Message sending method, device, system and computer readable storage medium

Abstract

Embodiments of the present application provide a message sending method, device, system and computer readable storage medium. The method comprises: a first roadside unit (RSU) in a normal working state determining that there is a message to be delivered; in the case of determining that there is a second RSU in an abnormal working state, the first RSU broadcasts the message to on-board units (OBUs) in the coverage range of the first RSU after adding flag information to the message, wherein the flag information is used to instruct the OBUs receiving the message to broadcast the message to other OBUs. Through the present application, the problem that a vehicle installed with an OBU device cannot receive information in time when driving into the coverage range of an RSU that cannot communicate normally is solved, and the timely delivery of messages to OBU devices is ensured.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of intelligent vehicle networking, and more specifically, to a message sending method, apparatus, system, and computer-readable storage medium. Background Technology

[0002] With the continuous development of Vehicle-to-Everything (V2X) technology, communication is now possible between vehicles, between vehicles and base stations, and between base stations. This allows for the acquisition of real-time traffic conditions, road information, and information on pedestrians or pets, thereby improving driving safety, reducing congestion, and increasing traffic efficiency. V2X technology leverages wireless communication between vehicles and roadside infrastructure, between vehicles, and between vehicles and pedestrians or pets. In conjunction with sensor technology, V2X provides safe driving strategies through network connectivity, content processing, and coordinated vehicle warnings.

[0003] In V2X technology, there are certain limitations on the communication distance between roadside units (RSUs) and on-board units (OBUs). Although RSUs are deployed according to the optimal plan, there are still some situations during subsequent use that may cause a certain RSU to be unable to communicate with the cloud platform and OBU devices. This prevents the on-board OBU from obtaining information (such as real-time traffic information) within the effective time. If an emergency occurs, it may lead to serious consequences. Summary of the Invention

[0004] This invention provides a message sending method, apparatus, system, and computer-readable storage medium to at least solve the problem that vehicles equipped with OBU devices cannot receive information in a timely manner when they travel to the coverage area of ​​RSUs where normal communication is not possible.

[0005] According to an embodiment of the present invention, a message sending method is provided, comprising: a first roadside unit (RSU) in normal working condition determining that there is a message to be sent; and, in the case that a second RSU is determined to be in abnormal working condition, the first RSU adds flag information to the message and then broadcasts the message to on-board units (OBUs) within the coverage area of ​​the first RSU, wherein the flag information is used to instruct the OBUs that receive the message to broadcast the message to other OBUs.

[0006] In at least one exemplary embodiment, before determining that there is a second RSU with an abnormal working status, the method further includes: the first RSU receiving an abnormal notification message from the cloud platform system carrying identification information of the second RSU with an abnormal working status, and recording the working status of the second RSU corresponding to the identification information as abnormal in the node information list according to the abnormal notification message; determining that there is a second RSU with an abnormal working status includes: the first RSU determining that there is a second RSU with an abnormal working status according to the node information list.

[0007] In at least one exemplary embodiment, after the first RSU receives an anomaly notification message from the cloud platform system carrying identification information of a second RSU with an abnormal working status, and records the working status of the second RSU corresponding to the identification information as abnormal in the node information list according to the anomaly notification message, the method further includes: the first RSU receiving a recovery notification message from the cloud platform system carrying identification information of a second RSU whose working status has returned to normal, and updating the working status of the second RSU corresponding to the identification information as normal in the node information list according to the recovery notification message.

[0008] In at least one exemplary embodiment, the first RSU includes at least one of the following: a neighboring RSU of the second RSU; or an RSU within a predetermined range of the second RSU.

[0009] According to another embodiment of the present invention, a message sending method is provided, comprising: an on-board unit (OBU) receiving a message broadcast by a roadside unit (RSU) or other OBUs; and, if it is determined that the message contains flag information, the OBU broadcasts the message to other OBUs and performs local processing on the message, wherein the flag information is used to instruct the OBU that receives the message to broadcast the message to other OBUs.

[0010] In at least one exemplary embodiment, when it is determined that the message contains added identification information, the OBU broadcasts the message to other OBUs and performs local processing on the message, which includes: when it is determined that the message contains added identification information, the OBU determines whether it is receiving the message for the first time; when it is determined that the message is receiving the message for the first time, the OBU broadcasts the message to other OBUs and performs local processing on the message; when it is determined that the message is not receiving the message for the first time, the OBU discards the message.

[0011] In at least one exemplary embodiment, when the OBU receives the message broadcast by the RSU, the method further includes: if it is determined that the message does not contain the flag information, the OBU performs local processing on the message.

[0012] According to another embodiment of the present invention, a message sending method is provided, comprising: a cloud platform system detecting the working status of each roadside unit (RSU); in the case of detecting a second RSU with an abnormal working status, the cloud platform system determining a first RSU with a normal working status that meets predetermined conditions, wherein the predetermined conditions include: the first RSU is a neighboring RSU of the second RSU, or the first RSU is an RSU within a predetermined range of the second RSU; the cloud platform system sending an abnormal notification message to the first RSU carrying identification information of the second RSU with an abnormal working status.

[0013] In at least one exemplary embodiment, after the cloud platform system sends an abnormal notification message carrying identification information of the second RSU whose working status is abnormal to the first RSU, the method further includes: when the working status of the second RSU is detected to have returned to normal, the cloud platform system sends a recovery notification message carrying identification information of the second RSU whose working status has returned to normal to the first RSU.

[0014] According to another embodiment of the present invention, a roadside unit (RSU) is provided, comprising: a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in the embodiments of the aforementioned RSU side method.

[0015] According to another embodiment of the present invention, an on-board unit (OBU) is provided, comprising: a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in the embodiments of the aforementioned OBU-side method.

[0016] According to another embodiment of the present invention, a cloud platform system is provided, comprising: a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in the embodiments of the aforementioned cloud platform system side method.

[0017] According to another embodiment of the present invention, a message sending system is provided, including: the aforementioned roadside unit (RSU), on-board unit (OBU), and cloud platform system.

[0018] According to yet another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0019] According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0020] Through this invention, when an RSU determines a message to be sent, it checks whether there is an RSU with an abnormal working state. If an RSU with an abnormal working state is found, it adds a flag to the message to instruct the OBU that receives the message to broadcast the message to other OBUs. This allows message propagation through OBUs, enabling OBUs under the coverage of an RSU with an abnormal working state to obtain information in a timely manner through message passing between OBUs. This solves the problem that vehicles with OBUs installed cannot receive information in a timely manner when they travel to the coverage area of ​​an RSU that cannot communicate normally, ensuring that messages are delivered to OBUs in a timely manner. In addition, it can ensure smooth progress in the development of V2X technology and provide a safety strategy basis for V2X-based intelligent transportation systems. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a V2X system architecture according to an embodiment of the present invention;

[0022] Figure 2 This is a flowchart of a message sending method operating on RSU 12 according to an embodiment of the present invention;

[0023] Figure 3 This is a flowchart of a message sending method operating on an OBU 14 according to an embodiment of the present invention;

[0024] Figure 4 This is a flowchart of a message sending method running on a cloud platform system 10 according to an embodiment of the present invention;

[0025] Figure 5 This is a flowchart of a message sending device provided in RSU 12 according to an embodiment of the present invention;

[0026] Figure 6 This is a flowchart of a message sending device disposed in OBU 14 according to an embodiment of the present invention;

[0027] Figure 7 This is a flowchart of a message sending device configured in a cloud platform system 10 according to an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of an application scenario according to an embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram of a standard message and an extended message with added flag bits according to an embodiment of the present invention;

[0030] Figure 10 This is a flowchart of a message sending method according to an embodiment of the present invention. Detailed Implementation

[0031] With the research and implementation of intelligent transportation, V2X devices will be deployed on a large scale for a long time to come, and the coverage area will become wider and wider. However, the entire system will not be deployed overnight. In the entire V2X ecosystem, there will often be situations where a certain RSU device suddenly fails to work (hereinafter referred to as abnormal working state, including the communication of the RSU node being affected by obstacles, the RSU communication module failure, etc.). When a vehicle with an OBU device on the road travels into the coverage area of ​​an RSU that cannot communicate normally, it will not be able to receive information in time (such as real-time traffic information). If an emergency occurs, the inability to receive these messages in time may bring great road safety hazards to the vehicle and the entire V2X system.

[0032] To address this issue, embodiments of the present invention provide a message sending method, apparatus, system, and computer-readable storage medium. This solution can be applied to vehicles or mobile devices supporting V2X technology, and is applicable to, but not limited to, vehicle-to-everything (V2X) products and products that enable autonomous driving via V2X. In this embodiment, when the RSU (Roadside Unit) determines a message to be sent, it checks for any RSUs with abnormal operating conditions. If an abnormal RSU is identified, a flag is added to the message to instruct the OBU (On-Board Unit) receiving the message to broadcast it to other OBUs. This allows message propagation through the OBUs, enabling OBUs under the coverage of an abnormally operating RSU to obtain information promptly through message passing between OBUs. This effectively extends the communication distance between the V2X devices RSU and OBU. By extending the direct or indirect communication between the V2X devices RSU and OBU, it resolves communication problems between the main RSU and OBU devices in certain situations, thus enabling timely and effective transmission of road condition information between the RSU and blind-spot OBU devices.

[0033] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0035] The following first introduces the V2X system used in the embodiments of the present invention. Figure 1 This is a schematic diagram of a V2X system architecture according to an embodiment of the present invention, such as... Figure 1 As shown, the V2X system includes a cloud platform system 10, an RSU 12, and an OBU 14. The cloud platform system 10 communicates with the RSU 12 via Internet technology, the RSU 12 and the OBU 14 communicate via V2X technology, and the OBU 14 communicates with each other via V2X technology.

[0036] In practical applications, the functions of each module can be configured as follows:

[0037] The cloud platform system 10 (also known as the cloud platform system) includes functions such as a traffic management server, a traffic application server, and a security management server. It provides cloud management functions for the V2X system, ensuring that the V2X system can conduct secure communication and various security facilities, such as traffic light systems. It can manage traffic lights through cloud-based signal controllers, set reasonable waiting times for red lights at traffic intersections, ensure reasonable traffic flow scheduling at traffic intersections, and broadcast traffic information.

[0038] Roadside Unit 12 (RSU 12) provides V2X and wireless connectivity for infrastructure, such as connecting roadside traffic lights, cameras, and various ETC devices. RSU 12 can provide V2X-based information broadcasting, such as traffic light times, intersection speed limits, and traffic congestion information. With technological advancements, RSU 12 integrates sensing, analysis, control, and communication to build a powerful Intelligent Traffic System (ITS). The adoption of RSU 12 in future smart cities will help maintain smooth traffic flow, improve safety and emergency response, and provide more services.

[0039] OBU 14, or Onboard Unit, is typically a TBOX, TCAN, or vehicle infotainment system. It is mainly installed in vehicles and is equipped with vehicle signal and information collection capabilities. It provides V2X connectivity and wireless internet connectivity to the vehicle. The internet connectivity module (such as a 5G / 4G module) is an optional device. In some scenarios or settings, only a V2X module may be configured without wireless internet (such as a 5G / 4G module). Through V2X communication, it provides or receives warning information, various road condition information, etc. It can also provide some auxiliary function control of the vehicle, as well as interact and share information with the vehicle's autonomous driving system, providing information input and network connectivity for the autonomous driving system.

[0040] It should be noted that the above description refers to the general functions of the cloud platform system 10, RSU 12, and OBU 14 in the system. The functions of the cloud platform system 10, RSU 12, and OBU 14 in the embodiments of this invention are specifically described in the following embodiments, and may not include, nor should be limited to, the general functions described above.

[0041] This embodiment provides a method for sending messages running on RSU 12. Figure 2 This is a flowchart of a message sending method operating on RSU 12 according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps:

[0042] Step S202: The first roadside unit (RSU) in normal working condition determines that there is a message to be sent.

[0043] In step S204, if it is determined that there is a second RSU with an abnormal working status, the first RSU adds a flag information to the message and broadcasts the message to the on-board units (OBUs) within the coverage area of ​​the first RSU. The flag information is used to instruct the OBU that receives the message to broadcast the message to other OBUs.

[0044] Through the above steps, when the RSU determines a message to be sent, it checks whether there is an RSU with an abnormal working state. If an RSU with an abnormal working state is found, it adds a flag to the message to instruct the OBU that receives the message to broadcast the message to other OBUs. This allows the message to be propagated through the OBUs, enabling OBUs under the coverage of RSUs with abnormal working states to obtain information in a timely manner through message passing between OBUs. This solves the problem that vehicles with OBUs installed cannot receive information in a timely manner when they travel to the coverage area of ​​RSUs that cannot communicate normally, ensuring that messages are delivered to the OBUs in a timely manner. In addition, it can also ensure the smooth progress of V2X technology development and provide a safety strategy basis for V2X-based intelligent transportation systems.

[0045] In at least one exemplary embodiment, the first RSU may include at least one of the following: a neighboring RSU of the second RSU; or an RSU within a predetermined range of the second RSU. That is, for a second RSU with an abnormal operating status, its neighboring RSUs can add flag information to their messages to be sent, instructing the OBUs receiving the message to further broadcast the message. This allows OBUs within the coverage of the second RSU to receive the message through inter-OBU message transmission. This scheme, by having neighboring RSUs with normal operating status assist in message dissemination, ensures information provision to OBUs under the coverage of the abnormal RSU with the highest efficiency and lowest cost. Furthermore, for a second RSU with an abnormal operating status, RSUs within a predetermined range of the second RSU can add flag information to their messages to be sent, instructing the OBUs receiving the message to further broadcast the message. This allows OBUs within the coverage of the second RSU to receive the message through inter-OBU message transmission. This scheme, by having normally operating RSUs within a predetermined range centered on the second RSU assist in message dissemination, maximizes message reachability and ensures that OBUs under the coverage of the abnormal RSU can receive the message.

[0046] The first RSU can determine the existence of a second RSU with an abnormal working state through various methods, such as through state probing between RSUs or through notifications from a higher-level cloud platform system. In at least one exemplary embodiment, before determining the existence of a second RSU with an abnormal working state, the method may further include: the first RSU receiving an anomaly notification message from the cloud platform system carrying identification information of the second RSU with an abnormal working state, and recording the working state of the second RSU corresponding to the identification information as abnormal in the node information list according to the anomaly notification message; correspondingly, determining the existence of a second RSU with an abnormal working state may include: the first RSU determining the existence of a second RSU with an abnormal working state based on the node information list.

[0047] In at least one exemplary embodiment, after the first RSU receives an anomaly notification message from the cloud platform system carrying identification information of a second RSU with an abnormal working status, and records the working status of the second RSU corresponding to the identification information as abnormal in the node information list according to the anomaly notification message, the method may further include: the first RSU receiving a recovery notification message from the cloud platform system carrying identification information of a second RSU with a normal working status, and updating the working status of the second RSU corresponding to the identification information as normal in the node information list according to the recovery notification message.

[0048] Through the above scheme, the cloud platform system can notify the first RSU of the abnormal working status of other RSUs, and the cloud platform system can also notify the first RSU of the information that other RSUs have recovered to normal working status. Thus, the first RSU can record locally whether there are RSUs with abnormal working status, which makes it easier to decide which sending strategy to use when a message to be sent is determined. This includes adding flag information to the message to instruct the receiving OBU to broadcast it further, or broadcasting it as a standard message so that the receiving OBU does not forward it but only performs normal local processing.

[0049] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0050] This embodiment provides a method for sending messages running on an OBU 14. Figure 3 This is a flowchart of a message sending method operating on an OBU 14 according to an embodiment of the present invention, as shown below. Figure 3 As shown, the process includes the following steps:

[0051] Step S302: The on-board unit (OBU) receives a message broadcast by the roadside unit (RSU) or other OBUs.

[0052] In step S304, if it is determined that the message contains flag information, the OBU broadcasts the message to other OBUs and performs local processing on the message, wherein the flag information is used to instruct the OBU that receives the message to broadcast the message to other OBUs.

[0053] Through the above steps, when an OBU receives a message broadcast by an RSU or other OBUs, if it determines that the message contains flag information indicating that the OBU receiving the message should broadcast the message to other OBUs, then the message is broadcast to other OBUs and local processing is performed on the message. This allows message propagation through the OBUs, enabling OBUs under the coverage of RSUs in abnormal working states to obtain information in a timely manner through message passing between OBUs. This solves the problem that vehicles with OBUs installed cannot receive information in a timely manner when they travel to the coverage area of ​​RSUs that cannot communicate normally, ensuring that messages are delivered to the OBUs in a timely manner. In addition, it can ensure smooth progress in the development of V2X technology and provide a safety strategy basis for V2X-based intelligent transportation systems.

[0054] In at least one exemplary embodiment, when it is determined that the message contains added flag information, the OBU broadcasts the message to other OBUs and performs local processing on the message, including: when it is determined that the message contains added flag information, the OBU determines whether it is receiving the message for the first time; if it is determined that the message is receiving the message for the first time, the OBU broadcasts the message to other OBUs and performs local processing on the message; if it is determined that the message is not receiving the message for the first time, the OBU discards the message. Since this scheme achieves message diffusion by broadcasting messages between OBUs, this can lead to a situation where an OBU may receive the same message multiple times. For example, an OBU may receive a message from an RSU, and may also receive messages broadcast by other OBUs after receiving messages from RSUs. To prevent repeated message transmission and diffusion processing and save OBU processing resources, a determination of whether the message is received for the first time can be set, so that the OBU only performs message broadcasting and local processing when the message is received for the first time, and discards the message when it is not received for the first time.

[0055] In at least one exemplary embodiment, when the OBU receives the message broadcast by the RSU, the method further includes: if it is determined that the message does not contain the flag information, the OBU performs local processing on the message. That is, when the OBU receives a message without the flag information, the OBU can perform local processing on the message according to the normal message processing flow. If an OBU under the coverage of an abnormal RSU receives a message through message propagation from other OBUs, and then the abnormal RSU moves to an area outside the coverage of the abnormal RSU, the RSUs in that area may not have been instructed to assist in message propagation for the abnormal RSU and therefore send a standard message without the flag information. According to the logic of this scheme, the OBU will not perform message propagation after receiving the standard message, but will instead perform normal local processing.

[0056] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0057] This embodiment provides a method for sending messages running on a cloud platform system 10. Figure 4 This is a flowchart of a message sending method running on a cloud platform system 10 according to an embodiment of the present invention, such as... Figure 4 As shown, the process includes the following steps:

[0058] Step S402: The cloud platform system detects the working status of each roadside unit (RSU).

[0059] Step S404: In the case of detecting a second RSU with an abnormal working status, the cloud platform system determines a first RSU with a normal working status that meets predetermined conditions, wherein the predetermined conditions include: the first RSU is a neighboring RSU of the second RSU, or the first RSU is an RSU within a predetermined range of the second RSU.

[0060] Step S406: The cloud platform system sends an abnormal notification message to the first RSU, carrying the identification information of the second RSU whose working status is abnormal.

[0061] Through the above steps, since the cloud platform system detects the working status of each roadside unit (RSU), when a second RSU with an abnormal working status is detected, the cloud platform system determines the first RSU with a normal working status that meets predetermined conditions, and sends an abnormal notification message carrying the identification information of the second RSU with an abnormal working status to the first RSU. This allows the first RSU to add flag information to the message when it determines that there is an RSU with an abnormal working status, so that the OBU receiving the message can broadcast the message to other OBUs. In this way, the message can be disseminated through the OBUs, so that the OBUs under the coverage of the RSU with an abnormal working status can also obtain information in a timely manner through message transmission between OBUs. This can solve the problem that vehicles with OBU devices cannot receive information in a timely manner when they travel to the coverage area of ​​RSUs that cannot communicate normally, ensuring that messages are delivered to the OBU devices in a timely manner. In addition, it can also ensure the smooth progress of V2X technology development and provide a safety strategy basis for V2X-based intelligent transportation systems.

[0062] In at least one exemplary embodiment, after the cloud platform system sends an abnormal notification message carrying identification information of the second RSU whose working status is abnormal to the first RSU, the method may further include: when the working status of the second RSU is detected to have returned to normal, the cloud platform system sends a recovery notification message carrying identification information of the second RSU whose working status has returned to normal to the first RSU.

[0063] Through the above scheme, the cloud platform system can notify the first RSU of the abnormal working status of other RSUs, and the cloud platform system can also notify the first RSU of the information that other RSUs have recovered to normal working status. Thus, the first RSU can record locally whether there are RSUs with abnormal working status, which makes it easier to decide which sending strategy to use when a message to be sent is determined. This includes adding flag information to the message to instruct the receiving OBU to broadcast it further, or broadcasting it as a standard message so that the receiving OBU does not forward it but only performs normal local processing.

[0064] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0065] This embodiment also provides a message sending device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0066] Figure 5 This is a flowchart of a message sending device installed on RSU 12 according to an embodiment of the present invention, as follows: Figure 5 As shown, the device can be installed in the first RSU in normal working condition, and the device includes:

[0067] The first determining module 52 is configured to determine that there is a message to be sent.

[0068] The message processing module 54 is configured to, when determining that there is a second RSU with an abnormal working status, add flag information to the message and broadcast the message to the on-board units (OBUs) within the coverage area of ​​the first RSU. The flag information is used to instruct the OBU that receives the message to broadcast the message to other OBUs.

[0069] With the aforementioned device, when the RSU determines that a message needs to be sent, it will check whether there is an RSU with an abnormal working state. If an RSU with an abnormal working state is found, it will add a flag to the message to instruct the OBU that receives the message to broadcast the message to other OBUs. This allows the message to be disseminated through the OBUs, enabling OBUs under the coverage of RSUs with abnormal working states to obtain information in a timely manner through message transmission between OBUs. This solves the problem that vehicles with OBU devices cannot receive information in a timely manner when they travel to the coverage area of ​​RSUs that cannot communicate normally, ensuring that messages are delivered to the OBU devices in a timely manner. In addition, it can also ensure the smooth progress of V2X technology development and provide a safety strategy basis for V2X-based intelligent transportation systems.

[0070] In at least one exemplary embodiment, the first RSU may include at least one of the following: a neighboring RSU of the second RSU; or an RSU within a predetermined range of the second RSU.

[0071] The device can determine the existence of a second RSU with an abnormal working state in various ways, such as through state detection between RSUs or through notifications from a higher-level cloud platform system. In at least one exemplary embodiment, the device may further include: a receiving and processing module 56, configured to receive an abnormal notification message from the cloud platform system carrying identification information of a second RSU with an abnormal working state, and record the working state of the second RSU corresponding to the identification information as abnormal in the node information list according to the abnormal notification message; correspondingly, the message processing module 54 can determine the existence of a second RSU with an abnormal working state by determining the existence of a second RSU with an abnormal working state according to the node information list.

[0072] In at least one exemplary embodiment, the receiving and processing module 56 may also be configured to receive a recovery notification message issued by the cloud platform system, which carries the identification information of the second RSU whose working status has been restored to normal, and update the working status of the second RSU corresponding to the identification information to normal in the node information list according to the recovery notification message.

[0073] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0074] This embodiment also provides a message sending device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0075] Figure 6 This is a flowchart of a message sending device configured in OBU 14 according to an embodiment of the present invention, as shown below. Figure 6 As shown, the device can be installed in the OBU, and the device includes:

[0076] Message receiving module 62 is configured to receive messages broadcast by roadside units (RSUs) or other OBUs;

[0077] The message broadcasting processing module 64 is configured to broadcast the message to other OBUs and perform local processing on the message if it is determined that the message contains flag information. The flag information is used to instruct the OBU that receives the message to broadcast the message to other OBUs.

[0078] With the above-described device, when an OBU receives a message broadcast by an RSU or other OBUs, if it determines that the message contains flag information indicating that the OBU receiving the message should broadcast the message to other OBUs, then the message is broadcast to other OBUs and local processing is performed on the message. This allows message propagation through the OBUs, enabling OBUs under the coverage of RSUs in abnormal working states to obtain information in a timely manner through message passing between OBUs. This solves the problem that vehicles with OBUs installed cannot receive information in a timely manner when they travel to the coverage area of ​​RSUs that cannot communicate normally, ensuring that messages are delivered to the OBUs in a timely manner. In addition, it can ensure smooth progress in the development of V2X technology and provide a safety strategy basis for V2X-based intelligent transportation systems.

[0079] In at least one exemplary embodiment, the message broadcasting processing module 64 is configured to: determine whether the message is being received for the first time if the message contains added flag information; if the message is being received for the first time, broadcast the message to other OBUs and perform local processing on the message; if the message is not being received for the first time, discard the message. Since this scheme achieves message diffusion by broadcasting messages between OBUs, this can lead to a situation where an OBU may receive the same message multiple times. For example, an OBU may receive a message from an RSU, and may also receive messages broadcast by other OBUs after receiving messages from RSUs. To prevent repeated message transmission and diffusion processing and save OBU processing resources, a determination of whether the message is being received for the first time can be set, so that the OBU only performs message broadcasting and local processing when the message is received for the first time, and discards the message when it is not being received for the first time.

[0080] In at least one exemplary embodiment, when the OBU receives the message broadcast by the RSU, the apparatus further includes a message local processing module 66, configured to perform local processing on the message if it is determined that the flag information is not added to the message. That is, when the OBU receives a message without flag information, the OBU can perform local processing on the message according to the normal message processing flow. If an OBU under the coverage of an abnormal RSU receives a message through message diffusion from other OBUs, and then the abnormal RSU moves to an area outside the coverage of the abnormal RSU, the RSUs in that area may not have been instructed to assist in message diffusion for the abnormal RSU and therefore send a standard message without flag information. According to the logic of this scheme, the OBU will not perform message diffusion after receiving the standard message, but will instead perform normal local processing.

[0081] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0082] Figure 7 This is a flowchart of a message sending device configured in a cloud platform system 10 according to an embodiment of the present invention, such as... Figure 7 As shown, the device can be installed in a cloud platform system, and the device includes:

[0083] The detection module 72 is configured to detect the working status of each roadside unit (RSU).

[0084] The second determining module 74 is configured to determine a first RSU whose working state is normal when the detection module 72 detects a second RSU with an abnormal working state. The predetermined conditions include: the first RSU is a neighboring RSU of the second RSU, or the first RSU is an RSU within a predetermined range of the second RSU.

[0085] The sending module 76 is configured to send an abnormal notification message to the first RSU, carrying the identification information of the second RSU whose working status is abnormal.

[0086] Through the aforementioned device, the cloud platform system detects the working status of each roadside unit (RSU). When a second RSU with an abnormal working status is detected, the cloud platform system determines a first RSU with a normal working status that meets predetermined conditions and sends an abnormal notification message carrying the identification information of the second RSU with an abnormal working status to the first RSU. This allows the first RSU to add flag information to the message when it determines that an RSU with an abnormal working status exists, instructing the OBU receiving the message to broadcast the message to other OBUs. This enables message propagation through OBUs, allowing OBUs under the coverage of the RSU with an abnormal working status to obtain information in a timely manner through message transmission between OBUs. This solves the problem that vehicles equipped with OBU devices cannot receive information in a timely manner when they travel to the coverage area of ​​an RSU that cannot communicate normally, ensuring that messages are delivered to OBU devices in a timely manner. In addition, it can ensure smooth progress in the development of V2X technology and provide a safety strategy basis for V2X-based intelligent transportation systems.

[0087] In at least one exemplary embodiment, the sending module 76 is further configured to, when the detection module 72 detects that the working state of the second RSU has returned to normal, send a recovery notification message carrying the identification information of the second RSU whose working state has returned to normal to the first RSU.

[0088] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0089] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0090] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0091] Embodiments of the present invention also provide a roadside unit (RSU), including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps described above in the method embodiments applied to the roadside unit (RSU).

[0092] Embodiments of the present invention also provide an on-board unit (OBU) including a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to perform the steps described above in the method embodiments applied to the on-board unit (OBU).

[0093] Embodiments of the present invention also provide a cloud platform system, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps described in the method embodiments applied to the cloud platform system.

[0094] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0095] The following example illustrates a scheme to extend the communication distance between a V2X device RSU and an OBU, using the implementation method of the cloud platform sending information to notify the working status of surrounding RSU devices and the RSU adjusting its broadcast message strategy accordingly.

[0096] In this embodiment, the RSU in the V2X system can determine in advance whether the surrounding RSU devices are working properly by sending information through the cloud platform. If a non-working RSU is found, the working RSU will adjust the strategy of the broadcast message in a timely manner, that is, the original broadcast message will be specially processed before being broadcast to the OBU terminal devices within its coverage area. After receiving the extended message, the OBU terminal device will broadcast the message to the adjacent OBU terminal devices in a timely manner according to the pre-agreed algorithm and process the message. Other OBU terminal devices will first determine whether the message has been received before. If it has been received, the message will be discarded. If it has not been received, the message will be broadcast again, and then the message will be received and processed. The message transmission mechanism will stop only after the OBU terminal device leaves the coverage area of ​​the current RSU or receives a standard message. Otherwise, it will continue indefinitely.

[0097] Figure 8 This is a schematic diagram of an application scenario according to an embodiment of the present invention. The following will use... Figure 8 The following scenario illustrates the message sending scheme of an embodiment of the present invention.

[0098] In this embodiment, the cloud platform 80 is responsible for the management of RSU devices and the forwarding of information between various RSU devices. The cloud platform monitors the status of the deployed RSU devices. If it detects that RSU 81-1 is not working properly, it sends the information to RSU 81-2.

[0099] In this embodiment, RSU 81-2 is a normally functioning RSU. After receiving information from the cloud platform 80 that RSU 81-1 is not working, it sets the corresponding flag for RSU 81-1 to a failed state and performs special processing on broadcast traffic and other messages. For example, one method could be to add a private flag to the message. When OBU 82-2 within the coverage area of ​​this RSU receives this information, it uses this flag to determine that the message requires special processing, i.e., it needs to be broadcast to surrounding OBU devices. Figure 8 As shown, when OBU 82-2, an OBU device within the communication coverage area of ​​RSU 81-2, receives this information, it broadcasts it to surrounding OBU devices. Meanwhile, OBU 82-3, within the communication coverage area of ​​RSU 81-1, receives the information from OBU 82-2 and determines that the message is broadcast by a neighboring OBU device by judging the flag bit of the message. It then broadcasts the information to surrounding OBUs, and so on. All OBUs within the range of RSU 81-1 will receive the information broadcast by RSU 81-2.

[0100] In this embodiment, RSU 81-1 is a non-functional RSU device. The cloud platform 80 will collect and process information about this device, mark RSU 81-1 as a failure point, and send the information to the neighboring node RSU 81-2.

[0101] In this embodiment, OBU 82-1 and OBU 82-2 are both OBU device nodes within the coverage area of ​​RSU 81-2. After receiving the extended message broadcast by RSU 81-2, they broadcast the message to the surrounding OBUs.

[0102] In this embodiment, OBU 82-3 is an OBU device node within the coverage area of ​​the non-functional RSU 81-1. After receiving the message broadcast by OBU 82-2, it broadcasts the message again and processes it.

[0103] In this embodiment, for OBU 82-1, after receiving a message within the coverage area of ​​RSU 81-2, if it receives a message from another OBU within the coverage area of ​​RSU 81-2, such as a message broadcast by OBU 82-2, it will directly discard the message without processing it.

[0104] This embodiment involves two types of messages. Figure 9 This is a schematic diagram of a standard message and an extended message with added flag bits according to an embodiment of the present invention, as shown below. Figure 9 As shown, both standard messages and extended messages can be transmitted between RSUs and OBUs, as well as between OBUs. An OBU device can determine whether to forward a message based on its received message type.

[0105] Figure 9 Standard message 91 is a regular message broadcast by the RSU to the OBUs within its coverage area. This message is sent when the RSU has not detected any problems with the surrounding RSU equipment.

[0106] Figure 9 Extended message 92 is based on standard message 91 with an added flag bit. After receiving extended message 92, OBU will broadcast the message to surrounding OBU devices for further processing.

[0107] Figure 10 This is a flowchart of a message sending method according to an embodiment of the present invention, such as... Figure 10 As shown, the process includes the following steps:

[0108] S1001: The process begins during the initial stage, in which the entire V2X system, including the cloud platform, RSU, and OBU, is in normal working order.

[0109] S1002: The cloud platform detects that a certain RSU is not working properly based on its own algorithm and marks the RSU as a failed node.

[0110] S1003: The cloud platform will notify the neighboring nodes of the failed node's status.

[0111] S1004: After receiving a notification from the cloud platform that a neighboring node has failed, the neighboring node of the failed node marks the neighboring node as failed, and the RSU node stores the information of the failed node.

[0112] S1005: The RSU node has a message to broadcast.

[0113] S1006: Before broadcasting a message, the RSU node must first determine whether the neighboring node is a failed node. If it is, proceed to S1008; otherwise, proceed to S1007.

[0114] S1007: If the neighboring node is not a failed node, broadcast a standard message.

[0115] S1008: Determine if a neighboring node is a failed node, extend the standard message, add a flag, and broadcast the extended message.

[0116] S1009: The OBU device received a broadcast message.

[0117] S1010: The OBU determines whether the message is an extended message. If it is, proceed to S1012; otherwise, proceed to S1011.

[0118] S1011: The OBU determines that the message is a standard message and processes it.

[0119] S1012: The OBU determines that the message is an extended message, broadcasts the extended message to the surrounding OBUs, and then processes the message.

[0120] S1013: After receiving a message broadcast by a neighboring OBU, the OBU determines whether it has already received the message, including messages from the RSU or other OBUs. If so, proceed to S1014; otherwise, proceed to S1015.

[0121] S1014: The OBU has already received this message and is discarding it.

[0122] S1015: The OBU has not received this message. Receive and process this message.

[0123] The solution proposed in this invention extends the communication distance between the RSU (Roadside Unit) and OBU (On-Board Unit) in V2X systems. By extending the direct or indirect communication methods between the RSU and OBU, it addresses the issue of communication failures between the main RSU and OBU devices in certain situations, thereby enabling timely and effective transmission of traffic information between the RSU and the OBU devices within the communication coverage area. This solution ensures smooth progress in the development of V2X technology and provides a safety strategy foundation for V2X-based intelligent transportation systems.

[0124] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0125] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for sending a message, characterized in that, include: The first pathside unit (RSU) that is functioning normally has a message waiting to be sent. The first RSU receives an abnormal notification message from the cloud platform system, which carries the identification information of the second RSU with an abnormal working status. Based on the abnormal notification message, the first RSU records the working status of the second RSU corresponding to the identification information as abnormal in the node information list, so that the first RSU can determine that there is a second RSU with an abnormal working status based on the node information list. If a second RSU is found to be in an abnormal working state, the first RSU adds a flag to the message and broadcasts the message to the on-board units (OBUs) within the coverage area of ​​the first RSU. The flag is used to instruct the OBU that receives the message to broadcast the message to other OBUs.

2. The method according to claim 1, characterized in that, After the first RSU receives an anomaly notification message from the cloud platform system carrying the identification information of a second RSU with an abnormal working status, and records the working status of the second RSU corresponding to the identification information as abnormal in the node information list according to the anomaly notification message, the method further includes: The first RSU receives a recovery notification message from the cloud platform system, which carries the identification information of the second RSU whose working status has returned to normal. Based on the recovery notification message, the first RSU updates the working status of the second RSU corresponding to the identification information to normal in the node information list.

3. The method according to any one of claims 1-2, characterized in that, The first RSU includes at least one of the following: The neighboring RSU of the second RSU; RSUs that fall within the predetermined range of the second RSU.

4. A method for sending a message, characterized in that, include: The cloud platform system monitors the working status of each roadside unit (RSU). In the event that a second RSU is detected to be in an abnormal working state, the cloud platform system determines a first RSU whose working state is normal and meets predetermined conditions, wherein the predetermined conditions include: the first RSU is a neighboring RSU of the second RSU, or the first RSU is an RSU within a predetermined range of the second RSU; The cloud platform system sends an anomaly notification message to the first RSU, carrying identification information of the second RSU whose working status is abnormal. This causes the first RSU to record the working status of the second RSU corresponding to the identification information as abnormal in the node information list based on the anomaly notification message. When the first RSU determines that there is a second RSU with an abnormal working status based on the node information list, it adds flag information to the message to be sent by the first RSU and broadcasts the message to the on-board units (OBUs) within the coverage area of ​​the first RSU. The flag information is used to instruct the OBU that receives the message to broadcast the message to other OBUs.

5. The method according to claim 4, characterized in that, After the cloud platform system sends an exception notification message carrying the identification information of the second RSU with an abnormal working status to the first RSU, the method further includes: When the system detects that the working status of the second RSU has returned to normal, the cloud platform system sends a recovery notification message to the first RSU, carrying the identification information of the second RSU whose working status has returned to normal.

6. A roadside unit (RSU), comprising: A memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 3.

7. A cloud platform system, comprising: A memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to perform the method of claim 4 or 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the method of any one of claims 1 to 3, or the method of any one of claims 4 to 5, when it is run.

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