A vehicle-to-vehicle direct connection intelligent terminal based on Beidou satellite direct connection support vehicle-road cloud cooperation

Abstract

The application discloses a kind of based on Beidou satellite direct support car road cloud cooperation car car direct intelligent terminal, belong to car road cloud cooperation and Beidou application technical field.The terminal includes central control unit, Beidou satellite navigation and positioning module, parameter storage unit, environmental perception module, car car direct communication module, display interaction unit;Beidou module realizes network centimeter level high-precision positioning and two-way short message communication, parameter storage unit is encrypted with symmetric encryption algorithm to store vehicle three-dimensional physical parameter, provide basis for vehicle three-dimensional modeling, environmental perception module is detected surrounding target in real time by vehicle-mounted detection radar, car car direct communication module is based on C-V2X technology to realize short-range network direct communication;Central control unit automatically switches car car communication mode according to communication distance, short-range C-V2X direct is enabled, long-distance switches to Beidou short message, terminal can be separated from ground network, and positioning data and three-dimensional model data of car are uploaded to car road cloud cooperation system through Beidou satellite direct, suitable for vehicle safe driving and global traffic cooperative scheduling in network environment.

Description

Technical Field

[0001] This invention belongs to the field of vehicle-road-cloud collaboration and BeiDou application technology, specifically involving a vehicle-to-vehicle direct connection intelligent terminal that supports vehicle-road-cloud collaboration based on BeiDou satellite direct connection. Background Technology

[0002] With the development of vehicle-road-cloud integrated technology, vehicle-mounted intelligent terminals have become the core carrier for traffic collaborative scheduling and safe vehicle operation. However, existing vehicle-mounted equipment still has the following technical defects: (1) It generally relies on ground mobile communication networks and base stations, and cannot achieve vehicle-to-vehicle direct connection and data reporting in scenarios without network coverage such as deserts, remote mountainous areas, and uninhabited areas; (2) The positioning function only abstracts the vehicle as a single positioning point, which cannot reflect the vehicle's real three-dimensional shape such as length, width, height, and volume, making it difficult to meet the requirements of high-precision collaborative scheduling; (3) It lacks persistent encrypted storage of fixed physical parameters of the vehicle, and the vehicle-to-vehicle communication and sensing modules lack linkage, resulting in insufficient communication stability and scenario adaptability. The above defects seriously restrict the accurate perception and scheduling efficiency of the vehicle-road-cloud collaborative system. Summary of the Invention

[0003] 1. Technical problems to be solved

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a vehicle-to-vehicle (V2V) intelligent terminal based on BeiDou satellite direct connection to support vehicle-road-cloud collaboration. This solves the technical problems of abstract vehicle positioning, limited V2V communication coverage, and poor V2V collaboration in environments without terrestrial networks, and achieves high-precision positioning, full-domain V2V communication, and V2V collaborative data interaction in network-free environments.

[0005] 2. Technical Solution

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A vehicle-to-vehicle (V2V) intelligent terminal based on BeiDou satellite direct connection to support vehicle-road-cloud collaboration includes a central control unit, and a BeiDou satellite navigation and positioning module, a parameter storage unit, an environmental perception module, a V2V direct connection communication module, and a display and interaction unit, all electrically connected to the central control unit.

[0008] The BeiDou satellite navigation and positioning module adopts an integrated chip for BeiDou navigation and short message communication, supports RTK centimeter-level high-precision passive positioning, and is compatible with other satellite positioning differential technologies. It can directly send and receive signals with BeiDou satellites without relying on ground mobile communication networks and base stations, and integrates BeiDou-3 two-way short message communication function, providing core communication support for terminals to work without a network.

[0009] The parameter storage unit is bound to the Beidou satellite navigation and positioning module, and encrypts and stores fixed physical parameters such as the vehicle's length, width and height, vehicle type, vehicle identification code, license plate, wheelbase and load. The data is encrypted and stored using a symmetric encryption algorithm, which ensures that the data is not lost when power is off and supports multiple erasures and rewrites. The stored parameters provide basic data for vehicle 3D modeling, enabling the vehicle to present a true 3D form in the vehicle-road-cloud collaborative system.

[0010] The environmental perception module is an on-board environmental detection radar, including one or more of millimeter-wave radar, lidar, and phased array radar, which can detect other vehicles, pedestrians and obstacles within a preset range around the vehicle in real time; the phased array radar can realize clear visual modeling of surrounding vehicles and environment, and the module's detection data provides target recognition support for vehicle-to-vehicle direct communication, and can directly trigger direct communication through the identified target vehicle outline.

[0011] The vehicle-to-vehicle direct communication module is based on C-V2X or equivalent vehicle-to-vehicle short-range direct communication technology, with a preset short-range communication range of 500 meters to 2 kilometers, which can be adjusted according to the actual scenario. The module can automatically discover, automatically network, and automatically connect with similar terminals in the vicinity under the condition of no ground network, establish a point-to-point direct communication link, and support text message sending and receiving and real-time voice intercom.

[0012] The display and interaction unit is used to visually present the core working data of the terminal, realize human-machine interaction between the driver and the terminal, and support operations such as parameter input, reference point calibration, and communication triggering.

[0013] The central control unit, as the core control module, coordinates the data processing and functional collaboration of various modules; it automatically switches the vehicle-to-vehicle communication mode according to the communication distance, using C-V2X direct communication for short distances and switching to BeiDou satellite short message mode for long distances; it supports two methods: self-calibration of the terminal itself and calibration of the external positioning antenna, and automatically generates a three-dimensional model of the whole vehicle; it integrates the vehicle's BeiDou high-precision positioning data, the vehicle's three-dimensional model data, driving status information and environmental perception data, and uploads them to the vehicle-road-cloud collaborative system via BeiDou satellite direct connection.

[0014] 3. Beneficial effects

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The terminal is completely independent of ground mobile communication networks and base stations. It independently realizes positioning, communication, sensing and collaboration functions by relying on Beidou satellite and C-V2X technology. It has strong environmental adaptability and can work stably in no-network scenarios such as deserts, remote mountainous areas and uninhabited areas.

[0017] (2) The Beidou satellite navigation and positioning module, combined with RTK technology, achieves centimeter-level high-precision passive positioning, which can accurately identify the specific position and driving posture of the vehicle in the lane, providing a positioning basis for high-precision vehicle-road-cloud collaboration.

[0018] (3) Built-in encrypted parameter storage unit to realize persistent encrypted storage of vehicle three-dimensional physical parameters, support two modeling methods: terminal body self-calibration and external antenna calibration, automatically generate the whole vehicle three-dimensional entity model, upgrade the vehicle from traditional abstract positioning point to real three-dimensional form, and meet the high-precision vehicle-road-cloud collaborative scheduling requirements.

[0019] (4) The vehicle-to-vehicle direct communication module is based on C-V2X technology to realize automatic discovery and point-to-point direct connection in a network-free environment. The communication range can be flexibly adjusted according to vehicle type and application scenario. It has automatic networking function and can realize group communication when multiple vehicles are in a group. It has strong stability and adaptability.

[0020] (5) Innovative design of a dual-mode vehicle-to-vehicle communication mechanism for near and long distances, seamless switching between near-distance C-V2X direct connection and long-distance Beidou short message, unified scheduling by the central control unit to achieve automatic switching of communication modes, ensuring vehicle-to-vehicle information interaction without blind spots throughout the entire area.

[0021] (6) Through direct connection with Beidou satellites, vehicle-road-cloud collaborative data is uploaded, providing high-precision positioning, three-dimensional models and environmental perception data for cloud platforms and roadside equipment, supporting global traffic perception and intelligent scheduling, and building a real-time traffic perception system for the entire road network.

[0022] (7) The display and interaction unit realizes the visualization of core data and convenient human-computer interaction, so that the driver can intuitively obtain information and complete various operations, thereby improving the terminal user experience.

[0023] (8) The terminal adopts a plug-and-play interface design, which is compatible with various motor vehicles. After large-scale application, it can build a vehicle-road-cloud full-domain precise perception network, effectively reducing the traffic accident rate in network-free scenarios and improving road traffic efficiency.

[0024] (9) The terminal is not only applicable to various motor vehicles, but its dual-mode communication and three-dimensional perception architecture based on Beidou direct connection can also be extended to maritime and inland waterway navigation scenarios to realize ship-to-ship direct connection, ship-shore collaboration and ship-road-cloud integration in water transportation, and has cross-domain portability. Attached Figure Description

[0025] Figure 1 This is a block diagram of the overall structure of the vehicle-to-vehicle intelligent terminal of the present invention;

[0026] Figure 2 This is a flowchart illustrating the vehicle-to-vehicle communication mode switching control for the dual-mode (far and near) communication of this invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 100 Central control unit;

[0029] 200 Beidou satellite navigation and positioning modules;

[0030] 300 parameter storage units;

[0031] 400 Environmental Sensing Module;

[0032] 500 Vehicle-to-Vehicle Direct Communication Module;

[0033] 600 Display interaction units. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0035] Depending on the application scenario, this terminal can be configured as either a front-mounted all-in-one terminal or a rear-mounted portable terminal: Implementation descriptions of the two forms.

[0036] (1) Pre-installed integrated terminal: suitable for the vehicle pre-installation market. The terminal modules are integrated into a single housing and embedded in the center console, instrument panel or integrated into the rearview mirror before the vehicle leaves the factory. It obtains power and CAN data through the vehicle's internal bus. Its appearance is integrated with the vehicle's interior and is stable and reliable.

[0037] (2) Aftermarket Portable Terminal: Suitable for the aftermarket of sold vehicles and multi-vehicle sharing scenarios. The terminal adopts a portable shell design, draws power through the cigarette lighter interface, and establishes a data connection with the vehicle through USB, Type-C interface or Bluetooth to achieve a "plug and play" mode that is installation-free and can be used across vehicles; its display and interaction functions can be realized by the terminal's built-in display screen, or by the terminal connecting to an external smart device (such as a smartphone or tablet) via wireless communication, and then using the display and interaction unit of the device in the form of a dedicated application.

[0038] Preferably, the rear-mounted portable terminal connects to an external smart device wirelessly and implements display and interaction functions in the form of a dedicated application, eliminating the need for a built-in display screen and further reducing terminal cost and size.

[0039] The two types of terminals mentioned above, as well as other physical variations based on the same concept, all contain the functional modules described in any one of claims 1 to 10, and achieve the same high-precision positioning, vehicle-to-vehicle communication, and vehicle-road-cloud collaborative functions based on direct connection to BeiDou satellites.

[0040] The following section uses a rear-mounted portable terminal as an example to further illustrate the specific workflow and implementation details of this terminal. The working principle and implementation method of the front-mounted all-in-one terminal are similar, the only difference being the physical installation method and the power supply / data interface, which will not be elaborated further.

[0041] 1. Equipment Installation and Initialization

[0042] Taking the rear-mounted portable terminal as an example, when a user uses it for the first time, they connect the terminal to the vehicle. The terminal then activates the display interaction unit (with its own display screen or a connected smartphone APP) and displays a parameter input interface, guiding the user to input or automatically read fixed physical parameters such as the vehicle identification number, length, width, height, and wheelbase. After input, the parameter storage unit (300) uses a symmetric encryption algorithm to encrypt and store these parameters, ensuring they are not lost when power is off.

[0043] 2. BeiDou Positioning and Reference Point Calibration

[0044] The user selects the calibration method through the display interaction unit (600):

[0045] (1) Terminal self-calibration: Select the actual placement position of the terminal in the vehicle schematic diagram (such as the center console or below the windshield), and the central control unit (100) uses this position as the reference point;

[0046] (2) External antenna calibration: If an independent antenna is used, attach the antenna to the roof or windshield pillar, and use the antenna mounting point as the reference point.

[0047] After calibration, the Beidou satellite navigation and positioning module (200) begins to receive Beidou satellite signals in real time, and achieves centimeter-level high-precision positioning by combining RTK differential technology. Using the reference point as the origin and combining the vehicle physical parameters in the parameter storage unit (300), it automatically calculates and generates the spatial mapping coordinates of the three-dimensional model of the whole vehicle.

[0048] 3. Environmental perception and target recognition

[0049] During vehicle operation, the environmental perception module (400) operates continuously, with the radar detecting other vehicles, pedestrians, and obstacles within a preset range in real time. The detection data is transmitted to the central control unit (100) in real time and visualized on the display interaction unit (600) in the form of clear outlines, realizing clear visual modeling of surrounding vehicles and environment and improving scene perception accuracy.

[0050] 4. Vehicle-to-vehicle direct communication and dual-mode switching between near and far ranges

[0051] The switching process for the dual-mode vehicle-to-vehicle communication of this terminal is as follows: Figure 2As shown, the central control unit automatically and seamlessly switches between C-V2X direct connection mode and Beidou short message mode based on the communication distance with the target vehicle. During driving, the vehicle-to-vehicle direct communication module (500) continues to work, automatically searching for vehicles with the same terminal installed in the vicinity based on C-V2X technology. When the target vehicle is detected, the system automatically switches the communication mode by the central control unit (100) according to the communication distance:

[0052] (1) Short-range direct connection mode: When the distance to the target vehicle is within a preset range (typically 500 meters to 2 kilometers, adjustable according to the scenario), a C-V2X point-to-point direct communication link is automatically established. At this time, the driver can directly click on the outline of the target vehicle on the surrounding environment visualization interface of the display interaction unit (600) to trigger instant text or voice intercom, realizing short-range vehicle-to-vehicle direct communication without the need for a ground network. This mode has a rapid response and is suitable for scenarios such as fleet internal communication, meeting reminders, and hazard warnings.

[0053] (2) Long-distance short message mode: When the distance to the target vehicle exceeds the C-V2X direct connection range, the central control unit (100) automatically switches the communication mode and activates the Beidou-3 short message communication function integrated in the Beidou satellite navigation and positioning module (200). The vehicle's location information, status information, and short text messages are transmitted bidirectionally via Beidou satellite to achieve long-distance vehicle-to-vehicle communication. When the two vehicles re-enter the direct connection range, the system automatically switches back to C-V2X mode. The entire process requires no manual intervention, ensuring uninterrupted communication. The entire switching process is uniformly scheduled by the central control unit (100), with a rapid response. In the short-distance direct connection mode, the text or voice communication response time does not exceed 2 seconds, ensuring the real-time nature of vehicle-to-vehicle interaction.

[0054] 5. Spatial solution and 3D modeling

[0055] The terminal supports two positioning reference point calibration methods, which users can choose according to their installation situation:

[0056] (1) Terminal self-calibration: The user selects the actual installation location of the terminal in the vehicle schematic diagram of the display interaction unit (600), and the central control unit (100) uses the installation location as the reference point for three-dimensional modeling.

[0057] (2) External antenna calibration: If an independent antenna is used, the antenna is fixedly installed in a place with open signal, such as the roof of the vehicle or the windshield pillar. The system uses the antenna installation point as the positioning reference and modeling center.

[0058] After calibration, the central control unit (100) performs spatial calculation and three-dimensional modeling based on the reference point and in combination with the physical parameters such as vehicle length, width, height and outline dimensions pre-stored in the parameter storage unit (300).

[0059] The spatial calculation adopts a reference point mapping model. Based on the BeiDou centimeter-level positioning coordinates (X0, Y0, Z0) of the reference point, the three-dimensional spatial offset (ΔX, ΔY, ΔZ) is calculated by combining the length, width, height and outline dimensions of the vehicle. Finally, the actual spatial mapping coordinates (X, Y, Z) of the vehicle's three-dimensional model in the vehicle-road-cloud cooperative system are obtained, which satisfies the general schematic expression of X = X0 + ΔX, Y = Y0 + ΔY, Z = Z0 + ΔZ.

[0060] 6. Upload of vehicle-road-cloud collaborative data

[0061] The central control unit (100) integrates the following data in real time:

[0062] (1) Beidou high-precision positioning data of this vehicle (including reference point coordinates and driving trajectory);

[0063] (2) Three-dimensional model data of the whole vehicle (including length, width, height, outer dimensions and spatial mapping coordinates);

[0064] (3) Driving status information (vehicle speed, heading, acceleration, etc.);

[0065] (4) Environmental perception data (position of surrounding target vehicles, relative speed, etc.);

[0066] The integrated data is uploaded to the vehicle-road-cloud collaborative system via the short message function of the BeiDou satellite navigation and positioning module (200) through direct connection with BeiDou satellites. After receiving the data, the cloud platform and roadside equipment can achieve precise perception and global scheduling of each vehicle, constructing a real-time traffic perception system for the entire road network. This function is particularly important in areas without terrestrial network coverage, providing reliable data support for scenarios such as emergency command, special vehicle dispatching, and platooning in uninhabited areas.

[0067] Implementation instructions for front-mounted integrated terminals:

[0068] The internal module structure of the pre-installed integrated terminal is exactly the same as that of the aftermarket portable terminal; the difference lies in its physical form and installation method. The pre-installed terminal is embedded in the center console, dashboard, or integrated into the rearview mirror before the vehicle leaves the factory. It obtains power and CAN data through the vehicle's internal bus, and its appearance blends seamlessly with the vehicle's interior. Its initialization process is completed by the vehicle manufacturer on the production line, eliminating the need for manual parameter input by the user. The remaining workflows—including BeiDou positioning, environmental perception, dual-mode vehicle-to-vehicle communication, 3D modeling, and vehicle-road-cloud collaborative data uploading—are completely consistent with the implementation method of the aftermarket portable terminal and will not be described further here.

[0069] Example

[0070] Example 1: Scene of a convoy of off-road vehicles traveling in a desert no-man's-land

[0071] A convoy of off-road vehicles traversed the heart of the Taklamakan Desert, where there was no ground mobile communication signal. All vehicles were equipped with onboard smart terminals. Figure 1 As shown, the driver inputs vehicle length, width, height, vehicle identification code, license plate, and other parameters through the display interaction unit (600). The parameter storage unit (300) uses a symmetric encryption algorithm to encrypt and store the data, ensuring that the data is not lost when power is off. During the journey, the Beidou satellite navigation and positioning module (200) provides centimeter-level high-precision positioning for each vehicle. The central control unit (100) generates three-dimensional models of each vehicle through terminal self-calibration and displays the formation of the entire convoy on the display interaction unit (600). The radar of the environmental perception module (400) detects surrounding sand dunes, obstacles, and convoy vehicles in real time. When it detects that the last vehicle is slowing down due to getting stuck in sand, the outline of the last vehicle flashes as a warning on the display interaction unit (600) of the leader vehicle.

[0072] The lead driver clicks on the outline of the last vehicle, triggering C-V2X direct communication via the vehicle-to-vehicle communication module (500). Commands are given via voice, and the driver of the last vehicle responds instantly, with the entire process taking less than 2 seconds. When some vehicles go beyond the C-V2X direct communication range, the central control unit (100) automatically switches to the Beidou-3 short message mode. The straggling vehicles send rescue information and precise location via short message, ensuring that the convoy remains connected throughout the journey.

[0073] Example 2: Warning scenario for cargo falling off a truck on a highway

[0074] While the passenger car was driving, the driver noticed cargo continuously falling from a large container truck ahead. He then clicked on the truck's outline on the surrounding environment visualization interface of the display interaction unit (600), triggering C-V2X direct communication via the vehicle-to-vehicle communication module (500) to send a voice warning message directly to the truck. Upon receiving the warning, the truck driver immediately stopped to check the vehicle, preventing a traffic accident. If the distance between the two vehicles exceeds the C-V2X direct communication range, the terminal central control unit (100) will automatically switch to BeiDou short message mode, still ensuring effective transmission of the hazard warning information.

[0075] Example 3: Interaction scenario among car enthusiasts on a long-distance self-driving tour in a remote area

[0076] A group of private cars embarked on a road trip, traversing remote mountainous areas without terrestrial network signals. All vehicles were equipped with their own vehicle-to-vehicle (V2X) smart terminals. The V2X communication module (500) automatically detected nearby vehicles, and each vehicle's display interaction unit (600) presented a clear 3D outline of the surrounding drivers. Drivers could trigger C-V2X direct communication by clicking on the outline, sharing information such as road conditions and avoidance points in real time. When a vehicle's travel distance exceeded the C-V2X direct communication range, the terminal automatically switched to Beidou short message mode, still maintaining vehicle location sharing and simple text message interaction, ensuring the driving safety of the self-driving tour convoy.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle-to-vehicle (V2V) intelligent terminal based on BeiDou satellite direct connection supporting vehicle-road-cloud collaboration, characterized in that, include: Central control unit; The Beidou satellite navigation and positioning module, which is electrically connected to the central control unit, is used to achieve centimeter-level high-precision passive positioning and short message communication. A parameter storage unit electrically connected to the central control unit is used to encrypt and store the vehicle's three-dimensional physical parameters. An environmental sensing module electrically connected to the central control unit is used to detect surrounding targets in real time; The vehicle-to-vehicle direct communication module, which is electrically connected to the central control unit, is used to establish short-range direct communication with the same terminal. The display and interaction unit, which is electrically connected to the central control unit, is used to visually present the core working data of the terminal and realize human-computer interaction. The central control unit automatically switches the vehicle-to-vehicle communication mode according to the communication distance: when the communication distance is within the preset short-range communication range, the vehicle-to-vehicle direct communication module is activated for direct communication; when the communication distance exceeds the preset short-range communication range, it switches to the Beidou satellite short message mode for long-range communication. The terminal uploads its vehicle positioning data and 3D model data to the vehicle-road-cloud collaborative system via direct connection to the BeiDou satellite.

2. The vehicle-to-vehicle intelligent terminal according to claim 1, characterized in that, The BeiDou satellite navigation and positioning module supports centimeter-level high-precision positioning through real-time dynamic differential technology (RTK), and is compatible with other satellite positioning differential technologies that can achieve the same positioning accuracy.

3. The vehicle-to-vehicle intelligent terminal according to claim 1, characterized in that, The BeiDou satellite navigation and positioning module integrates the BeiDou-3 short message communication function, supports two-way short message transmission, and can realize long-distance vehicle-to-vehicle data interaction and vehicle-road-cloud data reporting.

4. The vehicle-to-vehicle intelligent terminal according to claim 1, characterized in that, The parameter storage unit uses a symmetric encryption algorithm to encrypt and store at least one fixed physical parameter of the vehicle, including its length, width, height, vehicle type, vehicle identification number, license plate, wheelbase, and load. The data is not lost when power is off and supports multiple erasures and rewrites. This unit is bound to the Beidou satellite navigation and positioning module.

5. The vehicle-to-vehicle intelligent terminal according to claim 1, characterized in that, The environmental perception module is one or more of millimeter-wave radar, lidar, or phased array radar, used to detect other vehicles, pedestrians, and obstacles within a preset range around the vehicle, acquire target distance, orientation, and relative speed data, and send them to the central control unit to provide target recognition support for vehicle-to-vehicle direct communication.

6. The vehicle-to-vehicle intelligent terminal according to claim 5, characterized in that, The phased array radar in the environmental perception module can achieve clear visual modeling of surrounding vehicles and the environment, improving the clarity and accuracy of near-field scene perception.

7. The vehicle-to-vehicle intelligent terminal according to claim 1, characterized in that, The vehicle-to-vehicle direct communication module is based on cellular vehicle-to-vehicle communication technology C-V2X or equivalent vehicle-to-vehicle short-range direct communication technology; the module can automatically discover, automatically network, and automatically connect with the same terminal in the absence of base stations and terrestrial mobile communication networks, and supports text message sending and receiving and real-time voice intercom.

8. The vehicle-to-vehicle intelligent terminal according to claim 1, characterized in that, The central control unit supports two calibration methods: self-calibration of the terminal body and calibration of the external positioning antenna. Based on the calibration point, it automatically generates a three-dimensional model of the whole vehicle by combining the vehicle physical parameters in the parameter storage unit.

9. The vehicle-to-vehicle intelligent terminal according to claim 1, characterized in that, The display and interaction unit is used to visualize the three-dimensional shape of the vehicle, the surrounding environment, the outline of the target vehicle, and the communication interaction interface in real time, and supports the driver to complete operations such as parameter input, reference point calibration, and communication triggering.

10. The vehicle-to-vehicle intelligent terminal according to claim 1, characterized in that, The central control unit integrates the vehicle's BeiDou high-precision positioning data, vehicle 3D model data, driving status information, and environmental perception data, and then uploads them to the vehicle-road-cloud collaborative system via BeiDou satellite direct connection, providing data support for all-domain traffic perception and collaborative scheduling.

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