Roadside terminal message sending method, device, electronic equipment and storage medium

Abstract

The present invention provides a method, device, electronic device and storage medium for sending messages from a roadside terminal, belonging to the field of intelligent transportation technology. The method comprises: obtaining road condition information of a target coverage range, wherein the target coverage range is a range supported by a roadside terminal; determining sending frequencies corresponding to one or more roadside messages based on the road condition information of the target coverage range, wherein the roadside message is a message sent by the roadside terminal to a vehicle; and sending the one or more roadside messages to the vehicle in the target coverage range based on the sending frequencies corresponding to the one or more roadside messages. The embodiment of the present invention analyzes the road condition information of the target coverage range to determine the sending frequencies corresponding to the one or more roadside messages, thereby increasing or decreasing the sending frequencies of the roadside messages according to different road conditions, dynamically adjusting the communication air interface resources corresponding to the roadside messages, and improving the utilization efficiency of the communication air interface resources.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a roadside terminal message sending method, device, electronic equipment and storage medium. Background Art

[0002] In the vehicle communication system of the intelligent transportation system, the road side unit (RSU) can be used for sending and receiving messages in the vehicle to X (V2X) information exchange scenario. It can send road side messages in real time. The messages are divided into four categories: road safety message (RSM), road side information (RSI), map (MAP) message and traffic light phase and timing message (SPAT).

[0003] In the related art, in response to different traffic conditions or different weather conditions, roadside terminals use fixed frequencies to send various messages, resulting in low utilization efficiency of communication air interface resources. Summary of the invention

[0004] The present invention provides a roadside terminal message sending method, device, electronic device and storage medium, which are used to solve the defect of low utilization efficiency of communication air interface resources in the prior art and improve the utilization efficiency of communication air interface resources.

[0005] In a first aspect, the present invention provides a method for sending a roadside terminal message, comprising:

[0006] Acquire traffic condition information of a target coverage range, where the target coverage range is a range supported by a roadside terminal;

[0007] Based on the road condition information of the target coverage area, determining the sending frequencies corresponding to one or more roadside messages, wherein the roadside message is a message sent by the roadside terminal to the vehicle;

[0008] Based on the sending frequencies respectively corresponding to the one or more roadside messages, the one or more roadside messages are sent to vehicles within the target coverage area.

[0009] Optionally, according to a roadside terminal message sending method provided by the present invention, the acquiring of road condition information of a target coverage area includes:

[0010] Receive report messages carrying road condition information;

[0011] Based on the reported message, obtaining the road condition information of the target coverage area;

[0012] The traffic information includes any one or more of the following information:

[0013] Road weather information;

[0014] Traffic congestion level information;

[0015] Traffic light status information;

[0016] Position information of an object to be avoided, wherein the object to be avoided is an object that the vehicle avoids;

[0017] Position information of a specific vehicle, wherein the specific vehicle is a vehicle that ordinary vehicles need to avoid, and the ordinary vehicles are other vehicles within the target coverage range except the specific vehicle;

[0018] The roadside message is any one of the following messages: a MAP message, an RSM message, an RSI message or a SPAT message.

[0019] Optionally, according to a roadside terminal message sending method provided by the present invention, the RSI message includes: a dynamic message and a non-dynamic message, the content update rate of the dynamic message is higher than the content update rate of the non-dynamic message, and the determining the sending frequency corresponding to one or more roadside messages based on the road condition information of the target coverage range includes:

[0020] In a case where the road condition information includes the traffic congestion level information, judging whether the traffic congestion level corresponding to the target coverage area is higher than a default traffic congestion level based on the traffic congestion level information;

[0021] When the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level, the sending frequencies corresponding to the MAP message and the non-dynamic message are determined by controlling the sending frequency to be lower than the default configuration frequency, and the sending frequencies corresponding to the RSM message and the dynamic message are determined by controlling the sending frequency to be higher than the default configuration frequency.

[0022] Optionally, according to a roadside terminal message sending method provided by the present invention, determining the sending frequencies corresponding to one or more roadside messages based on the road condition information of the target coverage range includes:

[0023] In a case where the road condition information includes the road weather information, judging whether the road visibility corresponding to the target coverage range is lower than a default road visibility based on the road weather information;

[0024] When the road visibility corresponding to the target coverage range is lower than the default road visibility, the sending frequencies corresponding to the MAP message, the RSM message and the RSI message are determined by controlling the sending frequencies to be higher than the default configuration frequency.

[0025] Optionally, according to a roadside terminal message sending method provided by the present invention, when the road condition information includes the traffic light status information, determining the sending frequencies corresponding to one or more roadside messages based on the road condition information of the target coverage range includes:

[0026] Based on the traffic light status information, if it is determined that the first traffic light is in a countdown state for allowing vehicles to pass, determining a sending frequency corresponding to a first SPAT message by gradually increasing the sending frequency following the countdown, wherein the first SPAT message is used to indicate the status of the first traffic light; or

[0027] Based on the traffic light state information, if it is determined that the second traffic light is in a countdown state in which vehicles are prohibited from passing, determining a sending frequency corresponding to a second SPAT message by gradually reducing the sending frequency following the countdown, where the second SPAT message is used to indicate the state of the second traffic light;

[0028] The first traffic light and the second traffic light are both traffic lights within the target coverage area.

[0029] Optionally, according to a roadside terminal message sending method provided by the present invention, determining the sending frequencies corresponding to one or more roadside messages based on the road condition information of the target coverage range includes:

[0030] In a case where the road condition information includes the position information of the object to be avoided, determining whether the object to be avoided is within the target coverage range;

[0031] When it is determined that the object to be avoided is within the target coverage range, the sending frequency corresponding to the RSM message is determined by controlling the sending frequency to be higher than the default configuration frequency.

[0032] Optionally, according to a roadside terminal message sending method provided by the present invention, determining the sending frequencies corresponding to one or more roadside messages based on the road condition information of the target coverage range includes:

[0033] In a case where the road condition information includes the location information of the specific vehicle, determining whether the specific vehicle is within the target coverage range;

[0034] When it is determined that the specific vehicle is within the target coverage range, the sending frequency corresponding to the RSM message is determined by controlling the sending frequency to be higher than the default configuration frequency.

[0035] In a second aspect, the present invention further provides a roadside terminal message sending device, comprising:

[0036] An acquisition module, used to acquire road condition information of a target coverage range, where the target coverage range is a range supported by a roadside terminal;

[0037] A determination module, configured to determine, based on the road condition information of the target coverage area, the sending frequencies corresponding to one or more roadside messages, wherein the roadside message is a message sent by the roadside terminal to the vehicle;

[0038] A sending module is used to send the one or more roadside messages to vehicles within the target coverage range based on the sending frequencies respectively corresponding to the one or more roadside messages.

[0039] In a third aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for sending a roadside terminal message as described above is implemented.

[0040] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for sending roadside terminal messages.

[0041] The roadside terminal message sending method, device, electronic device and storage medium provided by the present invention can analyze the road condition information of the target coverage area by acquiring the road condition information of the target coverage area, determine the sending frequencies corresponding to one or more roadside messages, and when the road condition of the target coverage area changes, adjust the sending frequencies corresponding to one or more roadside messages, and then send one or more roadside messages to vehicles in the target coverage area based on the sending frequencies corresponding to one or more roadside messages, increase or decrease the sending frequency of the roadside messages according to different road conditions, dynamically adjust the communication air interface resources corresponding to the roadside messages, and improve the utilization efficiency of the communication air interface resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 It is a flowchart of a method for sending a roadside terminal message provided by the present invention;

[0044] Figure 2 It is a structural schematic diagram of the roadside terminal message sending device provided by the present invention;

[0045] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Figure 1 is a flow chart of a method for sending a message to a roadside terminal provided by the present invention, such as Figure 1 As shown, the execution subject of the roadside terminal message sending method may be an electronic device, such as a roadside terminal. The method includes:

[0048] Step 101, obtaining road condition information of a target coverage range, where the target coverage range is a range supported by a roadside terminal;

[0049] Specifically, in order to determine the sending frequencies corresponding to one or more roadside messages, the road condition information of the target coverage area may be acquired, and the road condition information may include one or more information about the road condition.

[0050] For example, the road condition information may include road weather information, traffic congestion level information, traffic light status information, location information of an object to be avoided, or location information of a specific vehicle, etc. The object to be avoided may be an object to be avoided by a vehicle, a specific vehicle may be a vehicle to be avoided by an ordinary vehicle, and an ordinary vehicle may be other vehicles within the target coverage range except the specific vehicle.

[0051] Optionally, the target coverage range may be determined based on preset parameters, and an electronic fence may be used to achieve the target coverage range.

[0052] Step 102, based on the road condition information of the target coverage area, determining the sending frequencies corresponding to one or more roadside messages, wherein the roadside message is a message sent by the roadside terminal to the vehicle;

[0053] Specifically, after obtaining the road condition information of the target coverage area, the road condition information of the target coverage area can be analyzed. The road condition information may include one or more information about the road conditions. When one or more information in the road condition information changes, it can be determined that the road condition of the target coverage area has changed, and then the sending frequency of roadside messages can be increased or decreased according to the current road conditions, and the sending frequencies corresponding to one or more roadside messages can be determined.

[0054] Optionally, after determining that the road condition of the target coverage area has changed, the sending frequency corresponding to a roadside message may be determined by increasing the sending frequency so that the adjusted sending frequency is higher than the sending frequency before the adjustment.

[0055] Optionally, after determining that the road condition of the target coverage area has changed, the sending frequency corresponding to a roadside message may be determined by adjusting the sending frequency to reduce the sending frequency, so that the adjusted sending frequency is lower than the sending frequency before the adjustment.

[0056] Step 103: Send the one or more roadside messages to vehicles within the target coverage area based on the sending frequencies corresponding to the one or more roadside messages.

[0057] Specifically, after determining the sending frequencies corresponding to one or more roadside messages, the one or more roadside messages may be sent to vehicles within a target coverage area so that the vehicles acquire the roadside messages.

[0058] It is understandable that in order to improve the safety of vehicle driving or traffic efficiency, under different road conditions, the vehicle's requirements for the sending frequency of different roadside messages are different. Based on the vehicle's requirements for the sending frequency of different roadside messages, the sending frequency of roadside messages can be increased or decreased according to the current road conditions. Based on the sending frequencies corresponding to one or more roadside messages, one or more roadside messages can be sent to vehicles in the target coverage range, so that the vehicle can obtain roadside messages related to driving safety or traffic efficiency at a higher frequency, which can improve the utilization efficiency of communication air interface resources, improve vehicle driving safety or traffic efficiency, and enhance the application effect of vehicle-road collaboration.

[0059] The roadside terminal message sending method provided by the present invention can analyze the road condition information of the target coverage area by acquiring the road condition information of the target coverage area, determine the sending frequencies corresponding to one or more roadside messages, and when the road condition of the target coverage area changes, the sending frequencies corresponding to one or more roadside messages can be adjusted, and then one or more roadside messages can be sent to vehicles in the target coverage area based on the sending frequencies corresponding to the one or more roadside messages. The sending frequency of the roadside messages can be increased or decreased according to different road conditions, the communication air interface resources corresponding to the roadside messages can be dynamically adjusted, and the utilization efficiency of the communication air interface resources can be improved.

[0060] Optionally, the acquiring of the traffic information of the target coverage area includes:

[0061] Receive report messages carrying road condition information;

[0062] Based on the reported message, obtaining the road condition information of the target coverage area;

[0063] The traffic information includes any one or more of the following information:

[0064] Road weather information;

[0065] Traffic congestion level information;

[0066] Traffic light status information;

[0067] Position information of an object to be avoided, wherein the object to be avoided is an object that the vehicle avoids;

[0068] Position information of a specific vehicle, wherein the specific vehicle is a vehicle that ordinary vehicles need to avoid, and the ordinary vehicles are other vehicles within the target coverage range except the specific vehicle;

[0069] The roadside message is any one of the following messages: a MAP message, an RSM message, an RSI message or a SPAT message.

[0070] Specifically, in order to determine the sending frequencies corresponding to one or more roadside messages, reporting messages carrying road condition information can be received from one or more devices, and then the road condition information of the target coverage area can be obtained. The road condition information may include one or more information about the road condition.

[0071] Optionally, the roadside terminal may receive a report message sent by a perception sensor in real time, and the report message may carry road weather information and traffic condition information.

[0072] Optionally, the perception sensor can provide real-time traffic conditions, and the roadside terminal can receive the reporting message carrying road condition information sent by the perception sensor, and then based on the reporting message, the road condition information of the target coverage area can be obtained. The road condition information may include one or more information about the road condition.

[0073] Optionally, the perception sensor may include a meteorological sensor, which may provide real-time meteorological conditions. The roadside terminal may receive a report message sent by the meteorological sensor carrying road condition information, wherein the road condition information includes road meteorological information. Based on the report message, the road meteorological information corresponding to the target coverage range may be obtained.

[0074] Optionally, the roadside terminal may communicate with a traffic light within the target coverage area, and receive a report message carrying road condition information reported by the traffic light. The road condition information may include traffic light status information.

[0075] Optionally, the roadside terminal can communicate with vehicles within the target coverage area and receive report messages from vehicles carrying road condition information. The road condition information may include any one or more of the following information: road weather information, traffic congestion level information, traffic light status information, location information of objects to be avoided, or location information of specific vehicles, etc.

[0076] Optionally, the roadside terminal may periodically send one or more roadside messages according to a default configured frequency.

[0077] Therefore, road condition information may include one or more information about road conditions. For example, road condition information may include road weather information, traffic congestion level information, traffic light status information, location information of objects to be avoided, or location information of specific vehicles. When any one or more of the information in the road condition information changes, the frequency of sending roadside messages can be dynamically adjusted, and communication air interface resources can be utilized more efficiently, where the communication air interface can be a direct communication interface (PC5 interface).

[0078] Optionally, the RSI message includes: a dynamic message and a non-dynamic message, wherein a content update rate of the dynamic message is higher than a content update rate of the non-dynamic message, and determining the sending frequencies corresponding to one or more roadside messages based on the road condition information of the target coverage range includes:

[0079] In a case where the road condition information includes the traffic congestion level information, judging whether the traffic congestion level corresponding to the target coverage area is higher than a default traffic congestion level based on the traffic congestion level information;

[0080] When the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level, the sending frequencies corresponding to the MAP message and the non-dynamic message are determined by controlling the sending frequency to be lower than the default configuration frequency, and the sending frequencies corresponding to the RSM message and the dynamic message are determined by controlling the sending frequency to be higher than the default configuration frequency.

[0081] Specifically, in order to determine the sending frequencies corresponding to one or more roadside messages, reporting messages carrying road condition information can be received from one or more devices (or means or modules), and then the road condition information of the target coverage area can be obtained. The road condition information may include one or more information about the road condition.

[0082] Specifically, when the road condition information includes traffic congestion level information, it can be determined whether the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level. If it is determined that the traffic congestion level is higher than the default traffic congestion level, the sending frequencies corresponding to MAP messages and non-dynamic messages can be reduced respectively, so that the sending frequencies corresponding to MAP messages and non-dynamic messages are lower than the default configured frequencies; the sending frequencies corresponding to RSM messages and dynamic messages can be increased respectively, so that the sending frequencies corresponding to RSM messages and dynamic messages are higher than the default configured frequencies.

[0083] It is understandable that the roadside terminal can periodically send one or more roadside messages according to the default configuration frequency, and the method of controlling the sending frequency to be lower than the default configuration frequency can be to reduce the sending frequency so that the sending frequency is lower than the default configuration frequency.

[0084] It is understandable that the roadside terminal can periodically send one or more roadside messages according to the default configuration frequency, and the method of controlling the sending frequency to be higher than the default configuration frequency can be to increase the sending frequency so that the sending frequency is lower than the default configuration frequency.

[0085] Optionally, the RSI message may include a dynamic message and a non-dynamic message, wherein the non-dynamic message may include a static message and a semi-static message.

[0086] It can be understood that the content in the RSI message remains unchanged within a certain period of time, and the content update rate can be the statistical value of the content update of a certain type of message. For example, the statistical value of the content update of Class A messages is updated once a year, that is, for the content of Class A messages, the content is updated once a year on average. For example, the statistical value of the content update of Class B messages is updated once a month, that is, for the content of Class B messages, the content is updated once a month on average.

[0087] It is understandable that the content update rate of dynamic messages is higher than that of non-dynamic messages, and the content update rate of semi-static messages is higher than that of static messages.

[0088] For example, a static message may be a message carrying road sign information, and the content update rate of the static message may be once a year.

[0089] For example, a semi-static message may be a message carrying information such as tidal lane information or temporary road construction information, and the content update rate of the semi-static message may be once a week.

[0090] For example, a dynamic message may be a message carrying information such as spilled objects or accumulated water on the road, and the content update rate of the dynamic message may be once every 10 minutes.

[0091] Optionally, as the traffic congestion level increases and the vehicle speed gradually slows down, the sending frequency of MAP messages, static messages in RSI messages, and semi-static messages in RSI messages can be reduced, which can reduce the occupation of communication air interface resources. At the same time, the sending frequency of dynamic messages in RSM messages and RSI messages can be increased. Traffic participant information can be sent at a higher frequency so that vehicles can obtain roadside messages related to driving safety at a higher frequency, which can improve vehicle driving safety.

[0092] Optionally, as the traffic congestion level decreases, the vehicle speed gradually increases. If the traffic congestion level corresponding to the target coverage area is lower than or equal to the default traffic congestion level, the sending frequency of various types of messages can be gradually restored to the default configuration frequency.

[0093] Therefore, dynamically adjusting the sending frequency of roadside messages according to traffic congestion level information can improve the traffic safety index, increase traffic efficiency, and alleviate congestion.

[0094] Optionally, the determining, based on the road condition information of the target coverage area, respectively corresponding to one or more types of roadside messages, includes:

[0095] In a case where the road condition information includes the road weather information, judging whether the road visibility corresponding to the target coverage range is lower than a default road visibility based on the road weather information;

[0096] When the road visibility corresponding to the target coverage range is lower than the default road visibility, the sending frequencies corresponding to the MAP message, the RSM message and the RSI message are determined by controlling the sending frequencies to be higher than the default configuration frequency.

[0097] Specifically, in order to determine the sending frequencies corresponding to one or more roadside messages, reporting messages carrying road condition information can be received from one or more devices (or means or modules), and then the road condition information of the target coverage area can be obtained. The road condition information may include one or more information about the road condition.

[0098] Specifically, when the road condition information includes road weather information, it can be determined whether the road visibility corresponding to the target coverage range is lower than the default road visibility. If the road visibility is lower than the default road visibility, the sending frequencies corresponding to the MAP messages, RSM messages and RSI messages can be increased so that the sending frequencies corresponding to the MAP messages, RSM messages and RSI messages are higher than the default configuration frequencies.

[0099] Optionally, in bad weather, when the road visibility corresponding to the target coverage area is lower than the default road visibility, as the road visibility decreases, the sending frequency of MAP messages, RSM messages and RSI messages can be increased so that vehicles can obtain roadside messages related to traffic efficiency at a higher frequency, which can improve the utilization efficiency of communication air interface resources, improve the traffic efficiency of vehicles, and enhance the application effect of vehicle-road collaboration.

[0100] Optionally, as weather conditions improve, the road visibility corresponding to the target coverage area is higher than or equal to the default road visibility, and the sending frequency of various types of messages can be gradually restored to the default configuration frequency.

[0101] Optionally, when the road condition information includes traffic congestion level information and road weather information, it is possible to determine whether the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level based on the traffic congestion level information, and it is also possible to determine whether the road visibility corresponding to the target coverage area is lower than the default road visibility based on the road weather information; if it is determined that the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level, and the road visibility corresponding to the target coverage area is lower than the default road visibility, the sending frequencies corresponding to MAP messages and non-dynamic messages respectively can be reduced, so that the sending frequencies corresponding to MAP messages and non-dynamic messages respectively are lower than the default configured frequencies; the sending frequencies corresponding to RSM messages and dynamic messages respectively can be increased, so that the sending frequencies corresponding to RSM messages and dynamic messages respectively are higher than the default configured frequencies.

[0102] It can be understood that when the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level, and the road visibility corresponding to the target coverage area is lower than the default road visibility, the road speed is low, and the sending frequency of MAP messages, static messages in RSI messages, and semi-static messages in RSI messages can be reduced, which can reduce the occupation of communication air interface resources. At the same time, the sending frequency of dynamic messages in RSM messages and RSI messages can be increased, and traffic participant information can be sent at a higher frequency so that vehicles can obtain roadside messages related to driving safety at a higher frequency, which can improve the safety of vehicle driving.

[0103] Therefore, dynamically adjusting the sending frequency of roadside messages according to road weather information can improve the traffic safety index, increase traffic efficiency, and relieve congestion.

[0104] Optionally, when the road condition information includes the traffic light status information, determining the sending frequencies corresponding to one or more roadside messages based on the road condition information of the target coverage range includes:

[0105] Based on the traffic light status information, if it is determined that the first traffic light is in a countdown state for allowing vehicles to pass, determining a sending frequency corresponding to a first SPAT message by gradually increasing the sending frequency following the countdown, wherein the first SPAT message is used to indicate the status of the first traffic light; or

[0106] Based on the traffic light state information, if it is determined that the second traffic light is in a countdown state in which vehicles are prohibited from passing, determining a sending frequency corresponding to a second SPAT message by gradually reducing the sending frequency following the countdown, where the second SPAT message is used to indicate the state of the second traffic light;

[0107] The first traffic light and the second traffic light are both traffic lights within the target coverage area.

[0108] Specifically, in order to determine the sending frequencies corresponding to one or more roadside messages, reporting messages carrying road condition information can be received from one or more devices (or means or modules), and then the road condition information of the target coverage area can be obtained. The road condition information may include one or more information about the road condition.

[0109] Specifically, when the road condition information includes traffic light status information, it can be determined based on the traffic light status information whether the first traffic light is in a countdown state for allowing vehicles to pass. If it is determined that the first traffic light is in a countdown state for allowing vehicles to pass, the sending frequency corresponding to the first SPAT message is determined by gradually increasing the sending frequency following the countdown, so that the closer the countdown is to zero, the higher the sending frequency corresponding to the first SPAT message.

[0110] Specifically, when the road condition information includes traffic light status information, it can be determined based on the traffic light status information whether the second traffic light is in a countdown state prohibiting vehicles from passing. If it is determined that the second traffic light is in a countdown state prohibiting vehicles from passing, the sending frequency corresponding to the second SPAT message is determined by gradually reducing the sending frequency following the countdown, so that the closer the countdown is to zero, the lower the sending frequency corresponding to the second SPAT message.

[0111] Optionally, the first traffic light may be any traffic light within the target coverage area.

[0112] Optionally, the second traffic light may be any traffic light within the target coverage area.

[0113] Optionally, the first traffic light and the second traffic light may be the same traffic light.

[0114] Optionally, the first traffic light and the second traffic light may be different traffic lights.

[0115] Optionally, for the first traffic light, after the countdown for allowing vehicles to pass ends, it can be switched to the countdown for prohibiting vehicles from passing.

[0116] Optionally, for the second traffic light, after the countdown for prohibiting vehicles from passing ends, it can be switched to the countdown for allowing vehicles to pass.

[0117] Optionally, the first traffic signal light may indicate that vehicles are allowed to pass by displaying a green light countdown or a yellow light countdown, and may also indicate that vehicles are prohibited from passing by displaying a red light countdown. Determining that the first traffic signal light is in a countdown state for allowing vehicles to pass may be determining that the first traffic signal light is in a green light or a yellow light countdown state.

[0118] For example, for the first traffic light, as the green light time shortens, the SPAT message sending frequency can be dynamically increased. During the countdown from 30s to 10s, the sending frequency corresponding to the first SPAT message can be determined to be 1Hz; during the countdown from 10s to 3s, the sending frequency corresponding to the first SPAT message can be determined to be 20Hz; during the countdown from 3s to 0s (as well as during the countdown of the yellow light), the sending frequency corresponding to the first SPAT message can be determined to be 50Hz.

[0119] Optionally, the second traffic signal light may indicate that vehicles are allowed to pass by displaying a green light countdown or a yellow light countdown, and may also indicate that vehicles are prohibited from passing by displaying a red light countdown. Determining that the second traffic signal light is in a countdown state for prohibiting vehicles from passing may be determining that the second traffic signal light is in a red light countdown state.

[0120] For example, for the second traffic light, as the red light time shortens, the sending frequency of the SPAT message can be dynamically reduced. During the countdown from 30s to 10s, the sending frequency corresponding to the second SPAT message can be determined to be 50Hz; during the countdown from 10s to 3s, the sending frequency corresponding to the second SPAT message can be determined to be 20Hz; during the countdown from 3s to 0s, the sending frequency corresponding to the second SPAT message can be determined to be 1Hz.

[0121] It is understandable that in the time period when the countdown for allowing vehicles to pass is about to end, the traffic accident rate is higher. By gradually increasing the sending frequency following the countdown, the SPAT message sending frequency reaches the maximum sending frequency when the countdown for allowing vehicles to pass is about to end, so that vehicles can obtain roadside messages about driving safety at a higher frequency during the time period when the countdown for allowing vehicles to pass is about to end, thereby improving vehicle driving safety. In the time period when the countdown for prohibiting vehicles from passing is about to end, by gradually reducing the sending frequency following the countdown, the SPAT message sending frequency reaches the minimum sending frequency when the countdown for prohibiting vehicles from passing is about to end, thereby reducing the occupation of communication air interface resources.

[0122] Therefore, for the countdown state of allowing vehicles to pass and the countdown state of prohibiting vehicles from passing, the vehicle's requirements for the frequency of sending SPAT messages are different. Therefore, for different countdown states, the method of gradually increasing or decreasing the sending frequency following the countdown can improve the utilization efficiency of communication air interface resources, improve the safety of vehicle driving, and enhance the effect of vehicle-road collaborative applications.

[0123] Optionally, the determining, based on the road condition information of the target coverage area, respectively corresponding to one or more types of roadside messages, includes:

[0124] In a case where the road condition information includes the position information of the object to be avoided, determining whether the object to be avoided is within the target coverage range;

[0125] When it is determined that the object to be avoided is within the target coverage range, the sending frequency corresponding to the RSM message is determined by controlling the sending frequency to be higher than the default configuration frequency.

[0126] Specifically, in order to determine the sending frequencies corresponding to one or more roadside messages, reporting messages carrying road condition information can be received from one or more devices (or means or modules), and then the road condition information of the target coverage area can be obtained. The road condition information may include one or more information about the road condition.

[0127] Specifically, when the road condition information includes the location information of the object to be avoided, it can be determined whether the object to be avoided is within the target coverage range. If the object to be avoided is within the target coverage range, the sending frequency corresponding to the RSM message can be increased so that the sending frequency corresponding to the RSM message is higher than the default configuration frequency.

[0128] Optionally, the object to be avoided may be a vulnerable traffic participant. When it is determined that the vulnerable traffic participant is within the target coverage range, the frequency of sending RSM messages may be increased so that the frequency of sending RSM messages is higher than the default configuration frequency, so that the vehicle can obtain roadside messages related to driving safety (including information on vulnerable traffic participants) at a higher frequency. The vehicle can respond quickly to avoid the vulnerable traffic participant, thereby improving the safety of vehicle driving.

[0129] Optionally, the object to be avoided may be a vulnerable traffic participant. After determining that the vulnerable traffic participant has left the target coverage range, the sending frequency of the RSM message may be restored to the default configured frequency, thereby reducing the occupancy of communication air interface resources.

[0130] Therefore, for the two situations where the object to be avoided is within the target coverage range and the object to be avoided is not within the target coverage range, the vehicle's requirements for the RSM message sending frequency are different. Therefore, for these two situations, using different methods of controlling the sending frequency can improve the utilization efficiency of communication air interface resources, improve the safety of vehicle driving, and enhance the application effect of vehicle-road collaboration.

[0131] Optionally, the determining, based on the road condition information of the target coverage area, respectively corresponding to one or more types of roadside messages, includes:

[0132] In a case where the road condition information includes the location information of the specific vehicle, determining whether the specific vehicle is within the target coverage range;

[0133] When it is determined that the specific vehicle is within the target coverage range, the sending frequency corresponding to the RSM message is determined by controlling the sending frequency to be higher than the default configuration frequency.

[0134] Specifically, in order to determine the sending frequencies corresponding to one or more roadside messages, reporting messages carrying road condition information can be received from one or more devices (or means or modules), and then the road condition information of the target coverage area can be obtained. The road condition information may include one or more information about the road condition.

[0135] Specifically, when the road condition information includes the location information of a specific vehicle, it can be determined whether the specific vehicle is within the target coverage range. If the specific vehicle is within the target coverage range, the sending frequency corresponding to the RSM message can be increased so that the sending frequency corresponding to the RSM message is higher than the default configuration frequency.

[0136] Optionally, the roadside terminal may receive a Basic Safety Message (BSM) sent by a specific vehicle and carrying road condition information, where the road condition information may be location information of the specific vehicle.

[0137] Optionally, the specific vehicle may be a special vehicle, such as an ambulance or a police vehicle, etc. The specific vehicle may also be an emergency vehicle, such as an out-of-control vehicle or a broken-down vehicle, etc.

[0138] Optionally, when it is determined that a specific vehicle is within the target coverage range, the frequency of sending RSM messages can be increased so that the frequency of sending RSM messages is higher than the default configuration frequency, so that the vehicle can obtain roadside messages related to driving safety (including information about specific vehicles) at a higher frequency. The vehicle can respond quickly to avoid specific vehicles, thereby improving the safety of vehicle driving.

[0139] Optionally, after determining that a specific vehicle has left the target coverage area, the sending frequency of the RSM message may be restored to the default configuration frequency, thereby reducing the occupancy of communication air interface resources.

[0140] Therefore, for the two situations where a specific vehicle is within the target coverage range and a specific vehicle is not within the target coverage range, the vehicle's requirements for the RSM message sending frequency are different. Therefore, for these two situations, using different methods of controlling the sending frequency can improve the utilization efficiency of communication air interface resources, improve the safety of vehicle driving, and enhance the effect of vehicle-road collaborative applications.

[0141] The roadside terminal message sending method provided by the present invention can analyze the road condition information of the target coverage area by acquiring the road condition information of the target coverage area, determine the sending frequencies corresponding to one or more roadside messages, and when the road condition of the target coverage area changes, the sending frequencies corresponding to one or more roadside messages can be adjusted, and then one or more roadside messages can be sent to vehicles in the target coverage area based on the sending frequencies corresponding to the one or more roadside messages. The sending frequency of the roadside messages can be increased or decreased according to different road conditions, the communication air interface resources corresponding to the roadside messages can be dynamically adjusted, and the utilization efficiency of the communication air interface resources can be improved.

[0142] The roadside terminal message sending device provided by the present invention is described below. The roadside terminal message sending device described below and the roadside terminal message sending method described above can be referenced to each other.

[0143] Figure 2 is a schematic diagram of the structure of the roadside terminal message sending device provided by the present invention, such as Figure 2 As shown, the device includes: an acquisition module 201, a determination module 202 and a sending module 203, wherein:

[0144] An acquisition module 201 is used to acquire road condition information of a target coverage range, where the target coverage range is a range supported by a roadside terminal;

[0145] A determination module 202, configured to determine, based on the road condition information of the target coverage area, a sending frequency corresponding to one or more roadside messages, wherein the roadside message is a message sent by the roadside terminal to the vehicle;

[0146] The sending module 203 is used to send the one or more roadside messages to the vehicles in the target coverage area based on the sending frequencies respectively corresponding to the one or more roadside messages.

[0147] The roadside terminal message sending device provided by the present invention can analyze the road condition information of the target coverage area by acquiring the road condition information of the target coverage area, determine the sending frequencies corresponding to one or more roadside messages, and when the road condition of the target coverage area changes, adjust the sending frequencies corresponding to one or more roadside messages, and then send one or more roadside messages to vehicles in the target coverage area based on the sending frequencies corresponding to one or more roadside messages. The sending frequency of the roadside messages can be increased or decreased according to different road conditions, and the communication air interface resources corresponding to the roadside messages can be dynamically adjusted, thereby improving the utilization efficiency of the communication air interface resources.

[0148] Optionally, the acquisition module is specifically used for:

[0149] Receive report messages carrying road condition information;

[0150] Based on the reported message, obtaining the road condition information of the target coverage area;

[0151] The traffic information includes any one or more of the following information:

[0152] Road weather information;

[0153] Traffic congestion level information;

[0154] Traffic light status information;

[0155] Position information of an object to be avoided, wherein the object to be avoided is an object that the vehicle avoids;

[0156] Position information of a specific vehicle, wherein the specific vehicle is a vehicle that ordinary vehicles need to avoid, and the ordinary vehicles are other vehicles within the target coverage range except the specific vehicle;

[0157] The roadside message is any one of the following messages: a MAP message, an RSM message, an RSI message or a SPAT message.

[0158] Optionally, the RSI message includes: a dynamic message and a non-dynamic message, the content update rate of the dynamic message is higher than the content update rate of the non-dynamic message, and the determination module is specifically used to:

[0159] In a case where the road condition information includes the traffic congestion level information, judging whether the traffic congestion level corresponding to the target coverage area is higher than a default traffic congestion level based on the traffic congestion level information;

[0160] When the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level, the sending frequencies corresponding to the MAP message and the non-dynamic message are determined by controlling the sending frequency to be lower than the default configuration frequency, and the sending frequencies corresponding to the RSM message and the dynamic message are determined by controlling the sending frequency to be higher than the default configuration frequency.

[0161] Optionally, the determining module is specifically used to:

[0162] In a case where the road condition information includes the road weather information, judging whether the road visibility corresponding to the target coverage range is lower than a default road visibility based on the road weather information;

[0163] When the road visibility corresponding to the target coverage range is lower than the default road visibility, the sending frequencies corresponding to the MAP message, the RSM message and the RSI message are determined by controlling the sending frequencies to be higher than the default configuration frequency.

[0164] Optionally, when the road condition information includes the traffic light state information, the determining module is specifically configured to:

[0165] Based on the traffic light status information, if it is determined that the first traffic light is in a countdown state for allowing vehicles to pass, determining a sending frequency corresponding to a first SPAT message by gradually increasing the sending frequency following the countdown, wherein the first SPAT message is used to indicate the status of the first traffic light; or

[0166] Based on the traffic light state information, if it is determined that the second traffic light is in a countdown state in which vehicles are prohibited from passing, determining a sending frequency corresponding to a second SPAT message by gradually reducing the sending frequency following the countdown, where the second SPAT message is used to indicate the state of the second traffic light;

[0167] The first traffic light and the second traffic light are both traffic lights within the target coverage area.

[0168] Optionally, the determining module is specifically used to:

[0169] In a case where the road condition information includes the position information of the object to be avoided, determining whether the object to be avoided is within the target coverage range;

[0170] When it is determined that the object to be avoided is within the target coverage range, the sending frequency corresponding to the RSM message is determined by controlling the sending frequency to be higher than the default configuration frequency.

[0171] Optionally, the determining module is specifically used to:

[0172] In a case where the road condition information includes the location information of the specific vehicle, determining whether the specific vehicle is within the target coverage range;

[0173] When it is determined that the specific vehicle is within the target coverage range, the sending frequency corresponding to the RSM message is determined by controlling the sending frequency to be higher than the default configuration frequency.

[0174] The roadside terminal message sending device provided by the present invention can analyze the road condition information of the target coverage area by acquiring the road condition information of the target coverage area, determine the sending frequencies corresponding to one or more roadside messages, and when the road condition of the target coverage area changes, adjust the sending frequencies corresponding to one or more roadside messages, and then send one or more roadside messages to vehicles in the target coverage area based on the sending frequencies corresponding to one or more roadside messages. The sending frequency of the roadside messages can be increased or decreased according to different road conditions, and the communication air interface resources corresponding to the roadside messages can be dynamically adjusted, thereby improving the utilization efficiency of the communication air interface resources.

[0175] Figure 3 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the roadside terminal message sending method, which includes:

[0176] Acquire traffic condition information of a target coverage range, where the target coverage range is a range supported by a roadside terminal;

[0177] Based on the road condition information of the target coverage area, determining the sending frequencies corresponding to one or more roadside messages, wherein the roadside message is a message sent by the roadside terminal to the vehicle;

[0178] Based on the sending frequencies respectively corresponding to the one or more roadside messages, the one or more roadside messages are sent to vehicles within the target coverage area.

[0179] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0180] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for sending a roadside terminal message provided by the above methods is implemented, and the method includes:

[0181] Acquire traffic condition information of a target coverage range, where the target coverage range is a range supported by a roadside terminal;

[0182] Based on the road condition information of the target coverage area, determining the sending frequencies corresponding to one or more roadside messages, wherein the roadside message is a message sent by the roadside terminal to the vehicle;

[0183] Based on the sending frequencies respectively corresponding to the one or more roadside messages, the one or more roadside messages are sent to vehicles within the target coverage area.

[0184] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0185] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for sending a roadside terminal message, characterized in that: include: Acquire traffic condition information of a target coverage range, where the target coverage range is a range supported by a roadside terminal; Based on the road condition information of the target coverage area, determining the sending frequencies corresponding to one or more roadside messages, wherein the roadside message is a message sent by the roadside terminal to the vehicle; Sending the one or more roadside messages to vehicles within the target coverage range based on the sending frequencies respectively corresponding to the one or more roadside messages; The obtaining of the traffic information of the target coverage area includes: Receive report messages carrying road condition information; Based on the reported message, obtaining the road condition information of the target coverage area; The traffic information includes any one or more of the following information: Road weather information; Traffic congestion level information; Traffic light status information; Position information of an object to be avoided, wherein the object to be avoided is an object that the vehicle avoids; Position information of a specific vehicle, wherein the specific vehicle is a vehicle that ordinary vehicles need to avoid, and the ordinary vehicle is other vehicles within the target coverage range except the specific vehicle; The roadside message is any one of the following messages: a MAP message, an RSM message, an RSI message or a SPAT message; The RSI message includes: a dynamic message and a non-dynamic message, wherein the content update rate of the dynamic message is higher than the content update rate of the non-dynamic message, and the determining of the sending frequencies corresponding to the one or more roadside messages based on the road condition information of the target coverage range includes: In a case where the road condition information includes the traffic congestion level information, judging whether the traffic congestion level corresponding to the target coverage area is higher than a default traffic congestion level based on the traffic congestion level information; When the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level, the sending frequencies corresponding to the MAP message and the non-dynamic message are determined by controlling the sending frequency to be lower than the default configuration frequency, and the sending frequencies corresponding to the RSM message and the dynamic message are determined by controlling the sending frequency to be higher than the default configuration frequency.

2. The method for sending a roadside terminal message according to claim 1, characterized in that: The determining, based on the road condition information of the target coverage area, the sending frequencies corresponding to one or more roadside messages respectively includes: In a case where the road condition information includes the road weather information, judging whether the road visibility corresponding to the target coverage range is lower than a default road visibility based on the road weather information; When the road visibility corresponding to the target coverage range is lower than the default road visibility, the sending frequencies corresponding to the MAP message, the RSM message and the RSI message are determined by controlling the sending frequencies to be higher than the default configuration frequency.

3. The method for sending a roadside terminal message according to claim 1, characterized in that: In the case where the road condition information includes the traffic light status information, determining the sending frequencies corresponding to one or more roadside messages based on the road condition information of the target coverage range includes: Based on the traffic light status information, if it is determined that the first traffic light is in a countdown state for allowing vehicles to pass, determining a sending frequency corresponding to a first SPAT message by gradually increasing the sending frequency following the countdown, wherein the first SPAT message is used to indicate the status of the first traffic light; or Based on the traffic light state information, if it is determined that the second traffic light is in a countdown state in which vehicles are prohibited from passing, determining a sending frequency corresponding to a second SPAT message by gradually reducing the sending frequency following the countdown, where the second SPAT message is used to indicate the state of the second traffic light; The first traffic light and the second traffic light are both traffic lights within the target coverage area.

4. The method for sending a roadside terminal message according to claim 1, characterized in that: The determining, based on the road condition information of the target coverage area, the sending frequencies corresponding to one or more roadside messages respectively includes: In a case where the road condition information includes the position information of the object to be avoided, determining whether the object to be avoided is within the target coverage range; When it is determined that the object to be avoided is within the target coverage range, the sending frequency corresponding to the RSM message is determined by controlling the sending frequency to be higher than the default configuration frequency.

5. The method for sending a roadside terminal message according to claim 1, characterized in that: The determining, based on the road condition information of the target coverage area, the sending frequencies corresponding to one or more roadside messages respectively includes: In a case where the road condition information includes the location information of the specific vehicle, determining whether the specific vehicle is within the target coverage range; When it is determined that the specific vehicle is within the target coverage range, the sending frequency corresponding to the RSM message is determined by controlling the sending frequency to be higher than the default configuration frequency.

6. A roadside terminal message sending device, characterized in that: include: An acquisition module, used to acquire road condition information of a target coverage range, where the target coverage range is a range supported by a roadside terminal; A determination module, configured to determine, based on the road condition information of the target coverage area, the sending frequencies corresponding to one or more roadside messages, wherein the roadside message is a message sent by the roadside terminal to the vehicle; A sending module, configured to send the one or more roadside messages to vehicles within the target coverage area based on the sending frequencies respectively corresponding to the one or more roadside messages; The obtaining of the traffic information of the target coverage area includes: Receive report messages carrying road condition information; Based on the reported message, obtaining the road condition information of the target coverage area; The traffic information includes any one or more of the following information: Road weather information; Traffic congestion level information; Traffic light status information; Position information of an object to be avoided, wherein the object to be avoided is an object that the vehicle avoids; Position information of a specific vehicle, wherein the specific vehicle is a vehicle that ordinary vehicles need to avoid, and the ordinary vehicle is other vehicles within the target coverage range except the specific vehicle; The roadside message is any one of the following messages: a MAP message, an RSM message, an RSI message or a SPAT message; The RSI message includes: a dynamic message and a non-dynamic message, wherein the content update rate of the dynamic message is higher than the content update rate of the non-dynamic message, and the determining of the sending frequencies corresponding to the one or more roadside messages based on the road condition information of the target coverage range includes: In a case where the road condition information includes the traffic congestion level information, judging whether the traffic congestion level corresponding to the target coverage area is higher than a default traffic congestion level based on the traffic congestion level information; When the traffic congestion level corresponding to the target coverage area is higher than the default traffic congestion level, the sending frequencies corresponding to the MAP message and the non-dynamic message are determined by controlling the sending frequency to be lower than the default configuration frequency, and the sending frequencies corresponding to the RSM message and the dynamic message are determined by controlling the sending frequency to be higher than the default configuration frequency.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the roadside terminal message sending method as described in any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the roadside terminal message sending method as described in any one of claims 1 to 5 is implemented.

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