A data transmission method, vehicle-mounted communication device and storage medium

Abstract

The present application discloses a data transmission method, a vehicle-mounted communication device and a storage medium, the method comprising receiving a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; according to a pre-stored first vehicle-mounted unit list, a second vehicle-mounted unit list and a first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result; if the verification result is a successful verification, the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission with the first roadside unit, thereby achieving accurate data transmission and improving data transmission efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent traffic control, and in particular to a data transmission method, a vehicle-mounted communication device and a storage medium. Background Art

[0002] With the commercialization of the fifth-generation mobile communication technology (5th-Generation, 5G) on track, AI technology becoming popular and the "cloud" becoming popular, the Internet of things (IOT) technology has been increasingly used in real life, and the Vehicular Ad hoc Network (VANET) technology has also attracted more and more attention from various communication or automobile manufacturers, and even governments. VANET is a specific mobile self-organizing network whose network nodes are mainly composed of vehicles equipped with electronic sensor devices. With the help of modern communication technology, vehicles and everything can communicate, build intelligent transportation systems, improve traffic safety, improve traffic efficiency, create a comfortable driving experience, and even realize unmanned driving. Cellular-V2X (C-V2X) is based on a powerful 3GPP ecosystem and continuous and perfect cellular network coverage, which can support new applications of 5G; it can realize wireless communication between vehicles and the outside world, which can greatly reduce the cost of future autonomous driving and vehicle networking deployment. It is considered to be one of the key driving factors for autonomous driving, and supports reliable, real-time, and low-latency communication between different network participants. With the advent of 5G cellular networks, the speed and quality of data transmission can be further improved.

[0003] C-V2X supports short-distance and long-distance transmission between vehicles and other connected devices. However, in the existing technology, due to the complex conditions of urban roads, for example, in the case of multiple overpasses with different heights, there may be multiple road side units (RSU) whose signals cross over the same area, so when the RSU transmits data to the target vehicle, it will affect non-target vehicles, making it difficult to lock the transmission target and the transmission efficiency is low. Summary of the invention

[0004] The present application provides a data transmission method, an on-vehicle communication device and a storage medium, which can achieve accurate data transmission and improve data transmission efficiency.

[0005] The technical solution of this application is implemented as follows:

[0006] In a first aspect, the present application provides a data transmission method, the method comprising:

[0007] Receive a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit;

[0008] According to the pre-stored first on-board unit list, the second on-board unit list, and the first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result;

[0009] If the verification result is successful, the first on-board unit list and the second on-board unit list are updated according to the first identifier and the first roadside unit list to complete data transmission with the first roadside unit.

[0010] In a second aspect, the present application provides a vehicle-mounted communication device, the vehicle-mounted communication device comprising: a receiving unit, a verification unit, and an updating unit,

[0011] The receiving unit is configured to receive a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit;

[0012] The verification unit is used to verify the data packet according to the pre-stored first on-board unit list, the second on-board unit list and the first identifier of the first roadside unit stored in the first roadside unit list to obtain a verification result;

[0013] The updating unit is configured to update the first onboard unit list and the second onboard unit list according to the first identifier and the first roadside unit list if the verification result is successful, so as to complete data transmission with the first roadside unit.

[0014] In a third aspect, the present application provides a vehicle-mounted communication device, which also includes a processor and a memory storing instructions executable by the processor. When the instructions are executed by the processor, the data transmission method described above is implemented.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium having a program stored thereon, which is applied to a vehicle-mounted communication device, and when the program is executed by a processor, the data transmission method as described above is implemented.

[0016] The present application provides a data transmission method, a vehicle-mounted communication device and a storage medium, wherein the vehicle-mounted communication device receives a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; according to a pre-stored first vehicle-mounted unit list, a second vehicle-mounted unit list and a first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result; if the verification result is a successful verification, the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission with the first roadside unit. That is to say, in an embodiment of the present application, when a roadside unit transmits a data packet to a vehicle-mounted communication device, the vehicle-mounted communication device does not directly store the data packet, but verifies and processes the data packet based on the identification information of the roadside unit stored in the pre-stored first vehicle-mounted unit list, the second vehicle-mounted unit list, and the roadside unit list carried in the data packet, thereby ensuring that the received data packet comes from the target roadside unit, ensuring the accuracy of data transmission, and improving data transmission efficiency; further, even when data transmission is performed in an environment with complex urban road conditions, the vehicle-mounted communication device can be used to verify and process the data packet, so that the data packet can be received by the correct target vehicle-mounted communication device, thereby achieving accurate transmission of the data packet. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 1 ;

[0018] Figure 2 Schematic diagram of the implementation of the data transmission method proposed in this application Figure 1 ;

[0019] Figure 3 Schematic diagram of the implementation of the data transmission method proposed in this application Figure 2 ;

[0020] Figure 4 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 2 ;

[0021] Figure 5 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 3 ;

[0022] Figure 6 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 4 ;

[0023] Figure 7 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 5 ;

[0024] Figure 8 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 6 ;

[0025] Fig. 9 Schematic diagram of the implementation of the data transmission method proposed in this application Figure 3 ;

[0026] Fig.10 Schematic diagram of the implementation of the data transmission method proposed in this application Figure 4 ;

[0027] Fig.11 The structure diagram of the vehicle-mounted communication device proposed in this application is shown in FIG. Figure 1 ;

[0028] Fig.12 The structure diagram of the vehicle-mounted communication device proposed in this application is shown in FIG. Figure 2 . DETAILED DESCRIPTION

[0029] The technical solution in this application will be described clearly and completely below in conjunction with the drawings in this application. It is to be understood that the specific embodiments described herein are only used to explain the related application, rather than to limit the application. It should also be noted that, for ease of description, only the parts related to the related application are shown in the drawings.

[0030] Existing technologies include Dedicated Short Range Communication (DSRC) and C-V2X. In a system using DSRC technology, the vehicle is equipped with an On Broad Unit (OBU), which is equivalent to a mobile terminal and has a certain data processing capability to meet the specific needs of DSRC. At the same time, RSU is deployed on the roadside. Compared with OBU, it has certain management functions in addition to basic communication functions and access to the backup network. DSRC has two forms of communication, including vehicle-road communication and vehicle-vehicle communication. Vehicle-road communication refers to the communication between vehicles and roadside infrastructure, which belongs to the communication between mobile nodes and fixed nodes, and adopts a one-hop point-to-point (Ad Hoc) mode; vehicle-vehicle communication is communication between vehicles, and adopts a multi-hop Ad Hoc mode. Since the early 1990s, countries have begun research on DSRC, opened different working frequency bands, and provided many test areas to promote DSRC technology.

[0031] However, in the prior art, due to the complex conditions of urban roads, multiple RSU nodes may cross-cover the same area, especially in the case of multiple overpasses that are staggered at different heights. The signal will cover the OBU terminals that are not on the same road, causing the RSU to transmit data to the target vehicle while affecting non-target vehicles, resulting in low accuracy of data transmission.

[0032] In addition, some traffic scenarios do not require high computing power, but have high requirements for data latency; while some scenarios require excellent computing power in the cloud, but have low requirements for data latency. If all data is transmitted to the Internet Data Center (IDC) for calculation and then the calculation results are returned, the transmission delay will be high, especially affected by factors such as bandwidth and weather, which will create a bottleneck in data transmission and disperse the computing performance of the cloud. If all data is put on the RSU side for calculation, it will also cause a great waste of hardware facilities.

[0033] In order to solve the problems existing in data transmission in the prior art, the present application provides a data transmission method, a vehicle-mounted communication device and a storage medium. Specifically, the vehicle-mounted communication device receives a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; according to the pre-stored first vehicle-mounted unit list, the second vehicle-mounted unit list and the first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result; if the verification result is successful, the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission with the first roadside unit. It can achieve accurate data transmission and improve data transmission efficiency.

[0034] The technical solution in this application will be clearly and completely described below in conjunction with the drawings in this application.

[0035] Embodiment 1

[0036] The present application provides a data transmission method. Figure 1 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 1 ,like Figure 1 As shown, the data transmission method may include the following steps:

[0037] Step 101: Receive a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit.

[0038] In an embodiment of the present application, the vehicle-mounted communication device first receives a first data packet corresponding to the first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit.

[0039] It should be noted that, in the embodiments of the present application, the vehicle-mounted communication device is a microwave device that can be deployed in the vehicle to achieve data transmission between the vehicle and the roadside unit.

[0040] Further, in an embodiment of the present application, the vehicle-mounted communication device can receive a data packet sent by a roadside unit, thereby realizing communication between the vehicle and the road, wherein the first roadside unit can send a first data packet to the vehicle-mounted communication device.

[0041] Figure 2 Schematic diagram of the implementation of the data transmission method proposed in this application Figure 1 ,like Figure 2 As shown, the vehicle-mounted communication device travels in the direction indicated by the arrow, and there is a first roadside unit on the driving road, so that the vehicle-mounted communication device can receive a first data packet sent by the first roadside unit.

[0042] It should be noted that, in the embodiments of the present application, the data packet received by the vehicle-mounted communication device may include the sending time, data packet lifetime, emergency signal, data packet type, and roadside unit list, etc.; wherein, the sending time refers to the timestamp of the roadside unit sending end to send the information; the data packet lifetime refers to the preset valid time of the data packet, and the data packet will self-destruct after reaching the data packet lifetime; the emergency signal can represent the emergency situation of the road condition, when the emergency signal is 0, it means that the road condition is normal, and when the emergency signal is 1, it means that the current road section has a road condition that needs emergency treatment; the data packet type represents the classification of the data packet, when it is 0, it means that the data packet comes from the roadside unit, and when it is 1, it means that the data packet comes from the vehicle-mounted communication device; the roadside unit list is used to store the identification information of the roadside unit and the identification information of the next roadside unit that the roadside unit can reach and is one hop away. Correspondingly, the first data packet sent by the first roadside unit may also include the above content.

[0043] Further, in an embodiment of the present application, the first roadside unit list may include a first identifier corresponding to the first roadside unit and a second identifier corresponding to the second roadside unit associated with the first roadside unit; wherein the first identifier corresponding to the first roadside unit is the identifier information corresponding to the first roadside unit; the second identifier corresponding to the second roadside unit associated with the first roadside unit indicates that the second roadside unit is the next roadside unit that can be reached by the first roadside unit and is one hop away.

[0044] It should be noted that, in the embodiments of the present application, the vehicle-mounted communication device can receive the first data packet sent by the first roadside unit as well as the first data packet from other vehicle-mounted units. When the vehicle-mounted communication device is within the signal range of the first roadside unit, the first data packet sent by the first roadside unit can be received. When the vehicle-mounted communication device is outside the signal range of the first roadside unit and cannot directly receive the first data packet sent by the first roadside unit, the first data packet can be received through other vehicle-mounted units, thereby completing the transmission of the first data packet.

[0045] Illustratively, in an embodiment of the present application, if the vehicle-mounted communication device is located outside the signal range of the first roadside unit and cannot receive the first data packet sent by the first roadside unit, the vehicle-mounted communication device may transmit the first data packet through another vehicle-mounted communication device located within the signal range of the first roadside unit. In other words, another vehicle-mounted communication device located within the signal range of the first roadside unit may serve as a signal transfer station to send the data packet sent by the first roadside unit to the vehicle-mounted communication device, and then the vehicle-mounted communication device may perform verification processing through the identification information of the first roadside unit carried in the first data packet, thereby also realizing the transmission of the data packet.

[0046] Step 102: Verify the data packet according to the first identifier of the first roadside unit stored in the pre-stored first onboard unit list, the second onboard unit list, and the first roadside unit list to obtain a verification result.

[0047] In an embodiment of the present application, after receiving the first data packet corresponding to the first roadside unit, the vehicle-mounted communication device can verify the data packet according to the pre-stored first vehicle-mounted unit list, the second vehicle-mounted unit list, and the first identifier of the first roadside unit stored in the first roadside unit list to obtain a verification result.

[0048] It should be noted that, in the embodiment of the present application, the first on-board unit list and the second on-board unit list are two lists pre-deployed by the on-board communication device. The first on-board unit list includes a third identifier corresponding to a historically connected roadside unit and a fourth identifier corresponding to a currently connected roadside unit, wherein the historically connected roadside unit is the identifier information of the last roadside unit passed by the on-board communication device, and the currently connected roadside unit is the roadside unit currently connected by the on-board communication device, that is, the first on-board unit list can be continuously synchronized according to the identifier information of the roadside unit passed by the on-board communication device, so that the first on-board unit list can represent the route information of the on-board communication device; the second on-board unit list stores the fourth identifier corresponding to the currently connected roadside unit and the fifth identifier corresponding to the third roadside unit associated with the currently connected roadside unit, wherein the third roadside unit is the identifier information of the next roadside unit that the currently connected roadside unit can reach and is one hop away, that is, the second on-board unit is used to store the roadside unit list corresponding to the currently connected roadside unit, so that the second on-board unit list can represent the identifier information of the next roadside unit that the on-board communication device may connect to.

[0049] Figure 3 Schematic diagram of the implementation of the data transmission method proposed in this application Figure 2 ,like Figure 3 As shown, the vehicle-mounted communication device has left the range of the historically connected roadside unit, that is, the last connected roadside unit is the historically connected roadside unit, and the roadside unit currently connected is the currently connected roadside unit.

[0050] Furthermore, in an embodiment of the present application, the vehicle-mounted communication device uses the first vehicle-mounted unit list, the second vehicle-mounted unit list and the first identifier to verify the data packet and obtain a verification result. If the verification result is successful, the data packet can continue to be processed in the next step, thereby ensuring that the data packet received by the vehicle-mounted unit comes from the target roadside unit and realizing the correct transmission of the data packet.

[0051] Step 103: If the verification result is successful, the first onboard unit list and the second onboard unit list are updated according to the first identifier and the first roadside unit list to complete data transmission with the first roadside unit.

[0052] In an embodiment of the present application, the vehicle-mounted communication device verifies the data packet according to the pre-stored first vehicle-mounted unit list, the second vehicle-mounted unit list and the first identifier of the first roadside unit stored in the first roadside unit list. After obtaining the verification result, if the verification result is successful, the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission between the first roadside unit and the first roadside unit.

[0053] It should be noted that, in an embodiment of the present application, if the verification result is a successful verification, it means that the first data packet comes from the correct target roadside unit. Therefore, after receiving the first data packet, the first vehicle-mounted unit list and the second vehicle-mounted unit list pre-deployed in the vehicle-mounted communication device can also be updated according to the first identifier and the first roadside unit list carried in the first data packet, thereby realizing information synchronization of the first vehicle-mounted unit list and the second vehicle-mounted unit list in the vehicle-mounted communication device.

[0054] It should be noted that in the embodiments of the present application, the correct target roadside unit can be the currently connected roadside unit, or it can be a third roadside unit associated with the currently connected roadside unit and stored in the second vehicle-mounted unit list, that is, the next roadside unit that can be reached by the currently connected roadside unit and is one hop away.

[0055] Figure 4 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 2 ,like Figure 4 As shown, the vehicle-mounted communication device verifies the data packet according to the pre-stored first vehicle-mounted unit list, the second vehicle-mounted unit list, and the first identifier of the first roadside unit stored in the first roadside unit list. The method for obtaining the verification result may include the following steps:

[0056] Step 102a: Compare the first identifier with the fourth identifier and the fifth identifier respectively to obtain a comparison result.

[0057] In an embodiment of the present application, the vehicle-mounted communication device verifies the data packet according to the first identifier of the first roadside unit stored in the pre-stored first vehicle-mounted unit list, the second vehicle-mounted unit list, and the first roadside unit list to obtain a verification result. Specifically, the vehicle-mounted communication device can compare the first identifier with the fourth identifier and the fifth identifier respectively to obtain a comparison result.

[0058] It should be noted that, in the embodiment of the present application, since the first identifier represents the identification information of the first roadside unit, the fourth identifier represents the identification information of the roadside unit to which the vehicle-mounted communication device is currently connected, and the fifth identifier represents the identification information of the roadside unit associated with the roadside unit to which the vehicle-mounted unit is currently connected, therefore, by comparing the first identifier with the fourth identifier and the fifth identifier respectively, it is possible to determine whether the first data packet comes from the correct target roadside unit based on the comparison result, thereby achieving accurate data transmission.

[0059] It should be noted that, in the embodiment of the present application, when the first identifier and the fourth identifier are the same, it means that the correct target roadside unit is the first roadside unit; if the first identifier and the fifth identifier are the same, it means that the correct target roadside unit is the roadside unit associated with the currently connected roadside unit, that is, the next roadside unit that the currently connected roadside unit can reach.

[0060] Step 102b: If the comparison result is that the first identifier and the fourth identifier are the same, then determine that the verification result is successful.

[0061] In an embodiment of the present application, the vehicle-mounted communication device compares the first identifier with the fourth identifier and the fifth identifier respectively, and after obtaining the comparison result, if the comparison result is that the first identifier is the same as the fourth identifier, the verification result is determined to be successful.

[0062] It should be noted that, in an embodiment of the present application, if the comparison result is that the first identifier is the same as the fourth identifier, it means that the first data packet is sent by the roadside unit to which the vehicle-mounted communication device is currently connected, that is, the first roadside unit is the roadside unit to which the vehicle-mounted communication device is connecting, and accordingly, the first data packet comes from the correct target roadside unit, and therefore, the verification result is a successful verification.

[0063] Step 102c: If the comparison result is that the first identifier and the fifth identifier are the same, then the verification result is determined to be successful.

[0064] In an embodiment of the present application, the vehicle-mounted communication device compares the first identifier with the fourth identifier and the fifth identifier respectively, and after obtaining the comparison result, if the comparison result is that the first identifier is the same as the fifth identifier, the verification result is determined to be successful.

[0065] It should be noted that in the embodiment of the present application, if the comparison result is that the first identifier is the same as the fifth identifier, it means that the first data packet is sent by the third roadside unit associated with the roadside unit currently connected to the vehicle-mounted communication device, that is, the first roadside unit is the roadside unit associated with the roadside unit currently connected to the vehicle-mounted communication device, that is, the first roadside unit is the next roadside unit that can be reached by the roadside unit currently connected to the vehicle-mounted communication device. The data packet also comes from the correct target roadside unit, so the verification result is successful verification.

[0066] Step 102d: If the comparison result is that the first identifier is different from the fourth identifier, and the first identifier is different from the fifth identifier, then it is determined that the verification result is a verification failure.

[0067] In an embodiment of the present application, the vehicle-mounted communication device compares the first identifier with the fourth identifier and the fifth identifier respectively. After obtaining the comparison result, if the comparison result is that the first identifier is different from the fourth identifier and the first identifier is different from the fifth identifier, the verification result is determined to be a verification failure.

[0068] It should be noted that, in an embodiment of the present application, if the comparison result is that the first identifier is different from the fourth identifier, and the first identifier is different from the fifth identifier, it means that the first data packet is neither sent by the roadside unit to which the vehicle-mounted communication device is currently connected, nor by the third roadside unit associated with the roadside unit to which the vehicle-mounted communication device is currently connected, that is, the first data packet comes from a non-target roadside unit, and therefore, the verification result is verification failure.

[0069] Furthermore, if the verification fails, it means that the first data packet is neither from the roadside unit currently connected to the vehicle-mounted communication device nor from the roadside unit associated with the roadside unit currently connected to the vehicle-mounted communication device, that is, the first data packet is not sent by the roadside unit on the driving path of the vehicle-mounted communication device, and there may be cross-coverage of roadside unit signals, resulting in transmission errors of the first data packet. Therefore, the vehicle-mounted communication device can discard the first data packet.

[0070] Figure 5 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 3 ,like Figure 5 As shown, if the comparison result is that the first identifier and the fourth identifier are the same, and the verification result of the vehicle-mounted communication device is that the verification is successful, then the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission between the first roadside unit and the method may include the following steps:

[0071] Step 103a: update the first onboard unit list according to the first identifier, and update the second onboard unit list according to the first roadside unit list.

[0072] In an embodiment of the present application, if the comparison result is that the first identifier is the same as the fourth identifier, and the verification result of the on-board communication device is successful verification, the first on-board unit list and the second on-board unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission between the first roadside unit. Specifically, the on-board communication device can update the first on-board unit list according to the first identifier, and at the same time update the second on-board unit list according to the first roadside unit list.

[0073] It should be noted that, in the embodiment of the present application, if the first identifier is the same as the fourth identifier, it means that before receiving the first data packet, the onboard unit may have received other data packets sent from the first roadside unit, so that the fourth identifier stored in the onboard communication device is the same as the first identifier, then correspondingly, the second onboard unit list in the onboard communication device is also the same as the first roadside unit. After receiving the first data packet on this basis, the identification information of the first onboard unit list and the second onboard unit list after updating can remain unchanged. For example, after the update process, the first onboard unit list in the onboard communication device still includes the first identifier or the fourth identifier, and the third identifier corresponding to the historically connected roadside unit; and the second onboard unit list can still include the first identifier or the fourth identifier, and the fifth identifier corresponding to the third roadside unit associated with the currently connected roadside unit.

[0074] It should be noted that in an embodiment of the present application, the vehicle-mounted communication device also saves an update time interval, and the update time interval is obtained by subtracting the update time of the previous data packet from the update time of the current data packet. For example, the update time of the previous data packet is 2020-9-1, 15:27:01:565, and the update time of the current data packet is 2020-9-1, 15:27:01:886, then the update time interval is 321 milliseconds.

[0075] It should be noted that in the embodiment of the present application, although the first identifier is the same as the fourth identifier, so that the identification information of the first vehicle-mounted unit list and the second vehicle-mounted unit list remains unchanged after the update processing, the update time of the data packet has changed, and other data information included in the data packet except the roadside unit list may change, and the update time interval may also change.

[0076] Figure 6 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 4 ,like Figure 6 As shown, if the comparison result is that the first identifier and the fifth identifier are the same, and the verification result of the on-board communication device is that the verification is successful, then the first on-board unit list and the second on-board unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission between the first roadside unit and the method may include the following steps:

[0077] Step 103b: if the second data packet sent by the currently connected roadside unit is not received within the update time interval, the first onboard unit list is updated according to the first identifier, and the second onboard unit list is updated according to the first roadside unit list.

[0078] In an embodiment of the present application, if the comparison result is that the first identifier is the same as the fifth identifier, and the verification result of the on-board communication device is successful verification, the first on-board unit list and the second on-board unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission between the first roadside unit. Specifically, if the on-board communication device does not receive the second data packet sent by the currently connected roadside unit within the update time interval, the first on-board unit list is updated according to the first identifier, and the second on-board unit list is updated according to the first roadside unit list.

[0079] It should be noted that, in the embodiment of the present application, since the first identifier is the same as the fifth identifier, the first data packet is sent by the third roadside unit associated with the roadside unit currently connected to the on-board communication device, and the roadside unit currently connected to the on-board communication device is not the third roadside unit. Therefore, the on-board communication device needs to wait, and the waiting time is the last update time interval. If the second data packet sent from the currently connected roadside unit is not received within the update time interval, it is determined that the first on-board unit list and the second on-board unit list can be updated according to the first roadside unit list carried in the first data packet. That is to say, after the update, the roadside unit currently connected to the on-board communication device is the first roadside unit, and the next roadside unit that can be reached is the roadside unit associated with the first roadside unit.

[0080] Figure 7 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 5 ,like Figure 7 As shown, in an embodiment of the present application, the data transmission method of the vehicle-mounted communication device may further include the following steps:

[0081] Step 104 : After the emergency braking process is detected, generate braking information.

[0082] In an embodiment of the present application, the vehicle-mounted communication device generates braking information after detecting an emergency braking process.

[0083] It should be noted that in an embodiment of the present application, if an emergency traffic accident occurs ahead on the road while the vehicle is driving, the vehicle will perform emergency braking, and then the on-board communication device loaded on the vehicle will detect the emergency braking process. Accordingly, the on-board communication device will generate braking information after detecting the emergency braking process.

[0084] Furthermore, in an embodiment of the present application, the braking information may include sending time, data packet lifetime, emergency signal, and data packet type, etc.; wherein, the emergency signal is 1, indicating that there are road conditions on the current road section that require emergency handling, and the data packet type is 1, indicating that the braking information comes from the vehicle-mounted communication device.

[0085] It should be noted that, since the vehicle-mounted communication device has certain computing functions, the processing that needs to be performed by some vehicles in emergency situations can be directly completed autonomously by the vehicle-mounted communication device.

[0086] Step 105: Send the braking information to the first roadside unit, so as to synchronize the braking information to other roadside units and the server through the first roadside unit.

[0087] In an embodiment of the present application, after generating the braking information, the vehicle-mounted communication device may send the braking information to the first roadside unit, so that the braking information may be synchronized to other roadside units and the server through the first roadside unit.

[0088] In an embodiment of the present application, after generating braking information, the vehicle-mounted communication device will send the braking information to the currently connected first roadside unit. Accordingly, the first roadside unit can send the braking information to other roadside units associated with the first roadside unit, that is, to other roadside units that can be reached and are one hop away. After receiving the braking information, the other roadside units can send the braking information to other vehicle-mounted communication devices connected to other roadside units, so as to quickly brake other vehicles.

[0089] In an embodiment of the present application, after receiving the braking information, the first roadside unit can send the braking information to other roadside units as well as to a cloud server, and perform related data calculations with a large computing volume through the cloud server.

[0090] That is to say, since braking behavior has a higher priority and has higher requirements for the real-time performance of data transmission, the roadside unit can be used to broadcast the braking information first, so that vehicles on the accident path can achieve emergency braking.

[0091] Figure 8 Schematic diagram of the implementation process of the data transmission method proposed in this application Figure 6 ,like Figure 8 As shown, in the embodiment of the present application, after the vehicle-mounted communication device sends the braking information to the first roadside unit, so as to synchronize the braking information to other roadside units and the server through the first roadside unit, that is, after step 105, the data transmission method may further include the following steps:

[0092] Step 106: Receive the best path information sent by the server.

[0093] In an embodiment of the present application, the vehicle-mounted communication device sends the braking information to the first roadside unit, so as to synchronize the braking information to other roadside units and the server through the first roadside unit, and can also receive the best path information sent by the server.

[0094] In an embodiment of the present application, after the server receives the braking information sent by the first roadside unit, it can calculate the optimal path based on the braking information. The optimal path refers to a path switching method that allows vehicles on the same accident path to avoid traffic accidents.

[0095] Furthermore, after calculating the optimal path, the server can send the optimal path to the roadside units located on the accident path, such as the first roadside unit and the roadside units associated with the first roadside unit, etc., and then these roadside units on the accident path can send the received optimal path to the vehicle-mounted communication devices connected to them, and these vehicle-mounted communication devices can switch paths according to the optimal path.

[0096] In other words, since the calculation volume of the optimal path is large, but the real-time requirements are low, it can be calculated through a cloud server and then fed back to the roadside unit to achieve vehicle path switching.

[0097] The present application provides a data transmission method, in which a vehicle-mounted communication device receives a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; based on a pre-stored first vehicle-mounted unit list, a second vehicle-mounted unit list and a first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result; if the verification result is a successful verification, the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission with the first roadside unit. That is to say, in an embodiment of the present application, when a roadside unit transmits a data packet to a vehicle-mounted communication device, the vehicle-mounted communication device does not directly receive the data packet, but verifies and processes the data packet according to the identification information of the roadside unit stored in the pre-deployed first vehicle-mounted unit list, the second vehicle-mounted unit list, and the roadside unit list carried in the data packet, thereby ensuring that the received data packet comes from the target roadside unit, ensuring the accuracy of data transmission, and improving data transmission efficiency; further, even when data transmission is performed in an environment with complex urban road conditions, the vehicle-mounted communication device can be used to verify and process the data packet, so that the data packet can be received by the correct target vehicle-mounted communication device, thereby achieving accurate transmission of the data packet.

[0098] Embodiment 2

[0099] In another embodiment of the present application, illustratively, Fig. 9 Schematic diagram of the implementation of the data transmission method proposed in this application Figure 3 ,like Fig. 9As shown, the OBU and RSU can communicate with each other, and the RSU and the cloud server can also communicate with each other. At the same time, the RSU can receive signal transmissions from signal lights or mobile phone terminals. In an embodiment of the present application, the data transmission method can be:

[0100] In complex scenarios, the RSU signal may overlap repeatedly, so each RSU end will have a physical address (Media Access Control Address, MAC) list to save the next RSU node that can be reached. The list contains the identifiers of all RSU nodes that can be reached from the current RSU node within one hop. On the OBU end, one list is used to save the identifier of the previous RSU node and the identifier of the current RSU node, and the other list is used to synchronize the above-mentioned list of the current RSU node. Both lists will be saved to the OBU end. When the OBU end receives a new data packet, it will check from the table whether the source address of the data packet is in the list. After retrieval, if it exists, the data packet is received and the list is updated; if the source address of the data packet is not in the list, the data packet is discarded.

[0101] The contents of the data packet include the sending time, data packet lifetime (Time To Live, TTL), urgent signal (urgent_signal), data packet type (packet_type) and RSU MAC address list, etc.; the sending time is the timestamp of the information sent by the RSU sender. Whether it is a data packet sent by the RSU or a data packet sent by the OBU, the timestamp of the data packet sent by the RSU is used; the data packet lifetime means that the data packet will self-destruct after a certain period of time; when the urgent signal is 0, the road condition is normal by default, and when it is 1, the current road section has road conditions that need to be handled urgently; if the data packet type is 0, it means that the data packet comes from the RSU, and if it is 1, it means that the data packet comes from the OBU; the RSU MAC address list records the RSU MAC address (current_MAC_addr) and the MAC address of the next RSU that the RSU can reach. For example, due to forks in the road, each road may have an RSU, so this list will record the MAC address of the next RSU that may exist.

[0102] On the OBU side, in addition to saving the two lists, the update time interval (wait_interval) of the data can also be saved. The update time interval refers to the difference between the latest data packet update time and the last data packet update time. For example, the last data packet update time is 2020-9-1, 15:27:01:565, and the latest data packet update time is 2020-9-1, 15:27:01:886, then the update time interval is 321, in milliseconds.

[0103] The specific data packet inspection strategy is: first, check whether the current_MAC_addr of the data packet matches the current_MAC_addr in the OBU local list. If it matches, receive the data packet and update the local update time interval and list of the OBU; if it does not match, check whether the current MAC addr of the data packet is the nextMAC addr in the OBU local list. If it matches with next_MAC_addr, do not immediately update the local update time interval and list of the OBU, but wait for a period of time, the waiting time is the update time interval of the local cache, if during this period of time, no other data packets are received from the RSU of current_MAC_addr, then update the list.

[0104] Fig.10 Schematic diagram of the implementation of the data transmission method proposed in this application Figure 4 ,like Fig.10 As shown, the signal range of the roadside unit is represented by a dotted circle, and the signal range of the vehicle communication device is represented by a double solid circle. When OBU2 is outside the signal range of RSU1, and OBU1 is within the signal range of RSU1, the data transmission method can be:

[0105] Data transmission between vehicles is realized with the help of OBU1. OBU1 will act as an information transfer station, transmitting data packets to OBU2 that is not within the signal range of RSU1, transmitting RSU1 data to OBU2, and then OBU2 confirms and verifies according to the RSU1 identification and the list stored in OBU2 to ensure the accurate transmission of data packets.

[0106] When a traffic accident occurs, the vehicle closest to the accident will perform emergency braking. When the OBU on the vehicle detects emergency braking, it will generate braking information and send it to the corresponding RSU, which will be broadcast by the RSU to other RSU nodes, and then send braking information to vehicles in the corresponding range through other RSU nodes. At the same time, the RSU will send the braking information to the cloud, which will calculate the best route for the surrounding RSU nodes on the same route, and the RSU nodes will send the best route to the vehicle. In this scenario, emergency braking has a high priority and has extremely high requirements for the real-time nature of the data, so only a simple broadcast is performed on the RSU side; the switching of the best route has low requirements for the real-time nature of the data, but high requirements for the computing volume, so it can be passed, and it also needs to be calculated by the cloud server and then fed back to the designated RSU end.

[0107] The present application provides a data transmission method, in which a vehicle-mounted communication device receives a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; based on a pre-stored first vehicle-mounted unit list, a second vehicle-mounted unit list and a first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result; if the verification result is a successful verification, the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission with the first roadside unit. That is to say, in an embodiment of the present application, when a roadside unit transmits a data packet to a vehicle-mounted communication device, the vehicle-mounted communication device does not directly receive the data packet, but verifies and processes the data packet according to the identification information of the roadside unit stored in the pre-deployed first vehicle-mounted unit list, the second vehicle-mounted unit list, and the roadside unit list carried in the data packet, thereby ensuring that the received data packet comes from the target roadside unit, ensuring the accuracy of data transmission, and improving data transmission efficiency; further, even when data transmission is performed in an environment with complex urban road conditions, the vehicle-mounted communication device can be used to verify and process the data packet, so that the data packet can be received by the correct target vehicle-mounted communication device, thereby achieving accurate transmission of the data packet.

[0108] Embodiment 3

[0109] Based on the above embodiment, in another embodiment of the present application, Fig.11 The structure diagram of the vehicle-mounted communication device proposed in this application is shown in FIG. Figure 1 ,like Fig.11 As shown, the vehicle-mounted communication device 10 proposed in the present application may include a receiving unit 11, a checking unit 12, an updating unit 13, a determining unit 14, a generating unit 15 and a sending unit 16.

[0110] The receiving unit 11 is configured to receive a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit.

[0111] The verification unit 12 is used to verify the data packet according to the pre-stored first on-board unit list, the second on-board unit list and the first identifier of the first roadside unit stored in the first roadside unit list to obtain a verification result.

[0112] The updating unit 13 is configured to update the first onboard unit list and the second onboard unit list according to the first identifier and the first roadside unit list if the verification result is successful, so as to complete data transmission with the first roadside unit.

[0113] Further, in an embodiment of the present application, the first roadside unit list includes a second identifier corresponding to a second roadside unit associated with the first roadside unit.

[0114] Further, in an embodiment of the present application, the first vehicle-mounted unit list includes a third identifier corresponding to a historically connected roadside unit and a fourth identifier corresponding to a currently connected roadside unit; the second vehicle-mounted unit list stores the fourth identifier and a fifth identifier corresponding to a third roadside unit associated with the currently connected roadside unit.

[0115] Further, in an embodiment of the present application, the verification unit 12 is specifically configured to compare the first identifier with the fourth identifier and the fifth identifier respectively to obtain a comparison result.

[0116] The determination unit 14 is used to determine that the verification result is a successful verification if the comparison result is that the first identifier is the same as the fourth identifier; if the comparison result is that the first identifier is the same as the fifth identifier, then the verification result is a successful verification; if the comparison result is that the first identifier is different from the fourth identifier, and the first identifier is different from the fifth identifier, then the verification result is determined to be a failed verification.

[0117] Furthermore, the updating unit 13 is specifically configured to update the first onboard unit list according to the first identifier, and update the second onboard unit list according to the first roadside unit list if the comparison result is that the first identifier is the same as the fourth identifier.

[0118] Furthermore, the update unit 13 is also specifically used to update the first vehicle-mounted unit list according to the first identifier, and to update the second vehicle-mounted unit list according to the first road-side unit list if the comparison result is that the first identifier is the same as the fifth identifier and if the second data packet sent by the currently connected road-side unit is not received within the update time interval.

[0119] The generating unit 15 is used to generate braking information after the emergency braking process is detected.

[0120] The sending unit 16 is used to send the braking information to the first roadside unit, so as to synchronize the braking information with other roadside units and a server through the first roadside unit.

[0121] The receiving unit 11 is further configured to send the braking information to the first roadside unit, and after synchronizing the braking information to other roadside units and a server via the first roadside unit, receive the optimal path information sent by the server.

[0122] Fig.12 Schematic diagram of the composition structure of the vehicle-mounted communication device proposed in this application Figure 2 ,like Fig.12 As shown, the vehicle-mounted communication device 10 proposed in the present application may also include a processor 17 and a memory 18 storing executable instructions of the processor 17. Furthermore, the vehicle-mounted communication device 10 may also include a communication interface 19 and a bus 110 for connecting the processor 17, the memory 18 and the communication interface 19.

[0123] In the embodiment of the present application, the processor 17 can be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It can be understood that for different devices, the electronic device used to implement the function of the processor can also be other, and the present application does not make specific restrictions. The processor 17 can also include a memory 18, which can be connected to the processor 17, wherein the memory 18 is used to store executable program code, the program code includes computer operation instructions, and the memory 18 may include a high-speed RAM memory, and may also include a non-volatile memory, for example, at least two disk memories.

[0124] In the embodiment of the present application, the bus 110 is used to connect the communication interface 19, the processor 17 and the memory 18, and the mutual communication between these devices.

[0125] In the embodiment of the present application, the memory 18 is used to store instructions and data.

[0126] Further, in an embodiment of the present application, the above-mentioned processor 17 is used to receive a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; according to a pre-stored first vehicle-mounted unit list, a second vehicle-mounted unit list and a first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result; if the verification result is a successful verification, the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete the data transmission with the first roadside unit.

[0127] In practical applications, the memory 18 may be a volatile memory, such as a random access memory (RAM); or a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk (HDD) or a solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the processor 17.

[0128] In addition, each functional module in this embodiment can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or software functional modules.

[0129] If the integrated unit is implemented in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the method of this embodiment. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0130] The present application provides a vehicle-mounted communication device, which receives a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; based on a pre-stored first vehicle-mounted unit list, a second vehicle-mounted unit list and a first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result; if the verification result is a successful verification, the first vehicle-mounted unit list and the second vehicle-mounted unit list are updated according to the first identifier and the first roadside unit list to complete data transmission with the first roadside unit. That is to say, in an embodiment of the present application, when a roadside unit transmits a data packet to a vehicle-mounted communication device, the vehicle-mounted communication device does not directly receive the data packet, but verifies and processes the data packet according to the identification information of the roadside unit stored in the pre-deployed first vehicle-mounted unit list, the second vehicle-mounted unit list, and the roadside unit list carried in the data packet, thereby ensuring that the received data packet comes from the target roadside unit, ensuring the accuracy of data transmission, and improving data transmission efficiency; further, even when data transmission is performed in an environment with complex urban road conditions, the vehicle-mounted communication device can be used to verify and process the data packet, so that the data packet can be received by the correct target vehicle-mounted communication device, thereby achieving accurate transmission of the data packet.

[0131] The present application provides a computer-readable storage medium having a program stored thereon, and when the program is executed by a processor, the data transmission method as described above is implemented.

[0132] Specifically, a program instruction corresponding to a data transmission method in this embodiment may be stored on a storage medium such as a CD, a hard disk, or a USB flash drive. When a program instruction corresponding to a data transmission method in the storage medium is read or executed by an electronic device, the following steps are included:

[0133] Receive a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit;

[0134] According to the pre-stored first on-board unit list, the second on-board unit list, and the first identifier of the first roadside unit stored in the first roadside unit list, the data packet is verified to obtain a verification result;

[0135] If the verification result is successful, the first on-board unit list and the second on-board unit list are updated according to the first identifier and the first roadside unit list to complete data transmission with the first roadside unit.

[0136] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of hardware embodiments, software embodiments, or embodiments in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0137] The present application is described with reference to the implementation flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0138] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which is implemented in the implementation flow diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing the steps in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0140] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A data transmission method, characterized in that: The method comprises: Receive a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; Compare the first identifier of the first roadside unit stored in the first roadside unit list with the fourth identifier and the fifth identifier respectively to obtain a comparison result; wherein the fourth identifier is an identifier corresponding to the currently connected roadside unit in the first onboard unit list; and the fifth identifier is an identifier corresponding to the third roadside unit associated with the currently connected roadside unit in the second onboard unit list; If the comparison result is that the first identifier is the same as the fourth identifier, determining that the verification result of the first data packet is verification success; If the comparison result is that the first identifier is the same as the fifth identifier, determining that the verification result is successful; If the comparison result is that the first identifier is different from the fourth identifier, and the first identifier is different from the fifth identifier, determining that the verification result is a verification failure; If the verification result is successful, the first on-board unit list and the second on-board unit list are updated according to the first identifier and the first roadside unit list to complete data transmission with the first roadside unit.

2. The method according to claim 1, characterized in that The method comprises: The first roadside unit list includes a second identifier corresponding to a second roadside unit associated with the first roadside unit.

3. The method according to claim 2, characterized in that The method comprises: The first onboard unit list includes a third identifier corresponding to a historically connected roadside unit; The second on-vehicle unit list stores the fourth identifier.

4. The method according to claim 1, characterized in that If the comparison result is that the first identifier is the same as the fourth identifier, and if the verification result is that the verification is successful, updating the first on-board unit list and the second on-board unit list according to the first identifier and the first roadside unit list to complete data transmission with the first roadside unit, including: The first on-board unit list is updated according to the first identifier, and the second on-board unit list is updated according to the first roadside unit list.

5. The method according to claim 1, characterized in that If the comparison result is that the first identifier is the same as the fifth identifier, and if the verification result is that the verification is successful, updating the first on-board unit list and the second on-board unit list according to the first identifier and the first roadside unit list to complete data transmission with the first roadside unit, including: If the second data packet sent by the currently connected roadside unit is not received within the update time interval, the first onboard unit list is updated according to the first identifier, and the second onboard unit list is updated according to the first roadside unit list.

6. The method according to claim 5, characterized in that The method comprises: After detecting an emergency braking process, generating braking information; The braking information is sent to the first roadside unit, so as to synchronize the braking information to other roadside units and a server through the first roadside unit.

7. The method according to claim 6, characterized in that After sending the braking information to the first roadside unit so as to synchronize the braking information to other roadside units and a server through the first roadside unit, the method further includes: Receive the best path information sent by the server.

8. A vehicle-mounted communication device, characterized in that: The vehicle-mounted communication device comprises: a receiving unit, a verification unit and an updating unit. The receiving unit is configured to receive a first data packet corresponding to a first roadside unit; wherein the first data packet carries a first roadside unit list corresponding to the first roadside unit; The verification unit is used to compare the first identifier of the first roadside unit stored in the first roadside unit list with the fourth identifier and the fifth identifier respectively to obtain a comparison result; and if the comparison result is that the first identifier is the same as the fourth identifier, then the verification result of the first data packet is determined to be a successful verification; and if the comparison result is that the first identifier is the same as the fifth identifier, then the verification result is determined to be a successful verification; and if the comparison result is that the first identifier is different from the fourth identifier, and the first identifier is different from the fifth identifier, then the verification result is determined to be a failed verification; wherein the fourth identifier is the identifier corresponding to the currently connected roadside unit in the first on-board unit list; the fifth identifier is the identifier corresponding to the third roadside unit associated with the currently connected roadside unit in the second on-board unit list; The updating unit is configured to update the first onboard unit list and the second onboard unit list according to the first identifier and the first roadside unit list if the verification result is successful, so as to complete data transmission with the first roadside unit.

9. A vehicle-mounted communication device, characterized in that: The vehicle-mounted communication device includes a processor and a memory storing instructions executable by the processor. When the instructions are executed by the processor, the data transmission method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a program stored thereon, applied to a vehicle-mounted communication device, wherein when the program is executed by a processor, the data transmission method according to any one of claims 1 to 7 is implemented.

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