A communication management method and system for vehicle-road-cloud collaboration

Abstract

The present invention discloses a communication management method and system for vehicle-road-cloud collaboration. The method calculates the communication distance between roadside units distributed at the road end and the real-time position of a target vehicle within their communication range; based on the calculated communication distance and the acquired communication status parameters of the roadside units, the roadside unit with the optimal communication status is determined as the optimal route to perform vehicle-road-cloud collaborative communication. Based on the communication distance between each roadside unit and the target vehicle and the communication status parameters of each roadside unit, the communication status of each roadside unit when communicating with the target vehicle is determined, and the roadside unit with the optimal communication status with the target vehicle is determined as the optimal route at the road end. A vehicle-road-cloud communication link is constructed to achieve vehicle-road-cloud communication, ensure the stability of the vehicle-road-cloud communication link, ensure the communication quality of the vehicle-road-cloud, and reduce the risk of the target vehicle under functions such as automatic driving.

Description

Technical Field

[0001] The present invention relates to the field of target vehicle control technology, and in particular to a vehicle-road-cloud collaborative communication management method and system. Background Art

[0002] Vehicle-road-cloud collaborative communication technology is a key enabler for vehicle-road communication and roadside traffic perception. Compared to single-vehicle autonomous driving, autonomous driving using vehicle-road-cloud collaborative communication effectively avoids the perception blind spots of single-vehicle intelligence, improving autonomous driving safety, while also reducing vehicle manufacturing costs. In a vehicle-road-cloud collaborative autonomous driving system, numerous roadside units (RSUs) are deployed on the roadside. The cloud communicates with the target vehicle through these RSUs, making the stability and real-time nature of communication between the roadside and the target vehicle crucial.

[0003] In existing technology, the cloud selects the roadside unit (RSU) closest to the target vehicle based on the target vehicle's location information. However, if a communicating RSU experiences a communication anomaly, the communication link between the target vehicle and the cloud may be suddenly disconnected, creating a safety hazard. Summary of the Invention

[0004] In order to solve the above problems, the present invention proposes a vehicle-road-cloud collaborative communication management method and system. By determining the communication distance between the target vehicle and the roadside unit, as well as the communication status of each roadside unit, the optimal roadside unit is determined to build a communication link, thereby improving the stability of the communication link between the vehicle, road and cloud, and reducing the safety hazards of the target vehicle.

[0005] An embodiment of the present invention provides a communication management method for vehicle-road-cloud collaboration, the method comprising:

[0006] Calculate the communication distance between the roadside units distributed at the road end and the real-time position of the target vehicle within its communication range;

[0007] Based on the calculated communication distance and the acquired communication status parameters of the roadside unit, the roadside unit with the best communication status is determined as the optimal route for vehicle-road-cloud collaborative communication.

[0008] As an improvement to the above solution, the method of determining the roadside unit with the best communication status as the optimal route based on the calculated communication distance and the acquired communication status parameters of the roadside unit to perform vehicle-road-cloud collaborative communication specifically includes:

[0009] According to the communication distance between the roadside unit and the target vehicle, determining all roadside units whose communication distance with the target vehicle is less than a second preset value as a search set;

[0010] Determining whether a network of each roadside unit in the search set is connectable, deleting roadside units whose networks are not connectable from the search set, and updating the search set;

[0011] Based on the communication distance between each roadside unit and the target vehicle in the updated search set, and the communication status parameters of each roadside unit in the updated search set, the roadside unit with the best communication status in the updated search set is determined as the optimal route for vehicle-road-cloud collaborative communication.

[0012] Furthermore, determining whether the network of each roadside unit in the search set is connectable, deleting roadside units that are not connectable from the search set, and updating the search set specifically includes:

[0013] sending an Internet message control protocol to each roadside unit in the search set and detecting an echo response fed back by the roadside unit;

[0014] When no echo response fed back by the roadside unit is received, it is determined that the roadside unit network is unavailable, the roadside unit is deleted from the search set, and the search set is updated.

[0015] Furthermore, the communication status parameters include v2x communication status, communication load rate and signal strength;

[0016] The method of determining the roadside unit with the best communication status as the optimal route based on the calculated communication distance and the acquired communication status parameters of the roadside unit to perform vehicle-road-cloud collaborative communication specifically includes:

[0017] The communication distance between the roadside unit and the target vehicle, the V2X communication status of the roadside unit, the communication load rate parameter of the roadside unit and the signal strength of the roadside unit are substituted into the preset loss function model, the communication loss value of each roadside unit is calculated, and the roadside unit with the smallest communication loss value is determined as the optimal route. The communication link for vehicle-road-cloud collaborative communication is constructed to carry out vehicle-road-cloud collaborative communication.

[0018] Furthermore, the loss function model is specifically: ;

[0019] in, is the communication loss value of the i-th roadside unit; is the communication distance between the i-th roadside unit and the target vehicle; is the maximum communication distance of the i-th roadside unit; is the communication load rate of the i-th roadside unit; is the communication state value of the i-th roadside unit, in normal communication state, the communication state value is the third preset value, and in abnormal communication state, the communication state value is the fourth preset value; is the signal strength of the i-th roadside unit. When the signal strength is greater than the set threshold, the signal strength is the fifth preset value. When the signal strength is not greater than the set threshold, the signal strength is the sixth preset value. is the preset communication distance weight ratio, is the preset communication load rate weight ratio, + =1, i=1,2,…,n, where n is the number of roadside units distributed at the road end.

[0020] As an improvement to the above solution, the communication distance weight ratio is positively correlated with the distribution density of the roadside units at the road end.

[0021] Another embodiment of the present invention provides a vehicle-road-cloud collaborative communication management system, the system including a target vehicle, a cloud side, and a road side, wherein the cloud side includes:

[0022] A calculation module is used to calculate the communication distance between the roadside units distributed at the road end and the real-time position of the target vehicle within its communication range;

[0023] The management module is used to determine the roadside unit with the best communication status as the optimal route based on the calculated communication distance and the acquired communication status parameters of the roadside unit, and perform vehicle-road-cloud collaborative communication.

[0024] As an improvement to the above solution, the management module specifically includes:

[0025] A search set unit, configured to determine, based on the communication distance between the roadside unit and the target vehicle, all roadside units whose communication distance with the target vehicle is less than a second preset value as a search set;

[0026] A search set updating unit, configured to determine whether a network of each roadside unit in the search set is connectable, delete roadside units with unconnectable networks from the search set, and update the search set;

[0027] The route determination unit is used to determine the roadside unit with the best communication status in the updated search set as the optimal route based on the communication distance between each roadside unit in the updated search set and the target vehicle, and the communication status parameters of each roadside unit in the updated search set, so as to perform vehicle-road-cloud collaborative communication.

[0028] Furthermore, the search set updating unit is specifically configured to:

[0029] sending an Internet message control protocol to each roadside unit in the search set and detecting an echo response fed back by the roadside unit;

[0030] When no echo response fed back by the roadside unit is received, it is determined that the roadside unit network is unavailable, the roadside unit is deleted from the search set, and the search set is updated.

[0031] Preferably, the communication status parameters include v2x communication status, communication load rate and signal strength;

[0032] The management unit is specifically used for:

[0033] The communication distance between the roadside unit and the target vehicle, the V2X communication status of the roadside unit, the communication load rate parameter of the roadside unit and the signal strength of the roadside unit are substituted into the preset loss function model, the communication loss value of each roadside unit is calculated, and the roadside unit with the smallest communication loss value is determined as the optimal route. The communication link for vehicle-road-cloud collaborative communication is constructed to carry out vehicle-road-cloud collaborative communication.

[0034] Furthermore, the loss function model is specifically: ;

[0035] in, is the communication loss value of the i-th roadside unit; is the communication distance between the i-th roadside unit and the target vehicle; is the maximum communication distance of the i-th roadside unit; is the communication load rate of the i-th roadside unit; is the communication state value of the i-th roadside unit, in normal communication state, the communication state value is the third preset value, and in abnormal communication state, the communication state value is the fourth preset value; is the signal strength of the i-th roadside unit. When the signal strength is greater than the set threshold, the signal strength is the fifth preset value. When the signal strength is not greater than the set threshold, the signal strength is the sixth preset value. is the preset communication distance weight ratio, is the preset communication load rate weight ratio, + =1, i=1,2,…,n, where n is the number of roadside units distributed at the road end.

[0036] As an improvement to the above solution, the communication distance weight ratio is positively correlated with the distribution density of the roadside units at the road end.

[0037] Another embodiment of the present invention provides a vehicle-road-cloud collaborative communication management system, characterized in that the system includes a target vehicle, a cloud end and a road end, and the cloud end is used to execute the vehicle-road-cloud collaborative communication management method as described in any one of the above embodiments.

[0038] Compared with the existing technology, the present invention provides a vehicle-road-cloud collaborative communication management method and system, which determines the communication status of each roadside unit when communicating with the target vehicle based on the communication distance between each roadside unit and the target vehicle and the communication status parameters of each roadside unit, determines the roadside unit with the best communication status with the target vehicle as the optimal route at the road end, constructs a vehicle-road-cloud communication link, realizes vehicle-road-cloud communication, ensures the stability of the vehicle-road-cloud communication link, ensures the communication quality of the vehicle-road-cloud, and reduces the risk of the target vehicle under functions such as automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a flow chart of a communication management method for vehicle-road-cloud collaboration provided by an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of a vehicle-road-cloud collaborative communication system provided by an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the cloud structure of a vehicle-road-cloud collaborative communication management system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] See also Figure 1 , is a flow chart of a communication management method for vehicle-road-cloud collaboration provided by an embodiment of the present invention, the method comprising steps S1 to S2:

[0044] S1, calculate the communication distance between the roadside unit distributed at the road end and the real-time position of the target vehicle within its communication range;

[0045] S2: Based on the calculated communication distance and the acquired communication status parameters of the roadside unit, the roadside unit with the best communication status is determined as the optimal route to perform vehicle-road-cloud collaborative communication.

[0046] In the specific implementation of this embodiment, the method is executed by the cloud to achieve communication management of vehicle-road-cloud collaboration, specifically:

[0047] The cloud collects the real-time position of the target vehicle and calculates the real-time position and the communication distance of each roadside unit distributed at the road end. The cloud pre-acquires the positions of the roadside units distributed at the road end, calculates the distance between each roadside unit and the target vehicle as the communication distance, and obtains the communication status parameters of each roadside unit. The communication status parameters of the roadside unit represent the network status of each roadside unit.

[0048] Based on the communication distance between each roadside unit and the target vehicle and the communication status parameters of each roadside unit, the communication status of each roadside unit when communicating with the target vehicle is determined, and the roadside unit with the best communication status with the target vehicle is determined as the optimal route at the road end. The vehicle-road-cloud communication link is constructed to realize vehicle-road-cloud communication, ensure the stability of the vehicle-road-cloud communication link, ensure the communication quality of the vehicle-road-cloud, and reduce the risks of the target vehicle under functions such as automatic driving.

[0049] The step of obtaining the real-time position of the target vehicle and calculating the communication distance between each roadside unit preset at the road end and the real-time position specifically includes:

[0050] In the specific implementation of this embodiment, the cloud obtains the real-time position of the target vehicle by tracking and locating the target vehicle;

[0051] Based on the real-time location, determining an area less than a first preset distance from the location as a roadside unit search area, where the first preset distance may be set to 500 m, searching for the positions of all roadside units distributed at the road end within the area, and calculating the communication distance between each roadside unit and the real-time location;

[0052] The communication status parameters of each searched roadside unit are obtained through the MQTT protocol.

[0053] The obtained real-time position of the roadside unit is used to search for nearby roadside units, and the communication distance between the roadside unit and the real-time position is calculated for subsequent communication route selection, thereby reducing the amount of calculation in subsequent communication route selection.

[0054] In another embodiment provided by the present invention, the step S2 specifically includes:

[0055] According to the communication distance between the roadside unit and the target vehicle, determining all roadside units whose communication distance with the target vehicle is less than a second preset value as a search set;

[0056] Determining whether a network of each roadside unit in the search set is connectable, deleting roadside units whose networks are not connectable from the search set, and updating the search set;

[0057] Based on the communication distance between each roadside unit and the target vehicle in the updated search set, and the communication status parameters of each roadside unit in the updated search set, the roadside unit with the best communication status in the updated search set is determined as the optimal route for vehicle-road-cloud collaborative communication.

[0058] In the specific implementation of this embodiment, based on the acquired communication distance between each roadside unit and the target vehicle, the roadside units with a communication distance less than a second preset value are determined as the search set of all roadside units; wherein the second preset distance can be set to 500m to limit the communication distance, filter out roadside units with excessively long communication distances, and reduce the amount of calculation;

[0059] Checking whether the network of each roadside unit in the search set is connected by using a ping command, deleting the roadside units that cannot be connected to the network from the search set, and updating the search set;

[0060] In the updated search set, the roadside unit with the best communication status with the target vehicle is determined as the optimal route, a communication link is established, and vehicle-road-cloud collaborative communication is performed.

[0061] Determine the network status of the roadside units, select the roadside units with normal network connectivity for subsequent network status evaluation, and ensure that the network connectivity of the roadside units in the communication link is normal.

[0062] In another embodiment of the present invention, determining whether the network of each roadside unit in the search set is connected, deleting the roadside units that are not connected to the network from the search set, and updating the search set specifically include:

[0063] sending an Internet message control protocol to each roadside unit in the search set and detecting an echo response fed back by the roadside unit;

[0064] When no echo response fed back by the roadside unit is received, it is determined that the roadside unit network is unavailable, the roadside unit is deleted from the search set, and the search set is updated.

[0065] In a specific implementation of this embodiment, an Internet message control protocol is sent to each roadside unit in the search set. That is, a data packet is sent to the IP address of each roadside unit using the uniqueness of the IP address of the roadside unit, and then the other party is asked to feedback an echo response to determine whether the two network machines are connected and to detect the network connection status reported by the roadside unit.

[0066] When the RSU feeds back an echo response, it is determined that the RSU network connectivity is normal;

[0067] When there is no feedback echo response from any roadside unit, it is determined that the roadside unit network is not connected, the roadside unit is deleted from the search set, and the search set is updated.

[0068] The Internet message control protocol is used to ensure that the communication connection between the roadside unit and the cloud is normal, ensuring normal communication between the road side and the cloud, and ensuring the stability of the communication link between the vehicle, road and cloud.

[0069] In another embodiment provided by the present invention, the communication status parameters include v2x communication status, communication load rate and signal strength;

[0070] The step S2 specifically includes:

[0071] The communication distance between the roadside unit and the target vehicle, the V2X communication status of the roadside unit, the communication load rate parameter of the roadside unit and the signal strength of the roadside unit are substituted into the preset loss function model, the communication loss value of each roadside unit is calculated, and the roadside unit with the smallest communication loss value is determined as the optimal route. The communication link for vehicle-road-cloud collaborative communication is constructed to carry out vehicle-road-cloud collaborative communication.

[0072] During the specific implementation of this embodiment, according to a preset loss function model, the communication distance between each roadside unit and the target vehicle and the communication status parameters of each roadside unit are substituted into the loss function model, where the communication status parameters of each roadside unit include several different parameters characterizing the communication status; the communication loss value of each roadside unit when communicating with the target vehicle is calculated, and the roadside unit with the smallest communication loss value is determined as the optimal route, and a V2X communication link for vehicle-road-cloud collaborative communication is constructed to perform vehicle-road-cloud collaborative communication.

[0073] As a parallel embodiment, this solution can also be to confirm the search set of all roadside units with a communication distance less than a second preset value based on the acquired communication distance between each roadside unit and the target vehicle; wherein the second preset distance can be set to 500m, limit the communication distance, screen out roadside units with too far communication distance, and reduce the amount of calculation; check whether the network of each roadside unit in the search set is connected by the ping command, delete the roadside units that cannot be connected to the network from the search set, and update the search set; and substitute the communication distance between each roadside unit in the updated search set and the target vehicle, and the communication status parameters of each roadside unit in the updated search set into the loss function model, calculate the communication loss value when each roadside unit in the updated search set communicates with the target vehicle, determine the roadside unit with the smallest communication loss value as the optimal route, build a V2X communication link for vehicle-road-cloud collaborative communication, and perform vehicle-road-cloud collaborative communication.

[0074] The communication status between the roadside unit and the target vehicle is evaluated through the loss function, the optimal roadside unit is determined, a stable communication link is built, and the communication quality of vehicle-road-cloud communication is improved.

[0075] As an embodiment of this solution, the cloud obtains the communication status parameters of each RSU through the RSU monitoring module;

[0076] See also Figure 2 , is a schematic diagram of the structure of a vehicle-road-cloud cooperative communication system provided by an embodiment of the present invention; the cloud server obtains the communication status parameters of RSU1 to RSUn distributed on the road side through the MQTT protocol and calculates the communication distance between the target vehicle and the RSU;

[0077] Calculate the communication distances between RSU1 and RSU2 in the area where the current position of the first target vehicle 1 is located and the current position of the first target vehicle 1, and obtain the communication status parameters of RSU1 and RSU2, including v2x communication status, communication load rate, and signal strength.

[0078] The communication loss value between RSU1 and the first target vehicle 1 is obtained by weighted summing the communication distance, v2x communication status, communication load rate and signal strength between RSU1 and the first target vehicle 1 through the loss function; and the communication loss value between RSU2 and the first target vehicle 1 is obtained by similar calculation;

[0079] The RSU2 with the smallest communication loss value is used as the optimal route for communication with the first target vehicle 1. The cloud server communicates with RSU2 via the MQTT protocol, and RSU2 communicates with the first target vehicle 1 via the V2X protocol, forming a communication link to achieve vehicle-road-cloud collaborative communication management;

[0080] Similarly, the communication distances between RSU3 and RSU4 in the area where the current position of the first target vehicle 2 is located and the current position of the second target vehicle 2 are calculated respectively, and the communication status parameters of RSU3 and RSU4 are obtained respectively, including v2x communication status, communication load rate and signal strength;

[0081] The communication loss value between RSU3 and the second target vehicle 2 is obtained by weighted summing the communication distance, v2x communication status, communication load rate and signal strength of the second target vehicle 2 and RSU3 through the loss function; and the communication loss value between RSU4 and the second target vehicle 2 is obtained by similar calculation;

[0082] The RSU4 with the smallest communication loss value is used as the optimal route for communication with the second target vehicle 2. The cloud server communicates with RSU4 via the MQTT protocol, and RSU4 communicates with the second target vehicle 2 via the V2X protocol, forming a communication link and realizing vehicle-road-cloud collaborative communication management;

[0083] It should be noted that the cloud can simultaneously allocate communication links to different first target vehicles 1 and second target vehicles 2; the same vehicle can be in different positions at different times as the first target vehicle 1 and the second target vehicle 2, and different communication links are allocated by the cloud;

[0084] By obtaining the V2X communication status, communication load rate, signal strength and communication distance between the roadside unit and the target vehicle, the communication link is determined to ensure the stability of the communication link; to avoid excessive communication load on a certain roadside unit, communication link congestion, resulting in data packet loss, and affecting the safety of the target vehicle's autonomous driving vehicle.

[0085] In another embodiment provided by the present invention, the loss function model is specifically: ;

[0086] in, is the communication loss value of the i-th roadside unit; is the communication distance between the i-th roadside unit and the target vehicle; is the maximum communication distance of the i-th roadside unit; is the communication load rate of the i-th roadside unit; is the communication state value of the i-th roadside unit, in normal communication state, the communication state value is the third preset value, and in abnormal communication state, the communication state value is the fourth preset value; is the signal strength of the i-th roadside unit. When the signal strength is greater than the set threshold, the signal strength is the fifth preset value. When the signal strength is not greater than the set threshold, the signal strength is the sixth preset value. is the preset communication distance weight ratio, is the preset communication load rate weight ratio, + =1, i=1,2,…,n, where n is the number of roadside units distributed at the road end.

[0087] In the specific implementation of this embodiment, the communication distance between the i-th roadside unit and the target vehicle is obtained. ; Get the maximum communication distance of the i-th roadside unit ; Get the communication load rate of the i-th roadside unit ;

[0088] Get the communication status of the i-th roadside unit. When the V2X communication of the i-th roadside unit is normal, the communication status value When the V2X communication of the i-th roadside unit is abnormal, the communication status value is 0. is 1000;

[0089] Get the signal strength of the i-th roadside unit. When the signal strength of the i-th roadside unit is greater than or equal to -60dBm, the communication status value When the signal strength of the i-th roadside unit is less than -60dBm, the communication status value is 1000;

[0090] is the weight ratio of communication distance to loss function. This value can be adjusted according to different models of RSU. The weight ratio of the communication load rate to the loss function. This value can be adjusted according to different RSU models; + =1, i=1,2,…,n, where n is the number of roadside units distributed at the road end.

[0091] It should be noted that, in this embodiment, the fifth preset value and the fourth preset value are set to -60dBm. In other embodiments, the fifth preset value is set to other values; this does not affect the specific implementation of the solution and is still within the protection scope of this solution.

[0092] It should be noted that in this embodiment, the third preset value and the fourth preset value are set to 0 and 1000 respectively. In other embodiments, the fourth preset value is set to other values much larger than the third preset value; this does not affect the specific implementation of the solution and is still within the protection scope of this solution.

[0093] Substituting the acquired communication state parameters of the roadside units i~n into the loss function model is as follows: , calculate the communication loss values when different roadside units communicate with the target vehicle;

[0094] The communication quality of different roadside units is evaluated through the loss function model and multiple communication status parameters of the roadside units. The communication quality of different roadside units is evaluated in multiple dimensions to ensure the stability of the communication link.

[0095] In another embodiment provided by the present invention, the communication distance weight ratio is positively correlated with the distribution density of the roadside units distributed at the road ends.

[0096] In the specific implementation of this embodiment, the weight of the loss function model can be set according to different scenarios. When there are many roadside units deployed at the road end and the distribution density is high, the communication distance weight ratio is increased. In this case, when there are many roadside units, the communication distance has a greater impact on the communication quality than the communication load rate.

[0097] When there are fewer RSUs deployed at the road end and the distribution density is low, the communication distance weight ratio is reduced. In this case, when there are fewer RSUs, the communication load has a greater impact on the communication quality than the communication distance.

[0098] By controlling the weights of the loss function model, the loss function model can be adapted to different scenarios, achieving precise management of communication links and more accurate allocation of communication routes.

[0099] The embodiment of the present invention provides a vehicle-road-cloud collaborative communication management system, the system includes a target vehicle, a cloud terminal and a road terminal, see Figure 3 , is a schematic diagram of the cloud structure of a vehicle-road-cloud collaborative communication management system provided by an embodiment of the present invention, the cloud comprising:

[0100] A calculation module is used to calculate the communication distance between the roadside units distributed at the road end and the real-time position of the target vehicle within its communication range;

[0101] The management module is used to determine the roadside unit with the best communication status as the optimal route based on the calculated communication distance and the acquired communication status parameters of the roadside unit, and perform vehicle-road-cloud collaborative communication.

[0102] The cloud obtains the communication status parameters of the roadside units RSU1~RSUn on the road side through the MQTT protocol, calculates the communication distance between the roadside units RSU1~RSUn and the vehicle side, determines the communication route through the management module, and conducts vehicle-road-cloud collaborative communication.

[0103] In another embodiment of the present invention, the management module specifically includes:

[0104] A search set unit, configured to determine, based on the communication distance between the roadside unit and the target vehicle, all roadside units whose communication distance with the target vehicle is less than a second preset value as a search set;

[0105] A search set updating unit, configured to determine whether a network of each roadside unit in the search set is connectable, delete roadside units with unconnectable networks from the search set, and update the search set;

[0106] The route determination unit is used to determine the roadside unit with the best communication status in the updated search set as the optimal route based on the communication distance between each roadside unit in the updated search set and the target vehicle, and the communication status parameters of each roadside unit in the updated search set, so as to perform vehicle-road-cloud collaborative communication.

[0107] In another embodiment of the present invention, the search set updating unit is specifically configured to:

[0108] sending an Internet message control protocol to each roadside unit in the search set and detecting an echo response fed back by the roadside unit;

[0109] When no echo response fed back by the roadside unit is received, it is determined that the roadside unit network is unavailable, the roadside unit is deleted from the search set, and the search set is updated.

[0110] In another embodiment provided by the present invention, the communication status parameters include v2x communication status, communication load rate and signal strength;

[0111] The management unit is specifically used for:

[0112] The communication distance between the roadside unit and the target vehicle, the V2X communication status of the roadside unit, the communication load rate parameter of the roadside unit and the signal strength of the roadside unit are substituted into the preset loss function model, the communication loss value of each roadside unit is calculated, and the roadside unit with the smallest communication loss value is determined as the optimal route. The communication link for vehicle-road-cloud collaborative communication is constructed to carry out vehicle-road-cloud collaborative communication.

[0113] In another embodiment provided by the present invention, the loss function model is specifically: ;

[0114] in, is the communication loss value of the i-th roadside unit; is the communication distance between the i-th roadside unit and the target vehicle; is the maximum communication distance of the i-th roadside unit; is the communication load rate of the i-th roadside unit; is the communication state value of the i-th roadside unit, in normal communication state, the communication state value is the third preset value, and in abnormal communication state, the communication state value is the fourth preset value; is the signal strength of the i-th roadside unit. When the signal strength is greater than the set threshold, the signal strength is the fifth preset value. When the signal strength is not greater than the set threshold, the signal strength is the sixth preset value. is the preset communication distance weight ratio, is the preset communication load rate weight ratio, + =1, i=1,2,…,n, where n is the number of roadside units distributed at the road end.

[0115] In another embodiment provided by the present invention, the communication distance weight ratio is positively correlated with the distribution density of the roadside units at the road end.

[0116] It should be noted that the cloud side of a vehicle-road-cloud collaborative communication management system provided in an embodiment of the present invention is used to execute all the process steps of a vehicle-road-cloud collaborative communication management method in the above embodiment. The working principles and beneficial effects of the two correspond one to one, so they will not be repeated here.

[0117] An embodiment of the present invention also provides a vehicle-road-cloud collaborative control system, including a target vehicle, a cloud and a road side, wherein the cloud is used to execute the vehicle-road-cloud collaborative communication management method as described in any one of the above embodiments.

[0118] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A communication management method for vehicle-road-cloud collaboration, characterized in that: The method comprises: Calculate the communication distance between the roadside units distributed at the road end and the real-time position of the target vehicle within its communication range; Based on the calculated communication distance and the acquired communication status parameters of the roadside unit, a roadside unit with the best communication status is determined as the optimal route for vehicle-road-cloud collaborative communication; the communication status parameters include V2X communication status, communication load rate, and signal strength. Specifically, the method includes: substituting the communication distance between the roadside unit and the target vehicle, the V2X communication status of the roadside unit, the communication load rate parameter of the roadside unit, and the signal strength of the roadside unit into a preset loss function model, calculating the communication loss value of each roadside unit, determining the roadside unit with the smallest communication loss value as the optimal route, establishing a communication link for vehicle-road-cloud collaborative communication, and performing vehicle-road-cloud collaborative communication. The loss function model is specifically: Among them, f i is the communication loss value of the i-th roadside unit; l i is the communication distance between the i-th roadside unit and the target vehicle; max l i is the maximum communication distance of the i-th roadside unit; r i is the communication load rate of the i-th roadside unit; a i is the communication state value of the i-th roadside unit, in normal communication state, the communication state value is the third preset value, in abnormal communication state, the communication state value is the fourth preset value; s i is the signal strength of the i-th roadside unit. When the signal strength is greater than the set threshold, the signal strength is the fifth preset value. When the signal strength is not greater than the set threshold, the signal strength is the sixth preset value. α is the preset communication distance weight ratio, β is the preset communication load rate weight ratio, α+β=1, i=1,2,…,n, and n is the number of roadside units distributed at the road end.

2. The communication management method for vehicle-road-cloud collaboration according to claim 1, characterized in that: The method of determining the roadside unit with the best communication status as the optimal route based on the calculated communication distance and the acquired communication status parameters of the roadside unit to perform vehicle-road-cloud collaborative communication specifically includes: According to the communication distance between the roadside unit and the target vehicle, determining all roadside units whose communication distance with the target vehicle is less than a second preset value as a search set; Determining whether a network of each roadside unit in the search set is connectable, deleting roadside units whose networks are not connectable from the search set, and updating the search set; Based on the communication distance between each roadside unit and the target vehicle in the updated search set, and the communication status parameters of each roadside unit in the updated search set, the roadside unit with the best communication status in the updated search set is determined as the optimal route for vehicle-road-cloud collaborative communication.

3. The communication management method for vehicle-road-cloud collaboration according to claim 2, characterized in that: Determining whether the network of each roadside unit in the search set is connectable, deleting roadside units that are not connectable from the search set, and updating the search set specifically includes: sending an Internet message control protocol to each roadside unit in the search set and detecting an echo response fed back by the roadside unit; When no echo response fed back by the roadside unit is received, it is determined that the roadside unit network is unavailable, the roadside unit is deleted from the search set, and the search set is updated.

4. The communication management method for vehicle-road-cloud collaboration according to claim 1, characterized in that: The communication distance weight ratio is positively correlated with the distribution density of the roadside units at the road end.

5. A vehicle-road-cloud collaborative communication management system, characterized in that: The system includes a target vehicle, a cloud side, and a road side, wherein the cloud side includes: A calculation module is used to calculate the communication distance between the roadside units distributed at the road end and the real-time position of the target vehicle within its communication range; A management module is configured to determine, based on the calculated communication distance and the acquired communication status parameters of the roadside unit, the roadside unit with the best communication status as the optimal route for vehicle-road-cloud collaborative communication; the communication status parameters include V2X communication status, communication load rate, and signal strength; and specifically comprises: substituting the communication distance between the roadside unit and the target vehicle, the V2X communication status of the roadside unit, the communication load rate parameter of the roadside unit, and the signal strength of the roadside unit into a preset loss function model, calculating the communication loss value of each roadside unit, determining the roadside unit with the smallest communication loss value as the optimal route, establishing a communication link for vehicle-road-cloud collaborative communication, and performing vehicle-road-cloud collaborative communication; The loss function model is specifically: Among them, f i is the communication loss value of the i-th roadside unit; l i is the communication distance between the i-th roadside unit and the target vehicle; max l i is the maximum communication distance of the i-th roadside unit; r i is the communication load rate of the i-th roadside unit; a i is the communication state value of the i-th roadside unit, in normal communication state, the communication state value is the third preset value, in abnormal communication state, the communication state value is the fourth preset value; s i is the signal strength of the i-th roadside unit. When the signal strength is greater than the set threshold, the signal strength is the fifth preset value. When the signal strength is not greater than the set threshold, the signal strength is the sixth preset value. α is the preset communication distance weight ratio, β is the preset communication load rate weight ratio, α+β=1, i=1,2,…,n, and n is the number of roadside units distributed at the road end.

6. The vehicle-road-cloud collaborative communication management system according to claim 5, characterized in that: The management module specifically includes: A search set unit, configured to determine, based on the communication distance between the roadside unit and the target vehicle, all roadside units whose communication distance with the target vehicle is less than a second preset value as a search set; A search set updating unit, configured to determine whether a network of each roadside unit in the search set is connectable, delete roadside units with unconnectable networks from the search set, and update the search set; The route determination unit is used to determine the roadside unit with the best communication status in the updated search set as the optimal route based on the communication distance between each roadside unit in the updated search set and the target vehicle, and the communication status parameters of each roadside unit in the updated search set, so as to perform vehicle-road-cloud collaborative communication.

7. The vehicle-road-cloud collaborative communication management system according to claim 6, characterized in that: The search set updating unit is specifically configured to: sending an Internet message control protocol to each roadside unit in the search set and detecting an echo response fed back by the roadside unit; When no echo response fed back by the roadside unit is received, it is determined that the roadside unit network is unavailable, the roadside unit is deleted from the search set, and the search set is updated.

8. A vehicle-road-cloud collaborative communication management system, characterized in that: The system includes a target vehicle, a cloud and a road side, and the cloud side is used to execute the vehicle-road-cloud collaborative communication management method as described in any one of claims 1 to 4.

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