WO2019052273A1 - Communication control method of unmanned apparatus, terminal, and unmanned system - Google Patents

Abstract

An unmanned device communication control method, a terminal and an unmanned system. The method includes: acquiring spectrum environment information; generating spectrum switching information according to the spectrum environment information; and transmitting the spectrum switching information to the unmanned driving device and the control station, so that the unmanned driving device and the control station perform communication spectrum switching according to the spectrum switching information. By this method, adaptive adjustment of communication can be realized according to the spectrum environment, and the anti-interference effect of communication between the unmanned device and the control station can be improved.

Description

Unmanned device communication control method, terminal and driverless system

Cross-reference to related applications

The present disclosure is based on and claims the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the disclosure.

Technical field

The present disclosure relates to the field of driverless technology, and more particularly to an unmanned device communication control method, a terminal, and an unmanned system.

Background technique

In modern living environments, electronic interference is severe. The drones in today's world mainly rely on GCS (Ground Control Station) control, which is the remote control in the traditional sense. The UAV system survives in the complicated electromagnetic environment, and the interference threat is increasingly serious. Therefore, in the future, the anti-jamming capability of the UAV system is put forward with higher requirements. To ensure the safety and reliability of the UAV data link, an effective anti-interference system must be studied to deal with serious interference threats. While studying and developing UAVs, countries around the world have paid great attention to the development of communication against anti-technology to improve the timeliness, reliability and confidentiality of UAV information transmission.

Summary of the invention

In the related art, the anti-interference ability of the data link of the UAV is improved by increasing the processing gain, antenna gain and transmission power of the system. In the anti-interference technology, there are mainly spread spectrum anti-interference technology, adaptive interference suppression technology and source and signal. Channel coding technology, etc. Although the direct sequence spread spectrum technology reduces the level of interference, there is still a large amount of interference energy residual, which affects the performance of communication; although the adaptive interference suppression technology has more power anti-interference significance in application, it is not easy to realize in practical applications. The anti-interference capability of the source and channel coding techniques is at the expense of increased information redundancy and reduced information per bit.

An object of the present disclosure is to provide an anti-jamming technology for a driver-based unmanned device, which realizes adaptive adjustment of communication and improves anti-interference effect.

According to some embodiments of the present disclosure, a communication control method for an unmanned device is provided, including: acquiring spectrum environment information; generating spectrum switching information according to spectrum environment information; and transmitting spectrum switching information to an unmanned device and a control station, So that the unmanned device and the control station perform communication spectrum switching according to the spectrum switching information.

In some embodiments, generating the spectrum switching information comprises: generating spectrum switching information based on the predetermined policy according to the spectrum environment information when receiving the spectrum switching request from at least one of the driverless device or the control station.

In some embodiments, generating the spectrum switching information includes: receiving interference state information from at least one of the unmanned driving device or the control station; determining whether to perform spectrum switching according to the interference state information; and determining to perform spectrum switching, according to the spectrum environment information Generating spectrum switching information based on a predetermined policy.

In some embodiments, the spectrum switching information includes one or more of a target frequency band, a target bandwidth, a target power, and a target code rate.

In some embodiments, acquiring the spectrum environment information includes at least one of: collecting surrounding spectrum environment information; or receiving spectrum environment information collected from at least one of a control station, an unmanned device, or a spectrum environment collection point. .

In some embodiments, generating the spectrum switching information according to the spectrum environment information further includes: acquiring a spectrum allocation situation of each of the unmanned devices; and selecting a target frequency band from the currently unused spectrum to generate spectrum switching information.

Through such a method, the spectrum between the unmanned device and the control station can be adjusted in real time according to the spectrum environment, thereby adaptively adjusting the communication according to the spectrum environment, and improving the anti-interference effect of communication between the unmanned device and the control station. .

According to some embodiments of the present disclosure, a communications control terminal is provided, including: a spectrum environment collecting device configured to acquire spectrum environment information; a switching information generating unit configured to generate spectrum switching information according to spectrum environment information; and an information sending unit And configured to transmit the spectrum switching information to the unmanned driving device and the control station, so that the unmanned driving device and the control station perform communication spectrum switching according to the spectrum switching information.

In some embodiments, the handover information generating unit includes: a handover request acquisition subunit configured to receive a spectrum switching request from at least one of the driverless device or the control station; a message generation subunit configured to be in the handover request And acquiring, when the subunit receives the spectrum switching request, generating spectrum switching information according to the predetermined policy according to the spectrum environment information;

In some embodiments, the handover information generating unit includes: an interference state generation subunit configured to receive interference state information from at least one of the driverless device or the control station; and a handover determination subunit configured to be in accordance with the interference state The information determines whether to perform spectrum switching; the message generating subunit is configured to generate spectrum switching information based on the predetermined policy according to the spectrum environment information.

According to some embodiments of the present disclosure, a communication control terminal is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to perform an unmanned device of any of the above based on an instruction stored in the memory Communication control method.

Such a communication control terminal can adjust the spectrum between the unmanned device and the control station in real time according to the spectrum environment, thereby realizing adaptive adjustment of communication according to the spectrum environment condition, and improving the anti-interference effect of communication between the unmanned device and the control station. .

According to some embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the communication control method of any of the above-described unmanned devices step.

Such a computer readable storage medium can realize adaptive adjustment of communication according to the spectrum environment condition by executing an instruction thereon, and improve the anti-interference effect of communication between the unmanned device and the control station.

According to some embodiments of the present disclosure, there is provided an unmanned driving system comprising: a communication control terminal configured to perform a communication control method of any one of the above-mentioned unmanned devices; a controller configured to The spectrum switching information from the communication control terminal performs communication spectrum switching with the unmanned device; and the unmanned device is configured to perform at least one of the following:

Detecting communication quality with the control station; transmitting a spectrum switching request to the communication control terminal if the communication quality is lower than the predetermined communication state threshold; and performing communication spectrum switching with the control station according to the spectrum switching information from the communication control terminal; Or acquiring interference state information according to the message receiving situation; reporting the interference state information to the communication control terminal, so that the communication control terminal determines whether to perform spectrum switching according to the interference state information; and performing execution with the control station according to the spectrum switching information from the communication control terminal Communication spectrum switching.

In some embodiments, the control station is further configured to perform at least one of: detecting communication quality with the unmanned device; transmitting the spectrum to the communication control terminal if the communication quality is below a predetermined communication state threshold Switching request; performing communication spectrum switching with the unmanned device according to the spectrum switching information from the communication control terminal; or acquiring interference state information according to the message receiving situation; reporting the interference state information to the communication control terminal, so that the communication control terminal is configured according to The interference state information determines whether spectrum switching is performed; communication spectrum switching with the unmanned device is performed based on the spectrum switching information from the communication control terminal.

According to some embodiments of the present disclosure, there is provided an unmanned driving system comprising: a communication control terminal configured to perform a communication control method of any one of the above-mentioned unmanned devices; an unmanned device configured Performing communication spectrum switching with the controller according to the spectrum switching information from the communication control terminal; and the control station is configured to perform at least one of the following solutions:

Detecting communication quality with the unmanned device; transmitting a spectrum switching request to the communication control terminal if the communication quality is lower than a predetermined communication state threshold; performing execution with the unmanned device according to the spectrum switching information from the communication control terminal Communication spectrum switching; or, acquiring interference state information according to the message receiving situation; reporting the interference state information to the communication control terminal, so that the communication control terminal determines whether to perform spectrum switching according to the interference state information; performing and not according to the spectrum switching information from the communication control terminal Communication spectrum switching between human driving devices.

Such an unmanned system can obtain the current communication quality situation in real time, and then adjust the spectrum between the unmanned device and the control station in real time according to the spectrum environment, thereby realizing adaptive adjustment of communication according to the spectrum environment condition, and improving the unmanned device. Anti-jamming effect of communication with the control station.

DRAWINGS

The drawings described herein are intended to provide a further understanding of the disclosure, and are intended to be a In the drawing:

1 is a flow chart of some embodiments of a communication control method of an unmanned device of the present disclosure.

2 is a flow chart of still another embodiment of a communication control method of an unmanned device of the present disclosure.

3 is a flow chart of still further embodiments of a communication control method for an unmanned device of the present disclosure.

4 is a flow chart of still another embodiment of a communication control method of an unmanned device of the present disclosure.

FIG. 5A is a schematic diagram of some embodiments of a communication control terminal of the present disclosure.

FIG. 5B is a schematic diagram of still another embodiment of the communication control terminal of the present disclosure.

FIG. 5C is a schematic diagram of some embodiments of a handover information generating unit in the communication control terminal of the present disclosure.

FIG. 5D is a schematic diagram of still another embodiment of a handover information generating unit in the communication control terminal of the present disclosure.

6 is a schematic diagram of some embodiments of a driverless system of the present disclosure.

7 is a schematic diagram of some embodiments of a cognitive engine architecture employed in the driverless system of the present disclosure.

8A is a transmit end configuration diagram of a simulated environment of some embodiments of the driverless system of the present disclosure.

8B is a configuration diagram of a receiving end of a simulated environment of some embodiments of the driverless system of the present disclosure.

8C is a schematic diagram showing the display of a communication control terminal of a simulated environment of some embodiments of the driverless system of the present disclosure.

8D is a schematic diagram showing the interference control signal display of the communication control terminal of the simulated environment of some embodiments of the driverless system of the present disclosure.

8E is a diagram of a receiving end spectrum switching configuration of a simulated environment of some embodiments of the driverless system of the present disclosure.

8F is a diagram of a transmit end spectrum switching configuration of a simulated environment of some embodiments of the driverless system of the present disclosure.

FIG. 8G is a schematic diagram showing the display after the spectrum switching of the communication control terminal of the simulation environment of some embodiments of the driverless system of the present disclosure.

9 is a schematic illustration of further embodiments of various components of the driverless system of the present disclosure.

10 is a schematic illustration of still further embodiments of the driverless system of the present disclosure.

Detailed ways

The technical solutions of the present disclosure will be further described in detail below through the accompanying drawings and embodiments.

A flowchart of some embodiments of a communication control method for an unmanned device of the present disclosure is shown in FIG. 1 and includes steps 101-103.

In step 101, spectrum environment information is obtained. In some embodiments, the surrounding spectral environment information can be collected by the communication control device. In other embodiments, the spectrum environment information may be collected by the unmanned device, the control station, and transmitted to the communication control device. In addition, spectrum environment information can also be obtained from other devices capable of collecting spectrum environment information, such as set spectrum collection points. In some embodiments, the spectral environment information may include noise conditions for various frequency bands in the environment, and may also include occupied frequency bands, remaining frequency band conditions, etc., that the control station communicates with the various unmanned devices.

In step 102, spectrum switching information is generated according to the spectrum environment information. In some embodiments, when it is determined that the noise of the communication band between the unmanned device and the control station is excessively large, spectrum switching information may be actively generated by selecting a frequency band that is less noisy and does not interfere with other unmanned devices. Unmanned devices may include drones, unmanned vehicles, unmanned boats, and the like. In some embodiments, one or more of a target frequency band, a target bandwidth, a target power, and a target code rate may be included in the spectrum switching information.

In step 103, the spectrum switching information is transmitted to the unmanned driving device and the control station, so that the unmanned driving device and the control station perform communication spectrum switching according to the spectrum switching information. In some embodiments, the identification of the unmanned device may be included in the spectrum switching information so that the control station determines which communication band with which unmanned device needs to be switched.

Through such a method, the spectrum between the unmanned device and the control station can be adjusted in real time according to the spectrum environment, thereby adaptively adjusting the communication according to the spectrum environment, and improving the anti-interference effect of communication between the unmanned device and the control station. .

In some embodiments, the spectrum switching information may be generated by finding a most suitable spectrum allocation manner by matching the current communication state and the spectrum environment information according to the pre-stored spectrum allocation policy. In some embodiments, after the spectrum switching information is generated, the current spectrum environment information and the generated spectrum switching information may be stored to form a new spectrum allocation policy, thereby improving the probability of successful matching and improving the efficiency of generating spectrum switching information. Achieve gradual optimization of the system.

In some embodiments, if it is difficult to generate appropriate spectrum switching information with current spectrum environment information, the communication spectrum between other unmanned devices and the controller may be switched as needed, such as frequency band, bandwidth, amplitude, or The adjustment of the code rate, etc., generates a communication spectrum for each of the unmanned devices and the controller that needs to be switched, thereby realizing the correlation adjustment of the system and improving the anti-interference ability and capacity of the system.

A flowchart of still another embodiment of the communication control method of the unmanned device of the present disclosure is as shown in FIG. 2, including steps 201-205.

In step 201, the communication control device acquires spectrum environment information.

In step 202, the communication control device determines whether a spectrum switching request from the unmanned device or the control station is received. In some embodiments, when the unmanned device or control station receives the signal from the other party, if it is determined that the signal is subject to a large interference, a spectrum switching request is sent to the communication control device. If the communication control device receives the spectrum switching request from the driverless device or the control station, step 203 is performed; if the communication control device does not receive the spectrum switching request from the driver device or the control station, step 201 is performed.

In some embodiments, the sequence of step 201 and step 202 can be reversed, and the communication control device can obtain the spectrum environment information after receiving the spectrum switching request, thereby eliminating the need for continuous spectrum environment information collection and reducing the operating load of the device.

In step 203, spectrum switching information is generated according to the spectrum environment information. In some embodiments, the communication control device may determine an unmanned device that needs to switch the communication spectrum according to the spectrum switching request, determine a current frequency band in which the unmanned device communicates with the control station, and allocate the unmanned device according to the spectrum environment information. The new frequency band sets spectrum information such as bandwidth and target bit rate.

In step 204, the spectrum switching information is transmitted to the unmanned driving device and the control station, so that the unmanned driving device and the control station perform communication spectrum switching according to the spectrum switching information.

In step 205, the unmanned device and the controller that received the spectrum switching information perform communication spectrum switching according to the spectrum switching information. In some embodiments, a control station simultaneously communicates with a plurality of unmanned devices, and the control station receiving the spectrum switching information determines the corresponding unmanned device according to the spectrum switching information, thereby switching the communication spectrum with the unmanned device. .

According to such a method, it is possible to determine the switching of the spectrum by the unmanned device or the control station based on the reception condition of the communication signal, and the switching timing is more accurate, thereby further improving the adaptive adjustment of the communication.

A flowchart of still further embodiments of the communication control method of the unmanned device of the present disclosure is as shown in FIG. 3, including steps 301-303.

In step 301, the unmanned device or the control station determines the current communication quality based on the error rate, the packet loss rate, and the like of the received signal.

In step 302, when the unmanned device determines that the communication quality is lower than the predetermined communication state threshold, if the error rate is higher than the predetermined error rate, or the number of consecutive packet drops is higher than the predetermined number, the spectrum is transmitted to the communication control terminal. a handover request; when the control station finds that the communication quality with an unmanned device is lower than a predetermined communication state threshold, the spectrum control request may also be sent to the communication control terminal, where the spectrum switching request includes an unmanned device that needs to switch the communication spectrum Logo.

In step 303, the unmanned device and the control station receive the spectrum switching information from the communication control terminal and switch the communication spectrum, which may include adjusting the bandwidth, changing the frequency band, or adjusting the amplitude, code rate, and the like.

Through such a method, the unmanned device and the control station can detect the communication quality in real time, discover the communication quality problem in time, and request the communication control terminal to perform spectrum switching on the communication between the unmanned device and the control station, thereby realizing the communication adaptation. Adjustment to improve the anti-interference effect of communication between the driverless device and the control station.

A flowchart of still further embodiments of the communication control method of the unmanned device of the present disclosure is as shown in FIG. 4, including steps 401 to 403.

In step 401, the unmanned device or the control station acquires interference state information according to the message reception condition.

In step 402, the interference status information is reported to the communication control terminal. In some embodiments, the unmanned device, the controller can report the interference status information to the communication control terminal at a predetermined frequency. The interference status information may include information such as a bit error rate and a packet loss rate. In other embodiments, the interference state information may further include spectrum environment information around the unmanned device and the control station, so that the communication control terminal can allocate spectrum resources based on the spectrum environment information of the unmanned device and the control station. After receiving the interference state information, the communication control terminal may determine the communication quality of the unmanned device and the controller, and generate spectrum switching information when the communication quality is lower than a predetermined threshold. In some embodiments, the spectrum switching information may be generated based on the cognitive engine deciding an optimal solution.

In step 403, the unmanned device and the control station receive the spectrum switching information from the communication control terminal and switch the communication spectrum, which may include adjusting the bandwidth, changing the frequency band, or adjusting the amplitude, power, code rate, and the like.

Through such a method, the unmanned driving device and the control station can upload their own interference state information to the communication control terminal in real time, so that the communication control terminal can timely discover the communication quality problem and perform spectrum allocation, between the unmanned device and the control station. The communication performs spectrum switching, thereby realizing adaptive adjustment of communication and improving the anti-interference effect of communication between the unmanned device and the control station.

FIG. 5A is a schematic diagram of still another embodiment of a communication control terminal of the unmanned device of the present disclosure. The spectrum environment acquisition device 51 is capable of acquiring spectrum environment information. In some embodiments, the spectrum environment acquisition device 51 can be a device such as a sensor, an antenna, etc., capable of sensing peripheral spectral environment information.

The handover information generating unit 502 is capable of generating spectrum switching information based on the spectrum environment information. In some embodiments, when it is determined that there is excessive noise in the communication band between the unmanned device and the control station, the spectrum switching information may be actively generated by selecting a frequency band that is less noisy and does not interfere with other unmanned devices. Unmanned devices may include drones, unmanned vehicles, unmanned boats, and the like. In some embodiments, one or more of a target frequency band, a target bandwidth, and a target code rate may be included in the spectrum switching information.

The information transmitting unit 503 can transmit the spectrum switching information to the unmanned driving device and the control station, so that the unmanned driving device and the control station perform communication spectrum switching according to the spectrum switching information. In some embodiments, the identification of the unmanned device may be included in the spectrum switching information so that the control station determines which communication band with which unmanned device needs to be switched.

Such a communication control terminal can adjust the spectrum between the unmanned device and the control station in real time according to the spectrum environment, thereby realizing adaptive adjustment of communication according to the spectrum environment condition, and improving the anti-interference effect of communication between the unmanned device and the control station. .

In some embodiments, as shown in FIG. 5B, the spectrum environment acquisition device 51 can be a spectrum environment acquisition unit 501 that can receive components from sensors, antennas, and the like, as well as spectrum environment information collected by the driver and/or control station. In addition, the spectrum environment acquiring unit 501 can also obtain spectrum environment information from other devices capable of collecting spectrum environment information. In some embodiments, the spectral environment information may include noise conditions for various frequency bands in the environment, and may also include occupied frequency bands, remaining frequency band conditions, etc., that the control station communicates with the various unmanned devices.

In some embodiments, as shown in FIG. 5C, the handover information generating unit may include a handover request acquisition subunit 511 and a message generation subunit 512, wherein the handover request acquisition subunit 511 is capable of receiving from the unmanned device, the control station. The spectrum switching request, after the handover request acquisition sub-unit obtains the spectrum switching request, the message generation sub-unit 512 generates the spectrum switching information based on the predetermined policy according to the spectrum environment information. The information transmitting unit 503 can transmit the generated spectrum switching information to the control station and the unmanned device.

Such a communication control terminal can perform generation of spectrum switching information according to a switching request from an unmanned driving device or a control station, and the switching timing is more accurate, thereby further improving adaptive adjustment of communication.

In some embodiments, as shown in FIG. 5D, the handover information generating unit may include: an interference state generation subunit 521 capable of receiving interference state information from the unmanned device and the control station; and a handover determination subunit 522 capable of being interfered according to the interference The status information determines whether or not to perform spectrum switching. The message generation sub-unit 523 can generate spectrum switching information based on the predetermined policy according to the spectrum environment information when the handover determination sub-unit confirms the spectrum switching.

Such a communication control terminal can determine the communication state of the unmanned device and the control station based on the interference state information from the unmanned device or the control station, thereby determining whether to generate spectrum switching information, thereby improving the accuracy and timeliness of the switching timing. At the same time, the requirements for the computing power of the unmanned device and the control station are reduced.

6 is a schematic diagram of some embodiments of a driverless system of the present disclosure. The control station 61 communicates with one or more unmanned devices 621-62n to control the driving or flight status of the driverless device. The communication control terminal 63 is in signal connection with the unmanned devices 621 to 62n and the control station 61, and controls the unmanned devices 621 to 62n and the control station 61 to switch the communication spectrum. In some embodiments, the control station 61 can perform the steps performed by the controller in the communication control method of the above-described unmanned device, such as the steps in the embodiment of FIGS. 3 and 4; the unmanned devices 621-62n The steps performed by the unmanned device in the communication control method of the above-described unmanned device can be performed, as in the steps in the embodiments of FIGS. 3 and 4. The communication control terminal 63 is capable of executing other steps in the communication control method of the above unmanned device.

Such an unmanned system can obtain the current communication quality situation in real time, and then adjust the spectrum between the unmanned device and the control station in real time according to the spectrum environment, thereby realizing adaptive adjustment of communication according to the spectrum environment condition, and improving the unmanned device. Anti-jamming effect of communication with the control station.

In some embodiments, an adaptive adjustment of the communication spectrum of the driverless system can be implemented using a cognitive engine architecture based on CLIS (C Language Integrated Production System). A schematic diagram of some embodiments of a cognitive engine architecture is shown in FIG. The CLIPS core can be implemented in a general-purpose CLIPS kernel structure, using general-purpose logic, and calling the CLIPS kernel through an interface. In some embodiments, the cognitive engine may include a rules folder for storing policies for performing spectrum allocation; the cognitive engine may further include a perceptron capable of perceiving user operations, detecting spectral environment information, obtaining communication quality, and the like. After the cognitive engine obtains these information and parameters, the optimal waveform configuration parameters that the system should adopt in the current situation can be obtained through the intelligent inference decision process, and sent to the reconfigurable waveform component; the waveform component receives the waveform control information of the cognitive engine. After that, the waveform parameters of the waveform component can be quickly adjusted to complete the waveform reconstruction. In some embodiments, a user interface can also be provided for the user to understand the situation and perform operations. The cognitive engine architecture is deployed in the communication control terminal of the driverless device, which can realize cognitive-based spectrum allocation and adjustment of the driverless device, and improve the anti-interference effect of communication between the driverless device and the control station.

8A to 8G are schematic views showing the configuration and effect of the simulation experiment. One end of the driverless device and the control station is used as a transmitting end, and one end is used as a receiving end. The initial configuration information displayed by the transmitting terminal, the receiving terminal, and the communications control terminal includes the frequency band, the code rate, and the like. The initial configuration information of the transmitting end is as shown in FIG. 8A, and the initial configuration information of the receiving end is as shown in FIG. 8B. Show.

In the initial stage of communication, the transmitting terminal and the receiving terminal establish a communication link according to the initial configuration information. In the user interface of the communication control terminal, as shown in FIG. 8C, it can be seen that the communication frequency is at 428 MHz, and the error packet is in the case of no interference. The rate is 0. When the communication is affected by the interference signal as shown in FIG. 8D, a single tone signal appears at 428 MHz in the user interface, and the packet error rate in the lower left corner is changed from 0 to 50%, and the receiving end and the transmitting end are The display can be as shown in Figures 8E and 8F, and a large number of retransmission requests (trans again please and retransmit again) indicate that the communication cannot be successful. The communication control terminal generates spectrum switching information because communication has not been possible. After receiving the spectrum switching information from the communication control terminal, the receiving end and the transmitting end perform spectrum switching as shown in FIG. 8E and FIG. 8F. When the switching is completed, the display schematic diagram of the communication control terminal is as shown in FIG. 8G, and the user interface may be It can be seen that the communication frequency is switched to 427MHz, and the reconstructed packet error rate is returned to 0 again, thereby realizing adaptive adjustment of communication and improving the anti-interference effect of communication between the unmanned device and the control station.

A schematic structural view of some embodiments of the disclosed driverless system is shown in FIG. Various parts of the driverless system, such as the communication control terminal, the unmanned device, and the control station, may each include a memory 910 and a processor 920. Wherein: the memory 910 can be a magnetic disk, a flash memory, or any other non-volatile storage medium. The memory is for storing instructions in a corresponding embodiment of the above communication control method. The processor 920 is coupled to the memory 910 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller. The processor 120 is configured to execute instructions stored in the memory, can implement adaptive adjustment of the communication spectrum, and improve anti-interference effects.

In some embodiments, as shown in FIG. 10, various portions of the driverless system 1000, such as the communication control terminal, the unmanned device, and the control station, may each include a memory 1010 and a processor 1020. Processor 1020 is coupled to memory 1010 via BUS bus 1030. The driverless system 1000 can also be connected to the external storage device 1050 via the storage interface 1040 to invoke external data, and can also be connected to the network or another computer system (not shown) via the network interface 1060. It will not be described in detail here.

In this embodiment, by storing the data instruction through the memory and processing the above instruction by the processor, adaptive adjustment of the communication spectrum can be realized, and the anti-interference effect is improved.

In still other embodiments, the present disclosure further provides a computer readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement a method of communication control method of an unmanned device in accordance with a method in an embodiment step. Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, and computer program products according to embodiments of the present disclosure. 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. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

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.

The present disclosure has been described in detail so far. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented in software, hardware, firmware or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustrative purposes only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specifically stated. Moreover, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine readable instructions for implementing a method in accordance with the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure and are not to be construed as limiting thereof; although the present disclosure will be described in detail with reference to the preferred embodiments, those skilled in the art should understand that Modifications of the specific embodiments disclosed are intended to be equivalent to the equivalents of the technical features of the present disclosure.

Claims (14)

A communication control method for an unmanned device includes: Obtaining spectrum environment information; Generating spectrum switching information according to the spectrum environment information; And transmitting the spectrum switching information to the unmanned driving device and the control station, so that the unmanned driving device and the control station perform communication spectrum switching according to the spectrum switching information. The method of claim 1, wherein the generating spectrum switching information comprises: When receiving a spectrum switching request from at least one of the driverless device or the control station, generating spectrum switching information based on the predetermined policy according to the spectrum environment information. The method of claim 1, wherein the generating spectrum switching information comprises: Receiving interference state information from at least one of the driverless device or the control station; Determining whether to perform spectrum switching according to the interference state information; If it is determined that the spectrum switching is performed, the spectrum switching information is generated based on the predetermined policy according to the spectrum environment information. The method according to any one of claims 1 to 3, wherein the spectrum switching information comprises one or more of a target frequency band, a target bandwidth, a target power, and a target code rate. The method according to any one of claims 1 to 3, wherein the acquiring spectrum environment information comprises at least one of the following manners: Collect surrounding spectral environment information; or, Receiving spectral environment information collected from at least one of a control station, an unmanned device, or a spectrum environment collection point. The method according to any one of claims 1 to 3, wherein the generating the spectrum switching information according to the spectrum environment information further includes: Obtaining the spectrum allocation of each driverless device; The spectrum switching information is generated by selecting a target frequency band from a spectrum that is not currently in use. A communication control terminal includes: a spectrum environment acquisition device configured to acquire spectrum environment information; The handover information generating unit is configured to generate spectrum switching information according to the spectrum environment information; The information transmitting unit is configured to transmit the spectrum switching information to the unmanned driving device and the control station, so that the unmanned driving device and the control station perform communication spectrum switching according to the spectrum switching information. The terminal according to claim 7, wherein the handover information generating unit comprises: a handover request acquisition subunit configured to receive a spectrum switching request from at least one of an unmanned device or the control station; a message generating subunit, configured to generate spectrum switching information based on the predetermined policy according to the spectrum environment information if the switching request acquisition subunit receives the spectrum switching request; The terminal according to claim 7, wherein the handover information generating unit comprises: An interference state generation subunit configured to receive interference state information from at least one of an unmanned device or the control station; The handover determining subunit is configured to determine whether to perform spectrum switching according to the interference state information; The message generation subunit is configured to generate spectrum switching information based on the predetermined policy according to the spectrum environment information. A communication control terminal includes: Memory; A processor coupled to the memory, the processor being configured to perform the method of any one of claims 1 to 6 based on instructions stored in the memory. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, perform the steps of the method of any one of claims 1 to 6. An unmanned system comprising: a communication control terminal configured to perform the method of any one of claims 1 to 6; a controller configured to perform communication spectrum switching with the unmanned device according to the spectrum switching information from the communication control terminal; with, An unmanned device configured to perform at least one of the following: Detecting a communication quality with the control station; transmitting a spectrum switching request to the communication control terminal if the communication quality is lower than a predetermined communication state threshold; performing execution with the control station according to the spectrum switching information from the communication control terminal Communication spectrum switching; or Acquiring the interference state information according to the message receiving situation; reporting the interference state information to the communication control terminal, so that the communication control terminal determines whether to perform spectrum switching according to the interference state information; and performing, according to the spectrum switching information from the communication control terminal Communication spectrum switching with the control station. The driverless system of claim 12, wherein the control station is further configured to perform at least one of the following: Detecting a communication quality with the unmanned device; transmitting a spectrum switching request to the communication control terminal if the communication quality is lower than a predetermined communication state threshold; performing the same with the spectrum switching information from the communication control terminal Communication spectrum switching between human driving devices; or Acquiring the interference state information according to the message receiving situation; reporting the interference state information to the communication control terminal, so that the communication control terminal determines whether to perform spectrum switching according to the interference state information; and performing, according to the spectrum switching information from the communication control terminal Communication spectrum switching with the unmanned device. An unmanned system comprising: a communication control terminal configured to perform the method of any one of claims 1 to 6; An unmanned device configured to perform communication spectrum switching with a controller according to spectrum switching information from the communication control terminal; with, The control station is configured to perform at least one of the following scenarios: Detecting a communication quality with the unmanned device; transmitting a spectrum switching request to the communication control terminal if the communication quality is lower than a predetermined communication state threshold; performing the same with the spectrum switching information from the communication control terminal Communication spectrum switching between human driving devices; or Acquiring the interference state information according to the message receiving situation; reporting the interference state information to the communication control terminal, so that the communication control terminal determines whether to perform spectrum switching according to the interference state information; and performing, according to the spectrum switching information from the communication control terminal Communication spectrum switching with the unmanned device.

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