Data sharing method, device, medium and electronic equipment for vehicles

Abstract

The embodiments of the present application provide a method, device, medium and electronic device for data sharing between vehicles. The data sharing method applied to vehicles includes: obtaining the communication quality of the data sharing link between the first vehicle and the second vehicle; selecting a sensor data level that matches the communication quality according to the communication quality, and the sensor data level is used to characterize at least one of the following dimensions of the sensor data: the quality of the sensor data and the quantity of the sensor data; and sharing the sensor data to the second vehicle through the data sharing link according to the selected sensor data level. The technical solution of the embodiments of the present application can achieve the purpose of flexibly adjusting the shared sensor data according to different link communication qualities, and can thus cope with complex and dynamic vehicle communication environments, which is conducive to improving the efficiency of sharing sensor data between vehicles and ensuring driving safety.

Description

Technical Field

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

[0002] In the application scenario of vehicle communication, vehicles can share sensor data. Specifically, vehicles and RSU (Road Side Unit) can detect other traffic participants (such as vehicles, pedestrians, cyclists, etc.) or abnormal road conditions in the surrounding area through their own 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 vehicles around 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, there is a problem of low efficiency when sharing sensor data between vehicles, which in turn affects the safety of vehicle driving. Summary of the invention

[0003] The embodiments of the present application provide a method, device, medium and electronic device for data sharing between vehicles, which can at least to a certain extent achieve the purpose of flexibly adjusting the shared sensor data according to different link communication qualities, and can cope with complex and dynamic vehicle communication environments, which is beneficial to improving the efficiency of sharing sensor data between vehicles and ensuring driving safety.

[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 method for data sharing between vehicles is provided, including: obtaining the communication quality of a data sharing link between a first vehicle and a second vehicle; selecting a sensor data level that matches the communication quality based on the communication quality, wherein the sensor data level is used to characterize at least one of the following dimensions of sensor data: the quality of the sensor data and the quantity of the sensor data; and sharing the sensor data to the second vehicle via the data sharing link based on the selected sensor data level.

[0006] According to one aspect of an embodiment of the present application, a data sharing device for use between vehicles is provided, including: an acquisition unit, configured to acquire the communication quality of a data sharing link between a first vehicle and a second vehicle; a selection unit, configured to select a sensor data level that matches the communication quality based on the communication quality, wherein the sensor data level is used to characterize at least one of the following dimensions of the sensor data: the quality of the sensor data and the quantity of the sensor data; a transmission unit, configured to share the sensor data to the second vehicle through the data sharing link based on the selected sensor data level.

[0007] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: obtain influencing parameters of the communication quality of the data sharing link; fit the influencing parameters to obtain a network quality level, and the network quality level is used to represent the communication quality of the data sharing link.

[0008] In some embodiments of the present application, based on the aforementioned scheme, if the first vehicle and the second vehicle communicate through the PC5 communication resource pool mode, the influencing parameters include at least one of the following: the communication capability of the first vehicle and the second vehicle, the communication frequency band that can be used between the first vehicle and the second vehicle, the interference degree of the data sharing link, and the distance between the first vehicle and the second vehicle.

[0009] In some embodiments of the present application, based on the aforementioned scheme, if the first vehicle and the second vehicle communicate through the PC5 resource scheduling mode, the influencing parameters include at least one of the following: the communication capability of the first vehicle and the second vehicle, the communication frequency band that can be used between the first vehicle and the second vehicle, the interference degree of the data sharing link, the vehicle distance between the first vehicle and the second vehicle, the quality monitoring information of the PC5 communication link, and the quality prediction information of the PC5 communication link.

[0010] In some embodiments of the present application, based on the aforementioned scheme, if the first vehicle and the second vehicle communicate through a mobile communication network, the influencing parameters include at least one of the following: communication link quality monitoring information on the wireless access network side, communication link quality prediction information on the wireless access network side, communication link quality monitoring information on the core network side, and communication link quality prediction information on the core network side.

[0011] In some embodiments of the present application, based on the aforementioned solution, if the influencing parameter includes the communication capability of the first vehicle and the second vehicle, the network quality level is positively correlated with the communication capability.

[0012] In some embodiments of the present application, based on the aforementioned scheme, if the influencing parameter includes a communication frequency band that can be used between the first vehicle and the second vehicle, the network quality level is positively correlated with the width of the communication frequency band.

[0013] In some embodiments of the present application, based on the aforementioned solution, if the influencing parameter includes the interference degree of the data sharing link, the network quality level is inversely correlated with the interference degree.

[0014] In some embodiments of the present application, based on the aforementioned solution, if the influencing parameter includes the vehicle distance between the first vehicle and the second vehicle, the network quality level is inversely correlated with the vehicle distance.

[0015] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device also includes: a generation unit, configured to generate multiple sensor data levels according to at least one dimension of the quality of sensor data and the quantity of sensor data before selecting a sensor data level that matches the communication quality according to the communication quality, wherein the dimensional types and dimensional contents corresponding to different sensor data levels are not exactly the same.

[0016] In some embodiments of the present application, based on the aforementioned scheme, the quality of the sensor data includes at least one of the following factors: importance of the content of the sensor data, accuracy of the sensor data, and information format of the sensor data; the quantity of the sensor data includes: frequency of sharing of the sensor data.

[0017] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device also includes: a first sending unit, configured to initiate sensor data sharing indication information to the second vehicle before the acquisition unit acquires the communication quality of the data sharing link between the first vehicle and the second vehicle, and to share sensor data with the second vehicle after sending the sensor data sharing indication information; the acquisition unit is configured to: detect the communication quality of the data sharing link between the first vehicle and the second vehicle during the process of sharing sensor data with the second vehicle.

[0018] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device also includes: a second sending unit, configured to share sensor data with the second vehicle in response to a sensor data sharing request sent by the second vehicle before acquiring the communication quality of the data sharing link between the first vehicle and the second vehicle; the acquisition unit is configured to: detect the communication quality of the data sharing link between the first vehicle and the second vehicle during the process of sharing sensor data with the second vehicle.

[0019] In some embodiments of the present application, based on the aforementioned solution, the transmission unit is configured to: adjust the sensor data shared to the second vehicle through the data sharing link according to the selected sensor data level.

[0020] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: obtain the monitored communication quality of the data sharing link between the first vehicle and the second vehicle; or obtain the predicted communication quality of the data sharing link between the first vehicle and the second vehicle.

[0021] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for sharing data between vehicles as described in the above embodiment is implemented.

[0022] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the data sharing method applied between vehicles as described in the above embodiments.

[0023] According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and 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, so that the computer device executes the data sharing method applied to vehicles provided in the above various optional embodiments.

[0024] In the technical solutions provided in some embodiments of the present application, the communication quality of the data sharing link between the first vehicle and the second vehicle is obtained, and a sensor data level that matches the communication quality is selected according to the communication quality. Then, according to the selected sensor data level, the sensor data is shared with the second vehicle through the data sharing link. This allows the vehicles to consider the communication quality of the data sharing link when sharing sensor data, thereby adjusting the quality of the shared sensor data and / or the quantity of the sensor data, thereby achieving the purpose of flexibly adjusting the shared sensor data according to different link communication qualities. This can cope with complex and dynamic vehicle communication environments, and is conducive to improving the efficiency of sharing sensor data between vehicles and ensuring driving safety.

[0025] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0027] Figure 1 A schematic diagram showing an application scenario of an embodiment of the present application is shown;

[0028] Figure 2 A flow chart showing a method for sharing data between vehicles according to an embodiment of the present application is shown;

[0029] Figure 3 A flow chart showing a method for sharing data between vehicles according to an embodiment of the present application is shown;

[0030] Figure 4 A flow chart showing a method for sharing data between vehicles according to an embodiment of the present application is shown;

[0031] Figure 5 A block diagram of a data sharing system between vehicles according to an embodiment of the present application is shown;

[0032] Figure 6 A block diagram of a data sharing system between vehicles according to an embodiment of the present application is shown;

[0033] Figure 7 A flow chart showing a method for sharing data between vehicles according to an embodiment of the present application is shown;

[0034] Figure 8 A flow chart showing a method for sharing data between vehicles according to an embodiment of the present application is shown;

[0035] Fig. 9 A block diagram of a data sharing device applied between vehicles according to an embodiment of the present application is shown;

[0036] Fig.10 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0037] The exemplary embodiments are now 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 understood as being limited to these examples; on the contrary, the purpose of providing these embodiments is to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0038] In addition, the features, structures or characteristics described in the present application may be combined in one or more embodiments in any suitable manner. In the following description, there are many specific details so that the embodiments of the present application can be fully understood. However, those skilled in the art will appreciate that when implementing the technical scheme of the present application, all the detailed features in the embodiments may not be needed, one or more specific details may be omitted, or other methods, elements, devices, steps, etc. may be adopted.

[0039] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may 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.

[0040] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0041] It should be noted that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0042] Figure 1 A schematic diagram showing an application scenario of an embodiment of the present application is shown.

[0043] exist Figure 1 In the application scenario shown, multiple vehicles are traveling on the road 101, and sensors are installed on the vehicles, such as laser sensors, visual sensors, speed sensors, acceleration sensors, position sensors, radars, etc. Sensor data can be shared between vehicles, such as data measured by laser sensors, image data detected by visual sensors, speed data detected by speed sensors, acceleration data detected by acceleration sensors, position data detected by position sensors, and detection data of radars.

[0044] Optionally, vehicles can share sensor data via PC5 links or Uu communications. Figure 1In the embodiment, vehicle 102 and vehicle 103 can respectively establish communication connection with base station 104, and then vehicle 102 and vehicle 103 can share sensor data through base station 104, that is, vehicle 102 can send sensor data to be shared to base station 104, and then base station 104 forwards it to vehicle 103. Alternatively, vehicle 102 and vehicle 103 can also directly share sensor data through PC5 link.

[0045] In one embodiment of the present application, the vehicle 102 may also obtain the communication quality of the data sharing link (such as PC5 link or Uu communication link) between the vehicle 103 and then select a matching sensor data level according to the communication quality, so as to share the sensor data with the vehicle 103 through the data sharing link according to the selected sensor data level. The sensor data level is used to characterize the quality of the sensor data and / or the quantity of the sensor data.

[0046] Specifically, if the communication quality of the data sharing link between the vehicle 102 and the vehicle 103 is poor, the sensor data with a higher degree of importance can be sent first, and the amount of shared sensor data can be reduced. When the communication quality of the data sharing link between the vehicle 102 and the vehicle 103 is good, the frequency of sensor data sharing can be increased, and the amount of shared sensor data can be appropriately increased.

[0047] It can be seen that the technical solution of the embodiment of the present application allows vehicles to take into account the communication quality of the data sharing link when sharing sensor data, so as to adjust the quality of the shared sensor data and / or the quantity of the sensor data, thereby achieving the purpose of flexibly adjusting the shared sensor data according to different link communication qualities, and thus being able to cope with complex and dynamic vehicle communication environments, which is conducive to improving the efficiency of sharing sensor data between vehicles and ensuring driving safety.

[0048] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0049] Figure 2 A flow chart of a data sharing method applied between vehicles according to an embodiment of the present application is shown. The data sharing method applied between vehicles can be executed by the vehicles. Figure 2 As shown, the data sharing method applied to vehicles includes at least steps S210 to S230, which are described in detail as follows:

[0050] In step S210 , the communication quality of the data sharing link between the first vehicle and the second vehicle is obtained.

[0051] In one embodiment of the present application, the data sharing link between the first vehicle and the second vehicle may be a PC5 communication link between the first vehicle and the second vehicle, or may be a Uu communication link between the first vehicle and the second vehicle.

[0052] Optionally, the communication quality of the data sharing link between the first vehicle and the second vehicle may be the monitored communication quality of the data sharing link between the first vehicle and the second vehicle; or may be the predicted communication quality of the data sharing link between the first vehicle and the second vehicle.

[0053] In one embodiment of the present application, the process of obtaining the communication quality of the data sharing link between the first vehicle and the second vehicle may be: obtaining an influencing parameter of the communication quality of the data sharing link, and fitting the obtained influencing parameter to obtain a network quality level, where the network quality level is used to represent the communication quality of the data sharing link. The technical solution of this embodiment enables the network quality level to be obtained by fitting the parameters that have an impact on the communication quality.

[0054] In one embodiment of the present application, if the first vehicle and the second vehicle communicate via the PC5 communication resource pool mode, the parameters affecting the communication quality of the data sharing link include at least one of the following: the communication capability of the first vehicle and the second vehicle, the communication frequency band that can be used between the first vehicle and the second vehicle, the interference level of the data sharing link, and the distance between the first vehicle and the second vehicle. Among them, the PC5 communication resource pool mode refers to the resources (including frequency domain resources, time domain resources, etc.) pre-allocated with PC5 communication. When the first vehicle and the second vehicle communicate, communication resources are selected from the pre-allocated resources for communication.

[0055] Optionally, the communication capabilities of the first vehicle and the second vehicle include communication modes that the first vehicle and the second vehicle can support (such as whether they support PC5 communication, etc.), whether they have the ability to send and receive, etc.; the communication frequency band that can be used between the first vehicle and the second vehicle, that is, the frequency band width in the communication resource pool allocated to the first vehicle and the second vehicle; the interference level of the data sharing link is used to indicate the communication situation between the first vehicle and the second vehicle affected by other vehicles or equipment.

[0056] In one embodiment of the present application, if the first vehicle and the second vehicle communicate via the PC5 resource scheduling mode, the parameters affecting the communication quality of the data sharing link include at least one of the following: the communication capability of the first vehicle and the second vehicle, the communication frequency band that can be used between the first vehicle and the second vehicle, the interference level of the data sharing link, the distance between the first vehicle and the second vehicle, the quality monitoring information of the PC5 communication link, and the quality prediction information of the PC5 communication link. Among them, the PC5 resource scheduling mode refers to the scheduling device (such as a base station) allocating communication resources to the first vehicle and the second vehicle by means of PC5 resource scheduling.

[0057] Optionally, the communication capabilities of the first vehicle and the second vehicle include the communication modes that the first vehicle and the second vehicle can support (such as whether they support PC5 communication, etc.), whether they have the ability to send and receive, etc.; the communication frequency band that can be used between the first vehicle and the second vehicle, that is, the width of the communication frequency band that can be used when scheduling the first vehicle and the second vehicle to communicate; the interference level of the data sharing link is used to indicate the communication situation between the first vehicle and the second vehicle affected by other vehicles or equipment; the quality monitoring information of the PC5 communication link indicates the link quality obtained by monitoring the SideLink (side link); the quality prediction information of the PC5 communication link indicates the predicted link quality of the SideLink (side link).

[0058] In one embodiment of the present application, if the first vehicle and the second vehicle communicate through a mobile communication network, the influencing parameters of the communication quality of the data sharing link include at least one of the following: communication link quality monitoring information on the wireless access network side, communication link quality prediction information on the wireless access network side, communication link quality monitoring information on the core network side, and communication link quality prediction information on the core network side.

[0059] Optionally, the communication link quality monitoring information on the wireless access network side includes the quality monitoring information of the uplink and the quality monitoring information of the downlink on the wireless access network side; the communication link quality prediction information on the wireless access network side includes the quality prediction information of the uplink and the quality prediction information of the downlink on the wireless access network side; the communication link quality monitoring information on the core network side includes the quality monitoring information of the uplink and the quality monitoring information of the downlink on the core network side; the communication link quality prediction information on the core network side includes the quality prediction information of the uplink and the quality prediction information of the downlink on the core network side.

[0060] In one embodiment of the present application, if the influencing parameters of the communication quality of the data sharing link include the communication capabilities of the first vehicle and the second vehicle, the network quality level is positively correlated with the communication capabilities. That is, the stronger the communication capabilities of the first vehicle and the second vehicle, the higher the network quality level; conversely, if the communication capabilities of the first vehicle and the second vehicle are weaker, the lower the network quality level.

[0061] In one embodiment of the present application, if the influencing parameter of the communication quality of the data sharing link includes the communication frequency band that can be used between the first vehicle and the second vehicle, the network quality level is positively correlated with the width of the communication frequency band. That is, the wider the communication frequency band that can be used between the first vehicle and the second vehicle, the higher the network quality level; conversely, if the communication frequency band that can be used between the first vehicle and the second vehicle is narrower, the lower the network quality level.

[0062] In one embodiment of the present application, if the influencing parameter of the communication quality of the data sharing link includes the interference degree of the data sharing link, the network quality level is inversely correlated with the interference degree. That is, the higher the interference degree of the data sharing link between the first vehicle and the second vehicle, the lower the network quality level; conversely, if the interference degree of the data sharing link between the first vehicle and the second vehicle is lower, the network quality level is higher.

[0063] In one embodiment of the present application, if the influencing parameter of the communication quality of the data sharing link includes the distance between the first vehicle and the second vehicle, the network quality level is inversely correlated with the distance. That is, the greater the distance between the first vehicle and the second vehicle, the lower the network quality level; conversely, if the distance between the first vehicle and the second vehicle is smaller, the network quality level is higher.

[0064] Continue to refer to Figure 2 As shown, in step S220, a sensor data level matching the communication quality is selected according to the communication quality of the data sharing link, and the sensor data level is used to characterize at least one of the following dimensions of the sensor data: the quality of the sensor data and the quantity of the sensor data.

[0065] Optionally, if the communication quality of the data sharing link is high, sensor data of a higher level may be selected; if the communication quality of the data sharing link is poor, sensor data of a lower level may be selected.

[0066] Optionally, the quality of the sensor data includes at least one of the following factors: importance of the content of the sensor data, accuracy of the sensor data, and information format of the sensor data; the quantity of the sensor data includes: frequency of sharing of the sensor data.

[0067] Optionally, higher-level sensor data may indicate at least one of the following: higher quality of sensor data (such as higher accuracy, higher importance), or a larger amount of sensor data (specifically, this may be indicated by a sharing frequency, such as a higher sharing frequency, indicating a larger amount of sensor data). Conversely, lower-level sensor data may indicate at least one of the following: lower quality of sensor data (such as lower accuracy, lower importance), or a smaller amount of sensor data (specifically, this may be indicated by a sharing frequency, such as a lower sharing frequency, indicating a smaller amount of sensor data).

[0068] In one embodiment of the present application, before selecting a sensor data level that matches the communication quality according to the communication quality, multiple sensor data levels may be generated according to at least one dimension of the quality of the sensor data and the quantity of the sensor data, wherein the dimension types and dimension contents corresponding to different sensor data levels are not completely the same. For example, the sensor data level may be obtained by fitting the dimension contents of the at least one dimension through linear operations.

[0069] In step S230 , the sensor data is shared with the second vehicle via a data sharing link according to the selected sensor data level.

[0070] Figure 2 The technical solution of the illustrated embodiment allows vehicles to take into account the communication quality of the data sharing link when sharing sensor data, thereby adjusting the quality of the shared sensor data and / or the quantity of the sensor data, thereby achieving the purpose of flexibly adjusting the shared sensor data according to different link communication qualities, thereby being able to cope with complex and dynamic vehicle communication environments, and is conducive to improving the efficiency of sharing sensor data between vehicles and ensuring driving safety.

[0071] Figure 3 A flow chart of a data sharing method applied between vehicles according to an embodiment of the present application is shown. The data sharing method applied between vehicles can be executed by the vehicles. Figure 3 As shown, the data sharing method applied to vehicles includes at least step S310, step S320, and Figure 2 The steps S220 and S230 shown in FIG. 1 are described in detail as follows:

[0072] In step S310 , the first vehicle initiates sensor data sharing indication information to the second vehicle, and after sending the sensor data sharing indication information, shares sensor data with the second vehicle.

[0073] That is, the first vehicle may actively initiate a sensor data sharing process with the second vehicle, and after initiating the active sharing process, share the sensor data with the second vehicle.

[0074] In step S320 , during the process of sharing sensor data with the second vehicle, the communication quality of the data sharing link between the first vehicle and the second vehicle is detected.

[0075] Optionally, the data sharing link between the first vehicle and the second vehicle may be a PC5 communication link between the first vehicle and the second vehicle, or may be a Uu communication link between the first vehicle and the second vehicle.

[0076] Optionally, the process of detecting the communication quality of the data sharing link between the first vehicle and the second vehicle may be: obtaining an influencing parameter of the communication quality of the data sharing link, and fitting the obtained influencing parameter to obtain a network quality level, where the network quality level is used to represent the communication quality of the data sharing link. The technical solution of this embodiment enables the network quality level to be obtained by fitting the parameters that have an impact on the communication quality.

[0077] After step S320, the Figure 2 The specific process of step S220 and step S230 shown in the figure can refer to the technical solution of the aforementioned embodiment and will not be repeated here.

[0078] It should be noted that in Figure 3 In the illustrated embodiment, since the sensor data sharing process has been performed, after a sensor data level that matches the communication quality of the data sharing link between vehicles is selected, the sensor data shared with the second vehicle through the data sharing link can be adjusted according to the selected sensor data level.

[0079] Figure 4 A flow chart of a data sharing method applied between vehicles according to an embodiment of the present application is shown. The data sharing method applied between vehicles can be executed by the vehicles. Figure 4 As shown, the data sharing method applied to vehicles includes at least step S410, step S420, and Figure 2 The steps S220 and S230 shown in FIG. 1 are described in detail as follows:

[0080] In step S410 , in response to a sensor data sharing request sent by the second vehicle, sensor data is shared with the second vehicle.

[0081] That is, the first vehicle may share the sensor data with the second vehicle after receiving the sensor data sharing request sent by the second vehicle.

[0082] In step S420 , during the process of sharing sensor data with the second vehicle, the communication quality of the data sharing link between the first vehicle and the second vehicle is detected.

[0083] Optionally, the data sharing link between the first vehicle and the second vehicle may be a PC5 communication link between the first vehicle and the second vehicle, or may be a Uu communication link between the first vehicle and the second vehicle.

[0084] Optionally, the process of detecting the communication quality of the data sharing link between the first vehicle and the second vehicle may be: obtaining an influencing parameter of the communication quality of the data sharing link, and fitting the obtained influencing parameter to obtain a network quality level, where the network quality level is used to represent the communication quality of the data sharing link. The technical solution of this embodiment enables the network quality level to be obtained by fitting the parameters that have an impact on the communication quality.

[0085] After step S420, the Figure 2 The specific process of step S220 and step S230 shown in the figure can refer to the technical solution of the aforementioned embodiment and will not be repeated here.

[0086] It should be noted that in Figure 4 In the illustrated embodiment, since the sensor data sharing process has been performed, after a sensor data level that matches the communication quality of the data sharing link between vehicles is selected, the sensor data shared with the second vehicle through the data sharing link can be adjusted according to the selected sensor data level.

[0087] Figure 5 A block diagram of a data sharing system between vehicles according to an embodiment of the present application is shown. Figure 5In the figure, HV stands for host Vehicle, and RV stands for remote Vehicle. Both HV and RV have a driving decision module, a body perception module, and a communication module. Among them, the body perception module includes a variety of sensors, such as laser sensors, visual sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The driving decision module is used to obtain sensor data from the vehicle's own body perception module, or it 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 forward collision warning (FCW), driver fatigue warning (DFW) and tire pressure monitoring (TPMS), etc., or lane keeping assist (Lane Keeping Assist, LKA), automatic parking assist (APS), automatic emergency braking (AEB), adaptive cruise control (ACC), etc.

[0088] Optionally, the vehicle can make driving decisions with the help of artificial intelligence (AI) technology. Artificial intelligence technology is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, 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 respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0089] At the same time, artificial intelligence technology is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics and other technologies. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0090] Computer vision (CV) is a science that studies how to make machines "see". To put it more specifically, it refers to the use of cameras and computers to replace human eyes to identify, track and measure targets, and further perform image processing to make computer processing into images that are more suitable for human eye observation or transmission to instruments for detection. As a scientific discipline, computer vision studies related theories and technologies, and attempts to establish an artificial intelligence system that can obtain information from images or multi-dimensional data. Computer vision technology usually includes 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 positioning and mapping, and other technologies, as well as common biometric recognition technologies such as face recognition and fingerprint recognition.

[0091] Continue to refer to Figure 5 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. Figure 5 In the illustrated embodiment, the driving decision module included in the HV may obtain sensor data based on its own body perception module, or may obtain sensor data shared by the RV based on the communication module, so as to make driving decisions.

[0092] Since the communication link between the HV and the RV is variable, if the communication link is not considered, the efficiency of sharing sensor data between the HV and the RV will be low, which will affect the safety of vehicle driving. Figure 6 In the data sharing system shown, a sensor sharing dynamic adjustment module and a communication link monitoring and analysis module are introduced into the vehicle.

[0093] The sensor sharing dynamic adjustment module is used to adjust the content and frequency of sensor data shared between vehicles according to the quality of the communication link between vehicles (real-time measured value or predicted value). The communication link monitoring and analysis module is used to monitor the communication quality of the wireless link for sensor data sharing between vehicles. Figure 6 In the illustrated embodiment, the communication link monitoring and analysis module included in the RV is used to monitor the communication quality of the wireless link for sharing sensor data between the HV and the RV, and the sensor sharing dynamic adjustment module included in the RV is used to adjust the content and frequency of the sensor data shared by the RV to the HV according to the quality of the communication link between the vehicles.

[0094] Optionally, the communication link monitoring and analysis module may evaluate the quality of the communication link between vehicles for sharing sensor data in the following manner.

[0095] In one embodiment of the present application, if vehicles communicate using the PC5 resource pool mode, the quality of the communication link used for sharing sensor data can be obtained by evaluating the following factors: the communication capabilities of the sending vehicle and the receiving vehicle, the frequency band width allocated for vehicle communication, the interference to vehicle communication (for example, measured by vehicle density), and the distance between vehicles.

[0096] In one embodiment of the present application, if vehicles communicate using the PC5 scheduling mode, the quality of the communication link used for sharing sensor data can be obtained by evaluating the following factors: the communication capabilities of the sending vehicle and the receiving vehicle, the frequency band width allocated for vehicle communications, the interference to vehicle communications (for example, measured by vehicle density), quality monitoring and / or prediction of the PC5 link, and the distance between vehicles.

[0097] In one embodiment of the present application, if vehicles communicate in Uu mode, the quality of the communication link used for sensor data sharing can be obtained by evaluating the following factors: uplink and / or downlink quality monitoring or prediction of the wireless access network, and uplink and / or downlink quality monitoring or prediction of the core network.

[0098] In one embodiment of the present application, the quality of the communication link between vehicles can be quantified into Lc levels, where Lc is a function of the above parameters. The embodiment of the present application does not limit the expression of the function, but the Lc value is correlated with the various parameters, for example, the Lc value can be positively correlated with the communication capabilities of the transmitting vehicle and the receiving vehicle, positively correlated with the frequency band width of the allocated spectrum resources, negatively correlated with the interference situation, negatively correlated with the distance between vehicles, etc.

[0099] Optionally, the relationship between the Lc value and various parameters may be as shown in Table 1:

[0100]

[0101] Table 1

[0102] In the above Table 1, the values ​​of various parameters corresponding to different communication link quality levels (ie, Lc values) are not completely the same, and thus Lc communication link quality levels can be evaluated and obtained.

[0103] In one embodiment of the present application, the sensor sharing dynamic adjustment module can classify the sensor data according to the content to obtain Sc levels. Optionally, due to the variability of the communication link quality, the sensor data can be divided into multiple adjustable levels according to the importance, resolution (accuracy), information format (raw data or structured data, etc.), and sharing frequency of the sensor data. The relationship between different levels and sensor data can be shown in Table 2:

[0104]

[0105] Table 2

[0106] In the above Table 2, the values ​​of the parameters corresponding to different sensor data levels (i.e., Sc values) are not exactly the same, and thus Sc sensor data levels can be evaluated. Different sensor data levels correspond to different communication link quality levels, and the specific corresponding situations can be used as dynamic strategies or pre-configured parameters.

[0107] Based on the technical solution of the above embodiment, Figure 7 As shown, according to an embodiment of the present application, a method for sharing data between vehicles includes the following steps:

[0108] Step S701: Car A initiates an active sharing process of sensor data.

[0109] Step S702, the receiving end makes a sharing response, that is, replies a response message to the active sharing to car A. It should be noted that this step is an optional step. In the embodiment of the present application, after car A initiates active sharing, the receiving end may not make a sharing response, and car A may directly start sharing sensor data.

[0110] Step S703, car A starts sharing according to the default content sharing configuration, that is, car A initially shares sensor data according to the default sensor data level.

[0111] Step S704: Vehicle A dynamically monitors the quality of the communication link with the receiving end to obtain a communication link quality level Lc.

[0112] Step S705: Determine the sensor data level Sc that matches the communication link quality level Lc.

[0113] Optionally, if the communication link quality level Lc is high (a higher Lc indicates a higher communication link quality), a higher level of sensor data level Sc can be selected (the higher the sensor data level Sc, the more important the sensor data and / or the greater the quantity); if the communication link quality level Lc is poor, a lower level of sensor data level Sc can be selected.

[0114] In step S706 , vehicle A shares sensor data according to the new configuration (ie, sensor data level Sc), and returns to step S704 to continue monitoring.

[0115] Figure 7 The technical solution of the embodiment shown is that car A actively initiates the sharing process. In one embodiment of the present application, Figure 8 As shown, according to an embodiment of the present application, a method for sharing data between vehicles includes the following steps:

[0116] Step S801: Car A is requested to share sensor data.

[0117] Step S802, car A starts sharing according to the default content sharing configuration, that is, car A initially shares sensor data according to the default sensor data level.

[0118] Step S803, vehicle A dynamically monitors the quality of the communication link with the receiving end to obtain a communication link quality level Lc.

[0119] Step S804: Determine the sensor data level Sc that matches the communication link quality level Lc.

[0120] Optionally, if the communication link quality level Lc is high (a higher Lc indicates a higher communication link quality), a higher level of sensor data level Sc can be selected (the higher the sensor data level Sc, the more important the sensor data and / or the greater the quantity); if the communication link quality level Lc is poor, a lower level of sensor data level Sc can be selected.

[0121] In step S805 , vehicle A shares sensor data according to the new configuration (ie, sensor data level Sc), and returns to step S803 to continue monitoring.

[0122] Figure 8 The technical solution of the illustrated embodiment is a process in which vehicle A passively shares data, that is, the technical solution of the embodiment of the present application is not only applicable to application scenarios in which vehicles actively initiate sensor data sharing, but also to application scenarios in which vehicles passively share sensor data.

[0123] The technical solutions of the above-mentioned embodiments of the present application enable vehicles to consider the communication quality of the data sharing link when sharing sensor data, thereby adjusting the quality of the shared sensor data and / or the quantity of the sensor data, thereby achieving the purpose of flexibly adjusting the shared sensor data according to different link communication qualities, and thus being able to cope with complex and dynamic vehicle communication environments, which is conducive to improving the efficiency of sharing sensor data between vehicles and ensuring driving safety.

[0124] The following describes an apparatus embodiment of the present application, which can be used to execute the data sharing method between vehicles in the above-mentioned embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above-mentioned embodiment of the data sharing method between vehicles in the present application.

[0125] Fig. 9 A block diagram of a data sharing device applied between vehicles according to an embodiment of the present application is shown, and the data sharing device can be arranged in a vehicle.

[0126] Reference Fig. 9 As shown, a data sharing device 900 applied between vehicles according to an embodiment of the present application includes: an acquisition unit 902 , a selection unit 904 and a transmission unit 906 .

[0127] Among them, the acquisition unit 902 is configured to acquire the communication quality of the data sharing link between the first vehicle and the second vehicle; the selection unit 904 is configured to select a sensor data level that matches the communication quality according to the communication quality, and the sensor data level is used to characterize at least one of the following dimensions of the sensor data: the quality of the sensor data and the quantity of the sensor data; the transmission unit 906 is configured to share the sensor data to the second vehicle through the data sharing link according to the selected sensor data level.

[0128] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 902 is configured to: obtain the influencing parameters of the communication quality of the data sharing link; fit the influencing parameters to obtain a network quality level, and the network quality level is used to represent the communication quality of the data sharing link.

[0129] In some embodiments of the present application, based on the aforementioned scheme, if the first vehicle and the second vehicle communicate through the PC5 communication resource pool mode, the influencing parameters include at least one of the following: the communication capability of the first vehicle and the second vehicle, the communication frequency band that can be used between the first vehicle and the second vehicle, the interference degree of the data sharing link, and the distance between the first vehicle and the second vehicle.

[0130] In some embodiments of the present application, based on the aforementioned scheme, if the first vehicle and the second vehicle communicate through the PC5 resource scheduling mode, the influencing parameters include at least one of the following: the communication capability of the first vehicle and the second vehicle, the communication frequency band that can be used between the first vehicle and the second vehicle, the interference degree of the data sharing link, the vehicle distance between the first vehicle and the second vehicle, the quality monitoring information of the PC5 communication link, and the quality prediction information of the PC5 communication link.

[0131] In some embodiments of the present application, based on the aforementioned scheme, if the first vehicle and the second vehicle communicate through a mobile communication network, the influencing parameters include at least one of the following: communication link quality monitoring information on the wireless access network side, communication link quality prediction information on the wireless access network side, communication link quality monitoring information on the core network side, and communication link quality prediction information on the core network side.

[0132] In some embodiments of the present application, based on the aforementioned solution, if the influencing parameter includes the communication capability of the first vehicle and the second vehicle, the network quality level is positively correlated with the communication capability.

[0133] In some embodiments of the present application, based on the aforementioned scheme, if the influencing parameter includes a communication frequency band that can be used between the first vehicle and the second vehicle, the network quality level is positively correlated with the width of the communication frequency band.

[0134] In some embodiments of the present application, based on the aforementioned solution, if the influencing parameter includes the interference degree of the data sharing link, the network quality level is inversely correlated with the interference degree.

[0135] In some embodiments of the present application, based on the aforementioned solution, if the influencing parameter includes the vehicle distance between the first vehicle and the second vehicle, the network quality level is inversely correlated with the vehicle distance.

[0136] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device 900 also includes: a generation unit, configured to generate multiple sensor data levels according to at least one dimension of the quality of sensor data and the quantity of sensor data before selecting a sensor data level that matches the communication quality according to the communication quality, wherein the dimensional types and dimensional contents corresponding to different sensor data levels are not exactly the same.

[0137] In some embodiments of the present application, based on the aforementioned scheme, the quality of the sensor data includes at least one of the following factors: importance of the content of the sensor data, accuracy of the sensor data, and information format of the sensor data; the quantity of the sensor data includes: frequency of sharing of the sensor data.

[0138] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device 900 also includes: a first sending unit, configured to initiate sensor data sharing indication information to the second vehicle before the acquisition unit acquires the communication quality of the data sharing link between the first vehicle and the second vehicle, and to share sensor data with the second vehicle after sending the sensor data sharing indication information; the acquisition unit 902 is configured to: detect the communication quality of the data sharing link between the first vehicle and the second vehicle during the process of sharing sensor data with the second vehicle.

[0139] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device 900 also includes: a second sending unit, configured to share sensor data with the second vehicle in response to a sensor data sharing request sent by the second vehicle before acquiring the communication quality of the data sharing link between the first vehicle and the second vehicle; the acquisition unit 902 is configured to: detect the communication quality of the data sharing link between the first vehicle and the second vehicle during the process of sharing sensor data with the second vehicle.

[0140] In some embodiments of the present application, based on the aforementioned solution, the transmission unit 906 is configured to: adjust the sensor data shared to the second vehicle through the data sharing link according to the selected sensor data level.

[0141] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 902 is configured to: obtain the monitored communication quality of the data sharing link between the first vehicle and the second vehicle; or obtain the predicted communication quality of the data sharing link between the first vehicle and the second vehicle.

[0142] Fig.10 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0143] It should be noted that Fig.10 The computer system 1000 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0144] like Fig.10As shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 to the random access memory (RAM) 1003, such as executing the method described in the above embodiment. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, the ROM 1002 and the RAM 1003 are connected to each other through the bus 1004. The input / output (I / O) interface 1005 is also connected to the bus 1004.

[0145] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0146] In particular, 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 through a communication section 1009, and / or installed from a removable medium 1011. When the computer program is executed by a central processing unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0147] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may 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 disk 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 may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0148] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0149] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0150] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently 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 method described in the above embodiment.

[0151] It should be noted that, although several modules or units of the equipment 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 two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0152] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0153] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. 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 common knowledge or customary technical means in the art that are not disclosed in the present application.

[0154] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A data sharing method applied to vehicles, characterized in that: The vehicle is equipped with a sensor, and the data sharing method applied between vehicles includes: Acquire influencing parameters of the communication quality of the data sharing link between the first vehicle and the second vehicle, the influencing parameters including: communication capability of the first vehicle and the second vehicle, a communication frequency band that can be used between the first vehicle and the second vehicle, an interference degree of the data sharing link, and a vehicle distance between the first vehicle and the second vehicle; The influencing parameters are fitted to obtain a network quality level, wherein the network quality level is positively correlated with the communication capability, the network quality level is positively correlated with the width of the communication frequency band, the network quality level is inversely correlated with the interference degree, and the network quality level is inversely correlated with the vehicle distance; wherein the interference degree is characterized by vehicle density; A sensor data level matching the network quality level is selected according to the network quality level, wherein the sensor data level is used to characterize the quality of sensor data and the quantity of sensor data; wherein the sensor data is data collected by the sensor installed on the vehicle, and the quality of the sensor data includes: the importance of the content of the sensor data, the accuracy of the sensor data, and the information format of the sensor data; the information format of the sensor data includes a raw data format or a structured data format; wherein the selected sensor data level is positively correlated with the network quality level; According to the selected sensor data level, the sensor data is shared with the second vehicle through the data sharing link, so that the second vehicle makes driving decisions based on the sensor data.

2. The data sharing method according to claim 1, characterized in that: If the first vehicle and the second vehicle communicate with each other through the PC5 resource scheduling mode, the influencing parameter further includes at least one of the following: Quality monitoring information of PC5 communication link, quality prediction information of PC5 communication link.

3. The data sharing method according to claim 1, characterized in that: Before selecting the sensor data level matching the network quality level according to the network quality level, the data sharing method further includes: A plurality of sensor data levels are generated according to the quality of the sensor data and the amount of the sensor data.

4. The data sharing method according to claim 3, characterized in that: The amount of sensor data includes: the sharing frequency of sensor data.

5. The data sharing method according to claim 1, characterized in that: Before obtaining the influencing parameter of the communication quality of the data sharing link between the first vehicle and the second vehicle, the data sharing method further includes: initiating sensor data sharing indication information to the second vehicle, and after sending the sensor data sharing indication information, sharing sensor data with the second vehicle; Acquiring an influencing parameter of the communication quality of the data sharing link between the first vehicle and the second vehicle includes: acquiring an influencing parameter of the communication quality of the data sharing link between the first vehicle and the second vehicle during the process of sharing sensor data with the second vehicle.

6. The data sharing method according to claim 1, characterized in that: Before acquiring the influencing parameter of the communication quality of the data sharing link between the first vehicle and the second vehicle, the data sharing method further comprises: sharing the sensor data with the second vehicle in response to a sensor data sharing request sent by the second vehicle; Acquiring an influencing parameter of the communication quality of the data sharing link between the first vehicle and the second vehicle includes: acquiring an influencing parameter of the communication quality of the data sharing link between the first vehicle and the second vehicle during the process of sharing sensor data with the second vehicle.

7. The data sharing method according to claim 5 or 6, characterized in that: Sharing the sensor data to the second vehicle through the data sharing link according to the selected sensor data level includes: The sensor data shared with the second vehicle via the data sharing link is adjusted according to the selected sensor data level.

8. The data sharing method according to any one of claims 1 to 6, characterized in that: Obtaining a parameter affecting the communication quality of a data sharing link between a first vehicle and a second vehicle, including: Acquire a parameter affecting the communication quality of the data sharing link between the first vehicle and the second vehicle that is monitored; or Acquire a predicted parameter affecting the communication quality of the data sharing link between the first vehicle and the second vehicle.

9. A data sharing device for use between vehicles, characterized in that: The vehicle is equipped with a sensor, and the data sharing device applied between vehicles includes: an acquisition unit, configured to acquire influencing parameters of the communication quality of the data sharing link between the first vehicle and the second vehicle, the influencing parameters including: the communication capability of the first vehicle and the second vehicle, the communication frequency band that can be used between the first vehicle and the second vehicle, the interference degree of the data sharing link, and the vehicle distance between the first vehicle and the second vehicle; fitting the influencing parameters to obtain a network quality level, wherein the network quality level is positively correlated with the communication capability, the network quality level is positively correlated with the width of the communication frequency band, the network quality level is inversely correlated with the interference degree, and the network quality level is inversely correlated with the vehicle distance; wherein the interference degree is characterized by vehicle density; A selection unit is configured to select a sensor data level that matches the network quality level according to the network quality level, wherein the sensor data level is used to characterize the quality of sensor data and the quantity of sensor data; wherein the sensor data is data collected by the sensor installed on the vehicle, and the quality of the sensor data includes: the importance of the content of the sensor data, the accuracy of the sensor data, and the information format of the sensor data; the information format of the sensor data includes a raw data format or a structured data format; wherein the selected sensor data level is positively correlated with the network quality level; The transmission unit is configured to share the sensor data with the second vehicle through the data sharing link according to the selected sensor data level, so that the second vehicle makes driving decisions based on the sensor data.

10. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for sharing data between vehicles according to any one of claims 1 to 8 is implemented.

11. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more computer programs, which, when executed by the one or more processors, enables the electronic device to implement the data sharing method between vehicles as described in any one of claims 1 to 8.

12. A computer program product, characterized in that The computer program product includes a computer program, which is stored in a computer-readable storage medium. The processor of the electronic device reads and executes the computer program from the computer-readable storage medium, so that the electronic device executes the data sharing method applied between vehicles as described in any one of claims 1 to 8.

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