A message transmission method, terminal and chip system

Abstract

Embodiments of the present application provide a message transmission method, a terminal and a chip system, relate to the technical field of communication, and can improve the message transmission success rate. The method comprises the following steps: in a V2X scenario, a first terminal determines the type of a V2X message to be transmitted; if the type of the V2X message to be transmitted is a safety message, the first terminal transmits the V2X message to be transmitted by using a first communication technology, wherein the working frequency band of the first communication technology is less than 5.9 GHz.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of communication, and in particular, to a message transmission method, a terminal and a chip system. BACKGROUND

[0002] With the development of society, more and more vehicles are running on the road. In order to realize information intercommunication between vehicles and other devices (for example, other vehicles, electronic devices on other vehicles, etc.), and reduce the occurrence of traffic accidents, vehicle to everything (V2X) technology emerges as the times require. V2X message is a communication message between vehicles and other devices defined based on V2X technology.

[0003] At present, V2X message is transmitted based on vehicle long term evolution technology (LTE-V) technology. LTE-V technology is an evolved technology based on 4G long term evolution technology (LTE) system. The working frequency band of LTE-V technology is between 5905-5925MHz. In some complex scenarios, for example, the distance between vehicles is far, there are obstacles between vehicles, when transmitting V2X message based on LTE-V technology, the problem of V2X message transmission failure often occurs. SUMMARY

[0004] Embodiments of the present application provide a message transmission method, a terminal and a storage medium, which can improve the transmission success rate of V2X message.

[0005] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] In a first aspect, the embodiments of the present application provide a message transmission method, comprising:

[0007] In a vehicle to everything scenario, the first terminal determines the type of sidelink service to be transmitted;

[0008] If the type of sidelink service is a first type of service, the first terminal transmits the sidelink service by using a first communication technology, wherein the working frequency band of the first communication technology is less than 5.9GHz.

[0009] The first type of service can be a specified safety type of service (e.g., a safety type of message) and can also be an emergency type of service (e.g., a message with a higher emergency level) classified according to an emergency level. In a vehicle-to-everything (V2X) scenario, when the first type of service is transmitted by using the first communication technology with a working frequency band lower than 5.9 GHz, the first communication technology with the working frequency band lower than 5.9 GHz has a lower working frequency band than the working frequency band of the LTE-V and NR-V communication technologies in the vehicle networking field, and the first communication technology with the working frequency band lower than 5.9 GHz has a longer transmission distance and a stronger obstacle diffraction capability, so that the transmission success rate is higher when the first type of service is transmitted by using the first communication technology with the working frequency band lower than 5.9 GHz.

[0010] In a possible implementation of the first aspect, if the type of the sidelink service is the first type of service, the method further includes:

[0011] The first terminal transmits the sidelink service by using the second communication technology, where the working frequency band of the second communication technology is greater than or equal to 5.9 GHz.

[0012] In a possible implementation of the first aspect, the first communication technology includes at least one of the following: a Bluetooth technology with a working frequency band of 2.4 GHz, a Wi-Fi technology with a working frequency band of 2.4 GHz, a Wi-Fi technology with a working frequency band of 5.0 GHz, a vehicle long term evolution technology with a working frequency band of 2.4 GHz, and a new radio vehicle communication technology with a working frequency band of 2.4 GHz.

[0013] In a possible implementation of the first aspect, when the first communication technology includes the Wi-Fi technology with the working frequency band of 2.4 GHz, the first terminal transmits the sidelink service by using the first communication technology includes:

[0014] The first terminal broadcasts the extended beacon frame by using the Wi-Fi technology with the working frequency band of 2.4 GHz, where the sidelink service is carried in an extension field of the extended beacon frame.

[0015] In a possible implementation of the first aspect, when the first communication technology includes the Bluetooth technology with the working frequency band of 2.4 GHz, the first terminal transmits the sidelink service by using the first communication technology includes:

[0016] The first terminal broadcasts the extended Bluetooth broadcast message by using the Bluetooth technology with the working frequency band of 2.4 GHz, where the sidelink service is carried in an extension field of the extended Bluetooth broadcast message.

[0017] In a possible implementation of the first aspect, the first communication technology includes a Wi-Fi technology with a working frequency band of 2.4 GHz and a Bluetooth technology with a working frequency band of 2.4 GHz, and the Wi-Fi technology with the working frequency band of 2.4 GHz and the Bluetooth technology with the working frequency band of 2.4 GHz share an antenna.

[0018] The first terminal transmits the sidelink service by using the first communication technology includes:

[0019] In the first time period, the first terminal transmits the sidelink service by using the Wi-Fi technology with the working frequency band of 2.4 GHz;

[0020] In the second time period, the first terminal transmits the sidelink service by using the Bluetooth technology with the working frequency band of 2.4 GHz, and the first time period and the second time period are arranged alternately.

[0021] In a possible implementation of the first aspect, after the first terminal determines the type of the sidelink service to be transmitted, the method further includes:

[0022] If the type of the sidelink service is a second type of service, the first terminal transmits the sidelink service by using the first communication technology or a second communication technology, where the priority of the second type of service is lower than the priority of the first type of service, and the working frequency band of the second communication technology is greater than or equal to 5.9 GHz.

[0023] In a possible implementation of the first aspect, if the type of the sidelink service is the second type of service, the first terminal transmits the sidelink service by using the first communication technology or the second communication technology, including:

[0024] If the type of the sidelink service is the second type of service, the first terminal obtains a load parameter value of a channel corresponding to the first communication technology;

[0025] When the load parameter value is less than or equal to a load threshold, the first terminal transmits the sidelink service by using the first communication technology;

[0026] When the load parameter value is greater than the load threshold, the first terminal transmits the sidelink service by using the second communication technology.

[0027] In a possible implementation of the first aspect, the method further includes:

[0028] The first terminal obtains a second terminal on a same lane as the first terminal;

[0029] The first terminal obtains a distance between the first terminal and the second terminal;

[0030] If the distance between the first terminal and the second terminal is within the first preset range, the first terminal acquires a forward collision warning message, and the forward collision warning message is the sidelink service.

[0031] In a possible implementation of the first aspect, the first terminal acquires the second terminal on the same lane as the first terminal includes:

[0032] The first terminal acquires channel state information of a Wi-Fi signal in an environment where the first terminal is located, wherein the Wi-Fi signal in the environment where the first terminal is located includes a Wi-Fi signal emitted by a third Wi-Fi module, and the third Wi-Fi module includes a Wi-Fi module arranged on a third terminal.

[0033] The first terminal obtains the second terminal on the same lane as the first terminal from the third terminal according to the channel state information.

[0034] In a possible implementation of the first aspect, the first terminal acquires the distance between the first terminal and the second terminal includes:

[0035] The first terminal calculates the distance between the first terminal and the second terminal according to a sending time and a receiving time of transmitting information between the first Wi-Fi module and the second Wi-Fi module, wherein the first Wi-Fi module includes a Wi-Fi module arranged on the first terminal, and the second Wi-Fi module includes a Wi-Fi module arranged on the second terminal.

[0036] In a second aspect, an embodiment of the present application provides a terminal, including:

[0037] A type determination module is configured to determine a type of a sidelink service to be transmitted in a vehicle-to-everything scenario.

[0038] A message sending module is configured to send the sidelink service by using a first communication technology if the type of the sidelink service is a first type of service, wherein a working frequency band of the first communication technology is less than 5.9 GHz.

[0039] In a third aspect, a terminal is provided, including a processor, and the processor is configured to run a computer program stored in a memory to implement the method of any one of the first aspect.

[0040] In a fourth aspect, a chip system is provided, including a processor and a memory, and the processor is coupled to the memory, and the processor executes a computer program stored in the memory to implement the method of any one of the first aspect.

[0041] In a fifth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by one or more processors to implement the method of any one of the first aspect.

[0042] In a sixth aspect, the embodiments of the present application provide a computer program product, which, when running on a device, causes the device to perform any of the methods in the first aspect.

[0043] It can be understood that the beneficial effects of the second aspect to the sixth aspect described above can be referred to the related description in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 An application scenario diagram of a message transmission method provided by the embodiments of the present application;

[0045] Figure 2 A hardware structure diagram of a terminal for performing a message transmission method provided by the embodiments of the present application;

[0046] Figure 3 A plurality of communication technologies for transmitting V2X messages provided by the embodiments of the present application;

[0047] FIG. 4(a) is a schematic diagram of transmitting V2X messages using Wi-Fi technology provided by the embodiments of the present application;

[0048] FIG. 4(b) is a scenario diagram of transmitting V2X messages using Wi-Fi technology provided by the embodiments of the present application;

[0049] Figure 5 A flow diagram of a V2X message transmission method provided by the embodiments of the present application;

[0050] Figure 6 A data format diagram of a Beacon frame provided by the embodiments of the present application;

[0051] Figure 7 A classification diagram of V2X messages provided by the embodiments of the present application;

[0052] FIG. 8(a) is a schematic diagram of transmitting V2X messages using Bluetooth technology provided by the embodiments of the present application;

[0053] FIG. 8(b) is a scenario diagram of transmitting V2X messages using Bluetooth technology provided by the embodiments of the present application;

[0054] Figure 9 A data format diagram of a broadcast packet of Bluetooth provided by the embodiments of the present application;

[0055] FIG. 10(a) is a schematic diagram of transmitting V2X messages using 2.4 GHz LTE-V technology provided by the embodiments of the present application;

[0056] FIG. 10(b) is a schematic diagram of a scenario of transmitting V2X messages by using LTE-V technology of 2.4 GHz according to an embodiment of the present application;

[0057] FIG. 11(a) is a schematic diagram of transmitting V2X messages by using LTE-V of 5.9 GHz and Wi-Fi of 2.4 GHz in a concurrent manner according to an embodiment of the present application;

[0058] FIG. 11(b) is a schematic diagram of a scenario of transmitting V2X messages by using LTE-V of 5.9 GHz and Wi-Fi of 2.4 GHz in a concurrent manner according to an embodiment of the present application;

[0059] FIG. 12(a) is a schematic diagram of transmitting V2X messages by using Bluetooth of 2.4 GHz and Wi-Fi of 2.4 GHz in a concurrent manner according to an embodiment of the present application;

[0060] FIG. 12(b) is a schematic diagram of a scenario of transmitting V2X messages by using Bluetooth of 2.4 GHz and Wi-Fi of 2.4 GHz in a concurrent manner according to an embodiment of the present application;

[0061] FIG. 13(a) is a schematic diagram of transmitting V2X messages by using Bluetooth of 2.4 GHz and LTE-V of 5.9 GHz in a concurrent manner according to an embodiment of the present application;

[0062] FIG. 13(b) is a schematic diagram of a scenario of transmitting V2X messages by using Bluetooth of 2.4 GHz and LTE-V of 5.9 GHz in a concurrent manner according to an embodiment of the present application;

[0063] FIG. 14(a) is a schematic diagram of transmitting V2X messages by using Bluetooth of 2.4 GHz, Wi-Fi of 2.4 GHz and LTE-V of 5.9 GHz in a concurrent manner according to an embodiment of the present application;

[0064] FIG. 14(b) is a schematic diagram of a scenario of transmitting V2X messages by using Bluetooth of 2.4 GHz, Wi-Fi of 2.4 GHz and LTE-V of 5.9 GHz in a concurrent manner according to an embodiment of the present application;

[0065] Figure 15 FIG. 15 is a schematic diagram of a method for measuring vehicle distance according to an embodiment of the present application;

[0066] FIG. 16(a) and FIG. 16(b) are schematic diagrams of a method for detecting whether vehicles are in the same lane according to an embodiment of the present application;

[0067] Figure 17 FIG. 17 is a schematic diagram of a process of transmitting V2X messages by a vehicle in a tunnel to issue a warning according to an embodiment of the present application;

[0068] Figure 18 A schematic block diagram of a functional architecture module of a terminal for performing a message transmission method according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0069] In the following description, specific details are set forth in order to provide a thorough understanding of embodiments of the application. However, persons having ordinary skill in the art will readily recognize that embodiments of the application can be practiced without

[0070] It should be understood that the term "comprises" when used in this specification and the appended claims specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0071] It should also be understood that, in the application, "one or more" refers to one, two, or more than two; "and / or" describes the association relationship of associated objects, which means that there can be three relationships; for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0072] In addition, in the description of the specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0073] In the present specification, the reference to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments", and the like, in various places in the specification are not necessarily all referring to the same embodiment, unless otherwise specifically noted. The terms "comprise", "comprises", "comprising", "include", "includes", "including" and the like are meant to be interpreted as "including but not limited to", unless otherwise specifically noted.

[0074] The technical solutions of the present application can be applied to various communication systems, such as: long time evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) communication system, public land mobile network (PLMN) system, device to device (D2D) network system or machine to machine (M2M) network system, and 5G communication system, etc.

[0075] The network architecture and service scenarios described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of network architecture and the appearance of new service scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems. In the embodiments of the present application, the method provided is applied to the NR system or 5G network as an example for illustration.

[0076] Referring to Figure 1 , an application scenario diagram of a message transmission method provided by the embodiments of the present application is shown. As Figure 1 indicated, the scenario includes a plurality of terminals (such as terminal 10, terminal 20 and terminal 30), which can communicate with each other, for example, terminal 10 between the plurality of terminals can not pass through the base station and directly send services to terminal 20 or terminal 30. In the embodiments of the present application, the scenario in which terminals directly communicate without passing through the base station can be referred to as a V2X scenario, and the service transmitted between terminals in the V2X scenario is referred to as a sidelink (Sidelink) service or a V2X service. The V2X service can include signaling or data packets (for example, taking terminal 10 as a vehicle, the service sent by terminal 10 to other terminals can be data packets such as current vehicle speed, whether to brake, turn, etc.). It should be noted that, Figure 1 , taking a terminal as a vehicle as an example.

[0077] A terminal is a device with wireless communication function, which can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted. It can also be deployed on water (such as ships, etc.). It can also be deployed in the air (such as airplanes, balloons, and satellites, etc.). The terminal is also called user equipment (UE), mobile station (MS), mobile terminal (MT), terminal device, etc., which is a device that provides voice and / or data connectivity to users. For example, the terminal includes handheld devices with wireless connection functions, vehicle-mounted devices, etc. At present, the terminal can be: a mobile phone, a tablet computer, a notebook computer, a palm computer, a mobile internet device (MID), a wearable device (such as a smart watch, a smart bracelet, a pedometer, etc.), a vehicle-mounted device (such as a car, a bicycle, an electric vehicle, an airplane, a ship, a train, a high-speed rail, etc.), a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a smart home device (such as a refrigerator, a television, an air conditioner, an electric meter, etc.), a smart robot, a workshop device, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, or a wireless terminal in smart home, a flight device (such as a smart robot, a hot air balloon, a drone, an airplane), etc. In a possible application scenario of the present application, the terminal device is a terminal device that usually works on the ground, such as a vehicle-mounted device. In the present application, in order to facilitate description, a chip deployed in the above device, such as a system on a chip (SOC), a baseband chip, or other chips with communication function can also be referred to as a terminal.

[0078] The terminal can be a vehicle with corresponding communication function, or a vehicle-mounted communication device, or other embedded communication device, or a user's handheld communication device, including a mobile phone, a tablet computer, etc.

[0079] For example, a terminal can be a vehicle. Currently, a vehicle can obtain road condition information or receive information services in time through vehicle to vehicle (V2V) communication, vehicle to infrastructure (V2I) communication (for example, infrastructure is a road side unit (RSU)), vehicle to pedestrian (V2P) communication, or vehicle to network (V2N) communication. These communication methods can be collectively referred to as V2X communication (where X represents anything). The above communication usually refers to the network used by V2X communication as the Internet of Vehicles.

[0080] When the various schemes described in the embodiments of the present application are applied to the V2X scenario, they can be applied to the following fields: unmanned driving, automated driving (ADS), driver assistance (ADAS), intelligent driving, connected driving, intelligent network driving, car sharing.

[0081] As an example, in the embodiments of the present application, the terminal can also be a wearable device. The wearable device can also be referred to as a wearable smart device, which is a general term for devices that are designed and developed by applying wearable technology to daily wear, such as glasses, gloves, watches, clothing, and shoes. The wearable device is a portable device that can be directly worn on the body or integrated into the user's clothes or accessories. The wearable device is not only a hardware device, but also a device that realizes powerful functions through software support and data interaction and cloud interaction. The general wearable smart device includes a device with full functions, large size, and the ability to realize complete or partial functions without relying on a smart phone, such as a smart watch or smart glasses, and a device that focuses on a certain application function and needs to cooperate with other devices such as a smart phone, such as various smart wristbands and smart jewelry for monitoring vital signs.

[0082] For example, a terminal can be a vehicle. Currently, a vehicle can obtain road condition information or receive information services in time through vehicle to vehicle (V2V) communication, vehicle to infrastructure (V2I) communication (for example, infrastructure is a road side unit (RSU)), vehicle to pedestrian (V2P) communication, or vehicle to network (V2N) communication. These communication methods can be collectively referred to as V2X communication (where X represents anything). The above communication usually refers to the network used by V2X communication as the Internet of Vehicles. Figure 1As shown, taking the terminal 10 as an example of a vehicle A (referred to as vehicle A for short), if the vehicle A decides to perform a passing operation, the vehicle A can send a sidelink service (for example, the sidelink service can be a passing indication, a current speed (for example, 75 km / h) of the vehicle A) to the terminal 20 (for example, a vehicle B (referred to as vehicle B for short) identified as B) located in front of the vehicle A and the terminal 30 (for example, a vehicle C (referred to as vehicle C for short) identified as C), so that the vehicle B and the vehicle C can slow down after receiving the current speed and the passing indication of the vehicle A, so that the vehicle A can safely pass. In the 4G communication system, LTE-V is a communication standard in the field of V2X technology, which specifies the communication protocol of V2X messages. At present, the LTE-V technology communicates based on the frequency band of 5.9GHz. The frequency band of 5.9GHz is ultra-high frequency centimeter wave, and the wavelength is between 10mm and 100mm. Generally, the longer the wavelength, the smaller the attenuation, and it is also easier to bypass obstacles to continue to propagate. Therefore, compared with the electromagnetic wave of 2.4GHz frequency band, the electromagnetic wave of 5.9GHz frequency band has greater attenuation and smaller signal coverage when passing through obstacles. That is, the signal coverage of the LTE-V technology based on 5.9GHz is smaller than that of the communication technology based on 2.4GHz, and the attenuation is greater when there are obstacles.

[0083] Continue to combine Figure 1 Taking the application scenario as an example, the vehicle A broadcasts the sidelink service based on the LTE-V technology of 5.9GHz. The distance between the vehicle A and the vehicle B is close, and there is no obstacle. The vehicle B can receive the sidelink service broadcasted by the vehicle A. The distance between the vehicle A and the vehicle C is far, and there is an obstacle, i.e. the vehicle B. Therefore, the vehicle C can not successfully receive the sidelink service broadcasted by the vehicle A.

[0084] Of course, in actual application, if there is another vehicle, for example, the vehicle D, the distance between the vehicle D and the vehicle A is far, but there is no obstacle. The vehicle D can not successfully receive the sidelink service broadcasted by the vehicle A. Or the distance between the vehicle D and the vehicle A is close, but there is an obstacle. The vehicle D can not successfully receive the sidelink service broadcasted by the vehicle A.

[0085] To solve the above problems, the vehicle A can transmit a V2X message (which is a kind of sidelink service) by means of a communication technology based on other frequency bands. For example, Bluetooth of 2.4GHz, Wi-Fi (Wireless Fidelity) of 2.4GHz, Wi-Fi of 5.0GHz, etc. So that the vehicle C can successfully receive the V2X message from the vehicle A in a complex scenario (for example, the distance between the vehicle and the vehicle broadcasting the V2X message is far, there is an obstacle between the vehicle and the vehicle broadcasting the V2X message, etc. ).

[0086] It should be noted that the embodiments of the present application are described by taking the problem of low success rate of transmitting V2X messages by using the LTE-V technology based on 5.9 GHz as an example. In actual application, the problem of low success rate of transmitting V2X messages by using the New Radio-V2X (NR-V2X) technology can also be solved. That is, the LTE-V technology based on 5.9 GHz in the embodiments of the present application can also be the NR-V2X technology. For the related content of the NR-V2X technology, refer to the standard of the NR-V2X technology. Figure 1 In the application scenario shown, the communication between vehicles can be the communication between the communication modules arranged on the vehicles, the communication between the communication modules on the electronic devices carried by the users on the vehicles, or the communication between the communication module on one vehicle and the communication module on the electronic device carried by the user on another vehicle. For ease of description, the vehicle is taken as the main body in the following description, and in fact, the electronic device carried by the user on the vehicle can also be used.

[0087] When the electronic device carried by the user is taken as the main body, after the user carries the electronic device into the vehicle, the Bluetooth module on the electronic device carried by the user can establish a connection with the Bluetooth module on the vehicle. After the Bluetooth module on the electronic device carried by the user and the Bluetooth module on the vehicle establish a connection, the electronic device carried by the user enters the transmission scenario of the V2X message provided by the embodiments of the present application to execute the message transmission method provided by the embodiments of the present application.

[0088] In actual application, the virtual button can also be arranged on the electronic device carried by the user. When the user clicks the virtual button, the electronic device carried by the user enters the transmission scenario of the V2X message provided by the embodiments of the present application to execute the message transmission method provided by the embodiments of the present application.

[0089] The embodiments of the present application do not limit the way in which the electronic device carried by the user enters the transmission scenario of the V2X message provided by the embodiments of the present application to execute the message transmission method provided by the embodiments of the present application.

[0090] Figure 2 A hardware structure schematic diagram of a terminal provided by the embodiments of the present application is shown. The hardware structure of the terminal 10, the terminal 20 and the terminal 30 in the embodiments of the present application can refer to the structure shown in FIG. 1. Figure 2 The terminal provided by the embodiments of the present application includes a processor 21, a communication line 24 and at least one transceiver (for example, the transceiver 23 in FIG. 1 is only exemplary). Figure 2 The transceiver 23 in FIG. 1 is only exemplary.

[0091] The processor 21 can be a general central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs of the embodiments.

[0092] The communication line 24 can include a path for transmitting information between the above-mentioned components.

[0093] The transceiver 23, using any transceiver-like device, is used to communicate with other terminals or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0094] Optionally, the terminal can further include a memory 22.

[0095] The memory 22 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this. The memory can exist independently and be connected to the processor through the communication line 34. The memory can also be integrated with the processor.

[0096] The memory 22 is used to store computer-executable instructions for executing the embodiments, and the processor 21 is used to control the execution. The processor 21 is used to execute the computer-executable instructions stored in the memory 22, thereby realizing the message transmission method provided by the embodiments.

[0097] Optionally, the computer-executable instructions in the embodiments can also be referred to as application program codes, which are not specifically limited in the embodiments.

[0098] In particular implementations, as one example, the processor 21 can include one or more CPUs, such as CPU0 and CPU1 in Figure 2 .

[0099] In particular implementations, as one example, the terminal can include multiple processors, such as the processor 21 and the processor 25 in Figure 2 . Each of these processors can be a single-CPU processor or a multi-CPU processor. A processor here can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0100] Embodiments of the present application do not particularly limit the specific structure of the execution subject of the message transmission method, as long as the execution subject can communicate according to the message transmission method of embodiments of the present application by running a program recording the message transmission method of embodiments of the present application. For example, the execution subject of the message transmission method of embodiments of the present application can be a functional module capable of calling and executing a program in an electronic device provided on a vehicle or an electronic device carried by a person on the vehicle; or a processing device applied to an electronic device provided on a vehicle or an electronic device carried by a person on the vehicle, such as a chip.

[0101] Referring to Figure 3 , the present application provides multiple transmission modes of V2X messages. As shown in Figure 3 , vehicle A needs to broadcast a V2X message to other vehicles in the current V2X scenario. Vehicle A can transmit the V2X message to other vehicles through the 5.9 GHz LTE-V technology, and can also transmit the V2X message to other vehicles through the following modes:

[0102] Vehicle A can transmit the V2X message to other vehicles through the 2.4 GHz Wi-Fi technology;

[0103] Vehicle A can transmit the V2X message to other vehicles through the 2.4 GHz Bluetooth technology;

[0104] Vehicle A can transmit the V2X message to other vehicles through the 2.4 GHz LTE-V technology;

[0105] Vehicle A can transmit the V2X message to other vehicles through the concurrent mode of the 2.4 GHz Wi-Fi technology and the 2.4 GHz Bluetooth technology;

[0106] Vehicle A can transmit the V2X message to other vehicles through the concurrent mode of the 2.4 GHz Wi-Fi technology and the 5.9 GHz LTE-V technology;

[0107] Vehicle A can transmit V2X messages to other vehicles through the 2.4GHz Bluetooth technology and the 5.9GHz LTE-V technology concurrently;

[0108] Vehicle A can transmit V2X messages to other vehicles through the 2.4GHz Bluetooth technology, the 2.4GHz Wi-Fi technology and the 5.9GHz LTE-V technology concurrently.

[0109] No matter which communication technology is used by vehicle A to transmit V2X messages, a corresponding communication module needs to be set on vehicle A or a corresponding communication module needs to be set on an electronic device carried by a user on vehicle A.

[0110] The above-mentioned various ways of transmitting V2X messages will be described respectively.

[0111] Referring to FIG. 4(a), FIG. 4(a) is a schematic diagram of transmitting V2X messages through the 2.4GHz Wi-Fi technology provided by an embodiment of the present application.

[0112] In the embodiment of the present application, vehicle A has one or more V2X scenarios, for example, abnormal vehicle warning, forward collision warning, emergency braking warning, speed limit warning, etc. The one or more V2X scenarios can be set by a user or configured by a manufacturer when vehicle A is manufactured, and the present application does not limit this. Vehicle A has a judgment condition for each V2X scenario. When vehicle A detects that the current judgment condition is met, vehicle A identifies that the current V2X scenario is met. When vehicle A identifies the V2X scenario and determines that it needs to transmit V2X messages to other vehicles (for example, emergency braking warning needs to transmit V2X messages to other vehicles), it needs to transmit V2X messages related to the current V2X scenario to other vehicles.

[0113] As an example, the judgment condition can be that vehicle A has a failure. Vehicle A detects that vehicle A has a failure, that is, vehicle A identifies that the current V2X scenario is met, and vehicle A can broadcast V2X messages (abnormal vehicle warning) to prompt surrounding vehicles that the vehicle is an abnormal vehicle.

[0114] In actual applications, different vehicles can set different judgment conditions for the same V2X scenario.

[0115] For the 2.4GHz communication technology, a shorter inter-frame space (IFS) can be used to transmit V2X messages, and the 802.11b protocol is followed when transmitting V2X messages, so that the transmission distance is farther.

[0116] The transmission mode of the V2X message shown in FIG. 4(a) can be applied in the application scenario shown in FIG. 4(b). As shown in FIG. 4(b), when vehicle A needs to transmit a V2X message to other vehicles, if the V2X message is broadcast by the vehicle A through the LTE-V technology of 5.9 GHz, vehicle B can successfully receive the V2X message broadcast by vehicle A because the distance between vehicle B and vehicle A is relatively short and there is no obstacle blocking. However, vehicle C can not successfully receive the V2X message broadcast by vehicle A because the distance between vehicle C and vehicle A is relatively large and there is an obstacle vehicle B. Therefore, vehicle A can broadcast the V2X message based on the Wi-Fi technology of 2.4 GHz. When vehicle A broadcasts the V2X message based on the Wi-Fi technology of 2.4 GHz, both vehicle B and vehicle C can successfully receive the V2X message broadcast by vehicle A.

[0117] In actual application, when vehicle A needs to transmit a V2X message to vehicle B in a directional manner, if vehicle A has detected that the distance between vehicle B and vehicle A is relatively short and there is no obstacle, vehicle A can also broadcast the V2X message by using the LTE-V technology of 5.9 GHz.

[0118] It should be noted that when vehicle A broadcasts the V2X message by using the LTE-V technology of 5.9 GHz, vehicle C is not completely unable to receive the V2X message broadcast by vehicle A. Only in the case that the distance between vehicle C and vehicle A is relatively large and there is an obstacle blocking, the success rate of vehicle C receiving the V2X message broadcast by vehicle A based on the Wi-Fi technology of 2.4 GHz is higher than that of vehicle C receiving the V2X message broadcast by vehicle A based on the LTE-V technology of 5.9 GHz. Therefore, when vehicle A broadcasts the V2X message to other vehicles based on the Wi-Fi technology of 2.4 GHz, the success rate is higher.

[0119] In order to more clearly understand the manner of transmitting the V2X message based on the Wi-Fi technology of 2.4 GHz, the following Figure 5 The technical implementation process of vehicle A transmitting the V2X message based on the Wi-Fi technology of 2.4 GHz is described.

[0120] Referring to Figure 5When the vehicle A identifies the V2X scene, the vehicle A determines the V2X message sent to other vehicles based on the current V2X scene; the vehicle A judges whether the V2X message is a safety class message, when the V2X message is a safety class message, the vehicle A broadcasts the V2X message using the 2.4GHz Wi-Fi technology. When the V2X message is a non-safety class message, the vehicle A judges the load condition of the channel corresponding to the 2.4GHz Wi-Fi technology. When the 2.4GHz Wi-Fi channel is good, the vehicle A broadcasts the V2X message using the 2.4GHz Wi-Fi technology. When the 2.4GHz Wi-Fi channel is congested, the vehicle A broadcasts the V2X message using the 5.9GHz LTE-V technology.

[0121] The vehicle A can be provided with a load threshold value, and the vehicle A detects that the data transmitted through the 2.4GHz Wi-Fi channel is greater than the load threshold value, indicating that the 2.4GHz Wi-Fi channel is congested; the vehicle A detects that the data transmitted through the 2.4GHz Wi-Fi channel is less than or equal to the load threshold value, indicating that the 2.4GHz Wi-Fi channel is good.

[0122] Of course, the above method of judging the load condition of the 2.4GHz Wi-Fi channel is only used as an example, and in actual application, other ways can also be used, for example, measuring the channel load rate of the channel, when the channel load rate is greater than the load threshold value, it indicates that the channel is congested, and when the channel load rate is less than or equal to the load threshold value, it indicates that the channel is good. In actual application, different load threshold values can be set by selecting different load parameter values. For example, when the load parameter value is the data transmitted by the channel, the load threshold value is a value in the unit of data amount; when the load parameter value is the channel load rate, the load threshold value is a proportional value.

[0123] In Figure 5 In the embodiment shown, since in the actual process, the vehicle A can not only send safety class messages to other vehicles, but also send non-safety class messages to other vehicles, therefore, if the vehicle A needs to send both safety class messages and non-safety class messages to other vehicles, the vehicle A broadcasts the safety class V2X message using the 2.4GHz Wi-Fi technology in order to successfully transmit the safety class message to other vehicles, and at the same time, in order to avoid causing the congestion of the 2.4GHz Wi-Fi channel, broadcasts the non-safety class V2X message through the 2.4GHz Wi-Fi technology when the 2.4GHz Wi-Fi channel is good. And broadcasts the non-safety class V2X message through the 5.9GHz LTE-V technology when the 2.4GHz Wi-Fi channel is congested.

[0124] In the embodiments of the present application, the Wi-Fi technology used by vehicle A uses three independent channels on 2.4 GHz: channel 1, channel 6 and channel 11. When vehicle A broadcasts messages using the Wi-Fi technology of 2.4 GHz, it uses a beacon frame. The beacon frame is a data frame complying with the Wi-Fi protocol. The V2X message is a data set complying with the LTE-V protocol. When broadcasting the V2X message using the Wi-Fi technology of 2.4 GHz, the beacon frame can be extended, and the V2X message can be carried through the extended field.

[0125] Referring to Figure 6 , the data format of the beacon frame defined by the 802.11 protocol and the data format of the beacon frame after the extension field used in the embodiments of the present application are shown. Figure 6 It can be understood that the data format of the beacon frame used in the present application complies with the general 802.11 protocol of the wireless local area network, and only some fields are extended. Figure 6

[0126] As shown in Figure 6 , field 0 of the beacon frame defined by the 802.11 protocol is the element ID (Element ID), which is the vender specific IE in the beacon frame provided in the embodiments of the present application; field 1 of the beacon frame defined by the 802.11 protocol is the length (Length), which is also the length (Length) in the beacon frame provided in the embodiments of the present application; fields 2 to 4 of the beacon frame defined by the 802.11 protocol are the organization identifier (Organization Identifier), which is not shown in the beacon frame provided in the embodiments of the present application; fields 5 to 9 of the beacon frame defined by the 802.11 protocol are the vender specific (Vender Specific), field 5 of which is the feature ID (Feature ID) in the beacon frame provided in the embodiments of the present application, field 6 is the TLV type (TLV Type), field 7 is the TLV length (TLV length), and fields 8 and 9 are the content (content). In the embodiments of the present application, it can be determined whether the current beacon frame is used to transmit the V2X message through the feature ID (Feature ID); and the safety class V2X message can be placed in the content (content) field of the beacon frame after the extension field.

[0127] It can be understood that in the embodiments of the present application, the beacon frame is extended, not by adding additional fields, but by extending the functions of some existing fields, and the extended functions include carrying the V2X message. Figure 6 ​​

[0128] Since the Beacon frame is a broadcast frame, when vehicle A broadcasts the safety class V2X message through the beacon frame, not only vehicle B but also vehicle C can receive the safety class V2X message.

[0129] Of course, in actual applications, vehicle A can also transmit the V2X message to the specified vehicle in a directional manner. As an example, vehicle A can obtain the unique identifier of other vehicles near vehicle A. When vehicle A broadcasts the V2X message to the specified vehicle, the unique identifier of the specified vehicle is carried in the beacon frame. The vehicle receiving the beacon frame first determines whether the unique identifier carried in the beacon frame is consistent with the unique identifier of the vehicle; if consistent, the vehicle receiving the beacon frame parses the beacon frame to obtain the V2X message; if inconsistent, the vehicle receiving the beacon frame discards the received beacon frame. Vehicle A can also establish a communication connection with the specified vehicle, and transmit the V2X message to the specified vehicle in a directional manner through the established communication connection. The embodiment of the present application does not limit whether the V2X message is transmitted in a broadcast manner or through the established communication connection.

[0130] Referring to Figure 7 , Figure 7 The V2X messages are classified. The V2X messages are divided into three categories: safety class V2X messages, efficiency class V2X messages, and information service class V2X messages. As shown in Figure 7 , the safety class V2X messages include: 1, forward collision warning, 2, intersection collision warning, 3, left turn assistance, 4, blind area warning / lane change assistance, 5, reverse overtaking warning, 6, emergency braking warning, 7, abnormal vehicle reminder, 8, vehicle out-of-control warning, 9, road danger state prompt, 10, speed limit warning, 11, red light running warning, and 12, vulnerable road user collision warning. In actual applications, the types of messages can also be divided in other manners (for example, importance, urgency, etc.), that is, in the embodiment of the present application, the messages with higher importance and higher urgency are transmitted by using the communication technology below 5.9 GHz.

[0131] Through 4(a) to Figure 7It can be understood from the description that the embodiments of the application focus on the transmission of safety V2X messages on the 2.4 GHz Wi-Fi channel. In actual applications, safety V2X messages can also be transmitted on the 5.0 GHz Wi-Fi channel. For non-safety V2X messages, 5.9 GHz LTE-V technology transmission can be selected, 2.4 GHz Wi-Fi technology transmission can also be selected, and 5.0 GHz Wi-Fi channel transmission can also be selected. However, in order to avoid Wi-Fi channel congestion, 2.4 GHz Wi-Fi technology transmission can be selected when the 2.4 GHz Wi-Fi channel is good, or 5.0 GHz Wi-Fi technology transmission can be selected when the 5.0 GHz channel is good. In this way, the transmission success rate of safety V2X messages between vehicles can be improved.

[0132] Referring to FIG. 8(a), FIG. 8(a) is a schematic diagram of transmitting V2X messages through 2.4 GHz Bluetooth technology provided by the embodiments of the application. The transmission mode of the V2X messages shown in FIG. 8(a) can be applied in the application scenario shown in FIG. 8(b). As shown in FIG. 8(b), vehicle A can broadcast the V2X messages based on 2.4 GHz Bluetooth technology. When vehicle A broadcasts V2X messages based on 2.4 GHz Bluetooth technology, vehicle B and vehicle C can successfully receive the V2X messages broadcasted by vehicle A.

[0133] It should be noted that when the distance between vehicle C and vehicle A is far and there is an obstacle to block, the success rate of vehicle C receiving the V2X messages broadcasted by vehicle A based on 2.4 GHz Bluetooth technology is higher than that of receiving the V2X messages broadcasted by vehicle A based on 5.9 GHz LTE-V technology. Therefore, when vehicle A broadcasts V2X messages to other vehicles based on 2.4 GHz Bluetooth technology, the success rate is higher.

[0134] Referring to Figure 5 The technical implementation process of vehicle A transmitting V2X messages through 2.4 GHz Bluetooth technology can be obtained from the flowchart of transmitting V2X messages through Wi-Fi technology shown in FIG. 8(a): when vehicle A identifies a V2X scene, vehicle A determines the V2X messages to be sent to other vehicles based on the current V2X scene; vehicle A judges whether the V2X messages are safety messages, when the V2X messages are safety messages, vehicle A broadcasts the V2X messages through 2.4 GHz Bluetooth technology, when the V2X messages are non-safety messages, vehicle A judges the load of the channel corresponding to 2.4 GHz Bluetooth technology, when the 2.4 GHz Bluetooth channel is good, vehicle A broadcasts the V2X messages through 2.4 GHz Bluetooth technology, and when the 2.4 GHz Bluetooth channel is congested, vehicle A broadcasts the V2X messages through 5.9 GHz LTE-V technology.

[0135] In this embodiment, vehicle A uses Bluetooth Low Energy (BLE), which broadcasts using three independent channels on 2.4 GHz: channel 37, channel 38, and channel 39. Vehicle A can also transmit messages via broadcast when using 2.4 GHz Bluetooth. Even if there is no Bluetooth connection between two vehicles, one vehicle can transmit a V2X message to the other vehicle by broadcasting Bluetooth information carrying the V2X message. When a vehicle broadcasts Bluetooth information carrying the V2X message using 2.4 GHz Bluetooth, the same message can be broadcast on all three channels.

[0136] See Figure 9 The image shows the data format of a Bluetooth Low Energy (BLE) broadcast message. Figure 9 As shown, the Bluetooth broadcast message data format used in this embodiment includes a header and a payload. The header includes PDU type, reserved bits (RFU), transmit address type (TxAdd), receive address type (RxAdd), length, and reserved bits (RFU). The payload includes broadcast address (AdvA) and broadcast data (AdvData). V2X messages can be stored as broadcast data in the fields corresponding to the broadcast data.

[0137] pass Figure 9 It is understood that the extension of Bluetooth broadcast messages in this embodiment does not involve adding extra fields, but rather extending the functionality of some existing fields to include carrying V2X messages. For example, the functionality of some fields in the payload of the Bluetooth broadcast message is extended to enable them to carry V2X messages.

[0138] Taking Bluetooth 5.0 as an example, the broadcast message defined in Bluetooth 5.0 has 255 user bytes, an eight-fold increase compared to Bluetooth 4.2. However, the maximum broadcast size defined in Bluetooth 5.0 is 1650 bytes, sent through a main broadcast packet and auxiliary broadcast packets (i.e., fragmented broadcast). Therefore, Bluetooth 5.0 can meet the needs of large data broadcasts. However, fragmented broadcast transmission is not very reliable, and the receiver may not receive complete information. Therefore, key content of the V2X message can be filled into the Bluetooth broadcast message.

[0139] The above embodiments all use Bluetooth Low Energy as an example to illustrate that 2.4GHz Bluetooth technology can be used to broadcast V2X messages. In practical applications, 2.4GHz classic Bluetooth can also be used to broadcast V2X messages. When using 2.4GHz classic Bluetooth to broadcast V2X messages, it is also necessary to extend the data packets. The embodiments of this application will not be illustrated one by one here.

[0140] Referring to FIG. 10(a), FIG. 10(a) is a schematic diagram of transmitting the V2X message by the LTE-V technology of 2.4 GHz provided in the embodiments of the present application. The transmission mode of the V2X message shown in FIG. 10(a) can be applied in the application scenario shown in FIG. 10(b). As shown in FIG. 10(b), the vehicle A can broadcast the V2X message based on the LTE-V technology of 2.4 GHz. When the vehicle A broadcasts the V2X message based on the LTE-V technology of 2.4 GHz, the vehicle B and the vehicle C can successfully receive the V2X message broadcasted by the vehicle A.

[0141] It should be noted that, in the case that the distance between the vehicle C and the vehicle A is far and there is an obstacle to shield, the success rate of the vehicle C receiving the V2X message broadcasted by the vehicle A based on the LTE-V technology of 2.4 GHz is higher than that of receiving the V2X message broadcasted by the vehicle A based on the LTE-V technology of 5.9 GHz. Therefore, when the vehicle A broadcasts the V2X message to other vehicles based on the LTE-V technology of 2.4 GHz, the success rate is higher.

[0142] Referring to Figure 5 The technical implementation process of the vehicle A transmitting the V2X message by the LTE-V technology of 2.4 GHz can be obtained by referring to the flowchart of transmitting the V2X message by the Wi-Fi technology shown in FIG. 10(a). When the vehicle A identifies the V2X scene, the vehicle A determines the V2X message to be sent to other vehicles based on the current V2X scene; the vehicle A determines whether the V2X message is a safety message, when the V2X message is a safety message, the vehicle A broadcasts the V2X message by the LTE-V technology of 2.4 GHz, when the V2X message is a non-safety message, the vehicle A determines the load condition of the channel corresponding to the LTE-V technology of 2.4 GHz, when the LTE-V channel of 2.4 GHz is good, the V2X message is broadcasted by the LTE-V technology of 2.4 GHz, when the LTE-V channel of 2.4 GHz is congested, the V2X message is broadcasted by the LTE-V technology of 5.9 GHz.

[0143] In the embodiments of the present application, the range of the transmitting frequency of the LTE-V module corresponding to the LTE-V technology is set, which is usually in the frequency range corresponding to 5.9 GHz. In actual application, the LTE-V module set on the vehicle A can be modified, and the software program built in the LTE-V module is also modified, so that the range of the transmitting and receiving frequency of the modified LTE-V module is in the frequency range corresponding to 2.4 GHz.

[0144] In addition, it needs to be noted that, in the case of one LTE-V module being arranged on the vehicle A or one LTE-V module being arranged on the electronic device carried by the user on the vehicle A, if the LTE-V module has been set to a transmission frequency of 2.4 GHz, the non-safety V2X message needs to be transmitted by using the LTE-V technology of 2.4 GHz. In actual application, whether to delay the broadcast can be selected according to the load condition of the channel used by the LTE-V technology of 2.4 GHz. As an example, the non-safety V2X message is broadcast in the case of a good channel used by the LTE-V technology of 2.4 GHz; the non-safety V2X message is not broadcast in the case of a congested channel used by the LTE-V technology of 2.4 GHz, but waits for the case of a good channel used by the LTE-V technology of 2.4 GHz to broadcast the non-safety V2X message.

[0145] In the case of at least two LTE-V modules being arranged on the vehicle A or at least two LTE-V modules being arranged on the electronic device carried by the user on the vehicle A, and the LTE-V module of 2.4 GHz and the LTE-V module of 5.9 GHz existing at the same time, the V2X message can still be transmitted by referring to the flowchart of transmitting the V2X message by using the Wi-Fi technology shown in FIG. 6. Figure 5

[0146] ​Referring to FIG. 11(a), FIG. 11(a) is a schematic diagram of transmitting V2X messages in a concurrent manner of using 5.9 GHz LTE-V technology and 2.4 GHz Wi-Fi technology according to an embodiment of the present application. As shown in FIG. 11(a), when vehicle A transmits V2X messages in a concurrent manner of using 5.9 GHz LTE-V technology and 2.4 GHz Wi-Fi technology, vehicle A transmits V2X messages using 5.9 GHz LTE-V technology, and vehicle A also transmits the same V2X messages using 2.4 GHz Wi-Fi technology. It can also be understood that vehicle A transmits V2X messages using 5.9 GHz LTE-V technology at the same time, and vehicle A transmits the same V2X messages using 2.4 GHz Wi-Fi technology. The transmission manner of V2X messages shown in FIG. 11(a) can be applied to the application scenario shown in FIG. 11(b). As shown in FIG. 11(b), when vehicle A needs to transmit V2X messages to other vehicles, if vehicle A broadcasts the V2X messages through 5.9 GHz LTE-V technology, vehicle B is close to vehicle A and there is no obstacle to block, and vehicle B can successfully receive the V2X messages broadcasted by vehicle A. However, vehicle C is far away from vehicle A and there is an obstacle vehicle B, so vehicle C can not successfully receive the V2X messages broadcasted by vehicle A. Therefore, vehicle A can use 2.4 GHz Wi-Fi technology to supplement the same V2X messages. When vehicle A supplements the same V2X messages based on 2.4 GHz Wi-Fi technology, even if vehicle C can successfully receive the V2X messages broadcasted by vehicle A using 5.9 GHz LTE-V technology, vehicle C can also successfully receive the same V2X messages supplemented by vehicle A based on 2.4 GHz Wi-Fi technology.

[0147] Based on the above description that the success rate of vehicle A broadcasting V2X messages to other vehicles using 2.4 GHz Wi-Fi technology is higher than using 5.9 GHz LTE-V technology, it can be understood that the success rate of vehicle A transmitting V2X messages in a concurrent manner of using 2.4 GHz Wi-Fi technology and 5.9 GHz LTE-V technology is higher than broadcasting V2X messages using 5.9 GHz LTE-V technology alone.

[0148] Referring to Figure 5The flowchart shown in the figure for transmitting V2X messages using 2.4GHz Wi-Fi technology can be used to obtain a technical implementation process for transmitting V2X messages using 2.4GHz Wi-Fi technology and 5.9GHz LTE-V technology concurrently by vehicle A: when vehicle A identifies a V2X scenario, vehicle A determines the V2X message to be sent to other vehicles based on the current V2X scenario; vehicle A determines whether the V2X message is a safety message, and when the V2X message is a safety message, vehicle A broadcasts the V2X message using 2.4GHz Wi-Fi technology and 5.9GHz LTE-V technology concurrently, and when the V2X message is a non-safety message, vehicle A determines the load of the channel corresponding to 2.4GHz LTE-V technology, and when the 2.4GHz LTE-V channel is good, broadcasts the V2X message using 2.4GHz LTE-V technology or using 2.4GHz Wi-Fi technology and 5.9GHz LTE-V technology concurrently, and when the 2.4GHz LTE-V channel is congested, broadcasts the V2X message using 5.9GHz LTE-V technology.

[0149] FIG. 12(a) is a schematic diagram of transmitting V2X messages using 2.4GHz Bluetooth technology and 2.4GHz Wi-Fi technology concurrently according to an embodiment of the present application. The specific implementation process of using 2.4GHz Bluetooth technology and 2.4GHz Wi-Fi technology concurrently can be described according to the description of using 5.9GHz LTE-V technology and 2.4GHz Wi-Fi technology concurrently shown in FIG. 11(a), which will not be repeated here.

[0150] The transmission mode of the V2X message shown in FIG. 12(a) can be applied to the application scenario shown in FIG. 12(b).

[0151] In some vehicles, 2.4GHz Bluetooth and 2.4GHz Wi-Fi can share a radio frequency antenna. In this case, signals can be received concurrently. However, vehicles cannot implement concurrent signal transmission. Therefore, concurrent communication of both can be achieved by transmitting signals in a time-division manner. The time-division transmission manner represents a communication manner in which multiple signals take turns using a shared antenna to form multiple periodic transmissions. Other descriptions in this application scenario can refer to the description in FIG. 11(b), which will not be repeated here.

[0152] FIG. 13(a) is a schematic diagram of a transmission manner of V2X messages provided by an embodiment of the present application, which is concurrent transmission of Bluetooth technology of 2.4 GHz and LTE-V technology of 5.9 GHz. The specific implementation process of the concurrent transmission of Bluetooth technology of 2.4 GHz and LTE-V technology of 5.9 GHz can be described according to the description of the concurrent transmission of LTE-V technology of 5.9 GHz and Wi-Fi technology of 2.4 GHz shown in FIG. 11(a), which will not be repeated here.

[0153] The transmission manner of V2X messages shown in FIG. 13(a) can be applied in the application scenario shown in FIG. 13(b). The description in the application scenario can refer to the description in FIG. 11(b), which will not be repeated here.

[0154] FIG. 14(a) is a schematic diagram of a transmission manner of V2X messages provided by an embodiment of the present application, which is concurrent transmission of Bluetooth technology of 2.4 GHz, Wi-Fi technology of 2.4 GHz and LTE-V technology of 5.9 GHz. The specific implementation process of the concurrent transmission of Bluetooth technology of 2.4 GHz, Wi-Fi technology of 2.4 GHz and LTE-V technology of 5.9 GHz can be described according to the description of the concurrent transmission of LTE-V technology of 5.9 GHz and Wi-Fi technology of 2.4 GHz shown in FIG. 11(a), which will not be repeated here.

[0155] The transmission manner of V2X messages shown in FIG. 14(a) can be applied in the application scenario shown in FIG. 14(b). The description in the application scenario can refer to the description in FIG. 11(b), which will not be repeated here.

[0156] It can be understood from the above description of the embodiments that the transmission manner of the vehicle for the safety class V2X message can use a single 2.4 GHz communication technology, or use a plurality of 2.4 GHz communication technologies concurrently, or use a 2.4 GHz communication technology and a 5.9 GHz communication technology concurrently. Of course, the 2.4 GHz communication technology in the above embodiments can also be other communication technologies below 5.9 GHz. The embodiments of the present application do not limit the specific communication technology.

[0157] In order to have a clearer understanding of the transmission method of the V2X message described in the above embodiments, examples are given through specific V2X scenarios.

[0158] In actual driving process, vehicle A enters a harsh environment (for example, under a bridge, in a tunnel, etc.), at this time, the signal of the GPS of vehicle A is weak, or even no signal. Vehicle B and vehicle C exist around vehicle A. Vehicle A also needs to measure the distance between vehicle A and vehicle B. As an example, vehicle A can use Wi-Fi-based FTM (fine timing measurement) probe technology for ranging, so as to obtain the first distance between vehicle A and vehicle B and the second distance between vehicle A and vehicle C. In actual application, other communication technologies can also be used for ranging, for example, Bluetooth technology is used for ranging (for example, ranging according to the signal strength of Bluetooth), LTE-V technology is used for ranging (for example, a message is transmitted through LTE-V technology to measure the distance according to the transmission time of the message), or even other devices (for example, radar) installed on the vehicle can be used for ranging. The ranging mode used in the embodiments of the application is not limited.

[0159] Referring to Figure 15 , Figure 15 The method for vehicle A to use Wi-Fi-based FTM probe technology for ranging in the above scenario is shown in the schematic diagram.

[0160] Taking the first distance as an example, vehicle A uses Wi-Fi technology to send a ranging request; vehicle B receives the ranging request and returns first information using Wi-Fi technology, which can be a ping message, wherein the time at which vehicle B sends the first information is t1; vehicle A receives the first information and sends second information using Wi-Fi technology, which can be a pong message, wherein the time at which vehicle A receives the first information is t2, the time at which vehicle A sends the second information is t3, and vehicle A records the times t2 and t3; vehicle B receives the second information and returns third information using Wi-Fi technology, which carries t1 and the time at which vehicle B receives the second information t4; vehicle A receives the third information carrying t1 and t4, and vehicle A calculates the first distance by the following formula:

[0161]

[0162] Wherein, D is the first distance, and c represents the speed of light.

[0163] According to the above method, vehicle A can obtain the first distance between vehicle A and vehicle B. When vehicle C also exists on the road, vehicle A can also obtain the second distance between vehicle A and vehicle C in the manner shown in Figure 15 .

[0164] When the first distance is within the first preset range, it indicates that the distance between vehicle A and vehicle B is too close, and there is a risk of rear-end collision. At this time, vehicle A identifies that the current is a V2X scene, and the V2X message corresponding to the current V2X scene is a safety message. Vehicle A can broadcast the beacon frame carrying the V2X message by using the Wi-Fi technology. Of course, the beacon frame can also carry the unique identifier of vehicle B.

[0165] Similarly, when the second distance is within the first preset range, it indicates that the distance between vehicle A and vehicle C is too close, and there is a risk of rear-end collision. At this time, vehicle A identifies that the current is a V2X scene, and the V2X message corresponding to the current V2X scene is a safety message. Vehicle A can broadcast the beacon frame carrying the V2X message by using the Wi-Fi technology. Of course, the beacon frame can also carry the unique identifier of vehicle C.

[0166] Since the vehicle as the subject in the embodiment of the application can obtain the distance between the vehicle and other vehicles, a distance threshold can be set in the vehicle, which can be used as a reference condition for the vehicle to select 5.9GHz LTE-V technology or 2.4GHz communication technology to transmit the V2X message.

[0167] As an example, when the distance between the vehicle and the target vehicle (the vehicle to which the V2X message is delivered) is greater than or equal to the first critical distance (for example, 200 meters), the vehicle distance is far, there is no risk of rear-end collision between the vehicle and the target vehicle, and the vehicle may fail to transmit the V2X message to the target vehicle by using the 5.9GHz communication technology. At this time, if the vehicle needs to transmit the first V2X message, it can select the 2.4GHz communication technology to supplement or separately transmit the first V2X message.

[0168] When the distance between the vehicle and the target vehicle is less than the first critical distance and greater than the second critical distance (for example, 100 meters), the vehicle distance is moderate, there is no risk of rear-end collision between the vehicle and the target vehicle, and the target vehicle is within the coverage of the 5.9GHz communication technology of the vehicle. At this time, if the vehicle needs to transmit the second V2X message, it can select the 5.9GHz communication technology to transmit the second V2X message.

[0169] When the distance between the vehicle and the target vehicle is less than or equal to the second critical distance (for example, 10 meters), the vehicle distance is close, there is a risk of rear-end collision between the vehicle and the target vehicle, and the vehicle needs to transmit the third V2X message to the target vehicle in the current scene, the third V2X message is a safety message, and the vehicle can select the 2.4GHz communication technology to supplement or separately transmit the V2X message.

[0170] The 200m, 100m and 10m in the above examples are used for illustrating the distance values when different communication modes are selected, and do not cause any limitation to the embodiments of the present application. In actual applications, other distance values can also be used.

[0171] As an example, different critical distances can be used in different road conditions. For example, the first critical distance value and the second critical distance value used in high-speed road driving, elevated bridge driving and country road driving can be completely different or partially different.

[0172] In addition, the first critical distance value can be determined according to the propagation distance of the 5.9GHz LTE-V, and the second critical distance value can be determined according to the speed of the vehicle to predict the safety distance.

[0173] Of course, if the vehicle uses the 2.4GHz Wi-Fi technology for distance measurement, since the Wi-Fi module has been turned on, in order to avoid additional power consumption of turning on the LTE-V module, the 2.4GHz Wi-Fi technology can be selected to transmit the V2X message during the distance measurement using the 2.4GHz Wi-Fi technology.

[0174] If the vehicle has the need to detect obstacles during driving, the communication mode can be selected according to whether an obstacle is detected during the detection of the vehicle. As an example, when the vehicle detects an obstacle between the vehicle and the target vehicle (the vehicle to which the V2X message is sent), the 2.4GHz communication technology can be selected to supplement or separately transmit the V2X message using the 2.4GHz communication technology, otherwise the 5.9GHz LTE-V technology is used to transmit the V2X message.

[0175] If the vehicle has the need to detect obstacles during driving, and also has the need for distance measurement, the distance between the vehicles and whether there is an obstacle can be used as a reference factor to select different communication modes, and the embodiments of the present application will not be exemplified.

[0176] In actual applications, vehicle B and vehicle C can be in the same lane as vehicle A, for example, vehicle B and vehicle C are respectively in front and rear positions of vehicle A in the same lane, and a schematic diagram of vehicles in the same lane can be referred to Figure 16(b); vehicle B and vehicle C can also be in the adjacent lane of vehicle A, in which case, if vehicle A sends a V2X message such as a risk of rear-end collision due to the distance between vehicle A and vehicle B (or vehicle C) being too close, an error warning can be sent, and a schematic diagram of vehicles in the adjacent lane can be referred to Figure 16(a).

[0177] In view of the above reasons, the embodiments of the present application also provide a lane positioning method.

[0178] Channel State Information (CSI) can measure the state of a channel. The amplitude and phase in the CSI can be used for position positioning. The CSI can measure the frequency response of each subcarrier separately, rather than the frequency response of the superposition of multiple subcarriers, so that the frequency selective channel can be accurately obtained. The CSI can also measure the amplitude of each subcarrier and the phase information of each subcarrier. Therefore, vehicle A can distinguish the propagation path of the received data packet in the time domain by using the CSI.

[0179] Taking vehicle A, vehicle B and vehicle C as an example, the transmission path of the data packet of the received vehicle in different lanes is illustrated by FIG. 16(a), and the transmission path of the data packet of the received vehicle in the same lane is illustrated by FIG. 16(b).

[0180] When the Wi-Fi modules on vehicles A, B and C are in an open state, the Wi-Fi modules on vehicles A, B and C will emit Wi-Fi signals. Vehicles within the coverage range of the Wi-Fi signals can receive the Wi-Fi signals, and at the same time, the CSI information of the Wi-Fi signals can be obtained.

[0181] Referring to FIG. 16(a), vehicle A receives the Wi-Fi signal emitted by vehicle B, and vehicle A obtains the first CSI information of the Wi-Fi signal. Vehicle A obtains the phase and amplitude of each subcarrier (one subcarrier corresponds to one transmission path) in the first CSI information.

[0182] Referring to FIG. 16(b), vehicle A receives the Wi-Fi signal emitted by vehicle C, and vehicle A obtains the second CSI information of the Wi-Fi signal. Vehicle A obtains the phase and amplitude of each subcarrier (one subcarrier corresponds to one transmission path) in the second CSI information.

[0183] By comparing the phase and amplitude of the subcarriers in the first CSI information and the phase and amplitude of the subcarriers in the second CSI information, the vehicle in the same lane as vehicle A and the vehicle in the adjacent lane of vehicle B can be determined.

[0184] Figures 16(a) and 16(b) show that vehicle B and vehicle A are not in the same lane, while vehicle C and vehicle A are in the same lane. Once it is determined that vehicle B and vehicle A are not in the same lane, it can be concluded that there is no risk of a rear-end collision between them, and the first distance between them can no longer be calculated. After determining that vehicle C and vehicle A are in the same lane, the second distance between them can be calculated. When the second distance is within a first preset range, it is determined that vehicle C and vehicle A are at risk of a rear-end collision due to being too close. That is, vehicle A recognizes the current V2X scenario and can send the corresponding V2X message.

[0185] In practical applications, channel state information of signals from other communication technologies can also be used to determine whether other vehicles are in the same lane as this vehicle, or other methods can be used to determine whether other vehicles are in the same lane as this vehicle. This application does not limit this.

[0186] Combination Figure 15 The embodiments shown in Figures 16(a) and 16(b) can be obtained Figure 17 The flowchart shown illustrates the V2X message transmission method.

[0187] like Figure 15 As shown, after vehicle A enters the tunnel, its GPS fails. Vehicle A extracts the CSI information of Wi-Fi signals from other vehicles in the vicinity. Based on the CSI information of other vehicles, vehicle A detects that vehicle C is in the same lane as vehicle A. Vehicle A uses Wi-Fi-based ranging technology to measure a second distance between vehicle A and vehicle C. When the second distance is within a first preset range, vehicle A recognizes that the current scenario is V2X and transmits a V2X message to vehicle C using Wi-Fi technology. Of course, to ensure targeted transmission of the V2X message to vehicle C, a unique identifier for vehicle C can be included in the beacon frame containing the V2X message.

[0188] It should be noted that after vehicle A enters the tunnel, vehicle A continues to (may also be at a certain time interval) extract the CSI information of the Wi-Fi signal of the surrounding vehicle; after determining that there are other vehicles and vehicle A in the same lane, vehicle A continues to (may also be at a certain time interval) obtain the distance between the other vehicles in the same lane and vehicle A; when the distance is within the first preset range, vehicle A broadcasts a V2X message. Before or after vehicle A broadcasts the V2X message, vehicle A also continues to extract the CSI information of the Wi-Fi channel of the vehicle in the period; similarly, before or after vehicle A broadcasts the V2X message, after determining that there are other vehicles and vehicle A in the same lane, vehicle A also continues to obtain the distance between the other vehicles in the same lane and vehicle A, so that when the distance is within the first preset range, vehicle A broadcasts the next V2X message. That is, whether vehicle A extracts the CSI information of other vehicles, or vehicle A obtains the distance between other vehicles in the same lane and vehicle A, or vehicle A broadcasts a V2X message, the three steps all use Wi-Fi technology, however, the three steps can be executed simultaneously.

[0189] The embodiments of the present application are all described in the background of vehicle communication, and in actual application, can be any electronic device with LTE-V transceiving capability and supporting 2.4GHz WiFi or 2.4GHz Bluetooth communication. For example, direct communication between mobile phones, direct communication between mobile phones and wearable devices, etc.

[0190] It should be understood that the description order of the steps in the above embodiments does not mean the execution order, and the execution order of the processes should be determined according to the functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0191] The embodiments of the present application can divide the terminal into functional modules according to the above method examples, for example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be realized in the form of hardware or in the form of a software functional module. It should be noted that the division of the modules in the embodiments of the present application is illustrative, and is only a logical function division, and actual implementation can have another division manner. The following will be described taking the division of each functional module corresponding to each function as an example:

[0192] Referring to Figure 18 The terminal 1800 can be recorded as a first terminal, comprising:

[0193] The type determination module 1801 is configured to determine the type of the sidelink service to be transmitted in a vehicle-to-everything scenario.

[0194] The message sending module 1802 is configured to, if the type of the sidelink service is a first type of service, send the sidelink service by using a first communication technology, and a working frequency band of the first communication technology is less than 5.9 GHz.

[0195] As another embodiment of the present application, the message sending module 1802 is further configured to:

[0196] send the sidelink service by using a second communication technology, and a working frequency band of the second communication technology is greater than or equal to 5.9 GHz.

[0197] As another embodiment of the present application, the first communication technology includes at least one of the following: Bluetooth technology with a working frequency band of 2.4 GHz, Wi-Fi technology with a working frequency band of 2.4 GHz, Wi-Fi technology with a working frequency band of 5.0 GHz, vehicle long term evolution technology with a working frequency band of 2.4 GHz, and new radio vehicle communication technology with a working frequency band of 2.4 GHz.

[0198] As another embodiment of the present application, when the first communication technology includes the Wi-Fi technology with a working frequency band of 2.4 GHz, the message sending module 1802 is further configured to:

[0199] broadcast the extended beacon frame by using the Wi-Fi technology with a working frequency band of 2.4 GHz, and the sidelink service is carried in an extension field of the extended beacon frame.

[0200] As another embodiment of the present application, when the first communication technology includes the Bluetooth technology with a working frequency band of 2.4 GHz, the message sending module 1802 is further configured to:

[0201] broadcast the extended Bluetooth broadcast message by using the Bluetooth technology with a working frequency band of 2.4 GHz, and the sidelink service is carried in an extension field of the extended Bluetooth broadcast message.

[0202] As another embodiment of the present application, the first communication technology includes the Wi-Fi technology with a working frequency band of 2.4 GHz and the Bluetooth technology with a working frequency band of 2.4 GHz, and the Wi-Fi technology with a working frequency band of 2.4 GHz and the Bluetooth technology with a working frequency band of 2.4 GHz share an antenna; the message sending module 1802 is further configured to:

[0203] in a first time period, send the sidelink service by using the Wi-Fi technology with a working frequency band of 2.4 GHz;

[0204] in a second time period, send the sidelink service by using the Bluetooth technology with a working frequency band of 2.4 GHz, and the first time period and the second time period are arranged alternately.

[0205] As another embodiment of the present application, the message sending module 1802 is further configured to:

[0206] If the type of the sidelink service is a second type of service, the sidelink service is transmitted using the first communication technology or the second communication technology, wherein the priority of the second type of service is lower than the priority of the first type of service, and the operating frequency range of the second communication technology is greater than or equal to 5.9 GHz.

[0207] As another embodiment of the present application, the message sending module 1802 is further configured to:

[0208] If the type of the sidelink service is a second type of service, the load parameter value of the channel corresponding to the first communication technology is obtained;

[0209] When the load parameter value is less than or equal to the load threshold, the sidelink service is transmitted using the first communication technology;

[0210] When the load parameter value is greater than the load threshold, the sidelink service is transmitted using the second communication technology.

[0211] As another embodiment of the present application, the terminal 1800 further comprises:

[0212] The forward collision warning message obtaining module is configured to obtain a second terminal on the same lane as the first terminal, obtain the distance between the first terminal and the second terminal, and obtain a forward collision warning message if the distance between the first terminal and the second terminal is within a first preset range, wherein the forward collision warning message is a sidelink service.

[0213] As another embodiment of the present application, the forward collision warning message obtaining module is further configured to:

[0214] Obtain the channel state information of the Wi-Fi signal in the environment in which the first terminal is located, wherein the Wi-Fi signal in the environment in which the first terminal is located includes the Wi-Fi signal emitted by a third Wi-Fi module, and the third Wi-Fi module includes a Wi-Fi module provided on a third terminal; and obtain a second terminal on the same lane as the first terminal from the third terminal according to the channel state information.

[0215] As another embodiment of the present application, the forward collision warning message obtaining module is further configured to:

[0216] According to the sending time and the receiving time of the information transmitted between the first Wi-Fi module and the second Wi-Fi module, the distance between the first terminal and the second terminal is calculated, wherein the first Wi-Fi module includes a Wi-Fi module provided on the first terminal, and the second Wi-Fi module includes a Wi-Fi module provided on the second terminal.

[0217] It should be noted that the information interaction, execution process and the like between the above terminals / modules are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought by the same can be referred to the method embodiments part. Therefore, details are not described herein.

[0218] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional modules is taken as an example, and in actual application, the above-mentioned functions can be completed by different functional modules according to needs, that is, the internal structure of the terminal is divided into different functional modules to complete all or part of the functions described above. Each functional module in the embodiment can be integrated into one processing module, or each module can exist physically independently, or two or more modules can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of software functional module. In addition, the specific name of each functional module is only for convenient distinction, and does not limit the protection scope of the present application. The specific working process of the module in the terminal can refer to the corresponding process in the foregoing method embodiments, and details are not described herein.

[0219] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each of the method embodiments described above can be implemented.

[0220] The embodiment of the present application further provides a computer program product, which, when running on a device, enables the device to implement the steps in each of the method embodiments described above.

[0221] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the computer program for instructing the related hardware to complete all or part of the processes in the above-mentioned embodiments can be stored in a computer readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the first device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0222] The embodiments of the present application also provide a chip system, which includes a processor coupled with a memory. The processor executes a computer program stored in the memory to implement the steps of any method embodiment of the present application. The chip system can be a single chip or a chip module composed of multiple chips.

[0223] In the above embodiments, the description of each embodiment has its own focus. The parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0224] Those skilled in the art can appreciate that the units and method steps of the examples described in combination with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person 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 application.

[0225] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A message transmission method, characterized by, Comprise: In the vehicle-to-everything scenario, a first terminal determines a type of sidelink service to be transmitted; If the type of the sidelink service is a first type of service, the first terminal transmits the sidelink service using a first communication technology, wherein the operating frequency band of the first communication technology is less than 5.9 GHz; the first type of service is a specified safety type of service or an emergency type of service classified according to the degree of emergency; If the type of the sidelink service is a second type of service, the first terminal acquires a load parameter value of a channel corresponding to the first communication technology; when the load parameter value is less than or equal to a load threshold, the first terminal transmits the sidelink service using the first communication technology; when the load parameter value is greater than the load threshold, the first terminal transmits the sidelink service using a second communication technology; wherein the priority of the second type of service is lower than the priority of the first type of service, and the operating frequency band of the second communication technology is greater than or equal to 5.9 GHz.

2. The method of claim 1, wherein, If the type of the sidelink service is a first type of service, further comprising: The first terminal transmits the sidelink service using a second communication technology, wherein the operating frequency band of the second communication technology is greater than or equal to 5.9 GHz.

3. The method of claim 1 or 2, wherein, The first communication technology comprises at least one of the following: Bluetooth technology with an operating frequency band of 2.4 GHz, Wi-Fi technology with an operating frequency band of 2.4 GHz, Wi-Fi technology with an operating frequency band of 5.0 GHz, vehicle long-term evolution technology with an operating frequency band of 2.4 GHz, and new radio vehicle communication technology with an operating frequency band of 2.4 GHz.

4. The method of claim 3, wherein, When the first communication technology comprises Wi-Fi technology with an operating frequency band of 2.4 GHz, the first terminal transmitting the sidelink service using the first communication technology comprises: The first terminal broadcasts an extended beacon frame using Wi-Fi technology with an operating frequency band of 2.4 GHz, wherein the extended sidelink service is carried in the extension field of the extended beacon frame.

5. The method of claim 3, wherein, When the first communication technology comprises Bluetooth technology with an operating frequency band of 2.4 GHz, the first terminal transmitting the sidelink service using the first communication technology comprises: The first terminal broadcasts an extended Bluetooth broadcast message using Bluetooth technology with an operating frequency band of 2.4 GHz, wherein the extended sidelink service is carried in the extension field of the extended Bluetooth broadcast message.

6. The method according to any one of claims 3 to 5, characterized in that, The first communication technology comprises Wi-Fi technology with an operating frequency band of 2.4 GHz and Bluetooth technology with an operating frequency band of 2.4 GHz, and the Wi-Fi technology with an operating frequency band of 2.4 GHz and the Bluetooth technology with an operating frequency band of 2.4 GHz share an antenna; The first terminal transmitting the sidelink service using the first communication technology comprises: In a first time period, the first terminal transmits the sidelink service using Wi-Fi technology with an operating frequency band of 2.4 GHz; In the second time period, the first terminal transmits the sidelink service by using the Bluetooth technology with a working frequency of 2.4 GHz, wherein the first time period and the second time period are arranged alternately.

7. The method according to any one of claims 1 to 6, characterized in that, Further comprising: The first terminal acquires a second terminal in the same lane as the first terminal; The first terminal acquires a distance between the first terminal and the second terminal; If the distance between the first terminal and the second terminal is within a first preset range, the first terminal acquires a forward collision warning message, and the forward collision warning message is a sidelink service.

8. The method of claim 7, wherein, The first terminal acquires a second terminal in the same lane as the first terminal includes: The first terminal acquires channel state information of a Wi-Fi signal in an environment where the first terminal is located, wherein the Wi-Fi signal in the environment where the first terminal is located includes a Wi-Fi signal emitted by a third Wi-Fi module, and the third Wi-Fi module includes a Wi-Fi module arranged on a third terminal; The first terminal obtains the second terminal in the same lane as the first terminal from the third terminal according to the channel state information.

9. The method of claim 7 or 8, wherein, The first terminal acquires a distance between the first terminal and the second terminal includes: The first terminal calculates the distance between the first terminal and the second terminal according to a sending time and a receiving time of the transmitted information between the first Wi-Fi module and the second Wi-Fi module, wherein the first Wi-Fi module includes a Wi-Fi module arranged on the first terminal, and the second Wi-Fi module includes a Wi-Fi module arranged on the second terminal.

10. A terminal, characterized by comprising: The terminal includes a processor, and the processor is used to run a computer program stored in a memory to implement the method according to any one of claims 1 to 9.

11. A chip system, characterized by The terminal includes a processor, and the processor is used to run a computer program stored in a memory to implement the method according to any one of claims 1 to 9.

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