Method, device and storage medium for consistent transmission of messages of a communication group

Abstract

Embodiments of the present application provide a message consistency transmission method and device of a communication group and a storage medium, and relate to the technical field of device queuing. The method comprises: receiving a message package carrying a target message sent by a sending end node in a target communication group; parsing the message package to obtain a current round identifier and a message sequence number corresponding to the target message; and in response to the current round identifier being the same as a local round identifier, determining a message sequence position of the target message in the current round according to the message sequence number. The method replaces physical clocks with round identifiers and message sequence numbers to sort messages, and when a clock jump occurs in a terminal in a satellite communication environment, a receiving end node can determine a round to which a message belongs according to a comparison result of a current round identifier and a local round identifier, and then determine a sequence position of the message in the current round according to a message sequence number, so that the consistency of message sequences of nodes in a group can be ensured without relying on physical clocks, and the reliability of group communication is improved.

Description

Technical Field

[0001] This application relates to the field of device grouping technology, and in particular to a message consistency transmission method, device and storage medium for a communication group. Background Technology

[0002] In team-based travel scenarios such as natural disaster relief, wilderness exploration, and logistics transportation in remote areas, terrestrial communication networks are often unusable due to geographical conditions, damaged infrastructure, or insufficient signal coverage. In these situations, members of a communication group can communicate via satellite communication terminals to achieve group chat, location sharing, action coordination, and the transmission of critical instructions.

[0003] In related technologies, message sorting methods within a group typically rely on the physical clock. Each satellite communication terminal, acting as a node in the group, adds timestamps to messages based on its local time and sorts the received messages according to the timestamp order. However, in a satellite communication environment, satellite communication terminals may experience clock jumps due to sleep / wake-up, signal calibration, or other reasons, resulting in abnormal timestamps. When the satellite communication terminals in the group sort messages based on these abnormal timestamps, the message order becomes disordered, leading to inconsistent message order displayed by different nodes within the group. Summary of the Invention

[0004] This application provides a message consistency transmission method, device, and storage medium for communication groups, which can achieve message order consistency among nodes in a group without relying on a physical clock in a satellite communication environment.

[0005] In a first aspect, this application provides a message consistency transmission method for a communication group, the method comprising:

[0006] Receive a message packet carrying a target message, wherein the message packet is sent by a sending node in the target communication group;

[0007] The message packet is parsed to obtain the current round identifier corresponding to the target message and the message sequence number of the target message in the current round; the current round identifier is determined based on the identifier information of the current round;

[0008] In response to the current round identifier being the same as the local round identifier, the message sequence position of the target message in the current round is determined according to the message sequence number.

[0009] In one possible implementation, the target communication group includes a target convoy, the method is applied to a first vehicle in the target convoy, and the sending node is a second vehicle in the target convoy; and / or,

[0010] The message packet includes a logical timestamp, which includes the current round identifier corresponding to the target message and the message sequence number of the target message within the current round; and / or,

[0011] The current round identifier monotonically increases within the lifecycle of the target communication group; and / or, the message sequence number monotonically increases within the same round.

[0012] In one possible implementation, determining the message sequence position of the target message in the current round based on the message sequence number includes:

[0013] Obtain the local expected sequence number, which is used to indicate the sequence number of the next message to be received;

[0014] If the message sequence number is equal to the local expected sequence number, then the target message is inserted into the position corresponding to the local expected sequence number in the local message queue, and the local expected sequence number is incremented.

[0015] In one possible implementation, the method further includes:

[0016] If the message sequence number is greater than the locally expected sequence number, then the target message is cached and missing message handling is performed; and / or,

[0017] If the message sequence number is less than the local expected sequence number, the target message is discarded.

[0018] In one possible implementation, the missing message processing includes:

[0019] Based on the message sequence number and the local expected sequence number, determine the range of missing message sequence numbers, and request the sending node to retransmit the missing message corresponding to the range of message sequence numbers;

[0020] After receiving the missing message retransmitted by the sending node, the missing message and the cached target message are inserted into the corresponding positions in the local message queue according to the message sequence number, and the local expected sequence number is incremented.

[0021] In one possible implementation, the method further includes:

[0022] If the current round identifier is greater than the local round identifier, then the local round identifier is updated to the current round identifier, the local expected sequence number is reset, and the target message is taken as the first message of the current round.

[0023] If the current round identifier is less than the local round identifier, the target message is discarded.

[0024] In one possible implementation, the message packet further includes a physical timestamp, and the method further includes:

[0025] After determining the position of the target message in the message sequence of the current round, the target message and the sending time of the target message are displayed on the user interface according to the physical timestamp.

[0026] Secondly, this application provides a message consistency transmission method for a communication group, the method comprising:

[0027] Based on the round determination mechanism of the target communication group, obtain the current round identifier of the target message;

[0028] Determine the message sequence number of the target message in the current round;

[0029] A message packet is generated based on the target message, the current round identifier, and the message sequence number;

[0030] The message packet is sent to the receiving node in the target communication group so that the receiving node can determine the message sequence position of the target message in the current round based on the current round identifier and the message sequence number.

[0031] In one possible implementation, the target communication group includes a target convoy, the method is applied to a second vehicle in the target convoy, and the receiving node is a first vehicle in the target convoy; and / or,

[0032] The message packet includes a logical timestamp, which includes the current round identifier corresponding to the target message and the message sequence number of the target message within the current round; and / or,

[0033] The current round identifier monotonically increases within the lifecycle of the target communication group; and / or, the message sequence number monotonically increases within the same round.

[0034] In one possible implementation, the round determination mechanism includes at least one of the following:

[0035] The initial node allocation is preset when the target communication group is created;

[0036] Determined through consensus among all nodes within the target communication group;

[0037] Reuse the round identifier that is currently in use.

[0038] In one possible implementation, the message packet also includes a physical timestamp, which indicates the time when the target message was sent.

[0039] Thirdly, this application provides a message consistency transmission device for a communication group, comprising:

[0040] A receiving module is used to receive message packets carrying target messages, wherein the message packets are sent by the sending node in the target communication group;

[0041] The parsing module is used to parse the message packet to obtain the current round identifier corresponding to the target message and the message sequence number of the target message in the current round; the current round identifier is determined based on the identifier information of the current round;

[0042] The processing module is configured to, in response to the current round identifier being the same as the local round identifier, determine the message sequence position of the target message in the current round based on the message sequence number.

[0043] Fourthly, this application provides a message consistency transmission apparatus for a communication group, comprising:

[0044] The acquisition module is used to obtain the current round identifier of the target message according to the round determination mechanism of the target communication group;

[0045] The first processing module is used to determine the message sequence number of the target message in the current round;

[0046] The second processing module is used to generate a message packet based on the target message, the current round identifier, and the message sequence number;

[0047] The sending module is used to send the message packet to the receiving node in the target communication group, so that the receiving node can determine the message sequence position of the target message in the current round according to the current round identifier and the message sequence number.

[0048] Fifthly, this application provides an electronic device, including: a memory and a processor;

[0049] The memory stores computer-executed instructions;

[0050] The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in either the first or second aspect above.

[0051] Sixthly, this application provides a vehicle, including a vehicle body and the electronic equipment described in the fifth aspect.

[0052] In a seventh aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in any one of the first or second aspects above.

[0053] Eighthly, this application provides a computer program product, including a computer program that, when executed by a processor, is used to implement the method described in either the first or second aspect above.

[0054] This application provides a message consistency transmission method, device, and storage medium for a communication group. During communication within the target communication group, the receiving node determines the round to which a message belongs based on a comparison between the current round identifier carried in the received message packet and its local round identifier. Then, it determines the message sequence position of the target message within the current round based on the message sequence number. This allows the message sorting method to adapt to the characteristics of satellite communication environments, such as limited bandwidth, high latency, terminal clock jumps, and signal intermittentness. Since all receiving nodes use the same round identifier and message sequence number for sorting, it ensures consistent understanding of the same message sequence position among nodes within the group. Displaying messages on the user interface according to the determined message sequence position improves the accuracy of message sorting and communication reliability, thereby enhancing the user's communication experience in bandwidth-constrained scenarios. Attached Figure Description

[0055] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0056] Figure 1 A schematic diagram illustrating the application scenarios provided in the embodiments of this application;

[0057] Figure 2 A flowchart illustrating an embodiment of the message consistency transmission method for communication groups provided in this application;

[0058] Figure 3 A flowchart illustrating Embodiment 2 of the message consistency transmission method for communication groups provided in this application;

[0059] Figure 4 A flowchart illustrating Embodiment 3 of the message consistency transmission method for communication groups provided in this application;

[0060] Figure 5 A flowchart illustrating Embodiment 4 of the message consistency transmission method for communication groups provided in this application;

[0061] Figure 6 A flowchart illustrating an example of the message consistency transmission method for communication groups provided in this application;

[0062] Figure 7 A schematic diagram of a user interface display provided in an embodiment of this application;

[0063] Figure 8A timing diagram for round switching is provided in an embodiment of this application;

[0064] Figure 9 A schematic diagram of the interaction process for message consistency transmission in a vehicle platooning scenario provided in this application embodiment;

[0065] Figure 10 A schematic diagram of the structure of a message consistency transmission device for a communication group provided in this application embodiment;

[0066] Figure 11 A schematic diagram of the structure of a second embodiment of the message consistency transmission device for communication groups provided in this application;

[0067] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0068] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0069] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0070] In scenarios such as natural disaster relief, wilderness exploration, and logistics transportation in remote areas, terrestrial communication networks (such as 4G / 5G) may fail due to geographical conditions, damaged infrastructure, or insufficient signal coverage. In these situations, satellite communication terminals become a core tool for ensuring communication among team members. Users can use satellite communication terminals for messaging, enabling group chats, location sharing, action coordination, and the transmission of critical instructions, which is of great significance for team collaboration and member safety.

[0071] In related technologies, message ordering between satellite communication terminal nodes typically relies on the node's own local time. When sending a message, each node can generate a timestamp for the message based on its own local time and send the timestamp along with the message; the receiving nodes then order the received messages according to the order of the timestamps.

[0072] However, satellite communication environments have unique characteristics: nodes may experience clock jumps due to sleep / wake-up, signal calibration, or power-on after battery depletion, leading to abnormal local time offsets. For example, if a node wakes up from sleep, its system time may be reset to the factory default or jump to a past point in time. Afterward, all messages sent by that node will carry incorrect timestamps. When other nodes in the group sort messages based on these abnormal timestamps, messages sent earlier are considered later, and vice versa, resulting in a message sending order inconsistent with the receiving end's sorting order. Furthermore, because the clock jumps of different nodes vary, different receiving nodes may also sort the same batch of messages differently, leading to inconsistent message order displayed across the group.

[0073] To address the aforementioned problems, the inventors considered replacing the reliance on physical clocks by introducing a sorting mechanism composed of round identifiers and message sequence numbers. Based on this, the inventors discovered through numerous experiments that after receiving a message packet from the sending node, the receiving node can parse the current round identifier and message sequence number corresponding to the target message from the message packet. The current round identifier is determined based on the identifier information of the current round. In response to the current round identifier being the same as the local round identifier, the message sequence position of the target message within the current round is determined based on the message sequence number. Through this method, on the one hand, the receiving node no longer relies on the sending node's local time for sorting, solving the problem of inconsistency between the message sending order and the sorted order at the receiving end; on the other hand, each receiving node determines the message sequence position based on the same round identifier and message sequence number, eliminating sorting differences caused by different clock transitions among nodes, thus solving the problem of inconsistent message order displayed by nodes within the group. Based on this, this application proposes a message consistency transmission method for communication groups to ensure the consistency of message order among nodes within the group and improve the reliability of group communication.

[0074] Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application. Please refer to [link / reference]. Figure 1 In a vehicle platooning scenario, the target platoon consists of a first vehicle and a second vehicle. The second vehicle, acting as the sending node, can transmit a target message to the first vehicle (the receiving node) via satellite. The target message is relayed via satellite and reaches the first vehicle. Upon receiving the target message, the first vehicle can determine its position in the message sequence.

[0075] It should be understood that the term "first vehicle" is not a quantitative limitation; that is, the number of receiving nodes can be one or more. When the second vehicle broadcasts a message to the target convoy, all other vehicles in the target convoy can act as receiving nodes, each independently performing the operation of determining the message sequence position, thereby achieving a consistent understanding of the message order among all vehicles in the convoy.

[0076] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0077] Figure 2 This is a flowchart illustrating an embodiment of the message consistency transmission method for communication groups provided in this application. Please refer to... Figure 2 The method includes:

[0078] S201, Receive message packet carrying target message.

[0079] In this step, the receiving node can receive message packets sent by the sending node in the target communication group via the satellite communication network. The information carried in the message packet includes: the target message itself, the current round identifier corresponding to the target message, and the message sequence number of the target message within the current round.

[0080] The current round identifier monotonically increases throughout the lifecycle of the target communication group to mitigate clock jumps and message rollback issues; the message sequence number is locally incremented by the sending node within the same round to identify the message sending order.

[0081] In an optional embodiment, the target communication group includes a target convoy, the message consistency transmission method of the aforementioned communication group is applied to a first vehicle in the target convoy, and the sending node is a second vehicle in the target convoy.

[0082] It should be noted that the aforementioned target communication group may include, but is not limited to, vehicle convoys, personnel convoys, ship convoys, or mixed convoys of the above types. Each node in the target communication group (such as vehicles, personnel, ships, aircraft, etc.) is equipped with a satellite communication terminal and exchanges messages through a satellite communication network. Any node in the target communication group can act as a sending node to send messages, and other nodes in the group act as receiving nodes to receive and process messages.

[0083] For example, in a team scenario, wilderness explorers can form groups using handheld satellite communication terminals to transmit location information and safety alerts; in a fleet scenario, ships can communicate in formation using satellite communication terminals and receive route adjustment instructions; in a mixed team scenario, different types of nodes such as rescue vehicles, rescue personnel handheld terminals, and rescue helicopters can form mixed groups using satellite communication terminals to achieve the orderly transmission of rescue instructions.

[0084] In one optional embodiment, the message packet includes a logical timestamp, which contains the current round identifier corresponding to the target message and the message sequence number of the target message within the current round. Combining these two into a logical timestamp integrates the two parameters into a single unit, allowing the receiving node to obtain both the round identifier and the message sequence number in a single parsing operation, thereby improving message processing efficiency.

[0085] It should be understood that the above logical timestamp is not physical time information, but a sorting identifier composed of round identifier and message sequence number, used to determine the position of the target message in the message sequence of the current round, and does not involve any physical clock information.

[0086] S202. Parse the message packet to obtain the current round identifier and the message sequence number of the target message in the current round.

[0087] In this step, the receiving node can parse the received message packet and extract the current round identifier and the message sequence number of the target message in the current round.

[0088] Specifically, the current round identifier is determined based on the identifier information of the current round. This identifier information can be the round identifier assigned by the initial node when the target communication group is created, or it can be the round identifier determined by the nodes in the group through negotiation, or it can be the round identifier that the sending node is using and reusing when it continues to send messages in the current round.

[0089] S203. In response to the fact that the current round identifier is the same as the local round identifier, determine the message sequence position of the target message in the current round based on the message sequence number.

[0090] In this step, the receiving node compares the parsed current round identifier with its locally maintained local round identifier. If they match, it further obtains the local expected sequence number and determines the message sequence position of the target message in the current round based on the relationship between the message sequence number and the local expected sequence number. The local expected sequence number indicates the next expected message sequence number to be received.

[0091] Specifically, if the message sequence number is greater than the local expected sequence number, the target message is cached, and the range of missing message sequence numbers is determined based on the message sequence number and the local expected sequence number. The sender node is then requested to retransmit the missing messages within that range. Once the missing messages arrive, they are inserted into the corresponding positions in the local message queue in sequence, along with the cached target messages, and the local expected sequence number is incremented.

[0092] If the message sequence number is less than the local expected sequence number, the target message is discarded, and it is determined that the target message has no message sequence position in the current round.

[0093] In this embodiment, the receiving node can receive message packets sent by the sending node in the target communication group. The message packets carry the target message, its corresponding current round identifier, and message sequence number. After parsing the current round identifier and message sequence number, the receiving node can determine the message sequence position of the target message in the current round based on the message sequence number, provided the current round identifier matches its local round identifier. In this process, the receiving node can determine the message sequence position using only the round identifier and message sequence number, without relying on a physical clock. This reduces the interference of clock jumps caused by satellite communication terminal sleep / wake-up, signal calibration, etc., on the message order, ensuring consistent understanding of the message order among nodes in the group and improving the reliability of message transmission within the communication group.

[0094] exist Figure 2 Based on the illustrated embodiment, the following, in conjunction with Figure 3 The message consistency transmission method for the aforementioned communication groups will be further described in detail.

[0095] Figure 3 This is a flowchart illustrating a second embodiment of the message consistency transmission method for communication groups provided in this application. Please refer to... Figure 3 The method includes:

[0096] S301. Receive a message packet carrying the target message, which is sent by the sending node in the target communication group.

[0097] For example, the target communication group includes a target convoy, with receiver node B being the first vehicle in the convoy and sender node A being the second vehicle in the convoy. Receiver node B can receive message packets sent by sender node A via a satellite communication network. The message packets include the text "Landslide ahead, please detour," the current convoy identifier 5, and the message sequence number 8.

[0098] S302. Parse the message packet to obtain the current round identifier and the message sequence number of the target message in the current round.

[0099] For example, when receiving node B parses the received message packet, it can extract the current round identifier 5 and the message sequence number 8.

[0100] S303. In response to the current round identifier being the same as the local round identifier, obtain the local expected sequence number.

[0101] In this step, the receiving node can compare the parsed current round identifier with the locally maintained local round identifier. If they are the same, it further obtains the local expected sequence number. The local expected sequence number indicates the sequence number of the next message to be received.

[0102] For example, if the receiving node B parses the current round identifier as 5 and its local round identifier is also 5, since they are the same, then node B can further obtain the local expected sequence number as 8.

[0103] Optionally, if the current round identifier is greater than the local round identifier, the local round identifier is updated to the current round identifier, the local expected sequence number is reset, and the target message is made the first message of the current round. For example, if the current local round identifier of receiving node B is 5, and the parsed current round identifier is 6, then node B can update the local round identifier to 6, reset the local expected sequence number to 1, and make the target message the first message of round 6.

[0104] Optionally, if the current round identifier is less than the local round identifier, the target message is discarded. For example, if the current local round identifier of receiving node B is 5, and the parsed current round identifier is 4, then node B determines that the target message belongs to an outdated round and can directly discard the message.

[0105] S304. If the message sequence number is equal to the local expected sequence number, then insert the target message into the position corresponding to the local expected sequence number in the local message queue, and increment the local expected sequence number.

[0106] In this step, the receiving node can compare the message sequence number with its local expected sequence number. If they are equal, the target message is inserted into the local message queue at the position corresponding to the local expected sequence number to determine the message sequence position of the target message in the current round, and the local expected sequence number is incremented.

[0107] For example, if the message sequence number parsed by the receiving node B is 8, and the local expected sequence number is also 8, since they are equal, then the receiving node B can insert the message "There is a landslide ahead, please detour" into the 8th position in the local message queue (that is, the position corresponding to the local expected sequence number), and update the local expected sequence number to 9.

[0108] S305. If the message sequence number is greater than the local expected sequence number, then cache the target message and handle the missing message.

[0109] In this step, the receiving node can determine that a message has been lost if the message sequence number is greater than its local expected sequence number. It then buffers the target message, determines the range of missing message sequence numbers based on the message sequence number and the local expected sequence number, and requests the sending node to retransmit the missing messages within that range. Here, a missing message refers to a message that the receiving node has confirmed is lost, has not yet received, but whose sequence number lies between the local expected sequence number and the currently received message sequence number.

[0110] Then, once the missing message arrives, the missing message and the cached target message can be inserted into the corresponding positions in the local message queue according to their message sequence numbers, and the local expected sequence number can be incremented.

[0111] For example, if the message sequence number parsed by the receiving node B is 8 and the local expected sequence number is 4, then node B determines that messages from the local expected sequence number 4 to the message sequence number minus 1 (i.e., sequence number 7) are lost. It buffers message 8 and requests the sending node A to retransmit messages from sequence number 4 to sequence number 7. After the retransmitted messages arrive, messages 4 through 8 are inserted into their corresponding positions in the local message queue in sequence, and the local expected sequence number is updated to 9.

[0112] S306. If the message sequence number is less than the local expected sequence number, then discard the target message.

[0113] In this step, the receiving node can determine that the message has been processed or is a duplicate message if the message sequence number is less than the local expected sequence number, and discard it directly. The target message has no message sequence position in the current round.

[0114] For example, if the sequence number of the message parsed by the receiving node B is 3 and the local expected sequence number is 8, then node B determines that message 3 has already been processed and discards the message directly.

[0115] It should be noted that for different sending nodes, the receiving node maintains its own local round identifier and local expected sequence number. When a message packet is received, the receiving node can determine its local state based on the message packet's source (e.g., the sending node identifier), and then perform a comparison between the round identifier and the message sequence number. In this way, messages from different sending nodes are independently positioned in the message sequence at the receiving end, without interference, thus ensuring that the message order of each sending node remains correct.

[0116] In one alternative implementation, the message packet also includes a physical timestamp. After determining the position of the target message in the message sequence of the current round, the target message and the time when the target message was sent can be displayed on the user interface based on the physical timestamp.

[0117] For example, after receiving node B inserts the message "There is a landslide ahead, please detour" into the 8th position in its local message queue, it displays "Node A: There is a landslide ahead, please detour (10:30:25)" in the chat interface based on the physical timestamp in the message packet (such as "10:30:25").

[0118] In this embodiment, the receiving node determines the round to which the message belongs by comparing the parsed current round identifier with the local round identifier. If the rounds are consistent, it performs sequential insertion, buffered retransmission, or discarding based on the relationship between the message sequence number and the locally expected sequence number, respectively, to determine the message sequence position of the target message in the current round. In this process, the receiving node can determine the message sequence position using only two logical dimensions: the round identifier and the message sequence number. This effectively solves the problem of message order disorder caused by clock jumps in satellite communication environments, ensuring consistent understanding of message order among nodes in the group and avoiding decision-making errors or security risks caused by information transmission errors.

[0119] In addition, the message packet provided in this application embodiment also includes a physical timestamp. After the receiving node determines the position of the target message in the message sequence of the current round, it can display the target message and its sending time on the user interface according to the physical timestamp, providing users with an intuitive reference for the sending time and further improving the user experience.

[0120] The above embodiments mainly describe the processing flow of the receiving node determining the position of the target message in the message sequence in the current round. Below, in conjunction with... Figure 4 This section describes the process of generating and sending message packets by the sending node.

[0121] Figure 4 This is a flowchart illustrating Embodiment 3 of the message consistency transmission method for communication groups provided in this application. Please refer to... Figure 4 The method includes:

[0122] S401. Obtain the current round identifier of the target message according to the round determination mechanism of the target communication group.

[0123] In this step, when the sending node sends a target message to the receiving node, it can determine the current round identifier of the target message according to the round determination mechanism within the target communication group. The round identifier is used to distinguish different stages of group communication and has a monotonically increasing characteristic, meaning the identifier value of a later round is greater than that of the previous round.

[0124] The round determination mechanism may include at least one of the following: initial node allocation preset when the target communication group is created; determination through consensus among nodes within the target communication group; and reuse of the round identifier currently in use.

[0125] For example, when the target communication group is initialized, the preset initial node can be assigned a round identifier of 1; when the target communication group state needs to be switched, each node can increment the round identifier through negotiation; when the sending node continues to send messages in the current round, it can directly reuse the round identifier that is currently in use without having to obtain it again.

[0126] S402. Determine the message sequence number of the target message in the current round.

[0127] In this step, the sending node can assign a unique message sequence number to the target message within the current round. The message sequence number is maintained locally by the sending node and monotonically increases within the same round, typically starting from 1 and increasing sequentially.

[0128] In one specific implementation, the message sequence number is used to identify the sending order of the target message within the current round, and together with the round identifier, constitutes the basis for the receiving node to determine the position of the target message in the message sequence within the current round. Each time the sending node sends a message, its local message sequence number is automatically incremented by 1, ensuring that the sequence numbers of each message within the same round are unique and ordered.

[0129] S403. Generate a message packet based on the target message, the current round identifier, and the message sequence number.

[0130] In this step, the sending node can package the target message content, the current round identifier, and the message sequence number to generate a message packet.

[0131] In one optional embodiment, the message packet includes a logical timestamp, which includes the current round identifier corresponding to the target message and the message sequence number of the target message within the current round. By encapsulating the round identifier and message sequence number into a single logical timestamp, the receiving node can obtain both sorting parameters at once when parsing the message packet, without having to read two separate pieces of information, thereby improving message parsing efficiency.

[0132] Optionally, when generating the message packet, the sending node can also write its local system time as a physical timestamp into the message packet. This physical timestamp indicates the time the target message was sent, and is used by the receiving node when displaying it in the user interface.

[0133] S404. Send a message packet to the receiving node in the target communication group so that the receiving node can determine the message sequence position of the target message in the current round based on the current round identifier and message sequence number.

[0134] In this step, the sending node can broadcast the generated message packet via a satellite communication network, and all receiving nodes in the group can receive the message packet.

[0135] The message packet sent by the sending node carries the current round identifier and the message sequence number. These two parameters together form the basis for the receiving node to determine the position of the target message in the message sequence within the current round. After receiving the message packet, the receiving node can determine the round to which the message belongs based on the current round identifier, and determine the position of the message in the message sequence within the current round based on the message sequence number.

[0136] In an optional embodiment, the target communication group includes a target convoy. The message consistency transmission method of the aforementioned communication group is applied to the second vehicle (i.e., the sending node) in the target convoy, and the receiving node is the first vehicle in the target convoy. The second vehicle sends message packets to the first vehicle via a satellite communication network, so that the first vehicle can determine the message sequence position of the target message in the current round based on the current round identifier and message sequence number in the message packet.

[0137] It should be understood that the terms "first vehicle" and "second vehicle" are relative descriptions. The first vehicle can be any receiving vehicle in the target communication group, and the second vehicle can be any sending vehicle in the target communication group. When the communication direction changes, the roles of the first and second vehicles can be interchanged; that is, the original sending vehicle can become the receiving vehicle, and the original receiving vehicle can become the sending vehicle.

[0138] In this embodiment, the sending node can obtain the current round identifier of the target message according to the round determination mechanism within the target communication group, assign a locally monotonically increasing message sequence number to the target message within the current round, and then package the target message, the current round identifier, and the message sequence number into a message packet, which is then sent to the receiving node via a satellite communication network. In this process, the sending node provides a physical clock-independent sorting basis for the target message, enabling the receiving node to determine the message sequence position of the target message within the current round based on the current round identifier and message sequence number. This provides a reliable data foundation for the receiving end to achieve ordered message placement and out-of-order recovery, ensuring consistent message order perception among all nodes within the group from the source.

[0139] Figure 5 This is a flowchart illustrating Embodiment 4 of the message consistency transmission method for communication groups provided in this application. Please refer to... Figure 5 The method includes:

[0140] S501, The sending node obtains the current round identifier of the target message.

[0141] For example, in a vehicle convoy wilderness adventure scenario without terrestrial network coverage, each member communicates via satellite communication terminal. When the sending node A needs to send the target message "I have reached the safe area", it can reuse the currently used round identifier 5 as the current round identifier.

[0142] S502, The sending node determines the message sequence number of the target message in the current round.

[0143] For example, if sending node A has sent 15 messages in the current round 5, then the message sequence number of the target message "I have reached the safe zone" to be sent can be determined as 16.

[0144] S503, The sending node packages the target message, the current round identifier, and the message sequence number to generate a message packet.

[0145] For example, sending node A can package the target message content "I have reached the safe zone", the current round identifier 5, and the message sequence number 16 to generate a message packet.

[0146] Optionally, to improve the accuracy of message missing detection by the receiving node, the message packet can also be designed with redundancy. The message packet also includes a state vector, which is used to record the historical round identifier of the previous message of the sending node and the historical message sequence number of the previous message.

[0147] For example, if the round identifier of the previous message sent by the sending node A is 5 and the message sequence number is 15, then the state vector is recorded as (5, 15).

[0148] S504. The sending node sends a message packet to the receiving node.

[0149] For example, sending node A can send a message packet to receiving node B via a satellite communication network.

[0150] S505: The receiving node parses the message packet to obtain the current round identifier and message sequence number.

[0151] For example, when receiving node B parses the received message packet, it can extract the current round identifier 5 and the message sequence number 16.

[0152] If the message packet also includes a state vector, the receiving node B can also parse the state vector to obtain the historical round identifier 5 and the historical message sequence number 15.

[0153] S506. If the current round identifier is the same as the local round identifier, the receiving node determines the message sequence position of the target message in the current round based on the message sequence number.

[0154] In this step, the receiving node compares the parsed current round identifier with the locally maintained local round identifier. If they are the same, it further obtains the local expected sequence number and determines the message sequence position of the target message in the current round based on the relationship between the message sequence number and the local expected sequence number.

[0155] If the message packet also includes a state vector, the receiving node can parse the state vector to obtain the historical round identifier and the historical message sequence number. The historical round identifier is compared with the local round identifier; if they are the same, the historical message sequence number is then compared with the sequence numbers of locally received messages to help determine if any messages are missing.

[0156] For example, if the current local round number identifier of receiving node B is 5, which is the same as the parsed round number identifier 5, and receiving node B obtains a local expected sequence number of 14, then since message sequence number 16 is greater than the local expected sequence number 14, it is determined that messages with sequence numbers 14 and 15 are lost. Therefore, it can cache the message "I have reached the safe zone" and request retransmission of messages with sequence numbers 14 and 15 from sending node A. After receiving the retransmission message, messages 14 to 16 are inserted into their corresponding positions in the local message queue in sequence.

[0157] Furthermore, if the message packet also includes a state vector, the receiving node B can parse out the historical round identifier 5 and the historical message sequence number 15. The historical round identifier 5 is compared with the local round identifier 5; they are the same. Then, the historical message sequence number 15 is compared with the locally received message sequence number (assumed to be 13). Since 15 is greater than 13, it can be further confirmed that a message is missing, thereby enhancing the reliability of the missing message detection.

[0158] In this embodiment, the sending node obtains the current round identifier through a round determination mechanism, allocates a locally monotonically increasing message sequence number within the current round, and packages the target message, round identifier, and message sequence number before sending it to the receiving node. Upon receiving the message packet, the receiving node parses it to obtain the current round identifier and message sequence number. If the current round identifier is the same as the local round identifier, it determines the message sequence position of the target message within the current round based on the relationship between the message sequence number and the locally expected sequence number. In this approach, the sending node provides a complete sorting basis for the target message using the round identifier and message sequence number without relying on a physical clock; the receiving node can determine the message sequence position within the current round by parsing the two logical parameters, the round identifier and message sequence number, thus reducing the interference of clock jumps caused by sleep / wake-up or signal calibration of the satellite communication terminal on the message order.

[0159] In addition, as a redundancy design, the message packet can also include a state vector to record the historical round identifier and historical message sequence number of the previous message on the sending node. After parsing the state vector, the receiving node can compare it with its local state to help determine if a message is missing, further enhancing the reliability of determining the message sequence position.

[0160] Figure 6This is a flowchart illustrating an example of the message consistency transmission method for communication groups provided in this application. Please refer to... Figure 6 The method includes:

[0161] S601, Receive message packet.

[0162] For example, receiving node B receives message packets sent by sending node A through a satellite communication network.

[0163] S602, Parse to obtain the logical timestamp.

[0164] For example, receiving node B can parse the received message packet and extract the target message and logical timestamp. The logical timestamp includes the current round identifier and the message sequence number.

[0165] S603. Determine whether the current round identifier is greater than the local round identifier.

[0166] If the current round identifier is greater than the local round identifier, then execute S604; otherwise, execute S605.

[0167] S604. Update the local round identifier to the current round identifier.

[0168] For example, receiving node B updates its local round identifier to the parsed current round identifier and resets its local expected sequence number, indicating that the group has entered a new round.

[0169] S605. Determine whether the current round identifier is equal to the local round identifier.

[0170] If the current round identifier is equal to the local round identifier, then execute S606; otherwise, execute S607.

[0171] S606. Determine if the message sequence number is greater than the local expected sequence number.

[0172] If the message sequence number is greater than the local expected sequence number, then execute S608; otherwise, execute S609.

[0173] S607, Discard the target message.

[0174] For example, if the current round identifier is less than the local round identifier, the receiving node B will directly discard the target message.

[0175] S608: Message loss is detected. The target message is cached and a request is made to retransmit the missing message.

[0176] For example, when receiving node B determines that a message has been lost, it can cache the target message, determine the range of missing message sequence numbers based on the message sequence number and the local expected sequence number, and request the sending node A to retransmit the missing message within that range.

[0177] S609. Determine whether the message sequence number is equal to the local expected sequence number.

[0178] If the message sequence number is equal to the local expected sequence number, then execute S610; otherwise, execute S607.

[0179] S610: Update the local expected sequence number and submit it to the application layer.

[0180] In this step, the receiving node inserts the target message into its corresponding position in its local message queue to determine the target message's position in the current round's message sequence. It then increments the local expected sequence number and delivers the target message with its determined sequence position to the application layer. The application layer then displays the target message to the user according to this sequence position. Here, the application layer refers to the software module responsible for processing message content and presenting the message to the user, such as the message display module in a chat interface.

[0181] Specifically, this step is performed in the following three situations: First, when a new round begins, the first message is delivered to the application layer as the first message of the current round and the expected sequence number is updated; second, when messages arrive in order (the message sequence number equals the local expected sequence number), the target message is inserted into the corresponding position in the local message queue, its message sequence position is determined, and the expected sequence number is incremented; third, when missing messages are filled in, the cached messages and the filled messages are inserted into the corresponding positions in the local message queue in the order of their message sequence numbers, their respective message sequence positions are determined, and the expected sequence number is updated to the next sequence number to be received.

[0182] S611, User interface display.

[0183] For example, receiving node B can display the target message on the user interface. When displaying the target message, it can be formatted using the physical timestamp in the message packet, displaying the sending time of the target message according to a preset time format (such as "hour:minute:second").

[0184] Figure 7 This is a schematic diagram of a user interface display provided for an embodiment of this application. Please refer to... Figure 7 This user interface is a schematic diagram showing the target message and its sending time after the receiving node B determines the target message's position in the message sequence of the current round. As shown in the figure, the user interface displays a list of target fleet members (such as node A, node C, and node D) and group chat messages arranged sequentially by message sequence position. The interface includes the message sender node identifier, message content, and physical timestamp.

[0185] For example, two messages sent by node A are displayed in chronological order: the first message is "I have arrived at an abnormal road section (10:30:24)", and the second message is "There is a landslide ahead, please detour (10:30:25)". The two messages are coherent, demonstrating that the correct message order is essential for users to accurately understand the complete meaning. Each message is arranged according to its established message sequence, allowing users to intuitively see the group chat messages displayed in the correct order and avoiding semantic misunderstandings caused by message disorder.

[0186] The specific implementation details of each of the above steps can be found in the foregoing embodiments, and will not be repeated here.

[0187] The message consistency transmission method for communication groups provided in this application enables receiving nodes to determine the hierarchy of target messages based on round identifiers and message sequence numbers in message packets: the round identifier determines the stage to which the message belongs, and the message sequence number determines the message's position in the current stage. This method, based on logical timestamps, determines the message sequence position through the combined action of three mechanisms: in-order insertion, missing message retransmission, and outdated message discarding. It does not rely on a physical clock, thus effectively ensuring consistent message order perception among nodes in the group, improving the reliability of group communication, even in extreme environments with high latency, intermittent connections, and unreliable clocks in satellite communication.

[0188] Figure 8 This is a timing diagram for round switching provided in an embodiment of this application. Please refer to... Figure 8 This timeline diagram uses a vehicle platooning scenario as an example to illustrate the process of the target communication group switching from round 1 to round 2, including:

[0189] Initially, nodes A and B in the target convoy have a local round identifier of 1, while node C has a current round identifier of 2. Node C's position in round 2 can be determined through a preset initial node assignment during the creation of the target communication group, or through consensus among the nodes within the group. When a node in the group (such as node C, for example, the lead vehicle in the convoy) enters a new round due to offline reconnection, inconsistent status, or actively initiating a switch, its sent message will carry the updated round identifier, thereby triggering other nodes in the group (such as follower vehicles in the convoy) to switch synchronously.

[0190] Node C sends target message m to the group. The current round identifier of target message m is 2 and the message sequence number is 1.

[0191] After receiving the target message m, node A determines that the current round identifier 2 is greater than the local round identifier 1, updates the local round identifier to 2, and resets the local expected sequence number. Then, node A forwards the target message m to node B to ensure that node B can receive the target message m (node ​​B can also receive it directly from node C; either method is acceptable).

[0192] After node B receives the target message m (whether it receives it directly from node C or forwards it through node A), it also determines that the current round identifier 2 is greater than the local round identifier 1, updates the local round identifier to 2, and resets the local expected sequence number. At this point, all nodes in the target communication group are synchronized to the new round 2.

[0193] Through the aforementioned round-switching mechanism, when a vehicle in the target convoy (such as the lead vehicle) enters a new round, its broadcast target message can trigger other vehicles in the convoy to synchronously update their local round identifiers and reset their desired sequence numbers, thereby achieving round consistency across the entire target convoy. This mechanism eliminates the need for complex negotiation processes, completing round synchronization solely through message passing. It reduces message sequence position confusion caused by round asynchrony, provides a unified round benchmark for the correct determination of subsequent message sequence positions, and ensures message order consistency for the convoy in a satellite communication environment.

[0194] Figure 9 This is a schematic diagram illustrating the interaction flow for message consistency transmission in a vehicle platooning scenario provided in this application embodiment. Please refer to... Figure 9 In a vehicle platooning scenario, the second vehicle acts as the sending node and the first vehicle acts as the receiving node.

[0195] The second vehicle can first obtain the current round identifier according to the round determination mechanism of the target communication group, then determine the message sequence number of the target message in the current round, package the target message with the current round identifier and the message sequence number to generate a message packet, and send it to the first vehicle through the satellite communication network.

[0196] After receiving the message packet, the first vehicle parses it to obtain the current round identifier and message sequence number. If the current round identifier is the same as the local round identifier, it determines the message sequence position of the target message in the current round based on the message sequence number, inserts the message into the corresponding position in the local message queue, and displays it on the user interface.

[0197] Through the above interaction process, each receiving vehicle can determine the message sequence position based on the same round identifier and message sequence number. This ensures that all vehicles in the convoy have a consistent understanding of the message order in extreme environments with high latency and intermittent connection in satellite communication, effectively improving the coordination efficiency and driving safety of convoy travel.

[0198] It should be understood that Figure 8Nodes A, B, and C in this embodiment refer to the vehicles in the target convoy. Node C can be, for example, the lead vehicle in the convoy or any vehicle that initiates message transmission, while nodes A and B can be, for example, following vehicles in the convoy. When a node (such as the lead vehicle) enters a new round or sends a target message as a sending node, other nodes in the group (such as following vehicles) perform corresponding round switching or message sequence position determination operations as receiving nodes. Figure 8 and Figure 9 Together, they demonstrate the complete process of vehicle platooning, from round switching and message sending to message sorting and display.

[0199] Figure 10 This is a schematic diagram of the structure of a message consistency transmission device for a communication group provided in an embodiment of this application. Please refer to... Figure 10 The message consistency transmission device 10 of the communication group includes:

[0200] The receiving module 11 is used to receive message packets carrying target messages, which are sent by the sending node in the target communication group;

[0201] Parsing module 12 is used to parse message packets to obtain the current round identifier corresponding to the target message and the message sequence number of the target message in the current round; the current round identifier is determined based on the identifier information of the current round;

[0202] Processing module 13 is used to determine the message sequence position of the target message in the current round based on the message sequence number when the current round identifier is the same as the local round identifier.

[0203] In one possible implementation, the target communication group includes a target convoy, the method is applied to a first vehicle in the target convoy, and the sending node is a second vehicle in the target convoy; and / or

[0204] The message packet includes a logical timestamp, which contains the current round identifier corresponding to the target message and the message sequence number of the target message within the current round; and / or,

[0205] The current round identifier monotonically increases within the lifecycle of the target communication group; and / or, the message sequence number monotonically increases within the same round.

[0206] In one possible implementation, the processing module 13 is specifically used for:

[0207] Obtain the local expected sequence number, which is used to indicate the sequence number of the next message to be received;

[0208] If the message sequence number equals the local expected sequence number, then insert the target message into the position corresponding to the local expected sequence number in the local message queue, and increment the local expected sequence number.

[0209] In one possible implementation, the processing module 13 is specifically used for:

[0210] If the message sequence number is greater than the locally expected sequence number, then cache the target message and handle missing messages; and / or,

[0211] If the message sequence number is less than the local expected sequence number, the target message is discarded.

[0212] In one possible implementation, the processing module 13 is specifically used for:

[0213] Based on the message sequence number and the local expected sequence number, determine the range of missing message sequence numbers, and request the sending node to retransmit the missing messages corresponding to the message sequence number range;

[0214] After receiving the missing message retransmitted by the sending node, the missing message and the cached target message are inserted into the corresponding positions in the local message queue according to the message sequence number, and the local expected sequence number is incremented.

[0215] In one possible implementation, the processing module 13 is further configured to:

[0216] If the current round identifier is greater than the local round identifier, then update the local round identifier to the current round identifier, reset the local expected sequence number, and set the target message as the first message of the current round;

[0217] If the current round identifier is less than the local round identifier, the target message is discarded.

[0218] In one possible implementation, the message packet also includes a physical timestamp, and the processing module 13 is further configured to:

[0219] After determining the target message's position in the message sequence of the current round, the target message and the time it was sent are displayed on the user interface based on the physical timestamp.

[0220] The message consistency transmission device for communication groups provided in this application embodiment can execute the technical solution shown in the above-described receiving node side method embodiment. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0221] Figure 11 This is a schematic diagram of a second embodiment of the message consistency transmission device for communication groups provided in this application. Please refer to... Figure 11 The message consistency transmission device 20 of the communication group includes:

[0222] The acquisition module 21 is used to acquire the current round identifier of the target message according to the round determination mechanism of the target communication group;

[0223] The first processing module 22 is used to determine the message sequence number of the target message in the current round;

[0224] The second processing module 23 is used to generate a message packet based on the target message, the current round identifier, and the message sequence number;

[0225] The sending module 24 is used to send message packets to the receiving nodes in the target communication group so that the receiving nodes can determine the message sequence position of the target message in the current round based on the current round identifier and message sequence number.

[0226] In one possible implementation, the target communication group includes a target convoy, the method is applied to a second vehicle in the target convoy, and the receiving node is a first vehicle in the target convoy; and / or

[0227] The message packet includes a logical timestamp, which contains the current round identifier corresponding to the target message and the message sequence number of the target message within the current round; and / or,

[0228] The current round identifier monotonically increases within the lifecycle of the target communication group; and / or, the message sequence number monotonically increases within the same round.

[0229] In one possible implementation, the round determination mechanism includes at least one of the following:

[0230] The initial node allocation is preset when the target communication group is created;

[0231] Determined through consensus among all nodes within the target communication group;

[0232] Reuse the round identifier that is currently in use.

[0233] In one possible implementation, the message packet also includes a physical timestamp, which indicates the time when the target message was sent.

[0234] The message consistency transmission device for communication groups provided in this application embodiment can execute the technical solution shown in the above-described method embodiment for the sending node. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0235] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Please refer to... Figure 12 The electronic device 30 provided in this embodiment can be any node device in the target communication group, such as vehicles, personnel, ships, aircraft, etc. Each node is equipped with a satellite communication terminal and interacts with messages through the satellite communication network.

[0236] The electronic device 30 may include at least one processor 31 and a memory 32. Optionally, the electronic device 30 may also include a communication component 33. The processor 31, the memory 32, and the communication component 33 are connected via a bus 34.

[0237] In the specific implementation process, at least one processor 31 executes computer execution instructions stored in memory 32, causing at least one processor 31 to execute the technical solution shown in the above-described method embodiment of sending end node or receiving end node.

[0238] The specific implementation process of processor 31 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0239] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0240] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0241] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0242] This application also provides a vehicle, including a vehicle body, and Figure 12 The electronic device shown is used to implement the message consistency transmission method of the communication group in the above embodiments. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0243] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0244] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0245] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0246] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0247] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0248] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0249] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0250] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0251] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0252] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A message consistency transmission method for a communication group, characterized in that, The method includes: Receive a message packet carrying a target message, wherein the message packet is sent by a sending node in the target communication group; The message packet is parsed to obtain the current round identifier corresponding to the target message and the message sequence number of the target message in the current round; the current round identifier is determined based on the identifier information of the current round; In response to the current round identifier being the same as the local round identifier, the message sequence position of the target message in the current round is determined according to the message sequence number.

2. The method according to claim 1, characterized in that, The target communication group includes a target convoy, the method is applied to a first vehicle in the target convoy, and the sending node is a second vehicle in the target convoy; And / or, The message packet includes a logical timestamp, which includes the current round identifier corresponding to the target message and the message sequence number of the target message within the current round; And / or, The current round identifier monotonically increases within the lifecycle of the target communication group; and / or, the message sequence number monotonically increases within the same round.

3. The method according to claim 1, characterized in that, Determining the message sequence position of the target message in the current round based on the message sequence number includes: Obtain the local expected sequence number, which is used to indicate the sequence number of the next message to be received; If the message sequence number is equal to the local expected sequence number, then the target message is inserted into the position corresponding to the local expected sequence number in the local message queue, and the local expected sequence number is incremented.

4. The method according to claim 3, characterized in that, The method further includes: If the message sequence number is greater than the locally expected sequence number, then the target message is cached and missing message handling is performed; and / or, If the message sequence number is less than the local expected sequence number, the target message is discarded.

5. The method according to claim 4, characterized in that, The missing message processing includes: Based on the message sequence number and the local expected sequence number, determine the range of missing message sequence numbers, and request the sending node to retransmit the missing message corresponding to the range of message sequence numbers; After receiving the missing message retransmitted by the sending node, the missing message and the cached target message are inserted into the corresponding positions in the local message queue according to the message sequence number, and the local expected sequence number is incremented.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: If the current round identifier is greater than the local round identifier, then the local round identifier is updated to the current round identifier, the local expected sequence number is reset, and the target message is taken as the first message of the current round. If the current round identifier is less than the local round identifier, the target message is discarded.

7. The method according to any one of claims 1-5, characterized in that, The message packet also includes a physical timestamp, and the method further includes: After determining the position of the target message in the message sequence of the current round, the target message and the time of its transmission are displayed on the user interface based on the physical timestamp.

8. A message consistency transmission method for a communication group, characterized in that, The method includes: Based on the round determination mechanism of the target communication group, obtain the current round identifier of the target message; Determine the message sequence number of the target message in the current round; A message packet is generated based on the target message, the current round identifier, and the message sequence number; The message packet is sent to the receiving node in the target communication group so that the receiving node can determine the message sequence position of the target message in the current round based on the current round identifier and the message sequence number.

9. The method according to claim 8, characterized in that, The target communication group includes a target convoy, the method is applied to a second vehicle in the target convoy, and the receiving node is a first vehicle in the target convoy. And / or, The message packet includes a logical timestamp, which includes the current round identifier corresponding to the target message and the message sequence number of the target message within the current round; And / or, The current round identifier monotonically increases within the lifecycle of the target communication group; and / or, the message sequence number monotonically increases within the same round.

10. The method according to claim 8, characterized in that, The round determination mechanism includes at least one of the following: The initial node allocation is preset when the target communication group is created; Determined through consensus among all nodes within the target communication group; Reuse the round identifier that is currently in use.

11. The method according to any one of claims 8-10, characterized in that, The message packet also includes a physical timestamp, which is used to indicate the time when the target message was sent.

12. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-7 or 8-11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-7 or 8-11.

14. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-7 or 8-11.

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