Communication method for platoon vehicles and vehicle

Abstract

The present invention discloses a communication method and vehicle for a platoon of vehicles, wherein the method includes: any member vehicle in the platoon locally maintaining a correspondence table between the vehicle numbers of each member vehicle in the platoon and their temporary identifications. In an embodiment of the present invention, each member vehicle maintains a correspondence table between the vehicle numbers of each member vehicle in the platoon and their temporary identifications. Therefore, even if the temporary identification of a member vehicle changes, the temporary identification can still be updated or the member vehicle can be identified based on the vehicle number of the member vehicle. This can solve the problem in the prior art that after a vehicle's temporary identification is changed, vehicles in the platoon have difficulty identifying the vehicle, and cannot monitor or analyze it.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a communication method for platoon vehicles and vehicles. Background Art

[0002] In recent years, cellular vehicle-to-everything (C-V2X) technology, based on cellular communications, has evolved from basic safety applications to information services, safety, and efficiency applications. For the first phase of C-V2X applications, all vehicles must periodically broadcast Basic Safety Messages (BSMs) to ensure inter-vehicle awareness and meet basic safety requirements. Furthermore, for privacy and anti-tracking considerations, the temporary vehicle identifiers in BSM messages must be regularly updated.

[0003] Platooning, a key application scenario in C-V2X, involves processes such as platoon creation, vehicle joining, vehicle leaving, and platoon disbanding. During platooning, vehicles within the platoon must maintain both basic safety communications with vehicles outside the platoon and platoon communications with other vehicles within the platoon.

[0004] When communicating with vehicles outside the platoon, the vehicle's temporary identification (ID) needs to be replaced in a timely manner for reasons such as vehicle privacy and certification. When vehicles are traveling in a platoon, vehicles within the platoon are also involved in intra-platoon communication scenarios. Identity recognition and communication within the platoon are based on the vehicle's temporary identification. In other words, when communicating within the platoon, the following vehicle uses the vehicle's temporary identification as the basis for identity recognition. If the vehicle's temporary identification is changed, it may cause confusion in identification between vehicles within the platoon, making it impossible to confirm the vehicle to which the received message belongs, and it is impossible to determine whether any vehicles within the platoon have lost packets. Furthermore, the lead vehicle will not be able to maintain management of the platoon. Currently, there is no solution to this problem. Summary of the Invention

[0005] At least one embodiment of the present invention provides a communication method and vehicle for a platoon of vehicles, which can still accurately identify each vehicle in the platoon when the temporary identifications of the vehicles in the platoon are changed.

[0006] In a first aspect, the present invention provides a communication method for platoon vehicles, comprising:

[0007] Any member vehicle in the formation locally maintains a correspondence table between the vehicle numbers of each member vehicle in the formation and its temporary identification.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the vehicle numbers of the member vehicles are assigned by the lead vehicle in the formation.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the temporary identification of the member vehicle is generated by a lead vehicle in the formation, or is generated by the member vehicle itself.

[0010] In combination with the first aspect, in certain implementations of the first aspect, in the correspondence table, the number of temporary identifications of the member vehicles is at least one.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0012] When any one of the member vehicles is a lead vehicle in the formation, the any one of the member vehicles sends the correspondence table in the formation.

[0013] In conjunction with the first aspect, in certain implementations of the first aspect, any member vehicle sending the correspondence table within the formation includes:

[0014] Any member vehicle sends the correspondence table after the correspondence table is updated.

[0015] In conjunction with the first aspect, in certain implementations of the first aspect, the updating of the correspondence table includes at least one of the following:

[0016] After any one of the member vehicles generates at least one new temporary identifier for a following vehicle in the formation, updating the correspondence table;

[0017] After any member vehicle receives at least one new temporary identifier sent by a following vehicle in the formation, updating the correspondence table;

[0018] After any member vehicle adds or deletes a member vehicle in the formation, the corresponding relationship table is updated;

[0019] Any member vehicle receives the correspondence between the vehicle number of the following vehicle and at least one temporary identifier sent by the following vehicle in the formation, and updates the correspondence table according to the received correspondence.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0021] When any one of the member vehicles is a following vehicle in the formation, the any one of the member vehicles sends a correspondence between the vehicle number of the any one of the member vehicles and at least one temporary identifier to the lead vehicle in the formation.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0023] When any one of the member vehicles is a following vehicle in the formation, the any one of the member vehicles sends a correspondence between the vehicle number of the vehicle and at least one temporary identifier in the formation.

[0024] In conjunction with the first aspect, in certain implementations of the first aspect, any member vehicle transmitting the correspondence between its vehicle number and at least one temporary identifier within the platoon includes:

[0025] After joining the formation, any member vehicle sends the corresponding relationship between the vehicle number of the vehicle and at least one temporary identifier within the formation; and / or,

[0026] After updating its own temporary identification, any member vehicle sends the corresponding relationship between the vehicle number of the vehicle and at least one temporary identification within the formation.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0028] Any member vehicle receives a correspondence between a vehicle number and at least one temporary identifier sent by other member vehicles in the formation;

[0029] Any member vehicle updates the locally maintained correspondence table according to the correspondence between the vehicle number and at least one temporary identifier received from other member vehicles.

[0030] In combination with the first aspect, in certain implementations of the first aspect, the source identifier of the physical layer and / or access layer used by any member vehicle when sending a message is an identifier randomly generated by any member vehicle or a preset shared identifier of multiple devices.

[0031] In combination with the first aspect, in certain implementations of the first aspect, the correspondence table between the vehicle numbers of each member vehicle in the formation and its temporary identification or the correspondence between the vehicle numbers of the member vehicles and the temporary identification is transmitted in an encrypted manner.

[0032] In a second aspect, the present invention provides a vehicle, wherein the vehicle is any member vehicle in a convoy, and the vehicle comprises: a transceiver, a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the following steps are performed:

[0033] A correspondence table between the vehicle numbers of each member vehicle in the formation and its temporary identification is maintained locally at any member vehicle.

[0034] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0035] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0036] When any of the member vehicles is a lead vehicle in the formation, a vehicle number is assigned to the member vehicles in the formation.

[0037] In combination with the second aspect, in certain implementations of the second aspect, the temporary identification of the member vehicle is generated by a lead vehicle in the formation, or is generated by the member vehicle itself.

[0038] In combination with the second aspect, in certain implementations of the second aspect, in the correspondence table, the number of temporary identifications of the member vehicles is at least one.

[0039] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0040] When any of the member vehicles is a lead vehicle in the formation, the correspondence table is sent within the formation.

[0041] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0042] The corresponding relationship table is sent after the corresponding relationship table is updated.

[0043] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements at least one of the following steps:

[0044] After generating at least one new temporary identifier for the following vehicle in the formation, updating the correspondence table;

[0045] After receiving at least one new temporary identifier sent by a following vehicle in the formation, updating the correspondence table;

[0046] After adding or deleting a member vehicle in the formation, updating the corresponding relationship table;

[0047] Receive a correspondence between a vehicle number of the following vehicle and at least one temporary identifier sent by a following vehicle in the formation, and update the correspondence table according to the received correspondence.

[0048] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0049] When any one of the member vehicles is a following vehicle in the formation, a correspondence between the vehicle number of any one of the member vehicles and at least one temporary identifier is sent to the lead vehicle in the formation.

[0050] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0051] When any of the member vehicles is a following vehicle in the formation, a correspondence between the vehicle number of the vehicle and at least one temporary identifier is sent within the formation.

[0052] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0053] After joining the formation, sending the corresponding relationship between the vehicle number of the vehicle and at least one temporary identifier within the formation; and / or,

[0054] After updating its own temporary identification, the corresponding relationship between the vehicle number of the vehicle and at least one temporary identification is sent within the formation.

[0055] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0056] Receive a correspondence between a vehicle number and at least one temporary identifier sent by other member vehicles in the formation;

[0057] The locally maintained correspondence table is updated according to the correspondence between the vehicle numbers sent by other member vehicles and the at least one temporary identifier.

[0058] In combination with the second aspect, in certain implementations of the second aspect, the source identifier of the physical layer and / or access layer used when sending a message is an identifier randomly generated by any member vehicle or a preset shared identifier of multiple devices.

[0059] In conjunction with the second aspect, in certain implementations of the second aspect, when the processor executes the program, it further implements the following steps:

[0060] The correspondence table between the vehicle numbers of the member vehicles in the formation and their temporary identifications or the correspondence between the vehicle numbers of the member vehicles and the temporary identifications is transmitted in an encrypted manner.

[0061] In a third aspect, the present invention provides a vehicle comprising:

[0062] The corresponding relationship maintenance module is used to locally maintain the corresponding relationship table between the vehicle number of each member vehicle in the formation and its temporary identification.

[0063] In a fourth aspect, the present invention provides a computer storage medium comprising instructions, which, when executed on a computer, enable the computer to execute the method described above.

[0064] The beneficial effect of the embodiment of the present invention is: the embodiment of the present invention maintains a correspondence table between the vehicle number of each member vehicle in the formation and its temporary identification on the side of each member vehicle, so that when the temporary identification of a member vehicle changes, its temporary identification can still be updated or the member vehicle can be identified based on the vehicle number of the member vehicle, which can solve the problem in the prior art that after the temporary identification of a vehicle is changed, it is difficult for vehicles in the formation to identify the vehicle and cannot be monitored or analyzed. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0066] Figure 1 A flow chart of a communication method for platoon vehicles provided in an embodiment of the present invention;

[0067] Figure 2 An exemplary diagram of a communication method for platoon vehicles provided in an embodiment of the present invention;

[0068] Figure 3 An exemplary diagram of a communication method for platoon vehicles provided in an embodiment of the present invention;

[0069] Figure 4 A structural diagram of any member vehicle of an embodiment of the present invention;

[0070] Figure 5 A structural diagram of any member vehicle of an embodiment of the present invention. DETAILED DESCRIPTION

[0071] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0072] The terms "first", "second", etc. in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices. "And / or" in the description and claims represents at least one of the connected objects.

[0073] As described in the background technology, when a platoon vehicle communicates with a vehicle outside the platoon, the vehicle's temporary identification needs to be replaced in a timely manner for reasons of privacy and credentials. While using the vehicle's temporary identification as an identity credential for interactions within the platoon, this approach fails to consider the need for periodic replacement of the vehicle's temporary identification in actual use. Once a vehicle's temporary identification is replaced, other vehicles in the platoon will be unable to identify the vehicle, which can easily lead to the following problems:

[0074] (1) If the leading vehicle or the following vehicle cannot continuously receive information from a following vehicle for a certain period of time, the vehicle is considered to have lost contact, which may lead to the disbanding of the formation.

[0075] (2) The lead vehicle cannot identify the correspondence between the received information and the following vehicles, and thus cannot manage the fleet vehicles.

[0076] Since identity recognition and communication within the formation are all based on the temporary identification of the vehicle, there is currently no good solution to ensure that the vehicles in the formation can still identify the vehicle, monitor or analyze it after the temporary identification of the vehicle is changed.

[0077] In vehicle platooning scenarios, intra-platoon communication requires two types of messages: BSM messages and platoon management messages. BSM messages, while still meeting the requirements for intra-platoon communication, can also be received and interpreted by vehicles outside the platoon without encryption. Platoon management messages, on the other hand, require encryption and are interpreted only by vehicles within the platoon. Encryption can be implemented at the application layer or other layers.

[0078] During intra-platoon communications, vehicles rely on BSM messages to communicate their location and status, and a vehicle's temporary ID is used to identify the vehicle within the platoon. To ensure the privacy of basic safety communications outside the platoon, BSM messages require periodic updates of the vehicle's temporary ID. However, changes to the temporary ID can disrupt identity recognition between vehicles within the platoon, disrupting the platoon's formation.

[0079] To ensure the continuity of a platoon's status when a vehicle's temporary identification is changed, an embodiment of the present invention proposes a communication method for platoon vehicles. When communicating with a following vehicle, the lead vehicle associates a set of vehicle numbers with the temporary identifications of the following vehicles. This association (also known as a correspondence) is notified to all following vehicles in the platoon. Following vehicles then determine which vehicles they need to monitor or analyze based on this association and the platoon's predetermined strategy. If the temporary identification of a following vehicle needs to be changed, the association is updated based on the latest temporary identification.

[0080] In order to solve at least one of the above problems, an embodiment of the present invention provides a communication method for platoon vehicles, such as Figure 1 As shown, the method includes:

[0081] Step 11: Any member vehicle in the formation locally maintains a correspondence table between the vehicle numbers of each member vehicle in the formation and its temporary identification.

[0082] Here, each vehicle in a platoon is a member vehicle of the platoon. Typically, a platoon's member vehicles include a lead vehicle and at least one follower vehicle. The lead vehicle typically manages the platoon's member vehicles. When follower vehicles join or leave the platoon, the lead vehicle maintains and updates the member vehicle list. Furthermore, the lead vehicle can broadcast information about relevant member vehicles within the platoon. In step 11 above, any member vehicle can be either the lead vehicle or a follower vehicle within the platoon.

[0083] In step 11 above, the vehicle number of each member vehicle is introduced. This vehicle number can be assigned by the lead vehicle in the platoon to each member vehicle and can uniquely identify the member vehicle within the platoon. For example, when a vehicle joins the platoon, the lead vehicle assigns it a vehicle number. For example, vehicle numbers can be assigned based on the order in which they join the platoon. Vehicle numbers can also be assigned based on parameters such as the physical location of the vehicle within the platoon to create a unique vehicle number within the platoon. Of course, vehicle numbers can also be randomly assigned.

[0084] After the above step 11, any member vehicle may also determine the target vehicle that the vehicle needs to monitor or analyze based on the corresponding relationship table and the predetermined formation strategy, and monitor or analyze the target vehicle.

[0085] Through the above steps, the embodiment of the present invention maintains a correspondence table between the vehicle number of each member vehicle in the formation and its temporary identification on the side of each member vehicle. In this way, even if the temporary identification of a member vehicle changes, its temporary identification can still be updated or the member vehicle can be identified based on the vehicle number of the member vehicle, thereby solving the problem in the prior art that after the temporary identification of a vehicle is changed, it is difficult for vehicles in the formation to identify the vehicle and cannot be monitored or analyzed.

[0086] In an embodiment of the present invention, the temporary identification of each member vehicle in the formation can be generated by the lead vehicle in the formation, or can be generated by the member vehicle itself. For example, the lead vehicle generates a new temporary vehicle identification for a following vehicle that joins the formation, and distributes the temporary identification to the following vehicles in the formation. For another example, the following vehicle generates a new temporary vehicle identification by itself and then reports it to the lead vehicle. In addition, the number of temporary vehicle identifications generated at a time can be one or more. For example, the lead vehicle generates one temporary identification each time and distributes it to a designated vehicle. The lead vehicle can also generate a group of temporary identifications for one following vehicle at a time and distribute them to the designated vehicle.

[0087] That is, the temporary identifier of a member vehicle in an embodiment of the present invention can be one or more. For example, when there are multiple temporary identifiers, the vehicle number of the member vehicle corresponds to the multiple temporary identifiers of the member vehicle in the corresponding relationship table. A member vehicle can use one of the temporary identifiers as its own identifier to send messages according to preset rules. For example, the lead vehicle generates a set of temporary identifiers for the following vehicle each time, and the following vehicle selects one of the temporary identifiers for communication as needed. For other following vehicles, each vehicle's vehicle number corresponds to multiple temporary identifiers, and all temporary identifiers can be identified when sending messages using any of the temporary identifiers. Specifically, the following vehicle can select the temporary identifier generated by the lead vehicle in sequence or randomly. Furthermore, if there is enough data in each group, the group of data can be repeatedly used multiple times using the same set of temporary identifiers before a new set of temporary identifiers is generated.

[0088] In this embodiment of the present invention, when a vehicle's temporary identification changes, causing the correspondence table to be updated, the correspondence needs to be updated within the platoon. As a first implementation, after updating the correspondence table, the lead vehicle can send the latest correspondence table within the platoon, thereby notifying all other vehicles in the platoon. As a second implementation, in this embodiment of the present invention, after updating its own temporary identification, the following vehicle can directly notify all other vehicles in the platoon of the change in its own temporary identification.

[0089] In the first implementation, when any member vehicle is a pilot vehicle in a platoon, the member vehicle is also required to transmit the correspondence table within the platoon. For example, after the correspondence table is updated, the correspondence table is transmitted within the platoon so that each member vehicle can receive and update the correspondence table.

[0090] Here, the update of the correspondence table may specifically include one or more of the following situations:

[0091] 1) After any member vehicle generates at least one new temporary identifier for a following vehicle in the formation, the corresponding relationship table is updated.

[0092] Any member vehicle serving as the lead vehicle, after generating at least one new temporary identifier for a following vehicle in the formation, updates the locally maintained correspondence table and sends the updated correspondence table in the formation.

[0093] 2) After any member vehicle receives at least one new temporary identifier sent by a following vehicle in the formation, the corresponding relationship table is updated.

[0094] In an embodiment of the present invention, the following vehicle can also update its own temporary identification. After updating the temporary identification, it will send at least one new temporary identification to the lead vehicle (any member vehicle). At this time, after any member vehicle receives the at least one new temporary identification sent by the following vehicle, it updates the locally maintained correspondence table and sends the updated correspondence table within the formation.

[0095] 3) After any member vehicle adds or deletes a member vehicle in the formation, the corresponding relationship table is updated.

[0096] After adding or deleting a member vehicle in the formation, any member vehicle serving as a pilot vehicle needs to update the locally maintained correspondence table to add or delete the correspondence between the vehicle number and the temporary identification of the relevant member vehicle, and then send the updated correspondence table within the formation.

[0097] In an embodiment of the present invention, after updating its own temporary identification, the following vehicle in the formation can also send the correspondence between the vehicle number of the vehicle and at least one temporary identification (updated temporary identification) to the lead vehicle. At this time, when any member vehicle is a lead vehicle, any member vehicle can also receive the above-mentioned correspondence sent by the following vehicle, update the locally maintained correspondence table, and send the updated correspondence table within the formation. Specifically, the following vehicle can send the correspondence between the vehicle number of the following vehicle and at least one temporary identification through a predefined vehicle identification update message. Here, the source end identifier of the physical layer and / or access layer used by any member vehicle when sending a message is an identifier randomly generated by any member vehicle or a preset shared identifier of multiple devices.

[0098] For example, the source identifier of the physical layer and / or access layer of the vehicle identification update message can be randomly generated by the following vehicle. Optionally, the source identifier of the physical layer and / or access layer of the vehicle identification update message can also be the valid source ID of the following vehicle. When the access layer uses LTE-V2X communication technology to transmit the message of the correspondence relationship of the vehicle temporary identification, the source identifier of the message can be generated by the MAC layer configuration and stored in the V2X dedicated MAC subheader. When the access layer uses NR-V2X communication technology to transmit the message of the correspondence relationship of the vehicle temporary identification, the source identifier can be generated by the physical layer configuration and stored in the 2nd SCI. In addition, when the vehicle temporary identification changes, it needs to be updated synchronously at each layer.

[0099] When any of the member vehicles is a following vehicle, any of the member vehicles can, after updating its own temporary identification, send the correspondence between the vehicle number of any of the member vehicles and at least one temporary identification to the lead vehicle in the formation to notify the lead vehicle to update the correspondence in the formation.

[0100] Furthermore, to ensure the reliability of message transmission and reception, in an embodiment of the present invention, when a following vehicle transmits its updated temporary identifier or the correspondence between its vehicle number and the temporary identifier, and when any member vehicle serving as the pilot vehicle transmits the correspondence, the following vehicle can repeat the transmission multiple times to improve the success rate of message reception at the receiving end. Furthermore, to avoid or minimize the impact of message reception failures, when any member vehicle serving as the pilot vehicle updates the correspondence between the vehicle number and the temporary identifier of a member vehicle in the correspondence table, the corresponding relationships between the member vehicle's vehicle number and the temporary identifier before and after the update can be saved in the correspondence table. After a preset time, the temporary identifier before the update can be deleted from the corresponding relationship. This way, even if a member vehicle fails to update its temporary identifier in a timely manner due to reasons such as message reception failure, the member vehicle can still use the temporary identifier before the update when sending messages, allowing other vehicles to identify the member vehicle.

[0101] In the second implementation described above, in an embodiment of the present invention, each following vehicle can also locally maintain the correspondence between its own vehicle number and temporary identifier, and transmit the correspondence between the following vehicle's vehicle number and at least one temporary identifier within the formation to notify vehicles within the formation to update the following vehicle's correspondence. For example, when any member vehicle is a following vehicle within the formation, after joining the formation, any member vehicle transmits the correspondence between its own vehicle number and at least one temporary identifier within the formation; and after updating its own temporary identifier, any member vehicle transmits the correspondence between its own vehicle number and at least one temporary identifier within the formation, and so on.

[0102] When any of the member vehicles serves as a following vehicle in the formation, it may also receive the correspondence between the vehicle number and at least one temporary identifier sent by other member vehicles in the formation. At this time, any of the member vehicles updates the locally maintained correspondence table based on the correspondence between the vehicle number and at least one temporary identifier received from other member vehicles.

[0103] Furthermore, to enhance information transmission security, each member vehicle uses encryption when transmitting the correspondence between its own vehicle number and temporary identification, or when transmitting a table of correspondences between the vehicle numbers and temporary identifications of each member vehicle in the formation. The specific encryption method will not be detailed here.

[0104] Furthermore, the transmission within the platoon described in the embodiments of the present invention may be performed via broadcast / multicast within the platoon, or may be performed via unicast to each of the member vehicles in the platoon other than the vehicle itself. The transmission to a following vehicle / member vehicle / lead vehicle described in the embodiments of the present invention may typically be performed via unicast to the following vehicle / member vehicle / lead vehicle.

[0105] The above describes the communication method for platoon vehicles according to an embodiment of the present invention. The following further provides several examples of the application of the communication method for platoon vehicles according to an embodiment of the present invention in conjunction with the accompanying drawings.

[0106] In the following example, a convoy consists of a pilot car, follower car 1, and follower car 2, with follower car 1 in front of follower car 2. The convoy management strategy is that the pilot car is responsible for managing the members of the convoy and maintaining a table of correspondence between the temporary identifiers of the members.

[0107] Assume that the temporary identification of the following vehicle 1 is A, and the corresponding vehicle number is 01; the temporary identification of the following vehicle 2 is B, and the corresponding vehicle number is 02. Then the corresponding relationship is:

[0108] Following vehicle 1 Vehicle number 01 Temporary identification A

[0109] Following vehicle 2 Vehicle number 02 Temporary identification B

[0110] Example 1:

[0111] Figure 2 This is an example of a process for the pilot vehicle to generate a new temporary vehicle identification for the following vehicle 1. Figure 2 In the process, the pilot vehicle 1 obtains the new temporary identification of the following vehicle 1 (step 21), and then distributes the new temporary identification to the following vehicle 1 (step 22) for replacement by the following vehicle 1, such as sending the following information to the following vehicle 1:

[0112] Following vehicle 1 Vehicle number 01 Original temporary identification A New temporary identification A1

[0113] In addition, the pilot car also synchronizes the new temporary identifier to the following car 2 (step 23). For example, the following information is sent to the following car 2:

[0114] Following vehicle 1 Vehicle number 01 Temporary identification A1

[0115] Following vehicle 2 Vehicle number 02 Temporary identification B

[0116] or:

[0117] Following vehicle 1 Vehicle number 01 Original temporary identification A New temporary identification A1

[0118] Following vehicle 2 Vehicle number 02 Temporary identification B

[0119] The following vehicle 2 may add the temporary identifier A1 to the corresponding relationship of the following vehicle 1, so that when the following vehicle 1 sends a message using the temporary identifier A1 (step 24), it can also be ensured that it can be identified.

[0120] Example 2:

[0121] Assume that the lead car generates two sets of temporary vehicle identifiers, one for follower car 1 and one for follower car 2:

[0122] Following vehicle 1 temporary identification list

[0123] {A,A1,A2,A3,A4,A5,A6,A7,A8…}

[0124] Following vehicle 2 temporary identification list

[0125] {B,B1,B2,B3,B4,B5,B6,B7,B8…}

[0126] When following vehicles 1 and 2 send messages, they can randomly select any temporary identifier from the temporary identifier list generated by the pilot vehicle, or send them in sequence. After all temporary identifiers are used, the pilot vehicle can regenerate a set of data, or reuse them several times before regenerating a set of temporary identifiers.

[0127] Example 3:

[0128] Assume that the management strategy of the fleet is that the lead vehicle is responsible for establishing and updating the correspondence table of temporary identifications, and the following vehicles can also independently maintain the correspondence table of temporary identifications in the fleet.

[0129] When the following vehicle 1 or 2 needs to change the temporary identification of the vehicle, the temporary identification information to be changed (original temporary identification + old temporary identification) is attached to a specific message in advance, and then all vehicles in the fleet are notified for them to update the corresponding relationship list.

[0130] Here, when the follower vehicle 1 or the follower vehicle 2 needs to change the temporary vehicle identification and report it to the pilot vehicle, the underlying source ID of the notification message sent can use its own valid ID or a randomly generated Source ID.

[0131] Example 4:

[0132] Figure 3 It is a schematic diagram of the data interaction process between the following vehicle 1 and other vehicles when the following vehicle 1 generates a new vehicle temporary identification.

[0133] Figure 1 The temporary identification of the following vehicle 1 needs to be changed to A1 (step 31). Before changing the identification, the following vehicle 1 can report to the pilot vehicle (step 32), such as sending the following information to the pilot vehicle:

[0134] Following vehicle 1 Vehicle number 01 Original temporary identification A New temporary identification A1

[0135] The pilot car updates the corresponding relationship table of the team members as follows:

[0136] Following vehicle 1 Vehicle number 01 Temporary identification A1

[0137] Following vehicle 2 Vehicle number 02 Temporary identification B

[0138] After the corresponding relationship table is updated, the pilot car notifies other vehicles in the team (step 33). Subsequently, the follower car 1 changes the temporary identification and uses the new temporary identification A1 to send information (step 34).

[0139] The above describes various methods of the embodiments of the present invention. The following further provides apparatuses for implementing the above methods.

[0140] Please refer to Figure 4 The embodiment of the present invention provides a vehicle 40, wherein the vehicle 40 is any member vehicle in a vehicle formation, and the vehicle 40 includes:

[0141] The correspondence maintenance module 41 is used to locally maintain a correspondence table between the vehicle number of each member vehicle in the formation and its temporary identification.

[0142] Optionally, the vehicle numbers of the member vehicles are assigned by the lead vehicle in the formation.

[0143] Optionally, the temporary identification of the member vehicle is generated by the lead vehicle in the formation, or is generated by the member vehicle itself.

[0144] Optionally, the vehicle further includes:

[0145] The first sending module is configured to send the corresponding relationship table within the formation when any of the member vehicles is a lead vehicle in the formation.

[0146] Optionally, the first sending module is further used for any member vehicle to send the correspondence table after the correspondence table is updated.

[0147] Optionally, the correspondence table is updated, including at least one of the following:

[0148] After any one of the member vehicles generates at least one new temporary identifier for a following vehicle in the formation, updating the correspondence table;

[0149] After any member vehicle receives at least one new temporary identifier sent by a following vehicle in the formation, updating the correspondence table;

[0150] After any member vehicle adds or deletes a member vehicle in the formation, the corresponding relationship table is updated;

[0151] Any member vehicle receives the correspondence between the vehicle number of the following vehicle and at least one temporary identifier sent by the following vehicle in the formation, and updates the correspondence table according to the received correspondence.

[0152] Optionally, the vehicle further includes:

[0153] The first sending module is used to send the corresponding relationship between the vehicle number of any member vehicle and at least one temporary identifier to the lead vehicle in the platoon when any member vehicle is a following vehicle in the platoon.

[0154] Optionally, the vehicle further includes:

[0155] The second sending module is used to send the corresponding relationship between the vehicle number of the vehicle and at least one temporary identifier in the formation when any of the member vehicles is a following vehicle in the formation.

[0156] Optionally, the second sending module is also used to send the correspondence between the vehicle number of any member vehicle and at least one temporary identifier within the formation after the vehicle joins the formation; and / or, after updating its own temporary identifier, send the correspondence between the vehicle number of the vehicle and at least one temporary identifier within the formation.

[0157] Optionally, the correspondence maintenance module is also used to receive the correspondence between the vehicle numbers and at least one temporary identifier sent by other member vehicles in the formation; and update the locally maintained correspondence table based on the received correspondence between the vehicle numbers and at least one temporary identifier sent by other member vehicles.

[0158] Optionally, the source identifier of the physical layer and / or access layer used by any member vehicle when sending a message is an identifier randomly generated by any member vehicle or a preset shared identifier of multiple devices.

[0159] Optionally, in the correspondence table, the number of temporary identifications of the member vehicles is at least one.

[0160] Optionally, the correspondence table between the vehicle numbers of each member vehicle in the formation and its temporary identification or the correspondence between the vehicle numbers of the member vehicles and the temporary identification is transmitted in an encrypted manner.

[0161] It should be noted that the device in this embodiment is the same as the above Figure 1 The implementation methods in the above embodiments of the device corresponding to the method shown are applicable to the embodiments of the device and can achieve the same technical effects. The above device provided by the embodiment of the present invention can implement all the method steps implemented by the above method embodiment and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0162] Please refer to Figure 5 , an embodiment of the present invention provides another structural diagram of a vehicle 500, which is any member vehicle in a formation, including: a processor 501, a transceiver 502, a memory 503 and a bus interface, wherein:

[0163] In the embodiment of the present invention, the vehicle 500 further includes: program instructions stored in the memory 503 and executable on the processor 501. When the program instructions are executed by the processor 501, the following steps are implemented:

[0164] A correspondence table between the vehicle numbers of each member vehicle in the formation and its temporary identification is maintained locally in any member vehicle.

[0165] Optionally, when executing the program instructions, the processor further implements the following steps:

[0166] When any of the member vehicles is a lead vehicle in the formation, a vehicle number is assigned to the member vehicles in the formation.

[0167] Optionally, the temporary identification of the member vehicle is generated by the lead vehicle in the formation, or is generated by the member vehicle itself.

[0168] Optionally, when executing the program, the processor further implements the following steps:

[0169] When any of the member vehicles is a lead vehicle in the formation, the correspondence table is sent within the formation.

[0170] Optionally, when executing the program, the processor further implements the following steps:

[0171] The corresponding relationship table is sent after the corresponding relationship table is updated.

[0172] Optionally, when executing the program, the processor further implements at least one of the following steps:

[0173] After generating at least one new temporary identifier for the following vehicle in the formation, updating the correspondence table;

[0174] After receiving at least one new temporary identifier sent by a following vehicle in the formation, updating the correspondence table;

[0175] After adding or deleting a member vehicle in the formation, updating the correspondence table;

[0176] Receive a correspondence between a vehicle number of the following vehicle and at least one temporary identifier sent by a following vehicle in the formation, and update the correspondence table according to the received correspondence.

[0177] Optionally, when executing the program, the processor further implements the following steps:

[0178] When any one of the member vehicles is a following vehicle in the formation, a correspondence between the vehicle number of any one of the member vehicles and at least one temporary identifier is sent to the lead vehicle in the formation.

[0179] Optionally, when executing the program, the processor further implements the following steps:

[0180] When any of the member vehicles is a following vehicle in the formation, a correspondence between the vehicle number of the vehicle and at least one temporary identifier is sent within the formation.

[0181] Optionally, when executing the program, the processor further implements the following steps:

[0182] After joining the formation, sending the corresponding relationship between the vehicle number of the vehicle and at least one temporary identifier within the formation; and / or,

[0183] After updating its own temporary identification, the corresponding relationship between the vehicle number of the vehicle and at least one temporary identification is sent within the formation.

[0184] Optionally, when executing the program, the processor further implements the following steps:

[0185] Receive a correspondence between a vehicle number and at least one temporary identifier sent by other member vehicles in the formation;

[0186] The locally maintained correspondence table is updated according to the correspondence between the vehicle numbers sent by other member vehicles and the at least one temporary identifier.

[0187] Optionally, the source identifier of the physical layer and / or access layer used when sending the message is an identifier randomly generated by any member vehicle or a preset shared identifier of multiple devices.

[0188] Optionally, in the correspondence table, the number of temporary identifications of the member vehicles is at least one.

[0189] Optionally, when executing the program, the processor further implements the following steps:

[0190] The correspondence table between the vehicle numbers of the member vehicles in the formation and their temporary identifications or the correspondence between the vehicle numbers of the member vehicles and the temporary identifications is transmitted in an encrypted manner.

[0191] exist Figure 5 In the embodiment of the present invention, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits such as one or more processors represented by processor 501 and memory represented by memory 503. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore not further described herein. The bus interface provides an interface. The transceiver 502 can be multiple components, namely, a transmitter and a receiver, providing a means for communicating with various other devices over a transmission medium.

[0192] The processor 501 is responsible for managing the bus architecture and general processing, and the memory 503 can store data used by the processor 501 when performing operations.

[0193] It should be noted that the terminal in this embodiment is the same as the above Figure 1 The vehicle corresponding to the method shown is applicable to the implementation methods of the above-mentioned embodiments in the embodiment of the vehicle, and can also achieve the same technical effects. In the vehicle, the transceiver 502 and the memory 503, as well as the transceiver 502 and the processor 501, can be connected to each other through a bus interface. The functions of the processor 501 can also be implemented by the transceiver 502, and the functions of the transceiver 502 can also be implemented by the processor 501. It should be noted that the above-mentioned vehicle provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effects. The parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0194] In some embodiments of the present invention, a computer-readable storage medium is further provided, on which program instructions are stored. When the program instructions are executed by a processor, the following steps are implemented:

[0195] A correspondence table between the vehicle number and temporary identification of each member vehicle in the fleet is maintained locally.

[0196] When the program instructions are executed by the processor, all implementation methods of the above-mentioned communication method applied to platoon vehicles can be implemented, and the same technical effects can be achieved. To avoid repetition, they will not be described here.

[0197] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0198] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0199] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0200] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.

[0201] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0202] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, ROM, RAM, a magnetic disk, or an optical disk.

[0203] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A communication method for platoon vehicles, characterized in that: include: Any member vehicle in the formation maintains a local correspondence table between the vehicle number of each member vehicle in the formation and its temporary identification, wherein the temporary identification of the member vehicle is the identity certificate during the interaction process of the vehicle in the formation and is changed irregularly; The method further comprises: When any one of the member vehicles is a lead vehicle in the formation, the any one of the member vehicles sends the corresponding relationship table in the formation; The step of any one of the member vehicles sending the corresponding relationship table within the formation includes: any one of the member vehicles sending the corresponding relationship table after the corresponding relationship table is updated; The update of the correspondence table includes at least one of the following: After any one of the member vehicles generates at least one new temporary identifier for a following vehicle in the formation, updating the correspondence table; After any member vehicle receives at least one new temporary identifier sent by a following vehicle in the formation, updating the correspondence table; After any member vehicle adds or deletes a member vehicle in the formation, the corresponding relationship table is updated; Any member vehicle receives the correspondence between the vehicle number of the following vehicle and at least one temporary identifier sent by the following vehicle in the formation, and updates the correspondence table according to the received correspondence.

2. The method according to claim 1, wherein The vehicle numbers of the member vehicles are assigned by the lead vehicle in the formation.

3. The method according to claim 1, wherein The temporary identification of the member vehicle is generated by the pilot vehicle in the formation, or is generated by the member vehicle itself.

4. The method according to claim 1, wherein In the correspondence table, the number of temporary identifications of the member vehicles is at least one.

5. The method according to claim 1, wherein The method further comprises: When any one of the member vehicles is a following vehicle in the formation, the any one of the member vehicles sends a correspondence between the vehicle number of the any one of the member vehicles and at least one temporary identifier to the lead vehicle in the formation.

6. The method according to claim 1, wherein The method further comprises: When any one of the member vehicles is a following vehicle in the formation, the any one of the member vehicles sends a correspondence between the vehicle number of the vehicle and at least one temporary identifier in the formation.

7. The method according to claim 1, wherein The step of transmitting the corresponding relationship between the vehicle number of any member vehicle and at least one temporary identifier within the platoon includes: After joining the formation, any member vehicle sends the corresponding relationship between the vehicle number of the vehicle and at least one temporary identifier within the formation; and / or, After updating its own temporary identification, any member vehicle sends the corresponding relationship between the vehicle number of the vehicle and at least one temporary identification within the formation.

8. The method according to claim 1, wherein The method further comprises: Any member vehicle receives a correspondence between a vehicle number and at least one temporary identifier sent by other member vehicles in the formation; Any member vehicle updates the locally maintained correspondence table according to the correspondence between the vehicle number and at least one temporary identifier received from other member vehicles.

9. The method according to any one of claims 1 to 8, wherein The source identifier of the physical layer and / or access layer used by any member vehicle when sending a message is an identifier randomly generated by any member vehicle or a preset shared identifier of multiple devices.

10. The method according to any one of claims 1 to 8, characterized in that The correspondence table between the vehicle numbers of the member vehicles in the formation and their temporary identifications, or the correspondence between the vehicle numbers of the member vehicles and their temporary identifications, is transmitted in an encrypted manner.

11. A vehicle, wherein the vehicle is any member vehicle in a formation, and the vehicle comprises: A transceiver, a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the following steps are implemented: A correspondence table between the vehicle numbers of each member vehicle in the formation and its temporary identification is maintained locally on any member vehicle, wherein the temporary identification of the member vehicle is an identity credential during the interaction process of the vehicle in the formation and is changed irregularly; When the processor executes the program, the following steps are further implemented: When any of the member vehicles is a lead vehicle in the formation, sending the correspondence table within the formation; Wherein, when the processor executes the program, the processor further implements the following steps: sending the correspondence table after the correspondence table is updated; When the processor executes the program, it further implements at least one of the following steps: After generating at least one new temporary identifier for the following vehicle in the formation, updating the correspondence table; After receiving at least one new temporary identifier sent by a following vehicle in the formation, updating the correspondence table; After adding or deleting a member vehicle in the formation, updating the corresponding relationship table; Receive a correspondence between a vehicle number of the following vehicle and at least one temporary identifier sent by a following vehicle in the formation, and update the correspondence table according to the received correspondence.

12. The vehicle according to claim 11, wherein: When the processor executes the program, the following steps are further implemented: When any of the member vehicles is a lead vehicle in the formation, a vehicle number is assigned to the member vehicles in the formation.

13. The vehicle according to claim 11, wherein: The temporary identification of the member vehicle is generated by the pilot vehicle in the formation, or is generated by the member vehicle itself.

14. The vehicle according to claim 11, wherein: In the correspondence table, the number of temporary identifications of the member vehicles is at least one.

15. The vehicle according to claim 11, wherein When the processor executes the program, the following steps are further implemented: When any one of the member vehicles is a following vehicle in the formation, a correspondence between the vehicle number of any one of the member vehicles and at least one temporary identifier is sent to the lead vehicle in the formation.

16. The vehicle according to claim 11, wherein: When the processor executes the program, the following steps are further implemented: When any of the member vehicles is a following vehicle in the formation, a correspondence between the vehicle number of the vehicle and at least one temporary identifier is sent within the formation.

17. The vehicle according to claim 11, wherein: When the processor executes the program, the following steps are further implemented: After joining the formation, sending the corresponding relationship between the vehicle number of the vehicle and at least one temporary identifier within the formation; and / or, After updating its own temporary identification, the corresponding relationship between the vehicle number of the vehicle and at least one temporary identification is sent within the formation.

18. The vehicle according to claim 11, wherein: When the processor executes the program, the following steps are further implemented: Receive a correspondence between a vehicle number and at least one temporary identifier sent by other member vehicles in the formation; The locally maintained correspondence table is updated according to the correspondence between the vehicle numbers sent by other member vehicles and the at least one temporary identifier.

19. The vehicle according to any one of claims 11 to 18, characterized in that The source identifier of the physical layer and / or access layer used when sending the message is an identifier randomly generated by any member vehicle or a preset shared identifier of multiple devices.

20. The vehicle according to any one of claims 11 to 18, characterized in that When the processor executes the program, the following steps are further implemented: The correspondence table between the vehicle numbers of the member vehicles in the formation and their temporary identifications or the correspondence between the vehicle numbers of the member vehicles and the temporary identifications is transmitted in an encrypted manner.

21. A vehicle, wherein the vehicle is any member vehicle in a formation, characterized in that: include: A correspondence maintenance module, configured to locally maintain a correspondence table between the vehicle number of each member vehicle in the fleet and its temporary identification, wherein the temporary identification of the member vehicle is the identity credential during the vehicle interaction process in the fleet and is changed irregularly; A first sending module, configured to send the correspondence table within the formation when any of the member vehicles is a lead vehicle in the formation; The first sending module is further configured to send the correspondence table after the correspondence table is updated; The update of the correspondence table includes at least one of the following: After any one of the member vehicles generates at least one new temporary identifier for a following vehicle in the formation, updating the correspondence table; After any member vehicle receives at least one new temporary identifier sent by a following vehicle in the formation, updating the correspondence table; After any member vehicle adds or deletes a member vehicle in the formation, the corresponding relationship table is updated; Any member vehicle receives the correspondence between the vehicle number of the following vehicle and at least one temporary identifier sent by the following vehicle in the formation, and updates the correspondence table according to the received correspondence.

22. A readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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