonging to the unit area; determining various communication state indexes of the communication signal frequency point aiming at the unit area according to the communication signal parameters belonging to the communication signal frequency point; and determining the communication signal state corresponding to the unit area according to each communication state index of each communication signal frequency point in the unit area.

the state determining module 504 is specifically configured to, for each communication signal frequency point, determine whether each communication state index of the communication signal frequency point in the unit area satisfies a second state condition, and obtain a communication state determination result of the communication signal frequency point in the unit area, where satisfying the second state condition includes: the average RTT of the communication signal frequency point in the unit area is smaller than a second RTT threshold, the off-line rate of the communication signal frequency point in the unit area is not larger than a second off-line rate threshold, the downlink rate of the communication signal frequency point in the unit area is larger than the maximum service demand rate, and the number of ECIs of the communication signal frequency point in the unit area is not larger than at least one of the set ECIs; and determining the communication signal state corresponding to the unit area according to the communication state judgment result of each communication signal frequency point in the unit area.

Optionally, the apparatus further comprises:

a marking module 506, configured to mark a unit area where a communication state meets a preset condition from the constructed communication state map, so that the unmanned device executes a task according to the unit area meeting the preset condition.

Fig. 6 is a schematic diagram of an unmanned equipment control device based on a communication state map, provided in this specification, including:

a task determining module 601, configured to determine a task starting point and a task ending point of the target unmanned device;

an area determining module 602, configured to determine, according to the task starting point and the task ending point, a unit area where a communication state meets a preset condition from a pre-constructed communication state map, as an available unit area, where the communication state map is constructed by the method for constructing the communication state map;

a route determining module 603, configured to determine a driving route of the target unmanned aerial device and a communication policy on the driving route according to the communication-related information corresponding to the available unit area;

and the control module 604 is configured to control the target unmanned device to perform task execution according to the determined driving route and the communication policy.

the route determining module 603 is specifically configured to determine a driving route of the target unmanned aerial device and a communication strategy on the driving route according to available communication signal frequency points corresponding to the available unit areas.

Optionally, the route determining module 603 is specifically configured to merge available communication signal frequency points corresponding to the available unit areas according to a preset merging rule, so as to obtain available communication signal frequency bands corresponding to the available unit areas; and determining a driving route of the target unmanned equipment and a communication strategy on the driving route according to the available communication signal frequency band corresponding to the available unit area.

Optionally, the route determining module 603 is specifically configured to, according to a preset band filtering rule, filter a target band from available communication signal bands corresponding to the available unit areas, where, for any two available communication signal bands, if an area covered by one available communication signal band is smaller than an area covered by another available communication signal band and the area covered by the another available communication signal band is completely covered, the available communication signal band with a larger coverage area is filtered as the target band; and determining a driving route of the target unmanned equipment and a communication strategy on the driving route according to the target frequency band.

the route determining module 603 is specifically configured to determine a driving route of the target unmanned aerial vehicle and a communication policy on the driving route according to an available communication carrier corresponding to the available unit area.

The present specification also provides a computer-readable storage medium storing a computer program, which can be used to execute a method for constructing a communication status map and a method for controlling an unmanned aerial device based on the communication status map provided in fig. 1 or 3.

The present specification also provides a schematic block diagram of an electronic device corresponding to fig. 1 or fig. 3 shown in fig. 7. As shown in fig. 7, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to implement the method for constructing the communication state map and the method for controlling the unmanned aerial vehicle based on the communication state map described in fig. 1 or 3. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.

In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.

As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description 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.

The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.

Claims

1. A method for constructing a communication state map is applied to the field of unmanned driving, and comprises the following steps:

2. The method of claim 1, wherein determining the geographic area in which the communication status map needs to be constructed specifically comprises:

3. The method of claim 1, wherein the dividing the target region into the unit regions specifically comprises:

rasterizing a space corresponding to the target area to obtain each space grid;

obtaining each unit area according to each space grid;

the method further comprises the following steps:

4. The method of claim 1, wherein the communication signal parameters comprise: at least one of public land mobile network PLMN, cell unique identifier ECI, network frequency point information, reference signal received power RSRP, signal to interference plus noise ratio SINR and round trip time RTT.

5. The method according to claim 4, wherein for each unit area, determining the communication signal parameters belonging to the unit area according to the location information based on which the communication signal parameters acquired by the unmanned equipment are based, specifically comprises:

6. The method of claim 5, wherein determining the communication signal status corresponding to the cell area according to the communication signal parameter of the cell area specifically comprises:

7. The method as claimed in claim 6, wherein the communication status indicators of the communication carrier for the unit area comprise: at least one of an average RTT of the communications carrier in the cell area, an offline rate of the communications carrier in the cell area, a downlink rate of the communications carrier in the cell area, and a proportion of unusual frequency points of the communications carrier occurring in the cell area;

8. The method of claim 5, wherein determining the communication signal status corresponding to the cell area according to the communication signal parameter of the cell area specifically comprises:

9. The method of claim 8, wherein the communication signal frequency points comprise, for each communication status indicator of the cell area: the average RTT of the communication signal frequency point in the unit area, the off-line rate of the communication signal frequency point in the unit area, the downlink rate of the communication signal frequency point in the unit area, and the number of ECIs of the communication signal frequency point, which are communication signals appearing in the unit area;

10. The method of any one of claims 1 to 9, further comprising:

11. An unmanned equipment control method based on a communication state map is characterized in that the method is applied to the field of unmanned driving and comprises the following steps:

according to the task starting point and the task ending point, determining a unit area with a communication state meeting a preset condition from a pre-constructed communication state map as an available unit area, wherein the communication state map is constructed by the method of any one of the claims 1-10;

12. The method of claim 11, wherein the communication-related information comprises: available communication signal frequency points corresponding to the available unit areas;

determining a driving route of the target unmanned aerial vehicle and a communication strategy on the driving route according to the communication related information corresponding to the available unit area, wherein the communication strategy specifically comprises the following steps:

13. The method according to claim 12, wherein determining a driving route of the target unmanned aerial device according to available communication signal frequency points corresponding to the available unit areas, and a communication policy on the driving route specifically include:

14. The method according to claim 13, wherein determining a travel route of the target unmanned aerial device according to an available communication signal frequency band corresponding to the available unit area, and a communication policy on the travel route specifically include:

determining a driving route of the target unmanned device according to the target frequency band, and a communication strategy on the driving route.

15. The method of claim 11, wherein the communication-related information comprises: available communication operators corresponding to the available unit areas;

16. A communication state map construction device is applied to the field of unmanned driving, and comprises the following components:

17. An unmanned equipment control device based on a communication state map is characterized in that the device is applied to the field of unmanned driving and comprises the following components:

an area determination module, configured to determine, according to the task start point and the task end point, a unit area, as an available unit area, where a communication state meets a preset condition from a pre-constructed communication state map, where the communication state map is constructed by the method according to any one of claims 1 to 10;

18. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1-10 or 11-15.

19. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 10 or 11 to 15 when executing the program.