WO2019192436A1 - 一种波束跟踪的方法及装置 - Google Patents

一种波束跟踪的方法及装置 Download PDF

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Publication number
WO2019192436A1
WO2019192436A1 PCT/CN2019/080893 CN2019080893W WO2019192436A1 WO 2019192436 A1 WO2019192436 A1 WO 2019192436A1 CN 2019080893 W CN2019080893 W CN 2019080893W WO 2019192436 A1 WO2019192436 A1 WO 2019192436A1
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Prior art keywords
vehicle
information
location information
position information
designated
Prior art date
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PCT/CN2019/080893
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English (en)
French (fr)
Inventor
赵丽
赵锐
石蕊
李琼
Original Assignee
电信科学技术研究院有限公司
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Priority to EP19781868.5A priority Critical patent/EP3780663A4/en
Priority to US17/043,630 priority patent/US20210021328A1/en
Publication of WO2019192436A1 publication Critical patent/WO2019192436A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
    • H04B7/0837—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station using pre-detection combining
    • H04B7/0842—Weighted combining
    • H04B7/086—Weighted combining using weights depending on external parameters, e.g. direction of arrival [DOA], predetermined weights or beamforming
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
    • H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
    • H04B7/0615—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal
    • H04B7/0617—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal for beam forming
    • 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]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • 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
    • H04W72/046—Wireless resource allocation based on the type of the allocated resource the resource being in the space domain, e.g. beams

Definitions

  • the present invention relates to the field of vehicle networking, and in particular to a method and apparatus for beam tracking.
  • eV2X Enhanced Vehicle to Everything
  • vehicles with the same destination are formed by using the Vehicle platooning mechanism, and all the vehicles in the fleet are used inside the fleet. The way the vehicle communicates to achieve management and control of all vehicles.
  • vehicles A, B, C, and D travel in lane 2 to form a platooning fleet.
  • the vehicle E travels in the lane 1 and does not form a platooning fleet with the vehicles A to D.
  • the head car A in the Platooning team usually sends relevant information to the rear cars B, C, and D in a unicast or multicast manner, so that the rear cars B, C, and D can be sent according to the first car A.
  • the corresponding operation is performed to keep the following vehicles B, C, D consistent with the running trajectory of the head vehicle A.
  • the relevant information sent by the head car is transmitted as a beam signal.
  • the energy of the signal is transmitted to all directions in the space, this will cause the signal energy received by the following vehicle to be only
  • the part of the signal energy sent by the head car on the other hand, due to the fast driving speed of the vehicle and the change of the lane topology may also be faster, and will further weaken the signal energy received by the rear vehicle. Due to the weakening of the signal energy, the reliability of the vehicle receiving the preceding vehicle signal is reduced, and the discovery time of the beam signal is prolonged, so that the following vehicle cannot save the same running track with the head vehicle in time and accurately.
  • the invention provides a method and a device for beam tracking, which are used to solve the technical problem that the reliability of the rear vehicle receiving beam signal is low and the discovery beam signal is slow in the vehicle formation running in the prior art.
  • a beam tracking method provided by an embodiment of the present invention is applied to a rear vehicle in a vehicle formation running, and the technical solution is as follows:
  • the beam sent by the backward vehicle must be sent backwards, so the rear vehicle can effectively perform the beam of the designated vehicle according to the relative position information with the designated vehicle. Tracking, in turn, improves the reliability of receiving the transmitted beam of the designated vehicle, and further reduces the time for beam discovery since there is no need to scan the beam for other locations indicated by the relative position information.
  • the first location information and the second location information including:
  • the tracking, by the relative location information, the beam sent by the specified vehicle includes:
  • the tracking, by the relative location information, the beam sent by the specified vehicle includes:
  • the configured receiving angle is that the communications device is dynamic according to the first location information and the second location information
  • a motion relationship between the specified vehicle and the following vehicle is predicted on the map, and the received angle range of the beam received by the following vehicle calculated based on the relative position information and the motion relationship is calculated.
  • the tracking, by the relative location information, the beam sent by the specified vehicle includes:
  • a grid space through which the beam passes is an effective grid space according to the sending direction of the beam and the relative position information
  • an embodiment of the present invention provides another method for beam tracking, which is applied to a communication device in a vehicle formation running, including:
  • the beam sent by the backward vehicle must be sent backwards, so the communication device according to the received first position information of the designated vehicle and the second position information of the following vehicle
  • the relative position information of the following vehicle and the designated vehicle can be obtained, so that the configuration information of the following vehicle can be generated according to the relative position information, so that the following vehicle can track the beam sent by the preceding vehicle according to the configuration information, thereby enabling the following vehicle to realize the designation.
  • the tracking of the beam of the vehicle improves the reliability of receiving the transmitted beam of the designated vehicle, and since the rear vehicle does not need to scan the beam at other positions indicated by the relative position information, the time for discovering the beam of the following vehicle can be further reduced.
  • the generating the configuration information of the following vehicle according to the relative location information includes:
  • the optimal mesh is encapsulated according to a preset data format to generate the configuration information.
  • the generating the configuration information of the following vehicle according to the relative location information includes:
  • the communications device is specifically:
  • Base station or RSU.
  • an embodiment of the present invention provides a device for beam tracking, which is applied to a rear vehicle in a vehicle formation running, and includes:
  • a receiving unit configured to receive first location information of the designated vehicle
  • an obtaining unit configured to obtain relative position information of the designated vehicle and the following vehicle based on the first location information and the second location information of the following vehicle;
  • a tracking unit configured to track, according to the relative location information, a beam sent by the designated vehicle.
  • the first location information and the second location information including:
  • the obtaining unit is specifically configured to:
  • the obtaining unit is specifically configured to:
  • the tracking unit is specifically configured to:
  • the tracking unit is specifically configured to:
  • the configured receiving angle is that the communications device is dynamic according to the first location information and the second location information
  • a motion relationship between the specified vehicle and the following vehicle is predicted on the map, and the received angle range of the beam received by the following vehicle calculated based on the relative position information and the motion relationship is calculated.
  • the tracking unit is specifically configured to:
  • a grid space through which the beam passes is an effective grid space according to the sending direction of the beam and the relative position information
  • the embodiment of the present invention further provides a device for beam tracking, which is applied to a communication device in a vehicle formation running, and includes:
  • a receiving unit configured to receive first location information reported by the specified vehicle and second location information reported by the following vehicle;
  • an obtaining unit configured to obtain relative position information of the designated vehicle and the following vehicle based on the first location information and the second location information
  • a generating unit configured to generate configuration information of the following vehicle according to the relative position information, so that the following vehicle tracks the beam transmitted by the preceding vehicle according to the configuration information.
  • the generating unit is specifically configured to:
  • the optimal mesh is encapsulated according to a preset data format to generate the configuration information.
  • the generating unit is specifically configured to:
  • the communications device is specifically:
  • Base station or RSU.
  • an embodiment of the present invention further provides an apparatus for beam tracking, including:
  • At least one processor and,
  • a memory coupled to the at least one processor
  • the memory stores instructions executable by the at least one processor, the at least one processor performing the method of the first aspect or the second aspect described above by executing the instructions stored by the memory.
  • the embodiment of the present invention further provides a computer readable storage medium, including:
  • the computer readable storage medium stores computer instructions that, when executed on a computer, cause the computer to perform the method of the first or second aspect described above.
  • the embodiments of the present invention have at least the following technical effects:
  • the relative position information of the designated vehicle and the following vehicle is determined according to the first position information and the second position information. And tracking the beam transmitted by the designated vehicle based on the relative position information. Since the designated vehicle is in front of the rear vehicle during the formation of the vehicle, the beam sent by the backward vehicle must be sent backwards, so the rear vehicle can effectively perform the beam of the designated vehicle according to the relative position information with the designated vehicle. Tracking, in turn, improves the reliability of receiving the transmitted beam of the designated vehicle, and further reduces the time for beam discovery since there is no need to scan the beam for other locations indicated by the relative position information.
  • FIG. 1 is a schematic diagram of a platooning vehicle team in the background art of the present invention.
  • FIG. 2 is a schematic flowchart of beam tracking according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a receiving angle of a first rear vehicle adjusting beam according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of implementing a tracking beam by using a receiving angle of a second rear vehicle adjusting beam according to an embodiment of the present disclosure
  • FIG. 5 is a schematic diagram of implementing a tracking beam according to a receiving direction of a receiving angle adjustment beam configured by a network side according to an embodiment of the present disclosure
  • FIG. 6 is a schematic diagram of a method for implementing a tracking beam by receiving and scanning a beam in an effective grid range according to an embodiment of the present invention
  • FIG. 7 is a schematic flowchart of another beam tracking according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of beam tracking according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of another beam tracking according to an embodiment of the present invention.
  • the embodiment of the present invention provides a beam tracking solution to solve the technical problem that the reliability of the rear vehicle receiving beam signal is low and the discovery beam signal is slow in the vehicle formation running in the prior art.
  • Providing a beam tracking solution comprising: receiving first location information of a designated vehicle; obtaining relative location information of the designated vehicle and the following vehicle based on the first location information and the second location information of the following vehicle; and according to the relative location information, Specify the beam sent by the vehicle for tracking.
  • the relative position information tracks the beam transmitted by the designated vehicle. Since the designated vehicle is in front of the rear vehicle during the formation of the vehicle, the beam sent by the backward vehicle must be sent backwards, so the rear vehicle can effectively perform the beam of the designated vehicle according to the relative position information with the designated vehicle. Tracking, in turn, improves the reliability of receiving the transmitted beam of the designated vehicle, and further reduces the time for beam discovery since there is no need to scan the beam for other locations indicated by the relative position information.
  • an embodiment of the present invention provides a beam tracking method, which is applied to a rear vehicle in a vehicle formation running.
  • the processing procedure of the method is as follows.
  • Step 201 Receive first location information of the designated vehicle.
  • the designated vehicle refers to the vehicle that travels before the rear vehicle, and may be the head vehicle or the front vehicle. Specifically, which vehicle before the rear vehicle is not limited herein, in actual application, it may be preset according to needs, or according to The preset strategy determines a vehicle as a designated vehicle from the vehicle before the vehicle.
  • the first location information and the second location information may be at least one of latitude and longitude information, lane information, and altitude information; wherein the height information is a height of the designated vehicle or the following vehicle relative to the preset horizontal position.
  • the designated vehicle and the rear vehicle can obtain their location information through the Global Navigation Satellite System (GNSS), such as latitude and longitude, altitude information, and lane information of the lane in which they are located.
  • GNSS Global Navigation Satellite System
  • the global satellite navigation system may be a Beidou system, a Global Positioning System (GPS), a GLONASS satellite navigation system GLONASS, a Galileo satellite navigation system (Galileo) system, and the like.
  • GPS Global Positioning System
  • GLONASS GLONASS
  • Galileo Galileo satellite navigation system
  • the rear vehicle may obtain the first position information of the designated vehicle periodically or irregularly, or may obtain the first position information of the designated vehicle by means of the inquiry response.
  • the manner in which the first position information is obtained by the rear vehicle may be a method of directly communicating with the designated vehicle, or the first position information of the designated vehicle may be obtained indirectly through the base station or the RSU on the network side, and the first position information is obtained in which manner. , not limited here.
  • step 202 After the first vehicle information of the designated vehicle is obtained by the following vehicle, step 202 can be performed.
  • Step 202 Obtain relative position information of the designated vehicle and the following vehicle based on the first position information and the second position information of the following vehicle.
  • the manner of obtaining the relative position information of the designated vehicle and the following vehicle may be as follows:
  • the relative position information may be obtained by calculating a vector angle of the following vehicle with respect to the designated vehicle based on the latitude and longitude information of the first location information and the latitude and longitude information of the second location information.
  • the specified vehicle can be calculated to be 15 degrees to the left front of the rear vehicle, and the distance is 120 meters. travel.
  • the vector angle is required to be 15° to the front left, so the left front 15° is used as relative position information.
  • the vector angle of the following vehicle and the designated vehicle can be quickly and accurately calculated, and the relative position information of the following vehicle and the designated vehicle can be quickly obtained. Since obtaining latitude and longitude is very convenient and geographically unrestricted, such a method of obtaining relative position information by latitude and longitude information can be widely applied to all parts of the world.
  • the motion trajectory of the designated vehicle may be predicted based on the first location information and the travel information of the designated vehicle; and the relative motion relationship between the following vehicle and the designated vehicle is calculated according to the motion trajectory and the second location information to obtain relative position information.
  • the driving information may include driving speed, acceleration, direction, and the like.
  • the motion trajectory of the designated vehicle in a future period of time can be predicted, and then according to the predicted motion.
  • the second position information of the trajectory and the rear vehicle (116.329422, 39.360288) and the driving information of the following vehicle if the driving speed is also traveling north at a constant speed of 120km/h), the relative motion between the rear vehicle and the designated vehicle can be calculated.
  • the relationship is to keep the distance of 222 meters to the north, and then obtain the relative position information of the rear vehicle and the designated vehicle.
  • the rear vehicle By predicting the motion trajectory of the designated vehicle by specifying the first position information and the exercise information of the vehicle, and calculating the relative motion relationship between the following vehicle and the designated vehicle according to the motion trajectory of the designated vehicle and the second position information of the following vehicle, The rear vehicle obtains the relative positional relationship with the designated vehicle in advance, and then adjusts and tracks the beam transmitted by the designated vehicle according to the relative positional relationship, so that the tracking beam is more intelligent.
  • step 203 After obtaining the relative position information of the following vehicle and the designated vehicle, step 203 can be performed.
  • Step 203 Track the beam transmitted by the designated vehicle according to the relative position information.
  • the following vehicle can be used to track the beam transmitted by the designated vehicle.
  • the first way based on the second location information and the relative location information, the adjusted vehicle receives the reception direction of the beam transmitted by the designated vehicle to track the beam.
  • the rear vehicle calculates the direction of the rear vehicle to the designated vehicle through the first position information and the second position information, thereby determining the vector angle between the rear vehicle and the designated vehicle, and determining the reception angle of the beam according to the vector angle. Adjusting the receiving direction of the beam transmitted by the designated vehicle within the range of angles indicated by the receiving angle.
  • the receiving angle may be obtained by connecting the two points of the vehicle to the designated vehicle as the axis, and the angle is the vector angle multiplied by a preset proportional coefficient.
  • the latitude and longitude coordinates in the first position information of the designated vehicle are (116.329422, 39.362288), traveling north along the lane, and the driving information is traveling at a speed of 120 km/h, and the designated vehicle can be broadcasted.
  • the first location information is sent to the following vehicle, wherein the first location information may further carry dynamic map information of the designated vehicle.
  • the rear vehicle can predict the movement trajectory of the designated vehicle based on the first position information and the driving information to drive northward at a speed of 120 km/h at the position of (116.329422, 39.362288). For example, it can be predicted that after 10 s, the designated vehicle will reach a position 333 meters ahead of the first position information (116.329422, 39.362288), and then, according to the trajectory of the specified vehicle's motion trajectory and the second position information of the following vehicle ( 116.329709, 39.361228), it can be calculated that the relative motion relationship between the rear vehicle and the designated vehicle is that the designated vehicle keeps traveling northward at a position 222 meters ahead of the rear vehicle, thereby obtaining relative position information of the rear vehicle and the designated vehicle. Since the road is curved without a curve, it is not necessary to change the receiving angle of the rear vehicle, that is, the following vehicle continues to receive and scan the beam of the designated vehicle with the latest adjusted receiving angle to track the beam transmitted by the designated vehicle.
  • the rear vehicle can quickly determine the direction between the rear vehicle and the designated vehicle through the second position information and the relative position information, and then adjust the receiving direction of the beam according to the change of their directions, so that the designated vehicle can be quickly and timely sent.
  • the beam is tracked.
  • the second method is: tracking, according to the relative position information, the beam sent by the designated vehicle according to the configured receiving angle; wherein the configured receiving angle is that the communications device predicts the designated vehicle on the dynamic map according to the first location information and the second location information.
  • the communication device may be a base station or a Road Side Unit (RSU).
  • RSU Road Side Unit
  • the following vehicle and the designated vehicle may report their respective position information to the communication device periodically or irregularly, so that the communication device according to the first position information of the designated vehicle and The second position information of the rear vehicle predicts the motion relationship between the designated vehicle and the following vehicle on the dynamic map, such as the speed, the acceleration, the road condition of the designated vehicle and the rear vehicle, or the rear vehicle relative to the designated vehicle.
  • the speed, the acceleration, etc. after that, the communication device can calculate the receiving angle range of the transmitting beam of the designated vehicle by the following vehicle according to the motion relationship and relative position information of the designated vehicle and the following vehicle, and then send the receiving angle range to the following vehicle. .
  • the beam receiving angle is adjusted within the receiving angle range according to the relative position information, so as to track the beam information transmitted by the designated vehicle.
  • the receiving angle of the communication device configured for the following vehicle
  • the beam transmitted by the designated vehicle is tracked, and since the calculation of the receiving angle is completed in the communication device, the software and hardware requirements for the following vehicle can be effectively reduced.
  • the communication device has a high-precision high-definition dynamic map, it is more accurate when calculating the reception angle using the relative position information, thereby effectively improving the accuracy of the trailing vehicle to transmit the beam transmitted by the designated vehicle.
  • the third way first, spatially meshing the signal space between the first location information and the second location information according to the signal space meshing manner specified by the communication device, to obtain a relationship between the designated vehicle and the following vehicle Grid space; then, according to the beam sending direction and relative position information, the grid space through which the beam passes is determined from the grid space as an effective grid space; finally, in the effective grid space, the specified vehicle is sent The beam is tracked.
  • the communication device may be a base station or a roadside unit.
  • the rear vehicle can divide the signal space between the following vehicle and the designated vehicle into a grid space according to the received first position information of the designated vehicle and the second position information of the following vehicle (such as the grid in FIG. 6).
  • the size or effective range of the grid is set by the network side communication device to the following vehicle by way of configuration or pre-configuration, for example, may be 5 ⁇ 10 ⁇ 2 signal space grids.
  • the size of each grid is 1m 3 ; after that, the rear vehicle can determine the grid space through which the beam passes in the divided grid space according to the relative position information with the specified vehicle in the direction of beam transmission.
  • Grid space (shown in shaded in Figure 6). The vehicle is allowed to receive and scan the beam in an effective grid space, thereby achieving the purpose of tracking the beam transmitted by the designated vehicle.
  • the first location information may further include high definition dynamic map information of the designated vehicle.
  • the vehicle By dividing the signal space between the following vehicle and the designated vehicle, and determining the grid space through which the beam may pass as an effective grid space, the vehicle is scanned in an effective grid space. And receiving, can effectively reduce the spatial range of the scanning beam of the rear vehicle, thereby saving the energy consumption of the following vehicle and improving the efficiency of the tracking beam.
  • this method can be applied to nodes in the network coverage, and can also be applied to the network coverage nodes through the network pre-configuration.
  • the network can be a cellular network or a wifi network.
  • the first position information and the second position are The acquisition of information, etc., the calculation of the reception angle, the adjustment of the beam reception direction, and the determination of the effective grid space are also continuing.
  • the above describes the tracking method of the beam from the perspective of the rear vehicle.
  • the tracking method of the beam will be described from the perspective of the network side, that is, the communication device.
  • an embodiment of the present invention provides another method for beam tracking, which is applied to a communication device in a vehicle formation running.
  • the processing procedure of the method is as follows.
  • Step 701 Receive first location information reported by the designated vehicle and second location information reported by the following vehicle.
  • the definitions of the designated vehicle, the first location information, and the second location information are the same as those in the foregoing method, and are not described herein for the sake of space saving.
  • the communication device receives the first location information and the second location information, and may be that the designated vehicle or the following vehicle performs periodic reporting according to the pre-agreed reporting time, or may be after the communication device sends an inquiry message to the designated vehicle or the following vehicle.
  • the designated vehicle or the following vehicle is reported by means of a response, and the specific manner of reporting is not limited herein.
  • the designated vehicle or the following vehicle may report the respective location information to the communication device every 1 minute, 3 minutes, 5 minutes, etc., or the communication device needs to specify the location information of the vehicle or the following vehicle according to the dynamic map information. And sending a location inquiry message to the designated vehicle or the following vehicle, and designating the vehicle after the vehicle receives the location inquiry information, and returning the response information carrying the first location information or the second location information based on the location inquiry information.
  • step 702 can be performed.
  • Step 702 Obtain relative position information of the designated vehicle and the following vehicle based on the first location information and the second location information.
  • the relative position information of the designated vehicle and the following vehicle is obtained, which is the same as the method in the foregoing step 102. To save space, no further details are provided herein.
  • step 703 After obtaining the relative location information, step 703 can be performed.
  • Step 703 Generate configuration information of the following vehicle according to the relative position information, so that the following vehicle tracks the beam transmitted by the preceding vehicle according to the configuration information.
  • the configuration information of the following vehicle is generated in the following two ways:
  • the optimal grid is determined from the preset grid set, so that the following vehicle can perform the signal space between the designated vehicle and the following vehicle according to the size or range indicated by the optimal grid.
  • Grid processing then, the optimal mesh is encapsulated according to a preset data format to generate configuration information.
  • the predetermined set of grid may be only a mesh size of 0.5m 3, 1m 3, 1.5m 3, etc., or 0.2-0.5m 3, 0.5-1m 3, 1.0-1.5m 3 and the like.
  • the communication device determines that a 5 ⁇ 10 ⁇ 2 signal space grid should be used between the designated vehicle and the following vehicle according to the relative position information of the designated vehicle and the following vehicle, and the size of each grid space is 1 m 3 , that is, it is determined as The optimal grid, then the optimal grid is packaged according to the preset data format, the vehicle configuration information is sent, and the configuration information is sent to the following vehicle, so that the following vehicle can designate the vehicle according to the optimal grid in the configuration information.
  • the signal space between the vehicle and the following vehicle is meshed.
  • the grid size that best meets the requirements of the rear vehicle is selected from the grid set preset by the communication device, so that the signal space between the following vehicle and the designated vehicle can be reasonably divided into The grid space with better recognition is obtained, and then the optimal grid is obtained, and the optimal grid is sent to the following vehicle, so that the following vehicle can mesh the signal space between the following vehicle and the designated vehicle according to the optimal grid. And determining the grid space through which the beam may pass as an effective grid space, thereby allowing the following vehicle to scan and receive the beam in the effective grid space, thereby effectively reducing the spatial range of the trailing vehicle scanning beam, thereby Save energy consumption of the rear car and improve the efficiency of the tracking beam.
  • the receiving angle of the communication device configured for the following vehicle
  • the beam transmitted by the designated vehicle is tracked, and since the calculation of the receiving angle is completed in the communication device, the software and hardware requirements for the following vehicle can be effectively reduced.
  • the communication device has a high-precision high-definition dynamic map, it is more accurate when calculating the reception angle using the relative position information, thereby effectively improving the accuracy of the trailing vehicle to transmit the beam transmitted by the designated vehicle.
  • the foregoing communication device may specifically be a base station or an RSU.
  • an embodiment of the present invention provides a device for beam tracking, which is applied to a rear vehicle in a vehicle formation running.
  • a specific implementation manner of the beam tracking method of the device can be found in the method embodiment of the following vehicle. The description, repetitions are not repeated, please refer to Figure 8, the device includes:
  • the receiving unit 801 is configured to receive first location information of the designated vehicle.
  • the obtaining unit 802 is configured to obtain relative position information of the designated vehicle and the following vehicle based on the first location information and the second location information of the following vehicle;
  • the tracking unit 803 is configured to track the beam sent by the designated vehicle according to the relative location information.
  • the first location information and the second location information including:
  • the obtaining unit 802 is configured to:
  • the obtaining unit 802 is specifically configured to:
  • the tracking unit 803 is specifically configured to:
  • the tracking unit 803 is specifically configured to:
  • the configured receiving angle is that the communications device is dynamic according to the first location information and the second location information
  • a motion relationship between the specified vehicle and the following vehicle is predicted on the map, and the received angle range of the beam received by the following vehicle calculated based on the relative position information and the motion relationship is calculated.
  • the tracking unit 803 is specifically configured to:
  • a grid space through which the beam passes is an effective grid space according to the sending direction of the beam and the relative position information
  • an apparatus for beam tracking is provided in an embodiment of the present invention, which is applied to a communication device in a vehicle formation running.
  • the specific implementation manner of the beam tracking method of the device can be referred to the method embodiment of the communication device.
  • the repetition will not be described again. Referring to FIG. 9, the device includes:
  • the receiving unit 901 is configured to receive first location information reported by the specified vehicle and second location information reported by the following vehicle;
  • the obtaining unit 902 is configured to obtain relative position information of the designated vehicle and the following vehicle based on the first location information and the second location information;
  • the generating unit 903 is configured to generate configuration information of the following vehicle according to the relative position information, so that the following vehicle tracks the beam transmitted by the preceding vehicle according to the configuration information.
  • the generating unit 903 is specifically configured to:
  • the optimal mesh is encapsulated according to a preset data format to generate the configuration information.
  • the generating unit 903 is specifically configured to:
  • the communication device is specifically:
  • Base station or RSU.
  • an apparatus for beam tracking including: at least one processor, and
  • a memory coupled to the at least one processor
  • the memory stores instructions executable by the at least one processor, the at least one processor performing the beam tracking method as described above by executing the instructions stored by the memory.
  • an embodiment of the present invention further provides a computer readable storage medium, including:
  • the computer readable storage medium stores computer instructions that, when executed on a computer, cause the computer to perform the beam tracking method as described above.
  • the relative position information of the designated vehicle and the following vehicle is determined according to the first position information and the second position information. And tracking the beam transmitted by the designated vehicle based on the relative position information. Since the designated vehicle is in front of the rear vehicle during the formation of the vehicle, the beam sent by the backward vehicle must be sent backwards, so the rear vehicle can effectively perform the beam of the designated vehicle according to the relative position information with the designated vehicle. Tracking, in turn, improves the reliability of receiving the transmitted beam of the designated vehicle, and further reduces the time for beam discovery since there is no need to scan the beam for other locations indicated by the relative position information.
  • embodiments of the invention may be provided as a method, system, or computer program product.
  • embodiments of the invention may be in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware.
  • embodiments of the 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, etc.) including computer usable program code.
  • Embodiments of the invention are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG.
  • These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种波束跟踪的方法及装置，用以解决现有技术中存在的在车辆编队行驶中，后车接收波束信号的可靠性较低、发现波束信号较慢的技术问题。包括：接收指定车辆的第一位置信息；基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息；根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪。

Description

一种波束跟踪的方法及装置
本申请要求在2018年4月3日提交中国专利局、申请号为201810290858.4、发明名称为“一种波束跟踪的方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及车联网领域，尤其是涉及一种波束跟踪的方法及装置。
背景技术
在增强型蜂窝车联网(enhanced Vehicle to Everything，eV2X)中，通过采用车辆编队行驶(Vehicle platooning)机制，对多个具有相同目的地的车辆进行编队，在车队内部通过头车与车队内的所有车辆进行通信的方式，实现对所有车辆的管理与驾控。
如图1所示，车辆A、B、C、D行驶在车道2，形成platooning车队。车辆E行驶在车道1，未与车辆A～D形成platooning车队。
在现有技术中，Platooning车队中的头车A通常是采用单播或组播的方式发送相关信息给后车B、C、D，让后车B、C、D可以根据头车A发送的相关信息，执行对应的操作，以使后车B、C、D保持与头车A的运行轨迹相一致。
然而，在车联网中，通常头车发送的相关信息是以波束信号的方式发送的，一方面由于信号的能量是向空间中的各个方向发送的，这将导致后车接收到的信号能量只是头车发送的信号能量的一部分，另一方面由于车辆行驶速度快、车道拓扑变化可能也较快，也将进一步的减弱后车接收到的信号能量。由于信号能量的减弱，将降低后车接收前车信号的可靠性、延长波束信号的发现时间，进而导致后车不能及时准确的与头车保存相同的运行轨迹。
因此，在车联网中，如何提高接收前车波束信号的可靠性及快速发现波 束信号成为一个亟待解决的技术问题。
发明内容
本发明提供一种波束跟踪的方法及装置，用以解决现有技术中存在的在车辆编队行驶中，后车接收波束信号的可靠性较低、发现波束信号较慢的技术问题。
第一方面，为解决上述技术问题，本发明实施例提供的一种波束跟踪方法，应用于车辆编队行驶中的后车，该技术方案如下：
接收指定车辆的第一位置信息；
基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪。
由于在车辆编队行驶中，指定车辆在后车前方，其向后车发送的波束必然是向后发送的，所以后车根据与指定车辆的相对位置信息，便能有效的对指定车辆的波束进行跟踪，进而提高接收指定车辆发送波束的可靠性，并且由于不需要对相对位置信息指示的其它位置进行波束的扫描，故而还能进一步的减少波束发现的时间。
结合第一方面，在第一方面的第一种可能的实施方式中，所述第一位置信息和所述第二位置信息，包括：
经纬度信息、车道信息和高度信息中的至少一种；其中，所述高度信息为所述指定车辆或所述后车相对于预设水平位置的高度。
结合第一方面的第一种可能的实施方式，在第一方面的第二种可能的实施方式中，所述基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息，包括：
基于所述第一位置信息的经纬度信息和所述第二位置信息的经纬度信息，计算所述后车相对于所述指定车辆的矢量角，获得所述相对位置信息。
结合第一方面的第一种可能的实施方式，在第一方面的第三种可能的实 施方式中，所述基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息，包括：
基于所述第一位置信息及所述指定车辆的行驶信息，预测所述指定车辆的运动轨迹；
根据所述运动轨迹及所述第二位置信息，计算所述后车与所述指定车辆之间的相对运动关系，获得所述相对位置信息。
结合第一方面的第三种可能的实施方式，在第一方面的第四种可能的实施方式中，所述根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪，包括：
基于所述第二位置信息及所述相对位置信息，调整所述后车接收所述指定车辆发送的波束的接收方向，以对所述波束进行跟踪。
结合第一方面的实施方式，在第一方面的第五种可能的实施方式中，所述根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪，包括：
基于所述相对位置信息，按配置的接收角对所述指定车辆发送的波束进行跟踪；其中，所述配置的接收角是通信设备根据所述第一位置信息和所述第二位置信息在动态地图上预测所述指定车辆与所述后车的运动关系，以基于所述相对位置信息及所述运动关系计算得到的所述后车接收所述波束的接收角度范围。
结合第一方面的实施方式，在第一方面的第六种可能的实施方式中，所述根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪，包括：
根据通信设备指定的信号空间网格划分方式，对所述第一位置信息与所述第二位置信息之间的信号空间进行空间网格划分，获得所述指定车辆与所述后车之间的网格空间；
根据所述波束的发送方向及所述相对位置信息，从所述网格空间中确定所述波束经过的网格空间为有效的网格空间；
在所述有效的网格空间内，对所述指定车辆发送的波束进行跟踪。
第二方面，本发明实施例提供了另一种用于波束跟踪的方法，应用于车 辆编队行驶中的通信设备，包括：
接收指定车辆上报的第一位置信息及后车上报的第二位置信息；
基于所述第一位置信息及所述第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
根据所述相对位置信息，生成所述后车的配置信息，以使所述后车根据所述配置信息对所述前车发送的波束进行跟踪。
由于在车辆编队行驶中，指定车辆在后车前方，其向后车发送的波束必然是向后发送的，所以通信设备根据接收到的指定车辆的第一位置信息及后车的第二位置信息，就能获得后车与指定车辆的相对位置信息，这样便能根据相对位置信息生成后车的配置信息，让后车根据配置信息对前车发送的波束进行跟踪，进而让后车实现对指定车辆的波束进行跟踪，提高接收指定车辆发送波束的可靠性，并且由于后车不需要对相对位置信息指示的其它位置进行波束的扫描，故而还能进一步的减少后车发现波束的时间。
结合第二方面的实施方式，在第二方面的第一种可能的实施方式中，所述根据所述相对位置信息，生成所述后车的配置信息，包括：
根据所述相对位置信息，从预设网格集中确定最优网格，以使所述后车能够按所述最优网格所指示的大小或范围对所述指定车辆与所述后车之间的信号空间进行网格化处理；
按照预设的数据格式对所述最优网格进行封装，生成所述配置信息。
结合第二方面的实施方式，在第二方面的第二种可能的实施方式中，根据所述相对位置信息，生成所述后车的配置信息，包括：
基于所述第一位置信息及所述第二位置信息，在动态地图上预测所述指定车辆与所述后车的运动关系；
基于所述运动关系及所述相对位置信息，生成所述后车接收所述波束的接收角，获得所述配置信息。
结合第二方面至第二方面的第二种可能的实施方式中的任一种实施方式，在第二方面的第三种可能的实施方式中，所述通信设备，具体为：
基站或RSU。
第三方面，本发明实施例提供了一种用于波束跟踪的装置，应用于车辆编队行驶中的后车，包括：
接收单元，用于接收指定车辆的第一位置信息；
获得单元，用于基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
跟踪单元，用于根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪。
结合第三方面的实施方式，在第三方面的第一种可能的实施方式中，所述第一位置信息和所述第二位置信息，包括：
经纬度信息、车道信息和高度信息中的至少一种；其中，所述高度信息为所述指定车辆或所述后车相对于预设水平位置的高度。
结合第三方面的第一种可能的实施方式，在第三方面的第二种可能的实施方式中，所述获得单元具体用于：
基于所述第一位置信息的经纬度信息和所述第二位置信息的经纬度信息，计算所述后车相对于所述指定车辆的矢量角，获得所述相对位置信息。
结合第三方面的第一种可能的实施方式，在第三方面的第三种可能的实施方式中，所述获得单元具体用于：
基于所述第一位置信息及所述指定车辆的行驶信息，预测所述指定车辆的运动轨迹；
根据所述运动轨迹及所述第二位置信息，计算所述后车与所述指定车辆之间的相对运动关系，获得所述相对位置信息。
结合第三方面的第三种可能的实施方式，在第三方面的第四种可能的实施方式中，所述跟踪单元具体用于：
基于所述第二位置信息及所述相对位置信息，调整所述后车接收所述指定车辆发送的波束的接收方向，以对所述波束进行跟踪。
结合第三方面的实施方式，在第三方面的第五种可能的实施方式中，所 述跟踪单元具体用于：
基于所述相对位置信息，按配置的接收角对所述指定车辆发送的波束进行跟踪；其中，所述配置的接收角是通信设备根据所述第一位置信息和所述第二位置信息在动态地图上预测所述指定车辆与所述后车的运动关系，以基于所述相对位置信息及所述运动关系计算得到的所述后车接收所述波束的接收角度范围。
结合第三方面的实施方式，在第三方面的第六种可能的实施方式中，所述跟踪单元具体用于：
根据通信设备指定的信号空间网格划分方式，对所述第一位置信息与所述第二位置信息之间的信号空间进行空间网格划分，获得所述指定车辆与所述后车之间的网格空间；
根据所述波束的发送方向及所述相对位置信息，从所述网格空间中确定所述波束经过的网格空间为有效的网格空间；
在所述有效的网格空间内，对所述指定车辆发送的波束进行跟踪。
第四方面，本发明实施例还提供一种用于波束跟踪的装置，应用于车辆编队行驶中的通信设备，包括：
接收单元，用于接收指定车辆上报的第一位置信息及后车上报的第二位置信息；
获得单元，用于基于所述第一位置信息及所述第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
生成单元，用于根据所述相对位置信息，生成所述后车的配置信息，以使所述后车根据所述配置信息对所述前车发送的波束进行跟踪。
结合第四方面的实施方式，在第四方面的第一种可能的实施方式中，所述生成单元具体用于：
根据所述相对位置信息，从预设网格集中确定最优网格，以使所述后车能够按所述最优网格所指示的大小或范围对所述指定车辆与所述后车之间的信号空间进行网格化处理；
按照预设的数据格式对所述最优网格进行封装，生成所述配置信息。
结合第四方面的第一种可能的实施方式，在第四方面的第二种可能的实施方式中，所述生成单元具体用于：
基于所述第一位置信息及所述第二位置信息，在动态地图上预测所述指定车辆与所述后车的运动关系；
基于所述运动关系及所述相对位置信息，生成所述后车接收所述波束的接收角，获得所述配置信息。
结合第四方面至第四方面的第二种可能的实施方式中的任一种实施方式，在第四方面的第三种可能的实施方式中，所述通信设备，具体为：
基站或RSU。
第五方面，本发明实施例还提供一种用于波束跟踪的装置，包括：
至少一个处理器，以及，
与所述至少一个处理器连接的存储器；
其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述至少一个处理器通过执行所述存储器存储的指令，执行如上述第一方面或第二方面所述的方法。
第六方面，本发明实施例还提供一种计算机可读存储介质，包括：
所述计算机可读存储介质存储有计算机指令，当所述计算机指令在计算机上运行时，使得计算机执行如上述第一方面或第二方面所述的方法。
通过本发明实施例的上述一个或多个实施例中的技术方案，本发明实施例至少具有如下技术效果：
在本发明提供的实施例中，通过实时获得指定车辆的第一位置信息与后车的第二位置信息之后，根据第一位置信息和第二位置信息，确定指定车辆与后车的相对位置信息，进而根据相对位置信息对指定车辆发送的波束进行跟踪。由于在车辆编队行驶中，指定车辆在后车前方，其向后车发送的波束必然是向后发送的，所以后车根据与指定车辆的相对位置信息，便能有效的对指定车辆的波束进行跟踪，进而提高接收指定车辆发送波束的可靠性，并 且由于不需要对相对位置信息指示的其它位置进行波束的扫描，故而还能进一步的减少波束发现的时间。
附图说明
图1为本发明背景技术中platooning车队示意图；
图2为本发明实施例提供的一种波束跟踪的流程示意图；
图3为本发明实施例提供的第一种后车调整波束的接收角的示意图；
图4为本发明实施例提供的第二种后车调整波束的接收角实现跟踪波束的示意图；
图5为本发明实施例提供的后车根据网络侧配置的接收角调整波束的接收方向实现跟踪波束的示意图；
图6本发明实施例提供的在有效网格范围内对波束进行接收、扫描的方式来实现跟踪波束的示意图；
图7为本发明实施例提供的另一种波束跟踪的流程示意图；
图8为本发明实施例提供的一种波束跟踪的结构示意图；
图9为本发明实施例提供的另一种波束跟踪的结构示意图。
具体实施方式
本发明实施列提供一种波束跟踪的方案，以解决现有技术中存在的在车辆编队行驶中，后车接收波束信号的可靠性较低、发现波束信号较慢的技术问题。
本申请实施例中的技术方案为解决上述的技术问题，总体思路如下：
提供一种波束跟踪的方案，包括：接收指定车辆的第一位置信息；基于第一位置信息及后车的第二位置信息，获得指定车辆与后车的相对位置信息；根据相对位置信息，对指定车辆发送的波束进行跟踪。
由于在上述方案中，是通过获得指定车辆的第一位置信息与后车的第二位置信息之后，根据第一位置信息和第二位置信息，确定指定车辆与后车的相对位置信息，进而根据相对位置信息对指定车辆发送的波束进行跟踪。由 于在车辆编队行驶中，指定车辆在后车前方，其向后车发送的波束必然是向后发送的，所以后车根据与指定车辆的相对位置信息，便能有效的对指定车辆的波束进行跟踪，进而提高接收指定车辆发送波束的可靠性，并且由于不需要对相对位置信息指示的其它位置进行波束的扫描，故而还能进一步的减少波束发现的时间。
为了更好的理解上述技术方案，下面通过附图以及具体实施例对本发明技术方案做详细的说明，应当理解本发明实施例以及实施例中的具体特征是对本发明技术方案的详细的说明，而不是对本发明技术方案的限定，在不冲突的情况下，本发明实施例以及实施例中的技术特征可以相互组合。
请参考图2，本发明实施例提供一种波束跟踪的方法，应用于车辆编队行驶中的后车，该方法的处理过程如下。
步骤201：接收指定车辆的第一位置信息。
其中，指定车辆是指行驶在后车之前的车辆，可以是头车、前车，具体是后车之前的哪辆车在此不做限定，在实际应用中可以根据需要预先设定，或者按照预设的策略从后车之前的车辆中确定一辆作为指定车辆。
第一位置信息和第二位置信息可以是经纬度信息、车道信息和高度信息中的至少一种；其中，高度信息为指定车辆或后车相对于预设水平位置的高度。
指定车辆、后车可以通过全球卫星导航系统(Global Navigation Satellite System，GNSS)获得其位置信息，如经纬度、高度信息、所在车道的车道信息等。
全球卫星导航系统可以是北斗系统、全球定位系统(Global Positioning System，GPS)、格洛纳斯卫星导航系统GLONASS、伽利略卫星导航系统(Galileo satellite navigation system，Galileo)系统等。
后车可以定时或不定时的获得指定车辆的第一位置信息，也可以采用询问应答的方式获得指定车辆的第一位置信息。后车获得第一位置信息的方式可以是直接与指定车辆进行通信的方式，也可以是通过网络侧的基站或RSU 间接获得指定车辆的第一位置信息，具体采用哪种方式获得第一位置信息，在此不做限定。
在后车获得指定车辆的第一位置信息之后，便可执行步骤202。
步骤202：基于第一位置信息及后车的第二位置信息，获得指定车辆与后车的相对位置信息。
具体的，获得指定车辆与后车的相对位置信息的方式可以有以下几种：
方式一、可以基于第一位置信息的经纬度信息和第二位置信息的经纬度信息，计算后车相对于指定车辆的矢量角，获得所述相对位置信息。
例如，假设指定车辆的经纬度坐标为(116.329422，39.362288)，后车的经纬度为(116.329709，39.361228)，则可以计算出指定车辆在后车的左前方15度、距离为120米，沿车道向北行驶。在这里需要矢量角为左前方15°，所以将左前方15°作为相对位置信息。
通过指定车辆和后车的经纬度信息，可以快速准确的计算出后车与指定车辆的矢量角，进而能快速获得后车与指定车辆的相对位置信息。由于获得经纬度十分方便，不受地域限制，故而通过经纬度信息获得相对位置信息的这种方法能被广泛的应用于世界各地。
方式二、可以基于第一位置信息及指定车辆的行驶信息，预测指定车辆的运动轨迹；根据运动轨迹及第二位置信息，计算后车与指定车辆之间的相对运动关系，获得相对位置信息。
其中，行驶信息可以包括行驶速度、加速度、方向等。
例如：指定车辆的第一位置信息为(116.329422，39.362288)，行驶信息为以120的行驶速度匀速向北行驶，则可以预测出指定车辆在未来一段时间内的运动轨迹，然后根据预测出的运动轨迹及后车的第二位置信息(116.329422，39.360288)及后车的行驶信息(如同样是以120km/h的行驶速度匀速向北行驶)，可以计算出后车与指定车辆之间的相对运动关系为保持车距为222米的距离向北行驶，进而获得后车与指定车辆的相对位置信息。
通过指定车辆的第一位置信息及行使信息对指定车辆的运动轨迹进行预 测，根据指定车辆的运动轨迹及后车的第二位置信息，计算后车与指定车辆之间的相对运动关系，可以让后车预先获得与指定车辆的相对位置关系，进而根据相对位置关系调整跟踪指定车辆发送的波束，使跟踪波束更加智能化。
在获得后车与指定车辆的相对位置信息之后，便可执行步骤203。
步骤203：根据相对位置信息，对指定车辆发送的波束进行跟踪。
具体的可以根据下列方式，实现后车对指定车辆发送的波束进行跟踪。
第一种方式：基于第二位置信息及相对位置信息，调整后车接收指定车辆发送的波束的接收方向，以对波束进行跟踪。
例如，请参见图3，后车通过第一位置信息及第二位置信息计算后车到指定车辆的方向，进而确定后车与指定车辆之间的矢量角，并根据矢量角确定波束的接收角，在接收角指示的角度范围内调整后车接收指定车辆发送的波束的接收方向。如，接收角可以是以后车与指定车辆两点位置连线为轴心、夹角为矢量角乘以一预设的比例系数得到的。
请参见图4，假设指定车辆的第一位置信息中的经纬度坐标为(116.329422，39.362288)，沿车道向北行驶，行驶信息为以120km/h的速度均速行驶，指定车辆可以通过广播的方式将第一位置信息发送给后车，其中，第一位置信息中还可以携带指定车辆的动态地图信息。
后车则可以根据第一位置信息及行驶信息预测指定车辆的运动轨迹为在(116.329422，39.362288)位置以120km/h的速度延车道向北行驶。如，可以预测到在10s后，指定车辆将到达距第一位置信息(116.329422，39.362288)前方333米的位置，之后，根据指定车辆的运动轨迹及后车的第二位置信息中的经纬度为(116.329709，39.361228)，可以计算出后车与指定车辆之间的相对运动关系为指定车辆保持在后车前方222米的位置向北行驶，进而获得后车与指定车辆的相对位置信息。由于此段道路为无弯道，故不需要改变后车的接收角，即，后车继续以最近一次调整后的接收角对指定车辆的波束进行接收、扫描，以跟踪指定车辆发送的波束。
后车通过第二位置信息及相对位置信息可以快速的确定后车与指定车辆 之间的方向，进而根据它们的方向的变化及时调整波束的接收方向，从而能够快速、及时的对指定车辆发送的波束进行跟踪。
第二种方式：基于相对位置信息，按配置的接收角对指定车辆发送的波束进行跟踪；其中，配置的接收角是通信设备根据第一位置信息和第二位置信息在动态地图上预测指定车辆与后车的运动关系，以基于相对位置信息及运动关系计算得到的后车接收波束的接收角度范围。
其中，通信设备可以是基站，也可以是路侧单元(Road Side Unit，RSU)。
在后车按配置的接收角对指定车辆发送的波束进行跟踪之前，后车和指定车辆可以定时或不定时的向通信设备上报各自的位置信息，让通信设备根据指定车辆的第一位置信息和后车的第二位置信息在动态地图上预测指定车辆与后车的运动关系，如指定车辆与后车各自以何种速度、加速度、在何种路况上运动，或者后车相对于指定车辆的速度、加速度是多少等；之后，通信设备便可根据指定车辆与后车的运动关系及相对位置信息，计算出后车接收指定车辆发送波束的接收角范围，进而将接收角范围发送给后车。
请参见图5，为后车接收到通信设备发送的接收角范围之后，根据相对位置信息在接收角范围内调整波束接收角，以实现对指定车辆发送的波束信息进行跟踪。
通过采用通信设备为后车配置的接收角，来对指定车辆发送的波束进行跟踪，由于对接收角的计算都是在通信设备中完成，从而能够有效的降低对后车的软、硬件要求，并且由于通信设备拥有精度更高的高清动态地图，使得在使用相对位置信息计算接收角时更准确，从而能够有效的提高后车跟踪指定车辆发送的波束的准确性。
第三种方式：首先，根据通信设备指定的信号空间网格划分方式，对第一位置信息与第二位置信息之间的信号空间进行空间网格划分，获得指定车辆与所述后车之间的网格空间；然后，根据波束的发送方向及相对位置信息，从网格空间中确定波束经过的网格空间为有效的网格空间；最后，在有效的网格空间内，对指定车辆发送的波束进行跟踪。
其中，通信设备可以是基站，也可以是路侧单元。
请参见图6，后车可以根据接收到的指定车辆的第一位置信息及后车的第二位置信息，将后车与指定车辆间的信号空间划分为网格空间(如图6中网格所示)，其中，网格的大小或者有效范围是通过配置或预配置的方式由网络侧的通信设备发送给后车进行设置的，例如可以是5×10×2个的信号空间网格，每个网格的大小为1m 3；之后，后车便可根据与指定车辆的相对位置信息在波束的发送方向上，从划分好的网格空间中将波束经过的网格空间确定为有效的网格空间(如图6中的阴影部分所示)。让后车在有效的网格空间中对波束进行接收、扫描，从而达到对指定车辆发送的波束进行跟踪的目的。其中，第一位置信息中还可以包括指定车辆的高清动态地图信息。
通过将后车与指定车辆之间的信号空间进行网格划分、并从中将波束可能经过的网格空间确定为有效的网格空间，进而让后车在有效的网格空间中对波束进行扫描、接收，能够有效的减少后车扫描波束的空间范围，从而节约后车的能耗、提高跟踪波束的效率。
需要理解的是，此方法可以适用于网络覆盖内节点，也可以通过网络预配置的方式适用于网络覆盖外节点。网络可以是蜂窝网络，也可以是wifi网络等。
需要理解的是，前述第一种方式至第三种方式中的每一种实现跟踪波束的实施例中，由于指定车辆与后车都是在持续运动的，所以第一位置信息、第二位置信息等的获得，接收角的计算、波束接收方向的调整、有效的网格空间的确定也是在持续进行的。
上述是从后车的角度对波束的跟踪方法进行描述的，下面将从网络侧即通信设备的角度对波束的跟踪方法进行描述。
请参考图7，本发明实施例提供另一种波束跟踪的方法，应用于车辆编队行驶中的通信设备，该方法的处理过程如下。
步骤701：接收指定车辆上报的第一位置信息及后车上报的第二位置信息。
其中，指定车辆、第一位置信息、第二位置信息的定义与前述方法中的 描述相同，为节约篇幅，不再赘述。
通信设备接收第一位置信息及第二位置信息，可以是指定车辆或后车按照预先约定好的上报时间进行周期性的上报，也可以是在通信设备向指定车辆或后车发出问询消息后，指定车辆或后车通过应答的方式进行上报，具体采用何种方式上报在此不做限定。
例如，指定车辆或后车可以每隔1分钟、3分钟、5分钟等向通信设备上报一次各自的位置信息，或者，通信设备根据动态地图信息，需要指定车辆或后车上报各自的位置信息时，便向指定车辆或后车发出位置问询信息，指定车辆户后车接收到位置问询信息后，基于位置问询信息返回携带有第一位置信息或第二位置信息的响应信息。
在通信设备获得第一位置信息和第二位置信息之后，便可执行步骤702。
步骤702：基于第一位置信息及第二位置信息，获得指定车辆与后车的相对位置信息。
具体的获得指定车辆与后车的相对位置信息，与前述步骤102中的方法相同，为节约篇幅，在此不再赘述。
在获得相对位置信息之后，便可执行步骤703。
步骤703：根据相对位置信息，生成后车的配置信息，以使后车根据配置信息对前车发送的波束进行跟踪。
具体的，根据相对位置信息，生成后车的配置信息，有以下两种方式：
方式一、首先，根据相对位置信息，从预设网格集中确定最优网格，以使后车能够按最优网格所指示的大小或范围对指定车辆与后车之间的信号空间进行网格化处理；然后，按照预设的数据格式对最优网格进行封装，生成配置信息。
其中，预设的网格集可以是只是一个网格的大小为0.5m 3、1m 3、1.5m 3等，或者是0.2-0.5m 3、0.5-1m 3、1.0-1.5m 3等。
例如，通信设备根据指定车辆与后车的相对位置信息，确定指定车辆与后车之间应当采用5×10×2个信号空间网格，每个网格空间的大小为1m 3， 即确定为最优网格，然后将最优网格按照预设的数据格式进行封装，乘车配置信息，并将配置信息发送给后车，使后车能根据配置信息中的最优网格对指定车辆与后车之间的信号空间进行网格化处理。
通过后车与指定车辆之间的相对位置信息，从通信设备预设的网格集中选择最符合后车需求的网格大小，使后车与指定车辆之间的信号空间能被合理的划分为辨识度较好的网格空间，进而获得最优网格，并将最优网格发送给后车，让后车根据最优网格对后车与指定车辆之间的信号空间进行网格划分、并从中将波束可能经过的网格空间确定为有效的网格空间，进而让后车在有效的网格空间中对波束进行扫描、接收，能够有效的减少后车扫描波束的空间范围，从而节约后车的能耗、提高跟踪波束的效率。
方式二、首先，基于第一位置信息及第二位置信息，在动态地图上预测指定车辆与后车的运动关系；然后，基于运动关系及相对位置信息，生成后车接收波束的接收角，获得所述配置信息。
通过采用通信设备为后车配置的接收角，来对指定车辆发送的波束进行跟踪，由于对接收角的计算都是在通信设备中完成，从而能够有效的降低对后车的软、硬件要求，并且由于通信设备拥有精度更高的高清动态地图，使得在使用相对位置信息计算接收角时更准确，从而能够有效的提高后车跟踪指定车辆发送的波束的准确性。
由于此处通信设备与前述图5中通信设备的处理方式相同，故不再赘述。
上述通信设备具体可以为基站或RSU。
基于同一发明构思，本发明一实施例中提供一种用于波束跟踪的装置，应用于车辆编队行驶中的后车，该装置的波束跟踪方法的具体实施方式可参见后车的方法实施例部分的描述，重复之处不再赘述，请参见图8，该装置包括：
接收单元801，用于接收指定车辆的第一位置信息；
获得单元802，用于基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
跟踪单元803，用于根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪。
可选的，所述第一位置信息和所述第二位置信息，包括：
经纬度信息、车道信息和高度信息中的至少一种；其中，所述高度信息为所述指定车辆或所述后车相对于预设水平位置的高度。
可选的，所述基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息时，所述获得单元802用于：
基于所述第一位置信息的经纬度信息和所述第二位置信息的经纬度信息，计算所述后车相对于所述指定车辆的矢量角，获得所述相对位置信息。
可选的，所述获得单元802具体用于：
基于所述第一位置信息及所述指定车辆的行驶信息，预测所述指定车辆的运动轨迹；
根据所述运动轨迹及所述第二位置信息，计算所述后车与所述指定车辆之间的相对运动关系，获得所述相对位置信息。
可选的，所述跟踪单元803具体用于：
基于所述第二位置信息及所述相对位置信息，调整所述后车接收所述指定车辆发送的波束的接收方向，以对所述波束进行跟踪。
可选的，所述跟踪单元803具体用于：
基于所述相对位置信息，按配置的接收角对所述指定车辆发送的波束进行跟踪；其中，所述配置的接收角是通信设备根据所述第一位置信息和所述第二位置信息在动态地图上预测所述指定车辆与所述后车的运动关系，以基于所述相对位置信息及所述运动关系计算得到的所述后车接收所述波束的接收角度范围。
可选的，所述跟踪单元803具体用于：
根据通信设备指定的信号空间网格划分方式，对所述第一位置信息与所述第二位置信息之间的信号空间进行空间网格划分，获得所述指定车辆与所述后车之间的网格空间；
根据所述波束的发送方向及所述相对位置信息，从所述网格空间中确定所述波束经过的网格空间为有效的网格空间；
在所述有效的网格空间内，对所述指定车辆发送的波束进行跟踪。
基于同一发明构思，本发明一实施例中提供另一种用于波束跟踪的装置，应用于车辆编队行驶中的通信设备，该装置的波束跟踪方法的具体实施方式可参见通信设备的方法实施例部分的描述，重复之处不再赘述，请参见图9，该装置包括：
接收单元901，用于接收指定车辆上报的第一位置信息及后车上报的第二位置信息；
获得单元902，用于基于所述第一位置信息及所述第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
生成单元903，用于根据所述相对位置信息，生成所述后车的配置信息，以使所述后车根据所述配置信息对所述前车发送的波束进行跟踪。
可选的，所述生成单元903具体用于：
根据所述相对位置信息，从预设网格集中确定最优网格，以使所述后车能够按所述最优网格所指示的大小或范围对所述指定车辆与所述后车之间的信号空间进行网格化处理；
按照预设的数据格式对所述最优网格进行封装，生成所述配置信息。
可选的，所述生成单元903具体用于：
基于所述第一位置信息及所述第二位置信息，在动态地图上预测所述指定车辆与所述后车的运动关系；
基于所述运动关系及所述相对位置信息，生成所述后车接收所述波束的接收角，获得所述配置信息。
可选的，所述通信设备，具体为：
基站或RSU。
基于同一发明构思，本发明实施例中提供了一种用于波束跟踪的装置，包括：至少一个处理器，以及，
与所述至少一个处理器连接的存储器；
其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述至少一个处理器通过执行所述存储器存储的指令，执行如上所述的波束跟踪方法。
基于同一发明构思，本发明实施例还提一种计算机可读存储介质，包括：
所述计算机可读存储介质存储有计算机指令，当所述计算机指令在计算机上运行时，使得计算机执行如上所述的波束跟踪方法。
在本发明提供的实施例中，通过实时获得指定车辆的第一位置信息与后车的第二位置信息之后，根据第一位置信息和第二位置信息，确定指定车辆与后车的相对位置信息，进而根据相对位置信息对指定车辆发送的波束进行跟踪。由于在车辆编队行驶中，指定车辆在后车前方，其向后车发送的波束必然是向后发送的，所以后车根据与指定车辆的相对位置信息，便能有效的对指定车辆的波束进行跟踪，进而提高接收指定车辆发送波束的可靠性，并且由于不需要对相对位置信息指示的其它位置进行波束的扫描，故而还能进一步的减少波束发现的时间。
本领域内的技术人员应明白，本发明实施例可提供为方法、系统、或计算机程序产品。因此，本发明实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明实施例是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实 现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (24)

  1. 一种波束跟踪的方法，应用于车辆编队行驶中的后车，其特征在于，包括：
    接收指定车辆的第一位置信息；
    基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
    根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪。
  2. 如权利要求1所述的方法，其特征在于，所述第一位置信息和所述第二位置信息，包括：
    经纬度信息、车道信息和高度信息中的至少一种；其中，所述高度信息为所述指定车辆或所述后车相对于预设水平位置的高度。
  3. 如权利要求2所述的方法，其特征在于，所述基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息，包括：
    基于所述第一位置信息的经纬度信息和所述第二位置信息的经纬度信息，计算所述后车相对于所述指定车辆的矢量角，获得所述相对位置信息。
  4. 如权利要求2所述的方法，其特征在于，所述基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息，包括：
    基于所述第一位置信息及所述指定车辆的行驶信息，预测所述指定车辆的运动轨迹；
    根据所述运动轨迹及所述第二位置信息，计算所述后车与所述指定车辆之间的相对运动关系，获得所述相对位置信息。
  5. 如权利要求4所述的方法，其特征在于，所述根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪，包括：
    基于所述第二位置信息及所述相对位置信息，调整所述后车接收所述指 定车辆发送的波束的接收方向，以对所述波束进行跟踪。
  6. 如权利要求1所述的方法，其特征在于，所述根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪，包括：
    基于所述相对位置信息，按配置的接收角对所述指定车辆发送的波束进行跟踪；其中，所述配置的接收角是通信设备根据所述第一位置信息和所述第二位置信息在动态地图上预测所述指定车辆与所述后车的运动关系，以基于所述相对位置信息及所述运动关系计算得到的所述后车接收所述波束的接收角度范围。
  7. 如权利要求1所述的方法，其特征在于，所述根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪，包括：
    根据通信设备指定的信号空间网格划分方式，对所述第一位置信息与所述第二位置信息之间的信号空间进行空间网格划分，获得所述指定车辆与所述后车之间的网格空间；
    根据所述波束的发送方向及所述相对位置信息，从所述网格空间中确定所述波束经过的网格空间为有效的网格空间；
    在所述有效的网格空间内，对所述指定车辆发送的波束进行跟踪。
  8. 一种波束跟踪方法，应用于车辆编队行驶中的通信设备，其特征在于，包括：
    接收指定车辆上报的第一位置信息及后车上报的第二位置信息；
    基于所述第一位置信息及所述第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
    根据所述相对位置信息，生成所述后车的配置信息，以使所述后车根据所述配置信息对所述前车发送的波束进行跟踪。
  9. 如权利要求8所述的方法，其特征在于，所述根据所述相对位置信息，生成所述后车的配置信息，包括：
    根据所述相对位置信息，从预设网格集中确定最优网格，以使所述后车能够按所述最优网格所指示的大小或范围对所述指定车辆与所述后车之间的 信号空间进行网格化处理；
    按照预设的数据格式对所述最优网格进行封装，生成所述配置信息。
  10. 如权利要求8所述的方法，其特征在于，根据所述相对位置信息，生成所述后车的配置信息，包括：
    基于所述第一位置信息及所述第二位置信息，在动态地图上预测所述指定车辆与所述后车的运动关系；
    基于所述运动关系及所述相对位置信息，生成所述后车接收所述波束的接收角，获得所述配置信息。
  11. 如权利要求8-10任一项所述的方法，其特征在于，所述通信设备，具体为：
    基站或路侧单元RSU。
  12. 一种波束跟踪的装置，应用于车辆编队行驶中的后车，其特征在于，包括：
    接收单元，用于接收指定车辆的第一位置信息；
    获得单元，用于基于所述第一位置信息及所述后车的第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
    跟踪单元，用于根据所述相对位置信息，对所述指定车辆发送的波束进行跟踪。
  13. 如权利要求12所述的装置，其特征在于，所述第一位置信息和所述第二位置信息，包括：
    经纬度信息、车道信息和高度信息中的至少一种；其中，所述高度信息为所述指定车辆或所述后车相对于预设水平位置的高度。
  14. 如权利要求13所述的装置，其特征在于，所述获得单元具体用于：
    基于所述第一位置信息的经纬度信息和所述第二位置信息的经纬度信息，计算所述后车相对于所述指定车辆的矢量角，获得所述相对位置信息。
  15. 如权利要求13所述的装置，其特征在于，所述获得单元具体用于：
    基于所述第一位置信息及所述指定车辆的行驶信息，预测所述指定车辆 的运动轨迹；
    根据所述运动轨迹及所述第二位置信息，计算所述后车与所述指定车辆之间的相对运动关系，获得所述相对位置信息。
  16. 如权利要求15所述的装置，其特征在于，所述跟踪单元具体用于：
    基于所述第二位置信息及所述相对位置信息，调整所述后车接收所述指定车辆发送的波束的接收方向，以对所述波束进行跟踪。
  17. 如权利要求12所述的装置，其特征在于，所述跟踪单元具体用于：
    基于所述相对位置信息，按配置的接收角对所述指定车辆发送的波束进行跟踪；其中，所述配置的接收角是通信设备根据所述第一位置信息和所述第二位置信息在动态地图上预测所述指定车辆与所述后车的运动关系，以基于所述相对位置信息及所述运动关系计算得到的所述后车接收所述波束的接收角度范围。
  18. 如权利要求12所述的装置，其特征在于，所述跟踪单元具体用于：
    根据通信设备指定的信号空间网格划分方式，对所述第一位置信息与所述第二位置信息之间的信号空间进行空间网格划分，获得所述指定车辆与所述后车之间的网格空间；
    根据所述波束的发送方向及所述相对位置信息，从所述网格空间中确定所述波束经过的网格空间为有效的网格空间；
    在所述有效的网格空间内，对所述指定车辆发送的波束进行跟踪。
  19. 一种波束跟踪装置，应用于车辆编队行驶中的通信设备，其特征在于，包括：
    接收单元，用于接收指定车辆上报的第一位置信息及后车上报的第二位置信息；
    获得单元，用于基于所述第一位置信息及所述第二位置信息，获得所述指定车辆与所述后车的相对位置信息；
    生成单元，用于根据所述相对位置信息，生成所述后车的配置信息，以使所述后车根据所述配置信息对所述前车发送的波束进行跟踪。
  20. 如权利要求19所述的装置，其特征在于，所述生成单元具体用于：
    根据所述相对位置信息，从预设网格集中确定最优网格，以使所述后车能够按所述最优网格所指示的大小或范围对所述指定车辆与所述后车之间的信号空间进行网格化处理；
    按照预设的数据格式对所述最优网格进行封装，生成所述配置信息。
  21. 如权利要求19所述的装置，其特征在于，根所述生成单元具体用于：
    基于所述第一位置信息及所述第二位置信息，在动态地图上预测所述指定车辆与所述后车的运动关系；
    基于所述运动关系及所述相对位置信息，生成所述后车接收所述波束的接收角，获得所述配置信息。
  22. 如权利要求19-21任一项所述的装置，其特征在于，所述通信设备，具体为：
    基站或RSU。
  23. 一种波束跟踪的装置，其特征在于，包括：
    至少一个处理器，以及，
    与所述至少一个处理器连接的存储器；
    其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述至少一个处理器通过执行所述存储器存储的指令，执行如权利要求1-11任一项所述的方法。
  24. 一种计算机可读存储介质，其特征在于：
    所述计算机可读存储介质存储有计算机指令，当所述计算机指令在计算机上运行时，使得计算机执行如权利要求1-11中任一项所述的方法。
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