A message sending method, device and vehicle-mounted unit OBU

Abstract

The present invention provides a message sending method, device and on-board unit (OBU). The method is applied to the on-board unit, including: obtaining original vehicle data of multiple vehicles generated by a simulation platform; generating a basic safety message BSM message group according to the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle; and sending the BSM messages in the BSM message group. The scheme of the present invention can realize the use of a single OBU to simulate the generation of BSM messages of multiple vehicles, and send the BSM messages of multiple vehicles through real radio frequency, without the need to purchase additional hardware equipment, which can save costs.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a message sending method, device and onboard unit (Onboard Unit, OBU). Background Art

[0002] With the promotion and popularization of C-V2X technology, the demand for application function or performance verification in large-scale V2X device scenarios (such as 50 or more) is increasing.

[0003] At present, the existing technology mainly realizes the radio frequency broadcast of the Basic Safety Message (BSM) message of a single vehicle based on the radio frequency signal generator and the vehicle to everything (V2X) message packaging program on the PC side (such as the Car2X component of Vector CANOE). The existing technology can only simulate a single OBU device to send BSM messages, and requires the use of radio frequency signal generators and PC-side devices, which has a high cost. Summary of the invention

[0004] The invention provides a message sending method, device and on-board unit OBU, which solves the problem of high cost of the existing solution of simulating OBU equipment to send BSM messages.

[0005] In a first aspect, an embodiment of the present invention provides a message sending method, which is applied to an on-board unit OBU, comprising:

[0006] Obtaining original vehicle data of multiple vehicles generated by the simulation platform;

[0007] Generate a basic safety message BSM message group according to the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle;

[0008] Send the BSM message in the BSM message group.

[0009] Optionally, generating a basic safety message BSM message group according to the original vehicle data includes:

[0010] Generate a vehicle information array according to the original vehicle data, wherein the vehicle information array includes a vehicle information structure corresponding to each vehicle;

[0011] The BSM message group is generated according to the vehicle information array; wherein one BSM message is generated corresponding to each vehicle information structure.

[0012] Optionally, the sending the BSM in the BSM message group includes:

[0013] Obtain channel congestion information;

[0014] The BSM message in the BSM message group is sent according to the congestion information.

[0015] Optionally, sending a BSM message in the BSM message group includes:

[0016] Encrypting the BSM message;

[0017] The encrypted BSM message is broadcasted through the air interface.

[0018] Optionally, the original vehicle data includes at least one of the following: vehicle attributes, vehicle location data and vehicle body data.

[0019] Optionally, the vehicle body data includes at least one of the following: gear status, steering wheel steering angle, brake status, wheel braking status, working status of traction control system, working status of anti-lock braking system, working status of vehicle stability control system, working status of brake power system, and working status of brake assist system.

[0020] Optionally, the location data includes at least one of the following: longitude, latitude, altitude, speed, heading angle, three-axis acceleration, and yaw angular velocity.

[0021] Optionally, the OBU is connected to the simulation platform for communication via a transmission control protocol TCP or a user datagram protocol UDP.

[0022] In a second aspect, an embodiment of the present invention provides a message sending device, which is applied to an on-board unit OBU, comprising:

[0023] An acquisition module, used to acquire original vehicle data of multiple vehicles generated by the simulation platform;

[0024] A generating module, configured to generate a basic safety message BSM message group according to the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle;

[0025] The sending module is used to send the BSM message in the BSM message group.

[0026] In a third aspect, an embodiment of the present invention provides an on-board unit OBU, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the message sending method described in the first aspect are implemented.

[0027] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the message sending method described in the first aspect.

[0028] The beneficial effects of the above technical solution of the present invention are:

[0029] In the above scheme, the on-board unit OBU obtains the original vehicle data of multiple vehicles generated by the simulation platform; generates a basic safety message BSM message group based on the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle; and sends the BSM messages in the BSM message group. In this way, it is possible to simulate and generate BSM messages of multiple vehicles using a single OBU, and send BSM messages of multiple vehicles through real radio frequency. In this way, there is no need to purchase additional hardware equipment, which reduces the cost of the scheme. Moreover, since no additional PC-side processing software and radio frequency signal generator are used, the delay can be reduced, the learning cost can be reduced, and the problem of low customization of BSM messages assembled using existing PC-side software can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A flowchart showing a message sending method according to an embodiment of the present invention;

[0031] Figure 2 A structural block diagram showing a message sending device according to an embodiment of the present invention;

[0032] Figure 3 A schematic diagram showing the hardware structure of an on-board unit OBU according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present invention. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. In addition, for clarity and brevity, the description of known functions and structures is omitted.

[0034] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present invention. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0035] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0036] Additionally, the terms "system" and "network" are often used interchangeably herein.

[0037] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] First, the solutions of the prior art are introduced.

[0040] At present, the existing solutions are mainly based on the radio frequency signal generator and the PC-side V2X message packaging program (such as VectorCANOE's Car2X component) to realize the radio frequency broadcast of single-vehicle BSM messages. This solution has the following problems:

[0041] (1) Can only simulate a single device;

[0042] (2) Additional PC software (such as CANOE Car2X) is required to assemble BSM messages, which results in a low degree of customization;

[0043] (3) From the simulation software to the PC processing software and then to the RF signal generator, there are many processing links, resulting in high latency;

[0044] (4) Does not support V2X message security encryption;

[0045] (5) It is necessary to master the complex configuration of PC processing software and RF signal generator, which has a high learning cost;

[0046] (6) The overall cost of the solution is very high.

[0047] Specifically, the embodiments of the present invention provide a message sending method, device and on-board unit (OBU), which solve the problem of high cost of the existing solution of simulating OBU equipment to send BSM messages.

[0048] First embodiment

[0049] like Figure 1 As shown, an embodiment of the present invention provides a message sending method, which is applied to an on-board unit OBU, and specifically includes the following steps:

[0050] Step 101: Obtain original vehicle data of multiple vehicles generated by a simulation platform.

[0051] In this step, the OBU communicates with the simulation platform via the transmission control protocol TCP or the user datagram protocol UDP to obtain the original vehicle data of multiple vehicles generated by the simulation platform. Wherein, when the TCP method is adopted, the simulation platform side is the server side and the OBU side is the client side.

[0052] In specific implementation, the original vehicle data of multiple vehicles can be generated in real time through simulation software and transmitted to the OBU in real time, so that the OBU generates BSM messages based on the dynamic original vehicle data.

[0053] In detail, the original vehicle data includes at least one of the following: vehicle attributes (such as vehicle type), vehicle location data, and vehicle body data.

[0054] Optionally, the original vehicle body data includes at least one of the following: gear status, steering wheel steering angle, brake status, wheel brake status, working status of traction control system, working status of anti-lock braking system, working status of vehicle stability control system, working status of brake power assist system, working status of brake assist system (such as handbrake status, headlight status and vehicle speed status).

[0055] Optionally, the location data includes at least one of the following: longitude, latitude, altitude, speed, heading angle, three-axis acceleration, and yaw angular velocity.

[0056] Step 102: Generate a basic safety message BSM message group according to the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle.

[0057] In this step, the OBU can obtain the vehicle information of each vehicle based on the original vehicle data, and based on the vehicle information of each vehicle, generate a BSM message for each vehicle, and finally obtain a BSM message group.

[0058] Step 103: Send the BSM message in the BSM message group.

[0059] In specific implementation, the BSM messages in the BSM message group may be traversed, and each BSM message may be broadcast through a built-in radio frequency module until all the BSM messages in the BSM message group are broadcast.

[0060] In the above embodiment, it is possible to utilize a single OBU to simulate and generate BSM messages for multiple vehicles, and send BSM messages for multiple vehicles through the built-in RF module of the OBU. In this way, there is no need to purchase additional hardware equipment, thereby reducing the cost of the solution. Moreover, since no additional PC-side processing software and RF signal generator are used, latency can be reduced, learning costs can be reduced, and the problem of low degree of customization of BSM messages assembled using existing PC-side software can be avoided.

[0061] In a specific embodiment, in the above step 102, generating a basic safety message BSM message group according to the original vehicle data includes:

[0062] Generate a vehicle information array according to the original vehicle data, wherein the vehicle information array includes a vehicle information structure corresponding to each vehicle;

[0063] The BSM message group is generated according to the vehicle information array; wherein one BSM message is generated corresponding to each vehicle information structure.

[0064] In specific implementation, the OBU side can configure parameters through management tools or program running parameters, configure the IP and port for receiving raw vehicle data, and the simulation platform and OBU predefine each field in the raw vehicle data. The data length of each vehicle in the raw vehicle data is equal and fixed. In this way, the number of vehicles can be automatically calculated according to the length of the received data, and the raw vehicle data of each vehicle can be distinguished to obtain the vehicle information of each vehicle. The vehicle information of multiple vehicles is generated into a vehicle information array, so that the vehicle information array includes a multi-vehicle information structure array, and each vehicle corresponds to a vehicle information structure.

[0065] Furthermore, when there is a demand for BSM transmission, the vehicle information of each vehicle is obtained based on the vehicle information structure of each vehicle, and the vehicle information is filled into the standard BSM message structure to generate a BSM message.

[0066] It should be pointed out that the above implementation method is only an example. In the specific implementation, the parameters of the original vehicle data of each vehicle can be changed according to the needs based on the transmission protocol pre-agreed between the OBU and the simulation platform; wherein, the parameters of each original vehicle data include a parameter ID and a parameter data type, and the parameter ID can be used to determine which parameter it corresponds to, and the parameter data type can be used to determine the data length of the parameter.

[0067] In the above embodiment, a vehicle information array is generated according to the original vehicle data, and each vehicle in the vehicle information array corresponds to a vehicle information structure. In this way, on the one hand, it can avoid the problem of BSM message accumulation when the receiving frequency of the OBU is greater than the BSM sending frequency, resulting in the BSM message sending not being in real time; on the other hand, the vehicle information array is maintained based on the vehicle information structure, and the vehicle aging time can be set. In this way, when the original vehicle data of a vehicle is interrupted for a period of time and then restored, it can still work normally directly without re-establishing the vehicle information, which can reduce time overhead and improve the real-time sending of BSM messages.

[0068] In a specific embodiment, in the above step 103, sending the BSM in the BSM message group includes:

[0069] Obtain channel congestion information;

[0070] The BSM message in the BSM message group is sent according to the congestion information.

[0071] In specific implementation, the channel busy rate (CBR) can be obtained regularly, and the vehicle density can be judged based on the channel busy rate. If the vehicle density is judged to be high, the sending interval of the BSM message is increased; if the vehicle density is judged to be low, the sending interval of the BSM message is reduced. In this way, the sending frequency of the BSM message can be adjusted based on the congestion information of the channel to avoid the increase of the packet loss rate due to congestion, which affects the normal sending of the BSM message.

[0072] In a specific embodiment, in the above step 103, sending the BSM message in the BSM message group includes:

[0073] Encrypting the BSM message;

[0074] The encrypted BSM message is broadcasted through the air interface.

[0075] In specific implementation, the BSM message may be encoded and encrypted based on the application of an Intelligent Transportation Systems (ITS) protocol stack, and then broadcasted through an air interface.

[0076] In the above scheme, a single OBU-based and hardware-software combination method can be used to simulate the process of broadcasting BSM messages of a large number of vehicles and realize OBU multiplexing, which has the following advantages:

[0077] 1. One OBU can theoretically simulate up to 50 vehicles;

[0078] 2. No additional software is required on the PC to process, avoiding the problem of low degree of customization;

[0079] 3. OBU directly receives the original vehicle data from the simulation platform and sends it out via radio frequency after processing, with low latency and high efficiency;

[0080] 4. Support V2X message security encryption;

[0081] 5. Simple operation, almost zero configuration, and low learning cost;

[0082] 6. Low cost and high equipment utilization.

[0083] In addition, in the specific implementation, the OBU can embed processing program modules, including: multi-vehicle information module, processing middleware module, BSM sending module, air interface message transceiver interface, and application ITS protocol stack module. Among them, the multi-vehicle information module is used to receive external original vehicle data and generate vehicle information; the processing middleware module is used to provide CBR (congestion information) data to the BSM sending module; the BSM sending module is used to send a request to the multi-vehicle information module to obtain vehicle information, assemble BSM messages of multiple vehicles according to the vehicle information, and send BSM messages according to the CBR situation; the air interface message transceiver interface is used to receive BSM messages and forward them to the application ITS protocol stack; the application ITS protocol stack module is used to encode and encrypt BSM messages and provide them to the air interface for broadcasting.

[0084] Second embodiment

[0085] like Figure 2 As shown, an embodiment of the present invention provides a message sending device 200, which is applied to an on-board unit OBU, including:

[0086] An acquisition module 201 is used to acquire original vehicle data of multiple vehicles generated by a simulation platform;

[0087] A generating module 202, configured to generate a basic safety message BSM message group according to the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle;

[0088] The sending module 203 is used to send the BSM message in the BSM message group.

[0089] Optionally, the generating module 202 includes:

[0090] A first generating submodule, configured to generate a vehicle information array according to the original vehicle data, wherein the vehicle information array includes a vehicle information structure corresponding to each vehicle;

[0091] The second generating submodule is used to generate the BSM message group according to the vehicle information array; wherein one BSM message is generated corresponding to each vehicle information structure.

[0092] Optionally, the sending module 203 includes:

[0093] A first processing submodule, used for obtaining channel congestion information;

[0094] The first sending submodule is used to send the BSM message in the BSM message group according to the congestion information.

[0095] Optionally, the sending module 203 includes:

[0096] An encryption processing submodule, used for encrypting the BSM message;

[0097] The second sending submodule is used to broadcast the encrypted BSM message through the air interface.

[0098] Optionally, the original vehicle data includes at least one of the following: vehicle attributes, vehicle location data and vehicle body data.

[0099] Optionally, the vehicle body data includes at least one of the following: gear status, steering wheel steering angle, brake status, wheel braking status, working status of traction control system, working status of anti-lock braking system, working status of vehicle stability control system, working status of brake power system, and working status of brake assist system.

[0100] Optionally, the location data includes at least one of the following: longitude, latitude, altitude, speed, heading angle, three-axis acceleration, and yaw angular velocity.

[0101] Optionally, the OBU is connected to the simulation platform for communication via a transmission control protocol TCP or a user datagram protocol UDP.

[0102] The second embodiment of the present invention corresponds to the method of the first embodiment. All implementation means in the first embodiment are applicable to the embodiment of the message sending device and can achieve the same technical effect.

[0103] Third embodiment

[0104] In order to better achieve the above goals, Figure 3 As shown, the third embodiment of the present invention further provides an on-board unit OBU, comprising:

[0105] A processor 300; and a memory 320 connected to the processor 300 via a bus interface, wherein the memory 320 is used to store programs and data used by the processor 300 when performing operations, and the processor 300 calls and executes the programs and data stored in the memory 320.

[0106] The transceiver 310 is connected to the bus interface and is used to receive and send data under the control of the processor 300; the processor 300 is used to read the program in the memory 320 to implement the following steps:

[0107] Obtaining original vehicle data of multiple vehicles generated by the simulation platform;

[0108] Generate a basic safety message BSM message group according to the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle;

[0109] Send the BSM message in the BSM message group.

[0110] Among them, Figure 3 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 300 and various circuits of memory represented by memory 320 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 310 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. For different terminals, the user interface 330 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like. The processor 300 is responsible for managing the bus architecture and general processing, and the memory 320 may store data used by the processor 300 when performing operations.

[0111] Optionally, the processor 300 is configured to read a program in the memory 320 to implement the following steps:

[0112] Generate a vehicle information array according to the original vehicle data, wherein the vehicle information array includes a vehicle information structure corresponding to each vehicle;

[0113] The BSM message group is generated according to the vehicle information array; wherein one BSM message is generated corresponding to each vehicle information structure.

[0114] Optionally, the processor 300 is configured to read a program in the memory 320 to implement the following steps:

[0115] Obtain channel congestion information;

[0116] The BSM message in the BSM message group is sent according to the congestion information.

[0117] Optionally, the processor 300 is configured to read a program in the memory 320 to implement the following steps:

[0118] Encrypting the BSM message;

[0119] The encrypted BSM message is broadcasted through the air interface.

[0120] Optionally, the original vehicle data includes at least one of the following: vehicle attributes, vehicle location data, and vehicle body data.

[0121] Optionally, the vehicle body data includes at least one of the following: gear status, steering wheel steering angle, brake status, wheel braking status, working status of traction control system, working status of anti-lock braking system, working status of vehicle stability control system, working status of brake power assist system, and working status of brake assist system.

[0122] Optionally, the location data includes at least one of the following: longitude, latitude, altitude, speed, heading angle, three-axis acceleration, and yaw angular velocity.

[0123] Optionally, the OBU is connected to the simulation platform for communication via a transmission control protocol TCP or a user datagram protocol UDP.

[0124] The on-board unit OBU provided by the present invention can realize the use of a single OBU to simulate the generation of BSM messages for multiple vehicles, and send the BSM messages for multiple vehicles through real radio frequency. In this way, there is no need to purchase additional hardware equipment, which reduces the cost of the solution. Moreover, since no additional PC-side processing software and radio frequency signal generator are used, the delay can be reduced, the learning cost can be reduced, and the problem of low customization of BSM messages assembled using existing PC-side software can be avoided.

[0125] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing relevant hardware through a computer program, wherein the computer program includes instructions for executing part or all of the steps of the above method; and the computer program may be stored in a readable storage medium, and the storage medium may be any form of storage medium.

[0126] In addition, a specific embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method in the first embodiment described above are implemented. The same technical effect can be achieved, and to avoid repetition, it will not be described here.

[0127] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0128] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0129] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A message sending method, characterized in that: Applied to on-board unit OBU, including: Obtaining original vehicle data of multiple vehicles generated by the simulation platform; Generate a basic safety message BSM message group according to the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle; Sending a BSM message in the BSM message group; Wherein, generating a basic safety message BSM message group according to the original vehicle data includes: Generate a vehicle information array according to the original vehicle data, wherein the vehicle information array includes a vehicle information structure corresponding to each vehicle; Generate the BSM message group according to the vehicle information array; wherein each vehicle information structure generates a BSM message; The sending of the BSM in the BSM message group includes: Determine vehicle density based on channel busy rate; If it is determined that the vehicle density is large, the sending interval of the BSM message is increased; if it is determined that the vehicle density is small, the sending interval of the BSM message is reduced until all the BSM messages in the BSM message group are broadcast.

2. The message sending method according to claim 1, characterized in that: The sending of the BSM in the BSM message group includes: Obtain channel congestion information; The BSM message in the BSM message group is sent according to the congestion information.

3. The message sending method according to claim 1, characterized in that: The sending of the BSM message in the BSM message group includes: Encrypting the BSM message; The encrypted BSM message is broadcasted through the air interface.

4. The message sending method according to claim 1, characterized in that: The original vehicle data includes at least one of the following: vehicle attributes, vehicle position data, and vehicle body data.

5. The message sending method according to claim 4, characterized in that: The vehicle body data includes at least one of the following: gear status, steering wheel steering angle, brake status, wheel brake status, working status of traction control system, working status of anti-lock braking system, working status of vehicle stability control system, working status of brake power system, and working status of brake assist system.

6. The message sending method according to claim 4, characterized in that: The location data includes at least one of the following: longitude, latitude, altitude, speed, heading angle, three-axis acceleration, and yaw angular velocity.

7. The message sending method according to claim 1, characterized in that: The OBU is connected to the simulation platform through the transmission control protocol TCP or the user datagram protocol UDP.

8. An on-board unit OBU, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the message sending method as claimed in any one of claims 1 to 7 when executing the computer program.

9. A message sending device, characterized in that: Applied to on-board unit OBU, including: An acquisition module, used to acquire original vehicle data of multiple vehicles generated by the simulation platform; A generating module, configured to generate a basic safety message BSM message group according to the original vehicle data; wherein the BSM message group includes a BSM message corresponding to each vehicle; A sending module, used for sending the BSM message in the BSM message group; The generating module comprises: A first generating submodule, configured to generate a vehicle information array according to the original vehicle data, wherein the vehicle information array includes a vehicle information structure corresponding to each vehicle; A second generation submodule is used to generate the BSM message group according to the vehicle information array; wherein each vehicle information structure generates a corresponding BSM message; The sending module is specifically used to: judge the vehicle density based on the channel busy rate; if the vehicle density is judged to be large, increase the sending interval of the BSM message; if the vehicle density is judged to be small, reduce the sending interval of the BSM message until all the BSM messages in the BSM message group are broadcast.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the message sending method according to any one of claims 1 to 7 are implemented.

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