Vehicle-side Data Sharing Method, Device, Medium and Electronic Equipment

Abstract

Embodiments of the present application provide a method, device, medium, and electronic device for data sharing at a vehicle end. The method for data sharing at the vehicle end includes: obtaining sensor parameter information of the vehicle end and obtaining sensing capability information of a roadside sensing device deployed at the location where the vehicle end is located; determining data sharing configuration information for the vehicle end according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle end; and transmitting the data sharing configuration information to the vehicle end so that the vehicle end performs sharing processing of sensor data according to the data sharing configuration information. The technical solution of the embodiments of the present application can avoid a large amount of data redundancy caused by the vehicle end blindly sharing sensor data, and can also avoid waste of wireless resources, which is beneficial to achieving the balance between sensor data sharing and resource efficiency.

Description

Technical Field

[0001] The present application relates to the field of computer and communication technology, and more specifically, to a vehicle-side data sharing method, device, medium and electronic device. Background Art

[0002] In the application scenario of vehicle communication, vehicles and vehicles, and vehicles and RSU (Road Side Unit) can detect other surrounding traffic participants (such as vehicles, pedestrians, cyclists, etc.) or abnormal road conditions through their own configured sensing devices (such as cameras, radars and other sensors), such as road traffic events (including traffic accidents, etc.), abnormal vehicle behaviors (speeding, leaving the lane, driving in the opposite direction, irregular driving and abnormal stillness, etc.), road obstacles (such as fallen rocks, scattered objects, dead branches, etc.) and road conditions (such as water accumulation, ice, etc.) and other information, and after processing the detected information, send it to other surrounding vehicles through V2X (vehicle to Everything) communication. Other vehicles that receive this information can perceive traffic participants or abnormal road conditions that are not within their field of view in advance, assist themselves in making correct driving decisions, reduce traffic accidents and secondary injuries, and improve driving safety or traffic efficiency. However, in related technologies, sensor data will generate a lot of redundancy when sharing, which will lead to a waste of wireless resources. Summary of the invention

[0003] The embodiments of the present application provide a vehicle-side data sharing method, device, medium and electronic device, which can at least to a certain extent avoid the vehicle-side blindly sharing sensor data and causing more data redundancy, and can also avoid the waste of wireless resources, which is conducive to achieving a balance between sensor data sharing and resource efficiency.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, a vehicle-side data sharing method is provided, including: obtaining sensor parameter information of the vehicle-side, and obtaining perception capability information of a roadside perception device deployed at the location of the vehicle-side; determining data sharing configuration information for the vehicle-side according to the perception capability information of the roadside perception device and the sensor parameter information of the vehicle-side; transmitting the data sharing configuration information to the vehicle-side, so that the vehicle-side performs sensor data sharing processing according to the data sharing configuration information.

[0006] According to one aspect of the embodiments of the present application, a method for sharing data on the vehicle side is provided, including: obtaining the sensing capability information of the roadside sensing device; transmitting the sensing capability information of the roadside sensing device to the vehicle side at the location where the roadside sensing device is located, so that the vehicle side adjusts the data sharing configuration information of the vehicle side according to the sensing capability information and the sensor parameter information of the vehicle side.

[0007] According to one aspect of the embodiments of the present application, a method for sharing data on the vehicle side is provided, including: obtaining the sensor parameter information of the vehicle side; sending the sensor parameter information to the cloud server, so that the cloud server determines the data sharing configuration information for the vehicle side according to the sensor parameter information and the sensing capability information of the roadside sensing device deployed at the location where the vehicle side is located; receiving the data sharing configuration information sent by the cloud server, and performing sharing processing of sensor data according to the data sharing configuration information.

[0008] According to one aspect of the embodiments of the present application, a method for sharing data on the vehicle side is provided, including: obtaining the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle side; determining the data sharing configuration information for the vehicle side according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle side; adjusting the sensor sharing strategy of the vehicle side according to the data sharing configuration information, and performing sharing processing of sensor data according to the sensor sharing strategy.

[0009] According to one aspect of the embodiments of the present application, a data sharing device on the vehicle side is provided, including: a first obtaining unit configured to obtain the sensor parameter information of the vehicle side and obtain the sensing capability information of the roadside sensing device deployed at the location where the vehicle side is located; a first processing unit configured to determine the data sharing configuration information for the vehicle side according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle side; a first sending unit configured to transmit the data sharing configuration information to the vehicle side, so that the vehicle side performs sharing processing of sensor data according to the data sharing configuration information.

[0010] In some embodiments of the present application, based on the foregoing solution, the first processing unit is configured to: if it is determined according to the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device can meet the requirements of the vehicle side, generate data sharing configuration information for instructing the vehicle side to reduce the amount of sensor data sharing, or generate data sharing configuration information for instructing the vehicle side to suspend sharing sensor data.

[0011] In some embodiments of the present application, based on the foregoing solution, the first processing unit is configured to: if it is determined according to the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device is lower than a set threshold, generate data sharing configuration information for instructing the vehicle side to increase the amount of sensor data sharing.

[0012] In some embodiments of the present application, based on the foregoing solution, the data sharing configuration information is used to instruct the vehicle side to adjust at least one of the following information: the type of sensor data shared by the vehicle side, the frequency of sensor data shared by the vehicle side, the data content of sensor data shared by the vehicle side, and the priority of sensor data shared by the vehicle side.

[0013] In some embodiments of the present application, based on the foregoing solution, the sensing capability information of the roadside sensing device is determined according to at least one of the following factors: the number of roadside sensing devices deployed at the location of the vehicle side, the sensing accuracy of the roadside sensing device, the computing performance of the roadside sensing device, and the network transmission capability of the roadside sensing device.

[0014] According to one aspect of the embodiments of the present application, there is provided a data sharing device for a vehicle side, including: a second acquisition unit configured to acquire sensor parameter information of the vehicle side; a second sending unit configured to send the sensor parameter information to a cloud server so that the cloud server determines data sharing configuration information for the vehicle side according to the sensor parameter information and the sensing capability information of the roadside sensing device deployed at the location of the vehicle side; a second processing unit configured to receive the data sharing configuration information sent by the cloud server and perform sharing processing of sensor data according to the data sharing configuration information.

[0015] In some embodiments of the present application, based on the foregoing solution, the second processing unit is configured to: adjust the strategy for sharing sensor data with other vehicle sides according to the data sharing configuration information, and share sensor data with the other vehicle sides based on the adjusted strategy.

[0016] According to one aspect of the embodiments of the present application, there is provided a data sharing device for a vehicle side, including: a third acquisition unit configured to acquire the sensing capability information of the roadside sensing device; a third sending unit configured to transmit the sensing capability information of the roadside sensing device to the vehicle side at the location of the roadside sensing device so that the vehicle side adjusts the data sharing configuration information of the vehicle side according to the sensing capability information and the sensor parameter information of the vehicle side.

[0017] In some embodiments of the present application, based on the foregoing solution, the data sharing device further includes: a connection establishment unit configured to establish a communication connection with the vehicle terminal before the third sending unit transmits the sensing capability information of the roadside sensing device to the vehicle terminal at the location of the roadside sensing device, and establish an association relationship with the vehicle terminal in response to a registration request sent by the vehicle terminal.

[0018] In some embodiments of the present application, based on the foregoing solution, the third sending unit is configured to: broadcast a notification message, where the notification message contains the sensing capability information of the roadside sensing device, so that the vehicle terminal at the location of the roadside sensing device receives the notification message to obtain the sensing capability information of the roadside sensing device.

[0019] According to one aspect of the embodiments of the present application, there is provided a data sharing device for a vehicle terminal, including: a fourth acquisition unit configured to acquire the sensing capability information of a roadside sensing device and the sensor parameter information of the vehicle terminal; a third processing unit configured to determine data sharing configuration information for the vehicle terminal according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; a fourth processing unit configured to adjust the sensor sharing strategy of the vehicle terminal according to the data sharing configuration information, and perform sensor data sharing processing according to the sensor sharing strategy.

[0020] According to one aspect of the embodiments of the present application, there is provided a computer-readable medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the data sharing method for a vehicle terminal as described in the above embodiments.

[0021] According to one aspect of the embodiments of the present application, there is provided an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enabling the electronic device to implement the data sharing method for a vehicle terminal as described in the above embodiments.

[0022] According to one aspect of the embodiments of the present application, there is provided a computer program product or a computer program, the computer program product or the computer program including computer instructions, where the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, enabling the computer device to execute the data sharing method for a vehicle terminal provided in the above various alternative embodiments.

[0023] In the technical solutions provided by some embodiments of the present application, by determining the data sharing configuration information for the vehicle end according to the sensing ability information of the roadside sensing device and the sensor parameter information of the vehicle end, so that the vehicle end performs sharing processing of sensor data according to the data sharing configuration information, it is possible to adjust the data sharing configuration information of the vehicle end based on the sensing ability of the roadside sensing device. Furthermore, it is possible to avoid a large amount of data redundancy caused by the vehicle end blindly sharing sensor data, and it is also possible to avoid waste of wireless resources, which is conducive to achieving the balance between sensor data sharing and resource efficiency.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Brief Description of the Drawings

[0025] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0026] Figure 1 A schematic diagram of an application scenario of an embodiment of the present application is shown;

[0027] Figure 2 A flowchart of a method for sharing data of a vehicle end according to an embodiment of the present application is shown;

[0028] Figure 3 A flowchart of a method for sharing data of a vehicle end according to an embodiment of the present application is shown;

[0029] Figure 4 A flowchart of a method for sharing data of a vehicle end according to an embodiment of the present application is shown;

[0030] Figure 5 A flowchart of a method for sharing data of a vehicle end according to an embodiment of the present application is shown;

[0031] Figure 6 A block diagram of a data sharing system between vehicles according to an embodiment of the present application is shown;

[0032] Figure 7 A flowchart of a method for sharing data between vehicles according to an embodiment of the present application is shown;

[0033] Figure 8 A flowchart of a method for sharing data between vehicles according to an embodiment of the present application is shown;

[0034] Figure 9 Shows a block diagram of a vehicle - side data sharing device according to an embodiment of the present application;

[0035] Figure 10 Shows a block diagram of a vehicle - side data sharing device according to an embodiment of the present application;

[0036] Figure 11 Shows a block diagram of a vehicle - side data sharing device according to an embodiment of the present application;

[0037] Figure 12 Shows a block diagram of a vehicle - side data sharing device according to an embodiment of the present application;

[0038] Figure 13 Shows a schematic structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application. Detailed implementation manners

[0039] Now, the exemplary embodiments will be described in a more comprehensive manner with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as being limited to these examples; on the contrary, these embodiments are provided so that this application will be more complete and comprehensive, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art.

[0040] In addition, the features, structures, or characteristics described in this application can be combined in any suitable manner in one or more embodiments. In the following description, there are many specific details so that the embodiments of this application can be fully understood. However, those skilled in the art should be aware that when implementing the technical solutions of this application, not all the detailed features in the embodiments are required, one or more specific details can be omitted, or other methods, elements, devices, steps, etc. can be adopted.

[0041] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0042] The flowcharts shown in the drawings are only exemplary illustrations, not necessarily including all the content and operations / steps, nor necessarily executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0043] It should be noted that: "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0044] Figure 1 The figure shows a schematic diagram of an application scenario of an embodiment of the present application.

[0045] In Figure 1 In the shown application scenario, there are multiple vehicles traveling on road 101, and sensors are installed on the vehicles, such as laser sensors, vision sensors, speed sensors, acceleration sensors, position sensors, radars, etc. Sensor data can be shared between vehicles, such as the data measured by the laser sensor, the image data detected by the vision sensor, the speed data detected by the speed sensor, the acceleration data detected by the acceleration sensor, the position data detected by the position sensor, the detection data of the radar, etc.

[0046] Optionally, sensor data can be shared between vehicles through the PC5 link, or sensor data can also be shared through Uu communication. For example Figure 1 In the figure, vehicle 102 and vehicle 103 can respectively establish communication connections with the base station. Furthermore, vehicle 102 and vehicle 103 can share sensor data through the base station, that is, vehicle 102 can send the sensor data to be shared to the base station, and then the base station forwards it to vehicle 103. Or vehicle 102 and vehicle 103 can also directly perform sensor data sharing processing through the PC5 link.

[0047] Optionally, sensor data can also be shared between the vehicle and the roadside perception device. For example, in Figure 1 In the shown scenario, the roadside perception device 104 can send the perceived data (such as the image data collected by the camera, etc.) to vehicle 102 to assist vehicle 102 in safe driving. Since the roadside perception device 104 and other vehicles (such as vehicle 103) will share sensor data with vehicle 102, similarly, the roadside perception device 104 and vehicle 102 will also share sensor data with vehicle 103. Therefore, it may cause redundancy of sensor data, thereby affecting the resource utilization efficiency.

[0048] Based on this, the embodiments of the present application propose a new data sharing method. Specifically, as Figure 1 shown, the cloud server can obtain the vehicle side (such as Figure 1The sensor parameter information of the vehicles 102 and 103 shown in [figure] is obtained, and the sensing capability information of the roadside sensing device 104 deployed at the location where the vehicle terminal is located is acquired. Then, according to the sensing capability information of the roadside sensing device 104 and the sensor parameter information of the vehicle terminal, the data sharing configuration information for the vehicle terminal is determined. For example, if it is determined according to the sensing capability information of the roadside sensing device 104 that the information sensed by the roadside sensing device 104 can meet the requirements of the vehicle terminal, data sharing configuration information for instructing the vehicle terminal to reduce the amount of sensor data sharing is generated, or data sharing configuration information for instructing the vehicle terminal to suspend sharing sensor data is generated; if it is determined according to the sensing capability information of the roadside sensing device 104 that the information sensed by the roadside sensing device 104 is lower than a set threshold, data sharing configuration information for instructing the vehicle terminal to increase the amount of sensor data sharing is generated. After generating the data sharing configuration information, the cloud server can transmit the data sharing configuration information to the vehicle terminal so that the vehicle terminal performs sharing processing of sensor data according to the data sharing configuration information.

[0049] In other embodiments of the present application, after obtaining the sensing capability information of the roadside sensing device 104, the cloud server can also transmit the sensing capability information of the roadside sensing device 104 to the vehicle terminal located at the location where the roadside sensing device 104 is located, and then the vehicle terminal adjusts the data sharing configuration information of the vehicle terminal according to the sensing capability information of the roadside sensing device 104 and the sensor parameter information of the vehicle terminal.

[0050] It should be noted that the cloud server in the embodiments of the present application can be an edge cloud server or a central cloud server. As the name implies, an edge cloud server is a server closer to the edge end, such as being set on the roadside to provide services nearby and improve the data response speed; relative to the edge cloud server, the central cloud server is set at a remote end and can provide services in a larger range.

[0051] It can be seen that the technical solution of the embodiments of the present application can adjust the data sharing configuration information of the vehicle terminal based on the sensing capability of the roadside sensing device, thereby avoiding excessive data redundancy caused by the vehicle terminal blindly sharing sensor data, and also avoiding waste of wireless resources, which is beneficial to achieving the balance between sensor data sharing and resource efficiency.

[0052] The implementation details of the technical solution of the embodiments of the present application are elaborated in detail below:

[0053] Figure 2 The flowchart of the data sharing method of the vehicle terminal according to an embodiment of the present application is shown. The data sharing method of the vehicle terminal can be executed by a server, and the server can be Figure 1 the cloud server shown in [figure]. Refer to Figure 2As shown, the vehicle - end data sharing method at least includes steps S210 to S230, which are introduced in detail as follows:

[0054] In step S210, obtain the sensor parameter information of the vehicle - end, and obtain the sensing ability information of the roadside sensing device deployed at the location where the vehicle - end is located.

[0055] In an embodiment of the present application, the cloud server can receive the sensor parameter information reported by the vehicle - end. For example, the vehicle - end reports its own sensor parameter information to the cloud server through the mobile communication network.

[0056] Optionally, the sensor parameter information includes the type of sensors installed at the vehicle - end, and at least one of the following information: whether the vehicle - end allows sharing of sensor data, the types of sensor data allowed to be shared by the vehicle - end, the frequency of sharing sensor data by the vehicle - end.

[0057] Optionally, the sensor type can include, for example, one or more of the following: laser sensor, vision sensor, speed sensor, acceleration sensor, position sensor, radar, etc. The types of sensor data allowed to be shared by the vehicle can be one or more of the following: data measured by the laser sensor, image data detected by the vision sensor, speed data detected by the speed sensor, acceleration data detected by the acceleration sensor, position data detected by the position sensor, detection data of the radar, etc. The frequency of sharing sensor data by the vehicle indicates how often the vehicle shares sensor data.

[0058] In an embodiment of the present application, obtaining the sensing ability information of the roadside sensing device deployed at the location where the vehicle - end is located can specifically be obtaining at least one of the following factors, and then determining based on this at least one factor: the number of roadside sensing devices deployed at the location where the vehicle - end is located, the sensing accuracy of the roadside sensing device, the computing performance of the roadside sensing device, the network transmission ability of the roadside sensing device.

[0059] Optionally, the number of roadside sensing devices deployed at the location where the vehicle - end is located can be, for example, the number of cameras, the number of lidars, etc. deployed at the location where the vehicle - end is located. The sensing accuracy of the roadside sensing device can be, for example, the resolution of the camera, the sensing accuracy of the lidar, etc. The computing performance of the roadside sensing device can be, for example, information such as the data - processing ability of the roadside sensing device, CPU configuration, memory configuration, etc. The network transmission ability of the roadside sensing device can be, for example, the communication methods supported by the roadside sensing device (such as whether it supports 5G transmission, etc.), network status, etc.

[0060] Optionally, the cloud server can determine the sensing capability information of the roadside sensing device with the help of Artificial Intelligence (AI) technology. Artificial Intelligence technology uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, and is a theory, method, technology, and application system that can perceive the environment, acquire knowledge, and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a way similar to human intelligence. Artificial intelligence also studies the design principles and implementation methods of various intelligent machines to enable machines to have the functions of perception, reasoning, and decision-making.

[0061] At the same time, artificial intelligence technology is an interdisciplinary subject with a wide range of fields involved, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, and mechatronics. The software technologies of artificial intelligence mainly include several major directions such as computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0062] Computer Vision (CV) is a science that studies how to make machines "see". Further, it refers to using cameras and computers to replace human eyes for machine vision such as target recognition, tracking, and measurement, and further performing graphics processing to make the images processed by the computer more suitable for human eyes to observe or be transmitted to instruments for detection. As a scientific discipline, computer vision studies related theories and technologies and attempts to build an artificial intelligence system that can obtain information from images or multi-dimensional data. Computer vision technology usually includes technologies such as image processing, image recognition, image semantic understanding, image retrieval, OCR (Optical Character Recognition), video processing, video semantic understanding, video content / behavior recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, simultaneous localization and mapping, and also includes common biometric recognition technologies such as face recognition and fingerprint recognition.

[0063] Continue to refer to Figure 2 As shown, in step S220, according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle end, determine the data sharing configuration information for the vehicle end.

[0064] Optionally, the data sharing configuration information determined based on the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle end is mainly to achieve the balance between sensor data sharing and resource efficiency. Therefore, if it is determined based on the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device can meet the requirements of the vehicle end, data sharing configuration information for instructing the vehicle end to reduce the amount of sensor data sharing or data sharing configuration information for instructing the vehicle end to suspend sharing sensor data can be generated to avoid redundancy of sensor data and reduce waste of transmission resources.

[0065] Optionally, if it is determined based on the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device is lower than the set threshold, data sharing configuration information for instructing the vehicle end to increase the amount of sensor data sharing is generated to increase the amount of sensor data shared by the vehicle end, which is beneficial to improving the driving safety of the vehicle.

[0066] In an embodiment of the present application, the data sharing configuration information is used to instruct the vehicle end to adjust at least one of the following information: the type of sensor data shared by the vehicle end, the frequency of sensor data shared by the vehicle end, the data content of sensor data shared by the vehicle end, and the priority of sensor data shared by the vehicle end.

[0067] Optionally, the data content of the sensor data shared by the vehicle end includes the content format used for sharing data, the specific amount of data shared, etc.

[0068] Continue to refer to Figure 2 As shown, in step S230, the data sharing configuration information for the vehicle end is transmitted to the vehicle end so that the vehicle end performs sharing processing of sensor data according to the data sharing configuration information.

[0069] Figure 2 This is described from the perspective of the cloud server. The following combines Figure 3 From Figure 2 The vehicle end that interacts with the cloud server in the embodiment shown details the technical solution of the embodiment of the present application:

[0070] Figure 3 The flowchart of the data sharing method of the vehicle end according to an embodiment of the present application is shown. The data sharing method of the vehicle end can be executed by the vehicle end. Refer to Figure 3 As shown, the data sharing method of the vehicle end at least includes steps S310 to S330, which are introduced in detail as follows:

[0071] In step S310, the sensor parameter information of the vehicle end is obtained.

[0072] Optionally, the sensor parameter information includes the types of sensors installed on the vehicle side, and at least one of the following information: whether the vehicle side allows sharing of sensor data, the types of sensor data allowed to be shared by the vehicle side, and the frequency of sharing sensor data by the vehicle side.

[0073] Optionally, the types of sensors may include, for example, one or more of the following: lidar sensors, vision sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The types of sensor data that the vehicle allows to be shared may be one or more of the following: data measured by lidar sensors, image data detected by vision sensors, speed data detected by speed sensors, acceleration data detected by acceleration sensors, position data detected by position sensors, detection data of radars, etc. The frequency of sharing sensor data by the vehicle indicates how often the vehicle shares sensor data.

[0074] In step S320, the sensor parameter information of the vehicle side is sent to the cloud server, so that the cloud server determines the data sharing configuration information for the vehicle side according to the sensor parameter information and the sensing capability information of the roadside sensing device deployed at the location where the vehicle side is located.

[0075] Optionally, the process by which the cloud server determines the data sharing configuration information for the vehicle side is as Figure 2 shown in the technical solution of the embodiment, and will not be elaborated here.

[0076] In step S330, the data sharing configuration information sent by the cloud server is received, and the sharing process of sensor data is performed according to the data sharing configuration information.

[0077] In an embodiment of the present application, performing the sharing process of sensor data according to the data sharing configuration information may be: adjusting the strategy for sharing sensor data with other vehicle sides according to the data sharing configuration information, and sharing sensor data with other vehicle sides based on the adjusted strategy.

[0078] Optionally, the strategy for sharing sensor data with other vehicles may be one or more of the following: the types of sensor data shared by the vehicle side, the frequency of sensor data shared by the vehicle side, the data content of sensor data shared by the vehicle side, and the priority of sensor data shared by the vehicle side.

[0079] Figure 2 and Figure 3 The technical solution of the embodiment shown is that the cloud server determines the data sharing configuration information for the vehicle side and then sends it to the vehicle side for adjustment.

[0080] Figure 4The flowchart of the data sharing method at the vehicle end according to an embodiment of the present application is shown. The data sharing method at the vehicle end can be executed by a server, and the server can be Figure 1 the cloud server shown in Figure 4 As shown, the data sharing method at the vehicle end at least includes step S410 to step S420, which are introduced in detail as follows:

[0081] In step S410, obtain the sensing ability information of the roadside sensing device.

[0082] In an embodiment of the present application, obtaining the sensing ability information of the roadside sensing device may specifically be obtaining at least one of the following factors and then determining based on this at least one factor: the number of roadside sensing devices deployed at the location where the vehicle end is located, the sensing accuracy of the roadside sensing device, the computing performance of the roadside sensing device, and the network transmission ability of the roadside sensing device.

[0083] Optionally, the number of roadside sensing devices deployed at the location where the vehicle end is located may be, for example, the number of cameras, the number of lidars, etc. deployed at the location where the vehicle end is located. The sensing accuracy of the roadside sensing device may be, for example, the resolution of the camera, the sensing accuracy of the lidar, etc. The computing performance of the roadside sensing device may be, for example, information such as the data processing ability of the roadside sensing device, the CPU configuration, and the memory configuration. The network transmission ability of the roadside sensing device may be, for example, the communication method supported by the roadside sensing device (such as whether it supports 5G transmission, etc.), the network status, etc.

[0084] In step S420, transmit the sensing ability information of the roadside sensing device to the vehicle end at the location where the roadside sensing device is located, so that the vehicle end adjusts the data sharing configuration information of the vehicle end according to the sensing ability information and the sensor parameter information of the vehicle end.

[0085] Optionally, the cloud server may be an edge cloud server or a central cloud server. Before transmitting the sensing ability information of the roadside sensing device to the vehicle end at the location where the roadside sensing device is located, it may also establish a communication connection with the vehicle end, and then establish an association relationship with the vehicle end in response to the registration request sent by the vehicle end. After that, if it is detected that a certain vehicle goes online (i.e., establishes a connection with the cloud server), then the sensing ability information of the roadside sensing device deployed at that location can be transmitted to the vehicle according to the location of the vehicle.

[0086] In an embodiment of the present application, the process of transmitting the sensing capability information of the roadside sensing device to the vehicle end at the location where the roadside sensing device is located may be a broadcast notification message, and the notification message contains the sensing capability information of the roadside sensing device, so that the vehicle end at the location where the roadside sensing device is located receives the notification message to obtain the sensing capability information of the roadside sensing device. The technical solution of this embodiment is particularly applicable to the scenario executed by the edge cloud server, that is, after the edge cloud server obtains the sensing capability information of the roadside sensing device, it transmits it to the passing vehicles in a broadcast manner, and then the vehicle adjusts the data sharing configuration information of the vehicle end according to the sensing capability information and the sensor parameter information of the vehicle end.

[0087] Figure 4 It is described from the perspective of the cloud server. The following will combine Figure 5 From the Figure 4 The vehicle end that interacts with the cloud server in the shown embodiment will elaborate on the technical solution of the embodiment of the present application in detail:

[0088] Figure 5 The flowchart of the data sharing method of the vehicle end according to an embodiment of the present application is shown. The data sharing method of the vehicle end can be executed by the vehicle end. Referring to Figure 5 As shown, the data sharing method of the vehicle end at least includes step S510 to step S530, which are introduced in detail as follows:

[0089] In step S510, obtain the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle end.

[0090] Optionally, obtaining the sensing capability information of the roadside sensing device may be receiving the sensing capability information of the roadside sensing device sent by the cloud server.

[0091] Optionally, the sensor parameter information includes the type of sensors installed on the vehicle end, and at least one of the following information: whether the vehicle end allows sharing of sensor data, the types of sensor data allowed to be shared by the vehicle end, and the frequency of sharing sensor data by the vehicle end.

[0092] Optionally, the sensor type may include, for example, one or more of the following: laser sensor, vision sensor, speed sensor, acceleration sensor, position sensor, radar, etc. The types of sensor data allowed to be shared by the vehicle may be one or more of the following: data measured by the laser sensor, image data detected by the vision sensor, speed data detected by the speed sensor, acceleration data detected by the acceleration sensor, position data detected by the position sensor, detection data of the radar, etc. The frequency of sharing sensor data by the vehicle indicates how often the vehicle shares sensor data.

[0093] In step S520, based on the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle side, determine the data sharing configuration information for the vehicle side.

[0094] Optionally, the data sharing configuration information determined based on the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle side is mainly to achieve the balance between sensor data sharing and resource efficiency. Therefore, if it is determined according to the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device can meet the requirements of the vehicle side, data sharing configuration information for instructing the vehicle side to reduce the amount of sensor data sharing or data sharing configuration information for instructing the vehicle side to suspend sharing sensor data can be generated to avoid redundancy of sensor data and reduce waste of transmission resources.

[0095] Optionally, if it is determined according to the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device is lower than the set threshold, data sharing configuration information for instructing the vehicle side to increase the amount of sensor data sharing is generated to increase the amount of sensor data shared by the vehicle side, which is beneficial to improving the safety of vehicle driving.

[0096] In an embodiment of the present application, the data sharing configuration information is used to instruct the vehicle side to adjust at least one of the following: the type of sensor data shared by the vehicle side, the frequency of sensor data shared by the vehicle side, the data content of sensor data shared by the vehicle side, and the priority of sensor data shared by the vehicle side.

[0097] Optionally, the data content of the sensor data shared by the vehicle side includes the content format used for sharing data, the specific amount of data shared, etc.

[0098] In step S530, adjust the sensor sharing strategy of the vehicle side according to the data sharing configuration information, and perform sensor data sharing processing according to the sensor sharing strategy.

[0099] Optionally, the sensor sharing strategy of the vehicle side can be one or more of the following: the type of sensor data shared by the vehicle side, the frequency of sensor data shared by the vehicle side, the data content of sensor data shared by the vehicle side, and the priority of sensor data shared by the vehicle side.

[0100] Figure 4 and Figure 5 The technical solution of the illustrated embodiment is a process in which the cloud server sends the sensing capability information of the roadside sensing device to the vehicle side, and the vehicle side determines and adjusts the data sharing configuration information.

[0101] Figure 6 shows a block diagram of a vehicle-to-vehicle data sharing system according to an embodiment of the present application. InFigure 6 Among them, HV represents the host Vehicle (i.e., the main vehicle), and RV represents the remote Vehicle (i.e., the remote vehicle). Both HV and RV have a driving decision-making module, a vehicle body perception module, and a communication module. Among them, the vehicle body perception module includes a variety of sensors, such as lidar sensors, vision sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The driving decision-making module is used to obtain sensor data from the vehicle's own vehicle body perception module, or can obtain sensor data shared by other vehicles based on the communication module. These data are used to support the vehicle in making driving decisions, such as performing Forward Collision Warning (FCW), Driver Fatigue Warning (DFW), and Tire Pressure Monitoring System (TPMS), etc., or can perform Lane Keeping Assist (LKA), Automated Parking System (APS), Autonomous Emergency Braking (AEB), Adaptive Cruise Control (ACC), etc. Optionally, the vehicle can use artificial intelligence technology to make driving decisions.

[0102] Continue to refer to Figure 6 As shown, the communication module includes at least one of a PC5 communication module and a Uu communication module (such as 4G or 5G Uu communication). For example, the communication module can support LTE-V (Long Term Evolution-Vehicle) communication, NR-V communication, or ETC-X communication, etc. In Figure 6 In the shown embodiment, the driving decision-making module included in HV can obtain sensor data from its own vehicle body perception module, or can obtain sensor data shared by RV based on the communication module, for use in making driving decisions. At the same time, the communication module can also obtain the information sensed by the roadside perception device from the RSU and the base station side, so as to adjust its sensor dynamic configuration and optimize the efficiency of the vehicle-road collaborative system.

[0103] Optionally, a roadside intelligent perception and sensing sharing adjustment module can also be configured on the vehicle side. This module can adjust the sensor sharing configuration according to the roadside perception information provided by the communication module. Specifically, the roadside intelligent perception and sensing sharing adjustment module can adjust the content and frequency of sensor sharing according to the perception situation of the roadside perception device.

[0104] Optionally, the perception situation of the roadside perception device includes: the detection and coverage of vehicles by various sensor devices such as cameras and radars deployed on the roadside in a specific section. For example, if the cameras and radar devices deployed on the roadside can accurately identify the vehicles on the current road, then there is no need to activate the vehicle-to-vehicle sensor sharing ability between vehicles, or only a small amount of data needs to be shared. Another example is that if the vehicle density in the environment where the current section is located is not high, and the relationship between vehicle targets can be well judged only by the roadside perception device, then the vehicle-to-vehicle sensor sharing ability can also not be activated, or only a small amount of data needs to be shared.

[0105] The perception ability of the roadside perception device depends on various factors. In terms of the roadside perception device itself, the number of deployed cameras, resolution, roadside perception computing ability, and the communication network ability to transmit the perception results to the vehicle end will all affect the perception ability of the roadside perception device.

[0106] Based on Figure 6 the system architecture shown, as Figure 7 shown, a method for sharing data between vehicles according to an embodiment of the present application includes the following steps:

[0107] Step S701, multiple vehicles with adjacent positions (such as vehicle A, vehicle B, and vehicle C shown in the figure, the quantity is only an example) report vehicle information and their own sensor parameter information to the cloud server.

[0108] Optionally, the vehicle can report vehicle information and its own sensor parameter information to the cloud server through a V2X network or a 5G network, etc.

[0109] Optionally, the cloud server can be an edge cloud server or a central cloud server. If it is an edge cloud server, then the edge cloud server and the roadside perception device can be the same physical entity or different physical entities.

[0110] Optionally, the vehicle information includes the identification information, vehicle type information, location information, etc. of the vehicle. The sensor parameter information includes the type of sensors installed at the vehicle end, and at least one of the following information: whether the vehicle end allows sharing of sensor data, the types of sensor data allowed to be shared by the vehicle end, and the frequency of sharing sensor data by the vehicle end.

[0111] Optionally, the sensor types may include one or more of the following: laser sensors, vision sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The types of sensor data that the vehicle is allowed to share may be one or more of the following: data measured by laser sensors, image data detected by vision sensors, speed data detected by speed sensors, acceleration data detected by acceleration sensors, position data detected by position sensors, detection data of radars, etc. The frequency of the vehicle sharing sensor data indicates how often the vehicle shares sensor data.

[0112] Step S702, the cloud server dynamically evaluates the perception ability information of the roadside perception device at the position where the vehicle is located, and then generates sensor data sharing configuration information according to the perception ability information and the sensor parameter information of the vehicle.

[0113] In an embodiment of the present application, the cloud server may evaluate the perception ability information of the roadside perception device according to at least one of the following factors: the number of roadside perception devices deployed at the location of the vehicle end, the perception accuracy of the roadside perception device, the computing performance of the roadside perception device, and the network transmission ability of the roadside perception device.

[0114] Step S703, the cloud server sends the sensor data sharing configuration information to the vehicle.

[0115] Step S704, each vehicle adjusts its own sensor sharing configuration based on the received sensor data sharing configuration information.

[0116] In an embodiment of the present application, adjusting its own sensor sharing configuration may be adjusting at least one of the following information: the type of sensor data shared by the vehicle end, the frequency of sensor data shared by the vehicle end, the data content of sensor data shared by the vehicle end, and the priority of sensor data shared by the vehicle end.

[0117] Step S705, each vehicle can share sensor data through PC5 communication according to the adjusted sensor data sharing configuration.

[0118] Figure 7 The technical solution of the illustrated embodiment is that the cloud server determines the data sharing configuration information for the vehicle end and then sends it to the vehicle end for adjustment.

[0119] As Figure 8 As shown, the method for sharing data between vehicles according to an embodiment of the present application includes the following steps:

[0120] Step S801: The vehicle registers with the cloud server and establishes a connection with the cloud server. Optionally, the vehicle registers with the cloud server to obtain services provided by the cloud server, such as obtaining the perception ability information of roadside perception devices sent by the cloud server.

[0121] Step S802: The cloud server dynamically evaluates the perception ability information of roadside perception devices at the location where the vehicle is located.

[0122] In an embodiment of the present application, the cloud server can evaluate the perception ability information of roadside perception devices according to at least one of the following factors: the number of roadside perception devices deployed at the location of the vehicle end, the perception accuracy of the roadside perception devices, the computing performance of the roadside perception devices, and the network transmission ability of the roadside perception devices.

[0123] Step S803: The cloud server sends the perception ability information of the roadside perception devices to the vehicle.

[0124] Step S804: Each vehicle adjusts its sensor sharing configuration based on the received sensor data sharing configuration information.

[0125] In an embodiment of the present application, adjusting its own sensor sharing configuration may be adjusting at least one of the following information: the type of sensor data shared by the vehicle end, the frequency of sensor data shared by the vehicle end, the data content of sensor data shared by the vehicle end, and the priority of sensor data shared by the vehicle end.

[0126] Step S805: Each vehicle can share sensor data through PC5 communication according to the adjusted sensor data sharing configuration.

[0127] Figure 8 In the technical solution of the illustrated embodiment, the cloud server sends the perception ability information of the roadside perception devices to the vehicle end, and then the vehicle end determines the data sharing configuration information for the vehicle end and adjusts accordingly.

[0128] The technical solution of the foregoing embodiment of the present application can adjust the data sharing configuration information of the vehicle end based on the perception ability of the roadside perception devices, thereby avoiding excessive data redundancy caused by the vehicle end blindly sharing sensor data, and also avoiding waste of wireless resources, which is conducive to achieving the balance of sensor data sharing and resource efficiency.

[0129] The following introduces the device embodiments of the present application, which can be used to execute the data sharing method of the vehicle end in the above embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the embodiments of the data sharing method of the vehicle end in the above of the present application.

[0130] Figure 9 A block diagram of a vehicle - side data sharing device according to an embodiment of the present application is shown. The vehicle - side data sharing device can be arranged in a server, and the server can be Figure 1 the cloud server shown in

[0131] Referring to Figure 9 As shown, a vehicle - side data sharing device 900 according to an embodiment of the present application includes: a first acquisition unit 902, a first processing unit 904, and a first transmission unit 906.

[0132] Among them, the first acquisition unit 902 is configured to acquire sensor parameter information of the vehicle - side and acquire sensing ability information of a roadside sensing device deployed at the location where the vehicle - side is located; the first processing unit 904 is configured to determine data sharing configuration information for the vehicle - side according to the sensing ability information of the roadside sensing device and the sensor parameter information of the vehicle - side; the first transmission unit 906 is configured to transmit the data sharing configuration information to the vehicle - side so that the vehicle - side performs sharing processing of sensor data according to the data sharing configuration information.

[0133] In some embodiments of the present application, based on the foregoing solution, the first processing unit 904 is configured to: if it is determined according to the sensing ability information of the roadside sensing device that the information sensed by the roadside sensing device can meet the requirements of the vehicle - side, generate data sharing configuration information for instructing the vehicle - side to reduce the amount of sensor data sharing, or generate data sharing configuration information for instructing the vehicle - side to suspend sharing sensor data.

[0134] In some embodiments of the present application, based on the foregoing solution, the first processing unit 904 is configured to: if it is determined according to the sensing ability information of the roadside sensing device that the information sensed by the roadside sensing device is lower than a set threshold, generate data sharing configuration information for instructing the vehicle - side to increase the amount of sensor data sharing.

[0135] In some embodiments of the present application, based on the foregoing solution, the data sharing configuration information is used to instruct the vehicle - side to adjust at least one of the following information: the type of sensor data shared by the vehicle - side, the frequency of sensor data shared by the vehicle - side, the data content of sensor data shared by the vehicle - side, the priority of sensor data shared by the vehicle - side.

[0136] In some embodiments of the present application, based on the foregoing solution, the sensing ability information of the roadside sensing device is determined according to at least one of the following factors: the number of roadside sensing devices deployed at the location where the vehicle - side is located, the sensing accuracy of the roadside sensing device, the computing performance of the roadside sensing device, the network transmission ability of the roadside sensing device.

[0137] Figure 10 The block diagram of the data sharing device at the vehicle end according to an embodiment of the present application is shown. The data sharing device at the vehicle end can be arranged inside the vehicle.

[0138] Referring to Figure 10 As shown, the data sharing device 1000 at the vehicle end according to an embodiment of the present application includes: a second acquisition unit 1002, a second transmission unit 1004, and a second processing unit 1006.

[0139] Among them, the second acquisition unit 1002 is configured to acquire the sensor parameter information at the vehicle end; the second transmission unit 1004 is configured to send the sensor parameter information to the cloud server, so that the cloud server determines the data sharing configuration information for the vehicle end according to the sensor parameter information and the sensing ability information of the roadside sensing device deployed at the location where the vehicle end is located; the second processing unit 1006 is configured to receive the data sharing configuration information sent by the cloud server and perform sharing processing of sensor data according to the data sharing configuration information.

[0140] In some embodiments of the present application, based on the foregoing solution, the second processing unit 1006 is configured to: adjust the strategy for sharing sensor data with other vehicle ends according to the data sharing configuration information, and share sensor data with the other vehicle ends based on the adjusted strategy.

[0141] Figure 11 The block diagram of the data sharing device at the vehicle end according to an embodiment of the present application is shown. The data sharing device at the vehicle end can be arranged in the server, and the server can be Figure 1 the cloud server shown in

[0142] Referring to Figure 11 As shown, the data sharing device 1100 at the vehicle end according to an embodiment of the present application includes: a third acquisition unit 1102 and a third transmission unit 1104.

[0143] Among them, the third acquisition unit 1102 is configured to acquire the sensing ability information of the roadside sensing device; the third transmission unit 1104 is configured to transmit the sensing ability information of the roadside sensing device to the vehicle end at the location where the roadside sensing device is located, so that the vehicle end adjusts the data sharing configuration information of the vehicle end according to the sensing ability information and the sensor parameter information of the vehicle end.

[0144] In some embodiments of the present application, based on the foregoing solution, the data sharing device 1100 further includes: a connection establishment unit configured to establish a communication connection with the vehicle terminal before the third sending unit transmits the sensing capability information of the roadside sensing device to the vehicle terminal at the location of the roadside sensing device, and establish an association relationship with the vehicle terminal in response to a registration request sent by the vehicle terminal.

[0145] In some embodiments of the present application, based on the foregoing solution, the third sending unit 1104 is configured to: broadcast a notification message, where the notification message includes the sensing capability information of the roadside sensing device, so that the vehicle terminal at the location of the roadside sensing device receives the notification message to obtain the sensing capability information of the roadside sensing device.

[0146] Figure 12 The block diagram of the data sharing device of the vehicle terminal according to an embodiment of the present application is shown, and the data sharing device of the vehicle terminal can be set inside the vehicle.

[0147] Refer to Figure 12 As shown, the data sharing device 1200 of the vehicle terminal according to an embodiment of the present application includes: a fourth acquisition unit 1202, a third processing unit 1204, and a fourth processing unit 1206.

[0148] Among them, the fourth acquisition unit 1202 is configured to acquire the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; the third processing unit 1204 is configured to determine the data sharing configuration information for the vehicle terminal according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; the fourth processing unit 1206 is configured to adjust the sensor sharing strategy of the vehicle terminal according to the data sharing configuration information, and perform sensor data sharing processing according to the sensor sharing strategy.

[0149] Figure 13 The structural schematic diagram of the computer system of the electronic device suitable for implementing the embodiments of the present application is shown.

[0150] It should be noted that Figure 13 The computer system 1300 of the electronic device shown is only an example, and should not bring any limitations to the functions and usage ranges of the embodiments of the present application.

[0151] As Figure 13As shown, the computer system 1300 includes a Central Processing Unit (CPU) 1301, which can perform various appropriate actions and processes according to the program stored in the Read-Only Memory (ROM) 1302 or the program loaded from the storage section 1308 into the Random Access Memory (RAM) 1303, such as executing the methods described in the above embodiments. In the RAM 1303, various programs and data required for system operation are also stored. The CPU 1301, ROM 1302, and RAM 1303 are connected to each other via a bus 1304. An Input / Output (I / O) interface 1305 is also connected to the bus 1304.

[0152] The following components are connected to the I / O interface 1305: an input section 1306 including a keyboard, a mouse, etc.; an output section 1307 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and speakers, etc.; a storage section 1308 including a hard disk, etc.; and a communication section 1309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1309 performs communication processing via a network such as the Internet. A drive 1310 is also connected to the I / O interface 1305 as needed. A removable medium 1311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1310 as needed so that a computer program read from it can be installed into the storage section 1308 as needed.

[0153] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1309, and / or installed from the removable medium 1311. When the computer program is executed by the Central Processing Unit (CPU) 1301, various functions defined in the system of the present application are executed.

[0154] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The computer program contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0155] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in a flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0156] The units involved in the embodiments of the present application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases.

[0157] On the other hand, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the methods described in the above embodiments.

[0158] It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0159] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (such as a personal computer, a server, a touch terminal, or a network device, etc.) to execute the methods according to the embodiments of the present application.

[0160] After considering the specification and practicing the disclosed embodiments herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common knowledge or conventional technical means in the technical field not disclosed in the present application.

[0161] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A method for sharing vehicle - end data, characterized in that, Including: Obtain the sensor parameter information of the vehicle terminal, and obtain the sensing capability information of the roadside sensing device deployed at the location where the vehicle terminal is located; Determine the data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; Transmit the data sharing configuration information to the vehicle terminal, so that the vehicle terminal shares sensor data with other vehicle terminals according to the data sharing configuration information; Among them, determining the data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal includes: If it is determined according to the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device can meet the requirements of the vehicle terminal, generate data sharing configuration information for instructing the vehicle terminal to reduce the amount of sensor data shared with other vehicle terminals, or generate data sharing configuration information for instructing the vehicle terminal to suspend sharing sensor data with other vehicle terminals.

2. The data sharing method according to claim 1, wherein Determining the data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal includes: If it is determined according to the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device is lower than the set threshold, generate data sharing configuration information for instructing the vehicle terminal to increase the amount of sensor data shared with other vehicle terminals.

3. The data sharing method according to claim 1, wherein The data sharing configuration information is used to instruct the vehicle terminal to adjust at least one of the following information: The type of sensor data shared by the vehicle terminal, the frequency of sensor data shared by the vehicle terminal, the data content of sensor data shared by the vehicle terminal, the priority of sensor data shared by the vehicle terminal.

4. The data sharing method according to any one of claims 1 to 3, characterized in that Determine the sensing capability information of the roadside sensing device according to at least one of the following factors: The number of roadside sensing devices deployed at the location where the vehicle terminal is located, the sensing accuracy of the roadside sensing device, the computing performance of the roadside sensing device, the network transmission capability of the roadside sensing device.

5. A data sharing method for a vehicle terminal, characterized in that, Including: Obtain the sensing capability information of the roadside sensing device; Transmit the sensing capability information of the roadside sensing device to the vehicle terminal at the location where the roadside sensing device is located, so that the vehicle terminal adjusts the data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensing capability information and the sensor parameter information of the vehicle terminal; Among them, if the sensing capability information of the roadside sensing device indicates that the information sensed by the roadside sensing device can meet the requirements of the vehicle terminal, the data sharing configuration information is used to instruct the vehicle terminal to reduce the amount of sensor data shared with other vehicle terminals, or instruct the vehicle terminal to suspend sharing sensor data with other vehicle terminals.

6. The data sharing method according to claim 5, wherein Before transmitting the sensing capability information of the roadside sensing device to the vehicle terminal at the location of the roadside sensing device, the data sharing method further includes: Establishing a communication connection with the vehicle terminal; In response to a registration request sent by the vehicle terminal, establishing an association relationship with the vehicle terminal.

7. The data sharing method according to claim 5 or 6, characterized in that Transmitting the sensing capability information of the roadside sensing device to the vehicle terminal at the location of the roadside sensing device includes: Broadcasting a notification message, where the notification message contains the sensing capability information of the roadside sensing device, so that the vehicle terminal at the location of the roadside sensing device receives the notification message to obtain the sensing capability information of the roadside sensing device.

8. A data sharing method for a vehicle terminal, characterized in that, Including: Obtaining the sensor parameter information of the vehicle terminal; Sending the sensor parameter information to the cloud server, so that the cloud server determines the data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensor parameter information and the sensing capability information of the roadside sensing device deployed at the location of the vehicle terminal; Receiving the data sharing configuration information sent by the cloud server and sharing sensor data with other vehicle terminals according to the data sharing configuration information; Wherein, if the sensing capability information of the roadside sensing device indicates that the information sensed by the roadside sensing device can meet the needs of the vehicle terminal, the data sharing configuration information is used to instruct the vehicle terminal to reduce the amount of sensor data shared with other vehicle terminals, or to instruct the vehicle terminal to suspend sharing sensor data with other vehicle terminals.

9. The data sharing method according to claim 8, wherein Sharing sensor data with other vehicle terminals according to the data sharing configuration information includes: Adjusting the strategy for sharing sensor data with other vehicle terminals according to the data sharing configuration information and sharing sensor data with other vehicle terminals based on the adjusted strategy.

10. A data sharing method for a vehicle side, characterized in that, Including: Obtaining the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; Determining the data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; Adjusting the sensor sharing strategy for the vehicle terminal to share sensor data with other vehicle terminals according to the data sharing configuration information and sharing sensor data with other vehicle terminals according to the sensor sharing strategy; Wherein, if the sensing capability information of the roadside sensing device indicates that the information sensed by the roadside sensing device can meet the needs of the vehicle terminal, the data sharing configuration information is used to instruct the vehicle terminal to reduce the amount of sensor data shared with other vehicle terminals, or to instruct the vehicle terminal to suspend sharing sensor data with other vehicle terminals.

11. A data sharing device for a vehicle end, characterized in that, Including: A first acquisition unit configured to acquire the sensor parameter information of the vehicle terminal and acquire the sensing capability information of the roadside sensing device deployed at the location of the vehicle terminal; A first processing unit, configured to determine data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; A first sending unit, configured to transmit the data sharing configuration information to the vehicle terminal, so that the vehicle terminal shares sensor data with the other vehicle terminals according to the data sharing configuration information; Wherein, the first processing unit is configured to: if it is determined according to the sensing capability information of the roadside sensing device that the information sensed by the roadside sensing device can meet the requirements of the vehicle terminal, generate data sharing configuration information for instructing the vehicle terminal to reduce the amount of sensor data shared with the other vehicle terminals, or generate data sharing configuration information for instructing the vehicle terminal to suspend sharing sensor data with the other vehicle terminals.

12. A data sharing device at the vehicle end, characterized in that, Comprising: A second obtaining unit, configured to obtain sensor parameter information of a vehicle terminal; A second sending unit, configured to send the sensor parameter information to a cloud server, so that the cloud server determines data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensor parameter information and the sensing capability information of the roadside sensing device deployed at the location where the vehicle terminal is located; A second processing unit, configured to receive the data sharing configuration information sent by the cloud server and share sensor data with the other vehicle terminals according to the data sharing configuration information; Wherein, if the sensing capability information of the roadside sensing device indicates that the information sensed by the roadside sensing device can meet the requirements of the vehicle terminal, the data sharing configuration information is used to instruct the vehicle terminal to reduce the amount of sensor data shared with the other vehicle terminals, or to instruct the vehicle terminal to suspend sharing sensor data with the other vehicle terminals.

13. A data sharing device for a vehicle end, characterized in that, Comprising: A third obtaining unit, configured to obtain the sensing capability information of the roadside sensing device; A third sending unit, configured to transmit the sensing capability information of the roadside sensing device to a vehicle terminal at the location where the roadside sensing device is located, so that the vehicle terminal adjusts the data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensing capability information and the sensor parameter information of the vehicle terminal; Wherein, if the sensing capability information of the roadside sensing device indicates that the information sensed by the roadside sensing device can meet the requirements of the vehicle terminal, the data sharing configuration information is used to instruct the vehicle terminal to reduce the amount of sensor data shared with the other vehicle terminals, or to instruct the vehicle terminal to suspend sharing sensor data with the other vehicle terminals.

14. A data sharing device at the vehicle end, characterized in that, Comprising: A fourth obtaining unit, configured to obtain the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; A third processing unit, configured to determine data sharing configuration information used by the vehicle terminal to share sensor data with other vehicle terminals according to the sensing capability information of the roadside sensing device and the sensor parameter information of the vehicle terminal; A fourth processing unit, configured to adjust a sensor sharing policy for the vehicle side to share sensor data with the other vehicle sides according to the data sharing configuration information, and share the sensor data with the other vehicle sides according to the sensor sharing policy; Wherein, if the sensing capability information of the roadside sensing device indicates that the information sensed by the roadside sensing device can meet the requirements of the vehicle side, the data sharing configuration information is used to instruct the vehicle side to reduce the amount of sensor data shared with the other vehicle sides, or instruct the vehicle side to suspend sharing sensor data with the other vehicle sides.

15. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the data sharing method for the vehicle side according to any one of claims 1 to 10.

16. An electronic device, characterized in that, Comprising: One or more processors; A storage device for storing one or more programs, which when executed by the one or more processors cause the electronic device to implement the data sharing method for the vehicle side according to any one of claims 1 to 10.

17. A computer program product, characterized in that, The computer program product includes a computer program, the computer program is stored in a computer-readable storage medium, and a processor of a computer device reads and executes the computer program from the computer-readable storage medium, so that the computer device executes the data sharing method for the vehicle side according to any one of claims 1 to 10.

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