Beam tracking method and apparatus

1. A beam tracking method, applied to a following vehicle in vehicle platooning and comprising:

receiving first position information of a designated vehicle;

obtaining relative position information of the designated vehicle and the following vehicle based on the first position information and second position information of the following vehicle;

tracking a beam sent by the designated vehicle based on the relative position information;

wherein the tracking the beam sent by the designated vehicle based on the relative position information, comprises:

tracking the beam sent by the designated vehicle at a configured reception angle based on the relative position information; wherein the configured reception angle is a range of reception angles at which the following vehicle receives the beam and which is calculated by a communication device based on the relative position information and a motion relationship between the designated vehicle and the following vehicle, and the motion relationship is predicted on a dynamic map according to the first position information and the second position information; or

performing space grid division on a signal space between the first position information and the second position information in a signal space grid division way specified by a communication device to obtain grid spaces between the designated vehicle and the following vehicle; determining, from the grid spaces, a grid space through which the beam passes as an effective grid space according to a sending direction of the beam and the relative position information; and tracking the beam sent by the designated vehicle in the effective grid space.

2. The method of claim 1 , wherein the first position information and the second position information each comprises at least one of:

longitude and latitude information;

lane information; or

height information;

wherein the height information is a height of the designated vehicle or the following vehicle relative to a preset horizontal position.

3. The method of claim 2 , wherein the obtaining relative position information of the designated vehicle and the following vehicle based on the first position information and second position information of the following vehicle, comprises:

calculating a vector angle of the following vehicle relative to the designated vehicle based on longitude and latitude information in the first position information and longitude and latitude information in the second position information to obtain the relative position information.

4. The method of claim 2 , wherein the obtaining relative position information of the designated vehicle and the following vehicle based on the first position information and second position information of the following vehicle, comprises:

predicting a motion trajectory of the designated vehicle based on the first position information and driving information of the designated vehicle; and

calculating a relative motion relationship between the following vehicle and the designated vehicle according to the motion trajectory and the second position information to obtain the relative position information.

5. A computer readable storage medium storing computer instructions, wherein when the computer instructions are running on a computer, the computer is caused to perform the method of claim 1 .

6. A beam tracking method, applied to a communication device in vehicle platooning and comprising:

receiving first position information reported by a designated vehicle and second position information reported by a following vehicle;

obtaining relative position information of the designated vehicle and the following vehicle based on the first position information and the second position information; and

generating configuration information of the following vehicle according to the relative position information, for the following vehicle to track a beam sent by the designated vehicle according to the configuration information;

wherein the generating configuration information of the following vehicle according to the relative position information, comprises:

determining an optimal grid from a preset grid set according to the relative position information, for the following vehicle to perform gridding processing on a signal space between the designated vehicle and the following vehicle according to a size or range indicated by the optimal grid; and packaging the optimal grid in a preset data format to generate the configuration information; or

predicting a motion relationship between the designated vehicle and the following vehicle on a dynamic map based on the first position information and the second position information; and generating a reception angle at which the following vehicle receives the beam based on the motion relationship and the relative position information to obtain the configuration information.

7. A beam tracking apparatus, comprising:

at least one processor; and

a memory connected to the at least one processor;

wherein the memory stores instructions that can be executed by the at least one processor, and the at least one processor, by executing the instructions stored in the memory, is configured for:

receiving first position information of a designated vehicle;

obtaining relative position information of the designated vehicle and a following vehicle based on the first position information and second position information of the following vehicle;

tracking a beam sent by the designated vehicle based on the relative position information;

wherein the at least one processor, by executing the instructions stored in the memory, is further configured for:

tracking the beam sent by the designated vehicle at a configured reception angle based on the relative position information; wherein the configured reception angle is a range of reception angles at which the following vehicle receives the beam and which is calculated by a communication device based on the relative position information and a motion relationship between the designated vehicle and the following vehicle, and the motion relationship is predicted on a dynamic map according to the first position information and the second position information; or

performing space grid division on a signal space between the first position information and the second position information in a signal space grid division way specified by a communication device to obtain grid spaces between the designated vehicle and the following vehicle; determining, from the grid spaces, a grid space through which the beam passes as an effective grid space according to a sending direction of the beam and the relative position information; and tracking the beam sent by the designated vehicle in the effective grid space.

8. The apparatus of claim 7 , wherein the first position information and the second position information each comprises at least one of:

longitude and latitude information;

lane information; or

height information;

wherein the height information is a height of the designated vehicle or the following vehicle relative to a preset horizontal position.

9. The apparatus of claim 8 , wherein the at least one processor, by executing the instructions stored in the memory, is further configured for:

calculating a vector angle of the following vehicle relative to the designated vehicle based on longitude and latitude information in the first position information and longitude and latitude information in the second position information to obtain the relative position information.

10. The apparatus of claim 8 , wherein the at least one processor, by executing the instructions stored in the memory, is further configured for:

predicting a motion trajectory of the designated vehicle based on the first position information and driving information of the designated vehicle;

calculating a relative motion relationship between the following vehicle and the designated vehicle according to the motion trajectory and the second position information to obtain the relative position information.

11. A beam tracking apparatus, comprising:

at least one processor; and

a memory connected to the at least one processor;

wherein the memory stores instructions that can be executed by the at least one processor, and the at least one processor, by executing the instructions stored in the memory, is configured for:

receiving first position information reported by a designated vehicle and second position information reported by a following vehicle;

obtaining relative position information of the designated vehicle and the following vehicle based on the first position information and the second position information; and

generating configuration information of the following vehicle according to the relative position information, for the following vehicle to track a beam sent by the designated vehicle according to the configuration information;

wherein the at least one processor, by executing the instructions stored in the memory, is further configured for:

determining an optimal grid from a preset grid set according to the relative position information, for the following vehicle to perform gridding processing on a signal space between the designated vehicle and the following vehicle according to a size or range indicated by the optimal grid; and packaging the optimal grid in a preset data format to generate the configuration information; or

predicting a motion relationship between the designated vehicle and the following vehicle on a dynamic map based on the first position information and the second position information; and generating a reception angle at which the following vehicle receives the beam based on the motion relationship and the relative position information to obtain the configuration information.