Methods, devices and systems for transmitting road information

Abstract

This application provides a method, apparatus, and system for transmitting road information. The method includes: a first device acquiring first road information and first air interface resource scheduling information, wherein the first road information is road information corresponding to a first roadside device, the first roadside device being a roadside device in a first region, and the first air interface resource scheduling information indicating a first scheduling status of air interface resources in a target region, the target region including the first region; the first device determining target information based on the first road information and the first air interface resource scheduling information, the target information including first indication information indicating the use of first air interface resources to transmit the first road information; and the first device transmitting the target information. This method, while ensuring that roadside devices can transmit road information to more distant areas, is beneficial for improving resource utilization.

Description

Technical Field

[0001] This application relates to the field of vehicle networking technology, and more specifically, to a method, apparatus and system for transmitting road information. Background Technology

[0002] During operation, vehicles need to continuously monitor their surroundings to make appropriate decisions and adapt to changes in driving behavior caused by environmental changes. In vehicle-to-everything (V2X) networks, roadside fusion sensing devices (e.g., mobile edge computing devices) perceive roadside information through sensing devices (e.g., sensors or radar) and transmit this information to roadside units (RSUs) within their broadcast area. These RSUs can then relay the acquired roadside information to vehicles communicating with them. However, the distance at which roadside information is perceived by the roadside fusion sensing devices is limited, typically 200 to 250 meters. Consequently, the road information acquired by vehicles is also limited, hindering better decision-making. In related technologies, even when supporting roadside units to acquire road information over more distant areas, low resource utilization remains a concern.

[0003] Therefore, there is an urgent need for a method to transmit road information that can improve resource utilization while ensuring that roadside equipment can transmit road information to more distant areas. Summary of the Invention

[0004] This application provides a method, apparatus, and system for transmitting road information. This method helps improve resource utilization while ensuring that roadside equipment can transmit road information to more distant areas.

[0005] In a first aspect, a method for transmitting road information is provided, the method comprising: a first device acquiring first road information and first air interface resource scheduling information, wherein the first road information is road information corresponding to a first roadside device, the first roadside device is a roadside device in a first region, and the first air interface resource scheduling information is used to indicate a first scheduling status of air interface resources in a target region, the target region including the first region; the first device determining target information based on the first road information and the first air interface resource scheduling information, the target information including first indication information, the first indication information being used to indicate the use of first air interface resources to transmit the first road information; and the first device transmitting the target information.

[0006] The first scheduling status of air interface resources in the target area includes, but is not limited to, the scheduling status of the first air interface resource. That is, the first scheduling status of air interface resources in the target area can include the scheduling status of one or more air interface resources in the target area, and the scheduling status of these one or more air interface resources includes the scheduling status of the first air interface resource. Optionally, in some implementations, the first indication information can include first road information and information for identifying the first air interface resource. The information for identifying the first air interface resource is not specifically limited. In one example, the information for identifying the first air interface resource can be the identifier of the first air interface resource. In another example, the information for identifying the first air interface resource can be the specific identifier of the resource included in the first air interface resource. For example, when the first air interface resource includes time-domain resources and frequency-domain resources, the information for identifying the first air interface resource can be the identifier of the time-domain resource and the identifier of the frequency-domain resource. Optionally, in other implementations, the first road information and the information for identifying the first air interface resource can also be carried by information other than the first indication information, such as, but not limited to, target information.

[0007] In the above technical solution, the first device can determine target information, including first instruction information, based on the acquired first road information and first air interface resource scheduling information. The first instruction information is used to instruct the use of first air interface resources to transmit the first road information. Subsequently, the first device transmits the target information, enabling roadside devices receiving the target information to use first air interface resources to transmit the first road information, thus improving resource utilization. When the roadside device receiving the target information is another roadside device in the target area besides the first roadside device, it enables other roadside devices in the target area to transmit the first road information to a more distant area. In other words, this method improves resource utilization while ensuring that roadside devices can transmit road information to more distant areas.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the first device is the first roadside device, the first area includes M roadside devices, the M roadside devices include the first device, M is a positive integer, and the method further includes: the first device occupies the first air interface resources to send the first road information.

[0009] Optionally, when the first device is a first roadside device, the first device may acquire the first road information and the first air interface resource scheduling information by the following steps: the first device receives information broadcast by the first fusion sensing device, the information including at least one of the following: the first road information or the first air interface resource scheduling information.

[0010] Optionally, when the first device is a first roadside device, the first device sending the target information includes: the first device sending the target information to vehicles communicating with the first device. In the above technical solution, the first device is a roadside device (i.e., the first roadside device). Based on this, the first device can also occupy the first air interface resources to send the first road information so that vehicles within the broadcast area of ​​the first device can receive the first road information.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the target information further includes second instruction information, which is used to instruct the first instruction information to be sent to one or more roadside devices other than the first roadside device among the M roadside devices, or the second instruction information is used to instruct the first instruction information to be sent to one or more roadside devices in a second region, the target region including the second region.

[0012] The target area includes a first area and a second area. The first and second areas can be adjacent or non-adjacent; there is no specific limitation in this regard. It is understood that when the second area includes multiple roadside devices, some or all of these roadside devices can occupy the first air interface resources to transmit the first road information, depending on actual needs. For example, if the second area includes three roadside devices, only two of the three roadside devices can occupy the first air interface resources to transmit the first road information, depending on actual needs. Similarly, if the second area includes three roadside devices, all three roadside devices can occupy the first air interface resources to transmit the first road information, depending on actual needs.

[0013] In the above technical solution, the first area includes one or more roadside devices other than the first roadside device (i.e., the first device). By carrying second indication information in the target information, the one or more roadside devices other than the first roadside device in the first area can also occupy the first air interface resources to transmit the first road information. This method is beneficial to improving resource utilization while ensuring that roadside devices (e.g., roadside devices other than the second roadside device in the first area) can transmit road information to more distant areas.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: the first device acquiring third indication information, the third indication information being used to indicate the use of second air interface resources to transmit second road information, the second road information being road information corresponding to a second roadside device, the second roadside device being one of the M roadside devices other than the first roadside device, or the second roadside device being a roadside device in a second region, the target region including the second region; the first device using the second air interface resources to transmit the second road information.

[0015] The second air interface resource can be the same as or a different from the first air interface resource described above.

[0016] Optionally, the third indication information is determined by the first fusion sensing device based on the second road information and the second air interface resource scheduling information, wherein the second air interface resource scheduling information is used to indicate the second scheduling status of air interface resources in the target area.

[0017] The second scheduling status of air interface resources in the target area includes, but is not limited to, the scheduling status of the second air interface resources. That is, the second scheduling status of air interface resources in the target area may include the scheduling status of one or more air interface resources in the target area, and the scheduling status of the one or more air interface resources includes the scheduling status of the second air interface resources.

[0018] The second scheduling status of air interface resources in the target area, and the first scheduling status of air interface resources in the target area, can be understood as the scheduling status of air interface resources in the target area acquired at different times. Optionally, the second scheduling status of air interface resources in the target area can be the same as or different from the first scheduling status of air interface resources in the target area.

[0019] In the above technical solution, the first device is a first roadside device. The first device can also occupy second air interface resources to transmit second road information. The second road information is road information corresponding to other roadside devices in the first region besides the first roadside device, or the second road information is road information corresponding to roadside devices in the second region. This allows the first device to transmit road information to a more distant area. Considering that the second roadside device or roadside devices in the second region may also occupy second air interface resources to transmit second road information, this embodiment of the invention is beneficial for improving resource utilization.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the first device is a first fusion sensing device, the first area includes M roadside devices, the M roadside devices include the first roadside device, M is a positive integer, and the first device sending the target information includes: the first device sending the target information to the M roadside devices.

[0021] Optionally, when the first device is a first fusion sensing device, the first device acquiring the first road information includes: the first device acquiring the first road information from sensing devices within the first area. The sensing devices within the first area include, but are not limited to, radar, cameras, or sensors.

[0022] Optionally, when the first device is a first fusion sensing device, the first device obtaining the first air interface resource scheduling information includes: the first device obtaining the first air interface resource scheduling information from a third fusion sensing device, wherein the third fusion sensing device is a device communicating with the first fusion sensing device within the target area.

[0023] Optionally, in some implementations, when the first device is a first fusion sensing device, the first device sending the target information includes: the first device sending the target information to roadside devices within the broadcast area of ​​the first device.

[0024] Optionally, in other implementations, when the first device is a first fusion sensing device, sending the target information by the first device includes: the first fusion sensing device sending the target information to a third fusion sensing device, where the third fusion sensing device is a device within the target area that communicates with the first fusion sensing device. In the above technical solution, the first device is a first fusion sensing device. Based on this, after obtaining the target information, the first device can broadcast the second information to M roadside devices in the first area, enabling the M roadside devices in the first area to occupy the first air interface resource to send the first road information. By scheduling the first device, the M roadside devices in the first area can occupy the same air interface resource (i.e., the first air interface resource) to send the same road information (i.e., the first road information), which is beneficial for improving resource utilization. Furthermore, the first road information is the road information corresponding to the first roadside device; roadside devices in the first area other than the first roadside device can also send the first road information, thus enabling roadside devices in the first area other than the first roadside device to send road information to more distant areas. In other words, this method helps improve resource utilization while ensuring that roadside equipment can send road information to more distant areas.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: the first device acquiring second indication information, the second indication information being used to indicate the occupation of second air interface resources to send second road information, the second road information being road information corresponding to a second roadside device, the second roadside device being one of the M roadside devices other than the first roadside device, or the second roadside device being a roadside device in a second region, the target region including the second region; and the first device sending the second indication information.

[0026] Optionally, in some implementations, when the first device is a first fusion sensing device, the first device sending the second indication information includes: the first device sending the second indication information to roadside devices within the broadcast area of ​​the first device.

[0027] Optionally, in other implementations, when the first device is a first fusion sensing device, sending the second indication information includes: the first device sending the second indication information to a third fusion sensing device, which is a device within the target area communicating with the first fusion sensing device. In the above technical solution, the first device is a first fusion sensing device, and the first device can send the second indication information to M roadside devices in the first area, enabling the M roadside devices to occupy second air interface resources to send second road information. The second road information is the road information corresponding to the second roadside device, which is one of the M roadside devices other than the first roadside device, or the second roadside device is a roadside device in the second area. This method, while ensuring that the roadside devices (e.g., M roadside devices) can send road information to more distant areas, is beneficial for improving resource utilization.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the first device acquires the second indication information, including: the first device determines the second indication information based on the second air interface resource scheduling information and the second road information, wherein the second air interface resource scheduling information is used to indicate the second scheduling status of air interface resources in the target area; or the first device receives the second indication information sent by the second fusion sensing device.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the target area further includes a second area, and the first device sending the target information includes: the first device sending the target information to one or more roadside devices in the second area.

[0030] In the above technical solution, after receiving the target information, one or more roadside devices in the second area can occupy the first air interface resources to transmit the first road information. The first road information is the road information corresponding to the first roadside device in the first area. This method helps improve resource utilization while ensuring that roadside devices can transmit road information to more distant areas.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the first air interface resource includes time-domain resources and frequency-domain resources.

[0032] In the above technical solution, the first air interface resource includes time-domain resources and frequency-domain resources. When multiple roadside devices (e.g., M roadside devices in the first region, or the first device in the first region and at least one roadside device in the second region) occupy the first air interface resource to transmit the first road information, it can be understood that these multiple roadside devices occupy the same frequency-domain resource (i.e., the time corresponding to the time-domain resource) at the same time (i.e., the time corresponding to the frequency-domain resource) to transmit the same road information (i.e., the first road information). This method is beneficial to improving resource utilization while ensuring that roadside devices can transmit road information to more distant areas.

[0033] Secondly, an apparatus for transmitting road information is provided, comprising: a transceiver unit, configured to acquire first road information and first air interface resource scheduling information, wherein the first road information is road information corresponding to a first roadside device, the first roadside device is a roadside device in a first region, and the first air interface resource scheduling information is used to indicate a first scheduling status of air interface resources in a target region, the target region including the first region; a determining unit, configured to determine target information based on the first road information and the first air interface resource scheduling information, the target information including first indication information, the first indication information being used to indicate the occupation of first air interface resources to transmit the first road information; the transceiver unit is further configured to transmit the target information.

[0034] The first scheduling status of air interface resources in the target area includes, but is not limited to, the scheduling status of the first air interface resource. In other words, the first scheduling status of air interface resources in the target area may include the scheduling status of one or more air interface resources in the target area, and the scheduling status of the one or more air interface resources includes the scheduling status of the first air interface resource.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the first device is the first roadside device, the first area includes M roadside devices, the M roadside devices include the first device, M is a positive integer, and the transceiver unit is further configured to: occupy the first air interface resources to transmit the first road information.

[0036] Optionally, when the first device is a first roadside device, the first device may acquire the first road information and the first air interface resource scheduling information by the following steps: the first device receives information broadcast by the first fusion sensing device, the information including at least one of the following: the first road information or the first air interface resource scheduling information.

[0037] Optionally, when the first device is a first roadside device, the first device sending the target information includes: the first device sending the target information to the vehicle communicating with the first device.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the target information further includes second instruction information, which is used to instruct the first instruction information to be sent to one or more roadside devices other than the first roadside device among the M roadside devices, or the second instruction information is used to instruct the first instruction information to be sent to one or more roadside devices in a second region, the target region including the second region.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the transceiver unit is further configured to: acquire third indication information, the third indication information being used to indicate the use of second air interface resources to transmit second road information, the second road information being road information corresponding to a second roadside device, the second roadside device being one of the M roadside devices other than the first roadside device, or the second roadside device being a roadside device in a second region, the target region including the second region; and the first device using the second air interface resources to transmit the second road information.

[0040] The second air interface resource can be the same as or a different from the first air interface resource described above.

[0041] Optionally, the third indication information is determined by the first fusion sensing device based on the second road information and the second air interface resource scheduling information, wherein the second air interface resource scheduling information is used to indicate the second scheduling status of air interface resources in the target area.

[0042] The second scheduling status of air interface resources in the target area includes, but is not limited to, the scheduling status of the second air interface resources. That is, the second scheduling status of air interface resources in the target area may include the scheduling status of one or more air interface resources in the target area, and the scheduling status of the one or more air interface resources includes the scheduling status of the second air interface resources.

[0043] The second scheduling status of air interface resources in the target area, and the first scheduling status of air interface resources in the target area, can be understood as the scheduling status of air interface resources in the target area acquired at different times. Optionally, the second scheduling status of air interface resources in the target area can be the same as or different from the first scheduling status of air interface resources in the target area.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the first device is a first fusion sensing device, the first area includes M roadside devices, the M roadside devices include the first roadside device, M is a positive integer, and the transceiver unit is further configured to: send the target information to the M roadside devices.

[0045] Optionally, when the first device is a first fusion sensing device, the first device acquiring the first road information includes: the first device acquiring the first road information from sensing devices within the first area. The sensing devices within the first area include, but are not limited to, radar, cameras, or sensors.

[0046] Optionally, when the first device is a first fusion sensing device, the first device obtaining the first air interface resource scheduling information includes: the first device obtaining the first air interface resource scheduling information from a third fusion sensing device, wherein the third fusion sensing device is a device communicating with the first fusion sensing device within the target area.

[0047] Optionally, in some implementations, when the first device is a first fusion sensing device, the first device sending the target information includes: the first device sending the target information to roadside devices within the broadcast area of ​​the first device.

[0048] Optionally, in other implementations, when the first device is a first fusion sensing device, the first device sending the target information includes: the first fusion sensing device sending the target information to a third fusion sensing device, the third fusion sensing device being a device within the target area that communicates with the first fusion sensing device.

[0049] In conjunction with the second aspect, in some implementations of the second aspect, the transceiver unit is further configured to: acquire second indication information, the second indication information being used to indicate the occupation of second air interface resources to transmit second road information, the second road information being road information corresponding to a second roadside device, the second roadside device being one of the M roadside devices other than the first roadside device, or the second roadside device being a roadside device in a second region, the target region including the second region; and the first device transmitting the second indication information.

[0050] Optionally, in some implementations, when the first device is a first fusion sensing device, the first device sending the second indication information includes: the first device sending the second indication information to roadside devices within the broadcast area of ​​the first device.

[0051] Optionally, in other implementations, when the first device is a first fusion sensing device, the first device sending the second indication information includes: the first device sending the second indication information to a third fusion sensing device, the third fusion sensing device being a device within the target area that communicates with the first fusion sensing device.

[0052] In conjunction with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine the second indication information based on the second air interface resource scheduling information and the second road information, wherein the second air interface resource scheduling information is used to indicate the second scheduling status of air interface resources in the target area; or the first device receives the second indication information sent by the second fusion sensing device.

[0053] In conjunction with the second aspect, in some implementations of the second aspect, the target area also includes a second area, and the transceiver unit is further configured to: send the target information to one or more roadside devices in the second area.

[0054] In conjunction with the second aspect, in some implementations of the second aspect, the first air interface resource includes time-domain resources and frequency-domain resources.

[0055] Thirdly, an apparatus for transmitting road information is provided, including a processor capable of executing computer instructions to implement the methods described in the first aspect and in possible implementations of the first aspect. Optionally, the apparatus for transmitting road information further includes a memory storing the computer instructions, and the processor is coupled to the memory. Optionally, the apparatus for transmitting road information further includes a communication interface for transmitting the computer instructions, and the processor is coupled to the communication interface.

[0056] In one implementation, the device for transmitting road information is a chip or a chip system. When the device for transmitting road information is a chip or a chip system, the communication interface can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The processor can also be manifested as a processing circuit or a logic circuit.

[0057] Fourthly, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is used to receive signals through the input circuit and to transmit signals through the output circuit, thereby enabling the methods described in the first aspect and its possible implementations to be implemented.

[0058] In specific implementation, the processor can be a chip, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be a transistor, gate circuit, flip-flop, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be output to, for example, but not limited to, a transmitter and transmitted by the transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0059] Fifthly, a processing apparatus is provided, including a processor and a memory. The processor is configured to read instructions stored in the memory to execute the methods described in the first aspect and in possible implementations thereof.

[0060] Optionally, the processor may be one or more, and the memory may be one or more.

[0061] Alternatively, the memory can be integrated with the processor, or the memory can be set separately from the processor.

[0062] In the specific implementation process, the memory can be a non-transitory memory, such as read-only memory (ROM), which can be integrated with the processor on the same chip or set on different chips. The embodiments of this application do not limit the type of memory or the way the memory and processor are set.

[0063] It should be understood that the relevant data interaction process, such as sending indication information, can be the process of outputting indication information from the processor, and receiving capability information can be the process of the processor receiving input capability information. Specifically, the processed output data can be output to the transmitter, and the input data received by the processor can come from the receiver. Here, the transmitter and receiver can be collectively referred to as a transceiver.

[0064] The processor mentioned in the fifth aspect above can be a chip. The processor can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor that reads software code stored in memory. The memory can be integrated into the processor or located outside the processor and exist independently.

[0065] In a sixth aspect, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when executed by a processor, implements the methods described in the first aspect and any possible implementation of the first aspect.

[0066] In a seventh aspect, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when executed on a processor, implements the methods of the first aspect above and any possible implementation of the first aspect above.

[0067] Eighthly, a chip system is provided, including at least one processor and an interface; the at least one processor is configured to invoke and run a computer program to cause the chip system to perform the methods described in the first aspect and any possible implementation thereof.

[0068] Ninthly, a system for transmitting road information is provided, including the means for transmitting road information described in the second aspect above. Attached Figure Description

[0069] Figure 1 This is a schematic diagram of the system architecture 100 applicable to embodiments of this application.

[0070] Figure 2 This is a schematic diagram of the air interface resources allocated in the air interface resource pool provided in the embodiments of this application.

[0071] Figure 3 This is a schematic diagram of an application scenario provided in an embodiment of this application.

[0072] Figure 4 This is a schematic diagram of another application scenario provided by the embodiments of this application.

[0073] Figure 5 This is a schematic diagram of another application scenario provided in the embodiments of this application.

[0074] Figure 6 This is a schematic flowchart of a method 600 for sending road information provided in an embodiment of this application.

[0075] Figure 7 This is a schematic interactive diagram illustrating a method for sending road information provided in an embodiment of this application.

[0076] Figure 8 This is a schematic interactive diagram illustrating another method for sending road information provided in an embodiment of this application.

[0077] Figure 9 This is a schematic interactive diagram of a method 900 for sending road information provided in an embodiment of this application.

[0078] Figure 10 This is a schematic interactive diagram of a method 1000 for sending road information provided in an embodiment of this application.

[0079] Figure 11 This is a schematic diagram of a device 1100 for sending road information provided in an embodiment of this application.

[0080] Figure 12 This is a schematic diagram of the hardware structure of a device 1200 for sending road information provided in an embodiment of this application.

[0081] Figure 13 This is a schematic diagram of a system 1300 for sending road information provided in an embodiment of this application. Detailed Implementation

[0082] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0083] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of this application only, and is not intended to limit this application.

[0084] In this application, the terms "first," "second," and "third" are used to distinguish identical or similar items that have essentially the same function. There is no logical or temporal dependency between "first," "second," and "third," nor are there any restrictions on their quantity or execution order.

[0085] This application will present various aspects, embodiments, or features relating to systems that may include multiple devices, components, modules, etc. It should be understood and appreciated that individual systems may include additional devices, components, modules, etc., and / or may not include all the devices, components, modules, etc. discussed in conjunction with the accompanying drawings. Furthermore, combinations of these approaches are also possible.

[0086] Furthermore, in the embodiments of this application, the words "exemplary," "for example," etc., are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the term "exemplary" is intended to present the concept in a concrete manner.

[0087] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0088] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0089] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0090] In this embodiment, the mobile edge computing device can also be referred to as a fusion sensing node or a fusion sensing device. That is, without emphasizing the distinction, mobile edge computing device, fusion sensing node, and fusion sensing device refer to the same type of device. In this embodiment, the roadside unit can also be referred to as a roadside device. That is, without emphasizing the distinction, roadside unit and roadside device refer to the same device.

[0091] The following describes the relevant technologies in the embodiments of this application:

[0092] First, combined Figure 1 The system architecture applicable to the embodiments of this application is described.

[0093] Figure 1 This is a schematic diagram of a system architecture 100 applicable to embodiments of this application. For example... Figure 1 As shown, the system architecture 100 includes, but is not limited to: a cloud control platform, a V2X server, a mobile edge computing (MEC) server, mobile edge computing devices (such as MEC1 and MEC2), roadside units (RSUs) (such as RSU1 and RSU2), roadside aggregation switches (such as roadside aggregation switch 1 and roadside aggregation switch 2), sensing devices (such as millimeter-wave radar, cameras, and lidar), traffic lights, and connected vehicles (such as vehicles 1 to 6).

[0094] Cloud control platform: It is a data storage, analysis, and planning decision-making platform for vehicle-road cooperative solutions.

[0095] V2X server: This is a vehicle-to-the-cloud server, primarily responsible for RSU management and cloud-based business decisions related to vehicle-road cooperation. This application does not limit the specific deployment form of the V2X server; it can be deployed in the cloud or as a standalone computer device. In different application scenarios, V2X servers have various implementation methods; for example, a vehicle-to-the-network server can specifically be an automated valet parking (AVP) server.

[0096] MEC Server: This is the control and management server for MEC devices, primarily responsible for the management of MEC devices (such as MEC1 and MEC2).

[0097] MEC: Mobile Edge Computing (also known as Fusion Sensing), primarily responsible for collecting and analyzing information from roadside sensor devices and performing multi-sensor fusion processing. For example, using... Figure 1 For example, after receiving road information from millimeter-wave radar 1, camera 1 and lidar 1, MEC1 performs analysis, detection, tracking and identification on this road information.

[0098] RSU (Roadside Unit): Installed on the roadside, it provides communication services to vehicles. For example, the RSU can communicate via V2X direct communication (also known as PC5 communication) interface in unicast or multicast mode. In this embodiment, communication between the V2X server and the connected vehicle is completed through the roadside unit, for example, the V2X server and the connected vehicle communicate via RSU V2X. The air interface resources used by the RSU to provide communication services can be determined autonomously by the RSU or negotiated with surrounding RSU units. The surrounding RSU units and the RSU can be within the same MEC's ​​broadcast range, or they can be within the broadcast range of different MECs.

[0099] In this embodiment, the air interface resources used by the RSU include at least one resource block that uses a frequency identifier and a time identifier as unique identifiers. This embodiment can configure an air interface resource pool, which includes multiple air interface resources, such as... Figure 2 The diagram shown is a schematic of the air interface resources allocated in the air interface resource pool provided in this embodiment of the application. Figure 2 The illustration shows the allocation of the air interface resource pool, where each small block represents an air interface resource, also known as a resource block. The RSU uses these air interface resources to send messages to the connected vehicles. Figure 2 In the air interface, the vertical direction of air interface resources is indicated by a frequency (subchannel) identifier, while the horizontal direction is indicated by a time (subframe) identifier. Both frequency and time identifiers can uniquely identify a resource block. For example, the length of a time segment is 1ms; a time segment can also be called a subframe. Figure 2 Each filled shape represents a different resource block. Multiple resource blocks with the same filled shape are assigned to the same connected vehicle, while resource blocks with different filled shapes are assigned to different services.

[0100] Connected vehicles: These are intelligent connected vehicles equipped with communication units featuring V2X direct communication interfaces, such as... Figure 1 Vehicles 6 through 7 are mentioned. Specifically, a connected vehicle can be a vehicle-to-everything (V2X) terminal or a functional unit or chip integrated within it. The type of V2X terminal described in this application embodiment is not limited; it can be a vehicle, a non-motorized vehicle, a portable device, a wearable device, etc. When the V2X terminal is a vehicle, the functional unit integrated within it can be a telematics box (T-Box), a domain controller (DC), a multi-domain controller (MDC), or an on-board unit (OBU), etc.

[0101] Sensing devices: These include millimeter-wave radar, cameras, lidar, and other sensing devices. These devices can acquire road information within their broadcast area.

[0102] Roadside aggregation switch: Used to aggregate road information acquired by sensing devices and send it to the MEC devices with which they communicate. For example, after receiving road information acquired by millimeter-wave radar 1 and camera 1, roadside aggregation switch 1 can send this information to MEC 1 in a unified manner.

[0103] Optionally, the system architecture 100 described above may not include roadside aggregation switches (roadside aggregation switch 1 and roadside aggregation switch 2). In this case, the sensing information acquired by the sensing devices is directly sent to the MEC with which they communicate. For example, when the system architecture 100 does not include roadside aggregation switch 1, camera 1 acquires road information and directly sends the acquired road information to MEC1, and lidar 1 acquires road information and directly sends the acquired road information to MEC1.

[0104] It should be understood that the above Figure 1 The system architecture 100 shown is applicable to the embodiments of this application and the above-described system architecture 100. Figure 2 The air interface resource pool shown is for illustrative purposes only and does not constitute any limitation on this application. (The above...) Figure 1 The area shown (denoted as the target area) includes two MECs (MEC1 and MEC2) that can communicate with each other. Optionally, the target area can also include more MECs, for example... Figure 3The target area shown includes three MECs: MEC1, MEC2, and MEC3. Any two of these three MECs can communicate with each other. Figure 1 The broadcast area of ​​each MEC in the target area shown includes only one RSU. Optionally, the broadcast area of ​​each MEC may also include more RSUs, for example... Figure 4 The target areas shown include MEC1, MEC2, and MEC3. MEC1's broadcast area includes three RSUs (RSU1a, RSU1b, and RSU1c), MEC2's broadcast area includes two RSUs (RSU2a and RSU2b), and MEC3's broadcast area includes two RSUs (RSU3a and RSU3b). Optionally, when the target area includes two or more MECs, only one MEC may correspond to multiple RSUs, and each of the remaining MECs may correspond to one RSU. Optionally, the above system architecture 100 may also include multiple target areas, for example... Figure 5 The scene shown.

[0105] This application provides a method and apparatus for transmitting road information. This method improves resource utilization while ensuring that roadside equipment can acquire road information from more distant areas.

[0106] Below, in conjunction with Figures 6 to 10 This application describes a method for sending road information provided in its embodiments.

[0107] Figure 6 This is a schematic flowchart illustrating a method 600 for sending road information according to an embodiment of this application. This method 600 can be applied, but is not limited to, the methods described above. Figure 1 In the system architecture 100 shown. For example, when the method 600 is applied to system architecture 100, the first device can be a MEC (e.g., MEC1 or MEC2) in system architecture 100, and the first device can also be an RSU (e.g., RSU1 or RSU2) in system architecture 100. The method 600 includes steps 610 to 630, which are described in detail below.

[0108] Step 610: The first device acquires the first road information and the first air interface resource scheduling information. The first road information is the road information corresponding to the first roadside device. The first roadside device is the roadside device in the first region. The first air interface resource scheduling information is used to indicate the first scheduling status of air interface resources in the target region. The target region includes the first region.

[0109] Here, the first road information refers to the road information corresponding to the first roadside device, and the first roadside device is the roadside device in the first area. For example, taking... Figure 3Let's take the first road information as an example. When the first area is d1 to d2, the first roadside device is RSU1, and the first road information is the road information for area d1 to d2. For example, let's take... Figure 4 The first road information is described using an example. When the first area is area d2 to d3, the first roadside device can be RSU2a, and the first road information can be the road information of areas d2 to d2'. In this embodiment, the road information of any area (e.g., area d1 to d2) includes, but is not limited to: vehicle information (e.g., vehicle position in the area, vehicle heading angle, vehicle length, width, height, vehicle speed, etc.), pedestrian information, debris information, weather information, and traffic light information. The target area is not specifically limited; for example, the target area may only include the first area. Alternatively, the target area may also include one or more other areas besides the first area. The first air interface resource scheduling information is used to represent the first scheduling status of air interface resources in the target area. The first air interface resource scheduling information includes the scheduling information of air interface resources occupied by roadside devices in the target area, and the information of air interface resources not occupied by roadside devices in the target area. The air interface resource scheduling information is used to represent the air interface resource scheduling status of the target area. In one example, the air interface resource scheduling information may include time-frequency domain resources. In another example, air interface resource scheduling information may include time-frequency domain resources and air interface strength. In yet another example, air interface resource scheduling information may include time-frequency domain resources, air interface strength, and latency information.

[0110] Step 620: The first device determines the target information based on the first road information and the first air interface resource scheduling information. The target information includes the first instruction information, which is used to instruct the use of the first air interface resources to send the first road information.

[0111] Step 630: The first device sends the target information.

[0112] In some implementations, the first device described in steps 610 to 630 above can be a roadside device or a device with similar functions to a roadside device. Figure 1 For example, the first device can be RSU1 or RSU2. For ease of description, we will refer to the first device as a roadside device and the way the first device executes method 600 as Method 1. The following will combine... Figure 7 The method described in detail for Method 1 will not be elaborated here. Optionally, in some other implementations, the first device described in steps 610 to 630 above can be a fusion sensing device or a device with similar functions to a fusion sensing device. Figure 1 For example, the first device can be MEC1 or MEC2. For ease of description, we will refer to the first device as a fusion sensing device and the way the first device executes method 600 as method two. This will be discussed in conjunction with... Figure 8 The details of Method Two will not be elaborated here. Below, we will introduce Method One and Method Two in detail.

[0113] Method 1: The first device is the first roadside device.

[0114] See Figure 7 When the first device is a first roadside device, the execution method 600 of the first roadside device may include steps 710 to 730, and optionally, may also include steps 740 to 780. Figure 7 As shown, the target area includes a first area and a second area. The first area includes a first fusion sensing device and a first roadside device. Optionally, the first area may also include a second roadside device. It is understood that the area broadcast by the first fusion sensing device is the first area, and the information broadcast by the first fusion sensing device can be received by the roadside devices in the first area. The second area includes a second fusion sensing device and a third roadside device. The area broadcast by the second fusion sensing device is the second area, and the information broadcast by the second fusion sensing device can be received by the roadside devices in the second area (i.e., the third roadside device). The first fusion sensing device in the first area and the second fusion sensing device in the second area can communicate with each other. Steps 710 to 780 are described in detail below.

[0115] Step 710: The first roadside device acquires the first road information and the first air interface resource scheduling information. The first road information is the road information corresponding to the first roadside device. The first roadside device is a roadside device in the first region. The first air interface resource scheduling information is used to indicate the first scheduling status of air interface resources in the target region. The target region includes the first region.

[0116] The first region can include M roadside devices, including the first roadside device (i.e., the first device). The region broadcast by the first fusion sensing device is the first region (i.e., the M roadside devices can receive the information broadcast by the first fusion sensing device), where M is a positive integer. When M equals 1, the first region includes only one roadside device communicating with the first fusion sensing device; this one roadside device is the first roadside device. In this case, both the first device and the region broadcast by the first fusion sensing device are part of the first region. For example, using... Figure 3 For example, when the first region is d2 to d3, the first roadside device is RSU2, and the first fusion sensing device is MEC2. When M is a positive integer greater than 1, the first region includes M roadside devices, and these M roadside devices include the first roadside device. In this case, the area broadcast by the first device is a part of the first region, and the area broadcast by the first fusion sensing device is the first region. For example, taking... Figure 4For example, when the first area is d1 to d2, the first fusion sensing device is MEC1, the first roadside device can be RSU1a, and RSU1b and RSU1c are roadside devices other than the first roadside device that communicate with the first fusion sensing device.

[0117] The first air interface resource scheduling information is used to represent the first scheduling status of air interface resources in the target area. When the target area only includes the first area, the first air interface resource scheduling information includes the first scheduling information of air interface resources in the first area. When the target area includes both the first and second areas, the first air interface resource scheduling information includes the first scheduling information of air interface resources in the first area and the first scheduling information of air interface resources in the second area. The first scheduling information of air interface resources in the first area can be understood as the first scheduling information of air interface resources corresponding to roadside equipment in the first area, which is locally recorded by the first fusion sensing device, and does not include the scheduling information of the first air interface resources occupied by the roadside equipment in the first area for transmitting the first road information. For example, when M equals 1 (i.e., the first area includes only one roadside equipment, which is the first roadside equipment), the first scheduling information of air interface resources in the first area includes the first scheduling information of air interface resources corresponding to the first roadside equipment, which is locally recorded by the first fusion sensing device. For example, when M equals 2 (i.e., the first area includes the first roadside device and the second roadside device), the first scheduling information of the air interface resources in the first area includes the first scheduling information of the air interface resources corresponding to the first roadside device, which is locally recorded by the first fusion sensing device, and the first scheduling information of the air interface resources corresponding to the second roadside device. The first scheduling information of the air interface resources in the second area can be understood as the first scheduling information of the air interface resources corresponding to the roadside devices in the second area, which is obtained by the first fusion sensing device from the second fusion sensing device. It can be understood that the scheduling information of the air interface resources corresponding to a roadside device can include the scheduling information of all air interface resources allocated to that roadside device. The scheduling information of all air interface resources allocated to that roadside device includes: the scheduling information of the air interface resources occupied by that roadside device, and the information of the air interface resources not occupied by that roadside device.

[0118] In step 710 above, the first roadside device acquiring the first road information and the first air interface resource scheduling information may include the following steps: the first fusion sensing device acquires the first air interface resource scheduling information and the first road information; the first roadside device acquires the first road information and the first air interface resource scheduling information from the first fusion sensing device. The first road information is the road information corresponding to the first roadside device acquired by the first fusion sensing device. When the first air interface resource scheduling information includes the first scheduling information of air interface resources in the first region and the first scheduling information of air interface resources in the second region, the first fusion sensing device also needs to acquire the first scheduling information of air interface resources in the second region from the local records of the second fusion sensing device.

[0119] Optionally, the target area may also include a second area. The first and second areas may be adjacent or non-adjacent, without specific limitations.

[0120] Step 720: The first roadside device determines the target information based on the first road information and the first air interface resource scheduling information. The target information includes the first instruction information, which is used to instruct the use of the first air interface resources to send the first road information.

[0121] Optionally, in some implementations, the first indication information may include first road information and information for identifying the first air interface resource. The information for identifying the first air interface resource is not specifically limited. In one example, the information for identifying the first air interface resource may be the identifier of the first air interface resource. In another example, the information for identifying the first air interface resource may be the specific identifier of the resource included in the first air interface resource. For example, when the first air interface resource includes time-domain resources and frequency-domain resources, the information for identifying the first air interface resource may be the identifier of the time-domain resource and the identifier of the frequency-domain resource. Optionally, in other implementations, the first road information and the information for identifying the first air interface resource may also be carried by information other than the first indication information, and the information other than the first indication information is not specifically limited. For ease of description, the following description will use the example where the first indication information includes first road information and a first air interface resource identifier, the first air interface resource identifier is used to identify the first air interface resource, and the first air interface resource includes a time-domain resource (denoted as time-domain resource 1) and a frequency-domain resource (denoted as frequency-domain resource 1).

[0122] Step 730: The first roadside device sends target information.

[0123] Optionally, in some implementations, the target information further includes second indication information, which instructs that the first indication information be sent to one or more roadside devices other than the first roadside device among the M roadside devices, where M is a positive integer greater than 1; or the second indication information instructs that the first indication information be sent to one or more roadside devices in a second region, where the target region includes the second region. In one example, when the second indication information instructs that the first indication information be sent to one or more roadside devices other than the first roadside device among the M roadside devices, the first roadside device sending the target information may include the following steps: the first roadside device sends the target information to a first fusion sensing device in the first region; the first fusion sensing device, based on the second indication information in the second information, may broadcast the first indication information to the roadside devices in the first region, and based on this, the second roadside devices in the first region may also receive the first indication information. In another example, when the second indication information is used to instruct the first indication information to be sent to one or more roadside devices in the second area, the first roadside device sending the target information may include the following steps: the first roadside device sends the target information to a first fusion sensing device in the first area; the first fusion sensing device sends the target information to a second fusion sensing device in the second area according to the second indication information in the second information; after receiving the target information sent by the first fusion sensing device, the second fusion sensing device, according to the second indication information in the second information, may broadcast the first indication information to one or more roadside devices in the second area, thereby allowing a third roadside device in the second area to also receive the first indication information. In yet another example, the second indication information may also simultaneously instruct the first indication information to be sent to one or more roadside devices (excluding the first roadside device) out of M roadside devices, where M is a positive integer greater than 1, and to be sent to one or more roadside devices in the second area. In this implementation, multiple roadside devices in the first area (e.g., the first and second roadside devices) and roadside devices in the second area (e.g., the third roadside device) can all receive the first indication information. See also Figure 7 Step 740 is described below.

[0124] Step 740: Upon receiving the first instruction information, the first air interface resource is used to send the first road information.

[0125] The first indication information may include first road information and first air interface resource identifier. The first air interface resource identifier is used to identify the first air interface resource, which includes time domain resources (denoted as time domain resource 1) and frequency domain resources (denoted as frequency domain resource 1).

[0126] In step 740 above, receiving the first instruction information and occupying the first air interface resources to transmit the first road information includes: a first roadside device receiving the first instruction information and occupying the first air interface resources to transmit the first road information; a second roadside device receiving the first instruction information and occupying the first air interface resources to transmit the first road information; and a third roadside device receiving the first instruction information and occupying the first air interface resources to transmit the first road information. The first air interface resources include time domain resource 1 and frequency domain resource 1. In the above technical solution, the first roadside device, the second roadside device, and the third roadside device occupy the same frequency domain resource (i.e., the frequency domain corresponding to frequency domain resource 1) at the same time (i.e., the time corresponding to time domain resource 1) to transmit the same road information (i.e., the regional road information in the first region corresponding to the first roadside device).

[0127] Optionally, some implementations may also include the following steps: A first device acquires third indication information, which is used to indicate the use of second air interface resources to transmit second road information. The second road information is the road information corresponding to a second roadside device. The second roadside device is one of M roadside devices other than the first roadside device, or the second roadside device is a roadside device in a second region, and the target region includes the second region; the first device uses the second air interface resources to transmit the second road information. See also Figure 7 Steps 750 to 780 are described below.

[0128] Step 750: The first roadside device obtains the third indication information, which is used to indicate the use of the second air interface resources to send the second road information.

[0129] The third indication information is determined based on the second road information and the second air interface resource scheduling information. The second air interface resource scheduling information indicates the second scheduling status of air interface resources in the target area. This information includes scheduling information for air interface resources occupied by roadside equipment within the target area, as well as information on air interface resources not occupied by roadside equipment within the target area. The second scheduling status of air interface resources in the target area, and the first scheduling status, can be understood as the scheduling status of air interface resources in the target area acquired at different times. Optionally, the second scheduling status of air interface resources in the target area can be the same as or different from the first scheduling status. In one example, when the second road information is the road information corresponding to the second roadside equipment, and the second roadside equipment is one of the M roadside equipment (excluding the first roadside equipment), the third indication information can be determined by the first fusion sensing device based on the second road information and the second air interface resource scheduling information. In this implementation, the first roadside device acquiring the third indication information may include the following steps: the first fusion sensing device determines the third indication information based on the second road information and the second air interface resource scheduling information; the first roadside device acquires the third indication information from the first fusion sensing device. The method by which the first fusion sensing device acquires the second road information and the second air interface resource scheduling information is similar to the method by which it acquires the first road information and the first air interface resource scheduling information, and will not be described in detail here. In another example, when the second roadside device is a roadside device in the second area, the third indication information may be determined by the second fusion sensing device based on the second road information and the second air interface resource scheduling information. In this implementation, the first roadside device acquiring the third indication information may include the following steps: the second fusion sensing device determines the third indication information based on the second road information and the second air interface resource scheduling information; the first fusion sensing device acquires the third indication information from the second fusion sensing device (which can also be understood as the second fusion sensing device sending the third indication information to the first fusion sensing device); the first roadside device acquires the third indication information from the first fusion sensing device.

[0130] Optionally, in some implementations, the third indication information may include second road information and information for identifying the second air interface resource. For ease of description, the following description will use the example where the third indication information includes second road information and a second air interface resource identifier, the second air interface resource identifier is used to identify the second air interface resource, and the second air interface resource includes time-domain resources (denoted as time-domain resource 2) and frequency-domain resources (denoted as frequency-domain resource 2).

[0131] The second air interface resource scheduling information may contain the same or different content as the first air interface resource scheduling information. It should be understood that the second air interface resource scheduling information does not include the air interface resources occupied by the second roadside equipment transmitting second road information. Optionally, the first air interface resources may be different from the second air interface resources. For example, if the first air interface resources include time-domain resource 1 and frequency-domain resource 1, and the second air interface resources include time-domain resource 2 and frequency-domain resource 2, then the second air interface resources are different from the first air interface resources, meaning that at least one of the time-domain or frequency-domain resources is different. For example, time-domain resource 1 and time-domain resource 2 are different, but frequency-domain resource 1 and frequency-domain resource 2 are the same. Alternatively, time-domain resource 1 and time-domain resource 2 are the same, but frequency-domain resource 1 and frequency-domain resource 2 are different. Finally, time-domain resource 1 and time-domain resource 2 are different, and frequency-domain resource 1 and frequency-domain resource 2 are also different.

[0132] Step 760: The first fusion sensing device broadcasts the third instruction information to the roadside equipment in the first area.

[0133] Accordingly, when the first area includes only the first roadside device, the first roadside device will receive the third indication information. When the first area includes both the first roadside device and the second roadside device, both the first roadside device and the second roadside device will receive the third indication information.

[0134] Step 770: The first fusion sensing device sends a third instruction message to the fusion sensing devices in the target area via broadcast.

[0135] Accordingly, the fusion sensing devices in the target area other than the first fusion sensing device will receive the third indication information. Among them, the fusion sensing devices in the target area other than the first fusion sensing device include the second fusion sensing device.

[0136] Step 771: The second fusion sensing device broadcasts the third instruction information to the roadside equipment in the second area.

[0137] Accordingly, the roadside equipment in the second area (i.e., the third roadside equipment) can receive the third indication information sent from the second fusion sensing equipment.

[0138] Step 780: Use the second air interface resources to send the second road information.

[0139] Optionally, before step 780, the following steps may be included: The roadside device (e.g., a first roadside device) that receives the third instruction information can uniquely determine the second air interface resource corresponding to the second air interface resource identifier carried in the third instruction information. Thereafter, the roadside device can use the second air interface resource corresponding to the second air interface resource identifier to transmit road information.

[0140] The use of second air interface resources to transmit second road information includes: a first roadside device using second air interface resources to transmit second road information, a second roadside device using second air interface resources to transmit second road information, and a third roadside device using second air interface resources to transmit second road information. The identifier of the second air interface resource is used to uniquely identify the second air interface resource, which includes time-domain resource 2 and frequency-domain resource 2. In the above technical solution, the first roadside device and the second roadside device simultaneously (i.e., the time corresponding to time-domain resource 2) use the same frequency-domain resource (i.e., the frequency domain corresponding to frequency-domain resource 2) to transmit the same road information (i.e., the road information corresponding to the second roadside device; the second roadside device can be a roadside device in the first area or the second area).

[0141] It should be understood that any two air interface resources in the second air interface resource and the first air interface resource mentioned above may be different. Optionally, when the second air interface resource and the first air interface resource are the same, the first road information and the second road information can be transmitted through the same air interface resource. The execution order of steps 710 to 780 above is only illustrative and does not constitute any limitation. For example, step 750 may be executed before step 740. In the above steps 710 to 780, the second area includes one third roadside device as an example. Optionally, the second area may also include more than one number (e.g., 2, 3, or 5, etc.) of roadside devices.

[0142] Method 2: The first device is the first fusion sensing device.

[0143] See Figure 8 When the first device is a first fusion sensing device, the execution method 600 of the first fusion sensing device may include steps 810 to 830, and optionally, may also include steps 840 to 880. Figure 8 As shown, the target area includes a first area and a second area. The first area includes a first fusion sensing device and a first roadside device. Optionally, the first area may also include a second roadside device. It is understood that the area broadcast by the first fusion sensing device is the first area, and the information broadcast by the first fusion sensing device can be received by the roadside devices in the first area. The second area includes a second fusion sensing device and a third roadside device. The area broadcast by the second fusion sensing device is the second area, and the information broadcast by the second fusion sensing device can be received by the roadside devices in the second area (i.e., the third roadside device). The first fusion sensing device in the first area and the second fusion sensing device in the second area can communicate with each other. Steps 810 to 880 are described in detail below.

[0144] Step 810: The first fusion sensing device acquires the first road information and the first air interface resource scheduling information. The first road information is the road information corresponding to the first roadside device. The first roadside device is the roadside device in the first region. The first air interface resource scheduling information is used to indicate the first scheduling status of air interface resources in the target region. The target region includes the first region.

[0145] The acquisition of first road information by the first fusion sensing device may include the following steps: the first fusion sensing device acquires first road information from the road corresponding to the first roadside device. In one example, when the target area includes only the first area, the first air interface resource scheduling information may only include the first scheduling information of air interface resources in the first area, and the first fusion sensing device may acquire the first scheduling information of air interface resources in the first area from its local records. In another example, when the target area includes both the first area and the second area, the first air interface resource scheduling information may include the first scheduling information of air interface resources in the first area and the first scheduling information of air interface resources in the second area, and the first fusion sensing device may acquire the first scheduling information of air interface resources in the second area from the local records of the second fusion sensing device. It is understood that the scheduling information of air interface resources corresponding to a roadside device (e.g., the first roadside device) may include the scheduling information of all air interface resources allocated to that roadside device. The scheduling information of all air interface resources allocated to that roadside device includes: the scheduling information of air interface resources occupied by that roadside device, and the information of air interface resources not occupied by that roadside device. It should be understood that the details described in step 810 above can be found in the relevant description in step 710 above. Further details will not be repeated here.

[0146] Step 820: The first fusion sensing device determines the target information based on the first road information and the first air interface resource scheduling information. The target information includes the first instruction information, which is used to instruct the use of the first air interface resources to send the first road information.

[0147] Optionally, in some implementations, the first indication information may include first road information and information for identifying the first air interface resource. The information for identifying the first air interface resource is not specifically limited. In one example, the information for identifying the first air interface resource may be the identifier of the first air interface resource. In another example, the information for identifying the first air interface resource may be the specific identifier of the resource included in the first air interface resource. For example, when the first air interface resource includes time-domain resources and frequency-domain resources, the information for identifying the first air interface resource may be the identifier of the time-domain resource and the identifier of the frequency-domain resource. Optionally, in other implementations, the first road information and the information for identifying the first air interface resource may also be carried by information other than the first indication information, and the information other than the first indication information is not specifically limited. For ease of description, the following description will use the example where the first indication information includes first road information and a first air interface resource identifier, the first air interface resource identifier is used to identify the first air interface resource, and the first air interface resource includes a time-domain resource (denoted as time-domain resource 1) and a frequency-domain resource (denoted as frequency-domain resource 1).

[0148] Step 830: The first fusion sensing device sends target information.

[0149] In one example, the target area may only include a first area, which includes M roadside devices, and the M roadside devices include the first roadside device, where M is a positive integer. In this implementation, the first fusion sensing device sending the target information may include the following steps: After obtaining the target information, the first fusion sensing device may broadcast first indication information to the M roadside devices in the first area. Based on this, the M roadside devices in the first area (e.g., the first roadside device and the second roadside device) can all receive the first indication information.

[0150] In another example, the target area may further include a second area, which includes one or more roadside devices. In this implementation, the first fusion sensing device sending the target information may include the following steps: after receiving the target information, the first fusion sensing device sends the target information to a second fusion sensing device in the second area; after receiving the target information sent by the first fusion sensing device, the second fusion sensing device may broadcast a first indication message to one or more roadside devices in the second area, thereby allowing a third roadside device in the second area to also receive the first indication message.

[0151] In yet another example, when the target area includes a first area and a second area, the first fusion sensing device sends target information such that one or more roadside devices in the first area and one or more roadside devices in the second area receive the first indication information. See also Figure 8Step 840 is described below.

[0152] Step 840: Upon receiving the first instruction information, the first air interface resource is used to send the first road information.

[0153] The first indication information may include first road information and first air interface resource identifier. The first air interface resource identifier is used to identify the first air interface resource, which includes time domain resources (denoted as time domain resource 1) and frequency domain resources (denoted as frequency domain resource 1).

[0154] In step 840 above, receiving the first instruction information and occupying the first air interface resources to send the first road information includes: a first roadside device receiving the first instruction information and occupying the first air interface resources to send the first road information; a second roadside device receiving the first instruction information and occupying the first air interface resources to send the first road information; and a third roadside device receiving the first instruction information and occupying the first air interface resources to send the first road information. The first air interface resources include time domain resource 1 and frequency domain resource 1. In the above technical solution, the first roadside device, the second roadside device, and the third roadside device occupy the same frequency domain resource (i.e., the frequency domain corresponding to frequency domain resource 1) at the same time (i.e., the time corresponding to time domain resource 1) to send the same road information (i.e., the regional road information in the first region corresponding to the first roadside device).

[0155] Optionally, some implementations may further include the following steps: A first device acquires second indication information, which is used to indicate the use of second air interface resources to transmit second road information. The second indication information is determined based on the second road information and second air interface resource scheduling information. The second air interface resource scheduling information indicates the second scheduling status of air interface resources in the target area. The second road information is the road information corresponding to a second roadside device. The second roadside device is one of M roadside devices other than the first roadside device, or the second roadside device is a roadside device in a second region, and the target region includes the second region. The first device uses the second air interface resources to transmit the second road information. See also... Figure 8 Steps 850 to 880 are described below.

[0156] Step 850: The first fusion sensing device acquires the second indication information, which is used to indicate the use of the second air interface resources to send the second road information.

[0157] In one example, the first fusion sensing device acquiring the second indication information may include: the first fusion sensing device determining the second indication information based on second air interface resource scheduling information and second road information, wherein the second air interface resource scheduling information is used to indicate the second scheduling status of air interface resources in the target area. It is understood that in this example, the second road information is the road information corresponding to the second roadside device, and the second roadside device is one of the M roadside devices other than the first roadside device. In another example, the first fusion sensing device acquiring the second indication information may include: the first fusion sensing device receiving the second indication information sent by the second fusion sensing device, wherein the area broadcast by the second fusion sensing device is the second region. Here, the second indication information is determined by the second fusion sensing device based on the second air interface resource scheduling information and the second road information. It is understood that in this example, the second roadside device is a roadside device in the second region, and the target region includes the second region.

[0158] Optionally, in some implementations, the second indication information may include second road information and information for identifying the second air interface resource. The information for identifying the second air interface resource is not specifically limited. In one example, the information for identifying the second air interface resource may be the identifier of the second air interface resource. In another example, the information for identifying the second air interface resource may be the specific identifier of the resource included in the second air interface resource. For example, when the second air interface resource includes time-domain resources and frequency-domain resources, the information for identifying the second air interface resource may be the identifier of the time-domain resource and the identifier of the frequency-domain resource. Optionally, in other implementations, the second road information and the information for identifying the second air interface resource may also be carried by information other than the second indication information, and the information other than the second indication information is not specifically limited. For ease of description, the following description will use the example where the second indication information includes second road information and a second air interface resource identifier, the second air interface resource identifier is used to identify the second air interface resource, and the second air interface resource includes a time-domain resource (denoted as time-domain resource 2) and a frequency-domain resource (denoted as frequency-domain resource 2).

[0159] Step 860: The first fusion sensing device broadcasts the second instruction information to the roadside equipment in the first area.

[0160] Accordingly, when the first area includes only the first roadside device, the first roadside device will receive the second indication information. When the first area includes both the first roadside device and the second roadside device, both the first roadside device and the second roadside device will receive the second indication information.

[0161] Step 870: The first fusion sensing device broadcasts the second instruction information to the fusion sensing devices in the target area.

[0162] Accordingly, the fusion sensing devices in the target area other than the first fusion sensing device will receive the second instruction information. The fusion sensing devices in the target area other than the first fusion sensing device include the second fusion sensing device.

[0163] Step 871: The second fusion sensing device broadcasts the second instruction information to the roadside equipment in the second area.

[0164] Accordingly, the roadside equipment in the second area (i.e., the third roadside equipment) can receive the second indication information sent from the second fusion sensing equipment.

[0165] Step 880: Use the second air interface resources to send the second road information.

[0166] Optionally, before step 880, the following steps may be included: the roadside device (e.g., a first roadside device) that receives the second instruction information can uniquely determine the second air interface resource corresponding to the second air interface resource identifier carried in the second instruction information. Thereafter, the roadside device can use the second air interface resource corresponding to the second air interface resource identifier to transmit road information.

[0167] The use of second air interface resources to transmit second road information includes: a first roadside device using second air interface resources to transmit second road information, a second roadside device using second air interface resources to transmit second road information, and a third roadside device using second air interface resources to transmit second road information. The second air interface resource identifier is used to uniquely identify the second air interface resource, which includes time-domain resource 2 and frequency-domain resource 2. In the above technical solution, the first roadside device and the second roadside device simultaneously (i.e., the time corresponding to time-domain resource 2) use the same frequency-domain resource (i.e., the frequency domain corresponding to frequency-domain resource 2) to transmit the same road information (i.e., the road information corresponding to the second roadside device, where the second roadside device can be a roadside device in the first or second region).

[0168] It should be understood that any two air interface resources in the second air interface resource and the first air interface resource mentioned above can be different. Optionally, when the second air interface resource and the first air interface resource are the same, the first road information and the second road information can be transmitted through the same air interface resource. The execution order of steps 810 to 880 above is only illustrative and does not constitute any limitation. For example, step 850 can be executed before step 840. In the above steps 810 to 880, the second area includes one third roadside device as an example. Optionally, the second area may also include more than one number (e.g., 2, 3, or 5, etc.) of roadside devices. It should be understood that the above... Figure 7 and Figure 8The examples all use the target area including a first area and a second area as examples. Optionally, in other implementations, the target area may only include the first area, which includes multiple roadside devices.

[0169] Combining the above, Figures 6 to 8 This application describes a method for transmitting road information provided by an embodiment of the present application. The following section uses... Figure 3 Taking the scenario shown as an example, combined with Figure 9 This application provides a specific embodiment of the method for sending road information. Figure 9 The examples provided are merely to help those skilled in the art understand the embodiments of this application, and are not intended to limit the embodiments to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art will understand based on the following... Figure 9 The examples provided can obviously be modified or varied in various ways, and such modifications and variations also fall within the scope of the embodiments of this application. For example, the method for sending road information based on the embodiments of this application is not only applicable to a roadside device (RSU1) in the first area that only communicates with MEC1, but the same idea can also be used for multiple roadside devices in the first area that communicate with MEC1.

[0170] like Figure 3 The scenario shown in the target area includes: vehicles traveling horizontally to the right (vehicle A, vehicle B, vehicle C, and vehicle D), 3 MECs (MEC1, MEC2, and MEC3), and 3 RSUs (RSU1, RSU2, and RSU3). Any two MECs within the target area (i.e., areas d1 to d4) can communicate with each other. That is, MEC1 and MEC2 can communicate, MEC1 and MEC3 can communicate, and MEC2 and MEC3 can communicate. RSU1's broadcast area includes RSU1, and RSU1's broadcast area includes vehicle A. Therefore, RSU1 can communicate with MEC1, and RSU1 can also communicate with vehicle A. RSU2's broadcast area includes RSU2, and RSU2's broadcast area includes vehicles B and C. Based on this, RSU2 can communicate with MEC2, RSU2 can communicate with vehicle B, and RSU2 can communicate with vehicle C. MEC3's broadcast area includes RSU3, and RSU3's broadcast area includes vehicle D. Therefore, RSU3 can communicate with MEC3, and RSU3 can also communicate with vehicle D. It should be noted that an RSU within the broadcast range of one MEC cannot directly communicate with an RSU within the broadcast range of another MEC. For example, Figure 3 RSU1 in the system cannot communicate directly with RSU2.

[0171] Figure 9 This is a schematic flowchart of a method 900 for sending road information provided in an embodiment of this application. Figure 9 As shown, the method 900 includes steps 910 to 970, which are described in detail below.

[0172] In the embodiments of this application, Figure 9 The method 900 shown is based on Figure 3 The scenario shown is illustrated with the following example: when RSU3 uses air interface resource 2 to send road information 2 obtained by MEC3 (i.e., road information obtained by MEC3 from the d3 to d4 area), RSU2 and RSU1 also use air interface resource 2 to send road information 2. Air interface resource 2 can be a vehicle-to-everything (V2X) direct communication resource, and air interface resource 2 includes, but is not limited to, time domain resource 2 and frequency domain resource 2.

[0173] In this embodiment of the application, determining the instruction information 3 based on resource scheduling table 1, resource scheduling table 2, resource scheduling table 3 and road information 2 includes two methods: Method 1 is that the fusion sensing device (i.e., MEC3) determines the instruction information 3 based on the above information; Method 2 is that the roadside device (i.e., RSU3) determines the instruction information 3 based on the above information. The schemes of Method 1 and Method 2 are described in detail below with reference to steps 910 and 920.

[0174] Method 1:

[0175] Step 910: MEC3 obtains the resource scheduling table 1 of RSU1, the resource scheduling table 2 of RSU2, the resource scheduling table 3 of RSU3, and road information 2. Resource scheduling table 1 includes air interface resource scheduling information 1 corresponding to RSU1, resource scheduling table 2 includes air interface resource scheduling information 2 corresponding to RSU2, and resource scheduling table 3 includes air interface resource scheduling information 3 corresponding to RSU3. Any air interface resource scheduling information does not include the air interface resources occupied by RSU3 to send road information 2. Road information 2 is the road information obtained by MEC3 from the d3 to d4 area.

[0176] Among them, the resource scheduling table 1 of RSU1, the resource scheduling table 2 of RSU2, and the resource scheduling table 3 of RSU3 can be understood as the air interface resource scheduling situation in the d1 to d4 area. The air interface resource scheduling information (e.g., air interface resource scheduling information 1) corresponding to an RSU (e.g., RSU1) can include the scheduling information of all air interface resources allocated to that RSU. The scheduling information of all air interface resources allocated to that RSU includes: the scheduling information of the air interface resources occupied by the RSU for transmitting information, and the information of the air interface resources not occupied by the RSU. For example, air interface resource scheduling information 1 includes, but is not limited to, the air interface resources occupied by RSU1 for transmitting road information obtained by MEC1 from the d1 to d2 area. Any air interface resource scheduling information (e.g., air interface resource scheduling information 1) includes, but is not limited to, time domain resources and frequency domain resources. In the above step 910, MEC3 obtaining the resource scheduling table 2 of RSU2 can be understood as MEC3 obtaining the resource scheduling table 2 from MEC2. The resource scheduling table 2 is information recorded locally by MEC2. When MEC3 obtains RSU1's resource scheduling table 1, it can be understood that MEC3 retrieves resource scheduling table 1 from MEC1, and resource scheduling table 1 is information recorded locally by MEC1. When MEC3 obtains RSU3's resource scheduling table 3, it can be understood that MEC3 retrieves resource scheduling table 3 from its local records. It's important to note that the air interface resources identified by any two resource scheduling tables (1, 2, and 3) are different.

[0177] In the embodiments of this application, the road information of any region (e.g., regions d1 to d2) includes, but is not limited to: vehicle information (e.g., the vehicle's position in the region, the vehicle's heading angle, the vehicle's length, width and height, the vehicle's speed, etc.), pedestrian information, debris information, weather information, and traffic light information.

[0178] Step 920: MEC3 determines indication information 3 based on air interface resource scheduling information 1, air interface resource scheduling information 2, air interface resource scheduling information 3 and road information 2. Indication information 3 is used to indicate the use of air interface resource 2 to send road information 2. Air interface resource 2 includes time domain resource 2 and frequency domain resource 2.

[0179] Optionally, in some implementations, air interface resource 2 may also include one or more of the following: air interface signal strength and air interface latency. It should be understood that the content included in air interface resource 2 is for illustrative purposes only, and air interface resource 2 may include any information that can reflect the air interface scheduling situation.

[0180] The above method one can be understood as a scheme for determining indication information 3 based on MEC3 for air interface resource scheduling.

[0181] Method 2:

[0182] Step 910: RSU3 obtains the resource scheduling table 1 of RSU1, the resource scheduling table 2 of RSU2, the resource scheduling table 3 of RSU3, and the road information 2. Resource scheduling table 1 includes the air interface resource scheduling information 1 corresponding to RSU1, resource scheduling table 2 includes the air interface resource scheduling information 2 corresponding to RSU2, and resource scheduling table 3 represents the air interface resource scheduling information 3 corresponding to the road information obtained by MEC3 from the d3 to d4 area sent by RSU3. The road information 2 is the road information obtained by MEC3 from the d3 to d4 area.

[0183] Specifically, RSU3 obtaining RSU1's resource scheduling table 1 may include, but is not limited to, the following steps: MEC3 obtains resource scheduling table 1 from MEC1, and RSU3 obtains resource scheduling table 1 from MEC3. RSU3 obtaining RSU2's resource scheduling table 2 may include, but is not limited to, the following steps: MEC3 obtains resource scheduling table 2 from MEC2, and RSU3 obtains resource scheduling table 2 from MEC3. RSU3 obtaining RSU3's resource scheduling table 3 may include, but is not limited to, the following steps: RSU3 obtains the resource scheduling table 3 recorded locally by MEC3.

[0184] Step 920: RSU3 determines indication information 3 based on air interface resource scheduling information 1, air interface resource scheduling information 2 and road information 2. Indication information 3 is used to indicate the use of air interface resource 2 to send road information 2. Air interface resource 2 includes time domain resource 2 and frequency domain resource 2.

[0185] Optionally, in some implementations, air interface resource 2 may also include one or more of the following: air interface signal strength and air interface latency. It should be understood that the content included in air interface resource 2 is for illustrative purposes only, and air interface resource 2 may include any information that can reflect the air interface scheduling situation.

[0186] Step 921, RSU3 sends message 2 to MEC3. Message 2 includes instruction information 3, identification of air interface resource 2, and road information 2.

[0187] The identifier of air interface resource 2 is used to uniquely identify air interface resource 2 (including time domain resource 2 and frequency domain resource 2). Based on this, the identifier of air interface resource 2 can include the identifier of time domain resource 2 and the identifier of frequency domain resource 2. The identifier of time domain resource 2 is used to uniquely identify time domain resource 2, and the identifier of frequency domain resource 2 is used to uniquely identify frequency domain resource 2.

[0188] Method 2 above can be understood as a scheme for determining instruction information 3 based on RSU3 for air interface resource scheduling.

[0189] After performing the steps described in Method 1 or Method 2 above, proceed to steps 930 to 970. Steps 930 to 970 are described in detail below.

[0190] Step 930: MEC3 broadcasts message 2 to MECs communicating with MEC3 in the target area.

[0191] In this context, the MECs communicating with MEC3 in the target area include MEC2 and MEC1. MEC3 broadcasts message 2 to the MECs communicating with it in the target area; this can be understood as MEC3 broadcasting message 2 to both MEC1 and MEC2 in the target area. Accordingly, MEC1 and MEC2 will receive message 2. Upon receiving message 2, MEC2 will execute step 950. Upon receiving message 2, MEC1 will execute step 960.

[0192] Optionally, in some implementations, the instruction information 3 can be carried through the resource scheduling table 3. The resource scheduling table 3 carrying the instruction information 3 is called the updated resource scheduling table 3, and the resource scheduling table 3 in step 910 above is called the unupdated resource scheduling table 3. The unupdated resource scheduling table 3 does not carry the instruction information 3. Based on this, the message 2 in step 930 above, which includes the instruction information 3, air interface resource 2, and road information 2, can be understood as including the updated resource scheduling table 3, air interface resource 2, and road information 2, and the updated resource scheduling table 3 includes the instruction information 3.

[0193] Step 940, MEC3 sends message 2 to RSU3.

[0194] The sending of message 2 from MEC3 to RSU3 can be understood as MEC3 broadcasting message 2 to the roadside equipment communicating with MEC3 in area 3 (i.e., areas d3 to d4). Area 3 includes one roadside equipment communicating with MEC3, namely RSU3.

[0195] Step 950, MEC2 sends message 2 to RSU2.

[0196] The sending of message 2 from MEC2 to RSU2 can be understood as MEC2 broadcasting message 2 to the roadside equipment communicating with MEC2 in area 2 (i.e., area d2 to d3). Area 2 includes one roadside equipment communicating with MEC2, namely RSU2.

[0197] Step 960, MEC1 sends message 2 to RSU1.

[0198] The sending of message 2 from MEC1 to RSU1 can be understood as MEC1 broadcasting message 2 to the roadside equipment communicating with MEC1 in area 1 (i.e., area d1 to d2). Area 1 includes one roadside equipment communicating with MEC1, namely RSU1.

[0199] Step 970: At the time corresponding to time domain resource 2, RSU1 occupies frequency domain resource 2 to send road information 2 to vehicle A; RSU2 occupies frequency domain resource 2 to send road information 2 to vehicles B and C at the time corresponding to time domain resource 2; and RSU3 occupies frequency domain resource 2 to send road information 2 to vehicle D at the time corresponding to time domain resource 2.

[0200] Optionally, prior to step 970 above, the RSU (e.g., RSU1, RSU2, or RSU3) can obtain the identifier of air interface resource 2 based on the received message 2. Based on this, RSU1 can uniquely determine that the air interface resource 2 corresponding to the identifier of air interface resource 2 includes both time-domain resource 2 and frequency-domain resource 2.

[0201] In step 970 above, different RSUs (i.e., RSU1, RSU2, and RSU3) use the same air interface resource 2 to transmit the same road information 2. Air interface resource 2 includes, but is not limited to, time domain resource 2 and frequency domain resource 2. That is, these different RSUs simultaneously (i.e., the time corresponding to time domain resource 2) occupy the same frequency domain resource (the frequency domain resource corresponding to frequency domain resource 2) to transmit the same road information (i.e., road information 2) acquired by the same MEC (i.e., MEC3).

[0202] Optionally, in some implementations, MEC2 can also determine message 1 based on a similar principle to steps 910 to 970 above. Indication information 1 is used to indicate the use of air interface resource 1 to send road information 1, where road information 1 is road information obtained by MEC1 from areas d2 to d3. Message 1 may include indication information 2, the identifier of air interface resource 1, and road information 1. In this implementation, indication information 2 can be determined by MEC2 based on road information 1, resource scheduling table 1 of RSU1, resource scheduling table 2 of RSU2, and resource scheduling table 3 of RSU3. The identifier of air interface resource 1 is used to uniquely identify air interface resource 1, and air interface resource 1 includes, but is not limited to, time-domain resource 1 and frequency-domain resource 1. Air interface resource 1 and air interface resource 2 are not the same, which can be understood as at least one of the time-domain or frequency-domain resources being different. For example, time-domain resource 1 is not the same as time-domain resource 2, but frequency-domain resource 1 is the same as frequency-domain resource 2. Alternatively, time-domain resource 1 is the same as time-domain resource 2, but frequency-domain resource 1 is not the same as frequency-domain resource 2. For example, time domain resource 1 and time domain resource 2 are different, and frequency domain resource 1 and frequency domain resource 2 are also different. After MEC2 determines message 1, MEC2 can broadcast message 1 to MEC1 communicating with MEC2 in the target area. MEC2 can also send message 1 to RSU2. After receiving message 1, MEC1 can send message 1 to RSU1. When RSU1 receives road message 1, RSU1 uses frequency domain resource 1 to send road information 1 to vehicle A at the time corresponding to time domain resource 1. When RSU2 receives road message 1, RSU2 uses frequency domain resource 1 to send road information 1 to vehicles B and C at the time corresponding to time domain resource 1. In this implementation, RSU1 and RSU2 can also use the same frequency domain resource (the frequency domain resource corresponding to frequency domain resource 1) at the same time (i.e., the time corresponding to time domain resource 1) to send the same road information (i.e., road information 1) obtained by the same MEC (i.e., MEC2).

[0203] Optionally, in some implementations, after step 960, MEC1 also sends message 3 to RSU1. Message 3 includes indication information 3, the identifier of air interface resource 3, and road information 3. In this implementation, the indication information 2 can be determined by MEC1 based on road information 3, RSU1's resource scheduling table 1, RSU2's resource scheduling table 2, and RSU3's resource scheduling table 3. The identifier of air interface resource 3 is used to uniquely identify air interface resource 3, and air interface resource 3 includes, but is not limited to, time domain resource 3 and frequency domain resource 3. The indication information 3 is used to indicate that air interface resource 3 is used to send road information 3, and road information 3 is road information obtained by MEC1 from the d1 to d2 area. Any two air interface resources among air interface resource 3, air interface resource 2, and air interface resource 1 are different. Based on this, after MEC1 sends message 3 to RSU1, the following step can also be included: RSU1 uses air interface resource 3 to send road information 3 to vehicle A.

[0204] It should be understood that Figure 9 The method shown is for illustrative purposes only and does not constitute any limitation on the method of sending road information provided in the embodiments of this application. Figure 9 Taking region 3 (i.e., regions d3 to d4) as an example located horizontally to the right of regions 1 (i.e., regions d1 to d2) and 2 (i.e., regions d2 to d3), the specific positional relationship between regions 3, 1, and 2 is not specifically limited in this embodiment. For example, region 3 could also be located horizontally to the left of regions 1 and 2. Alternatively, region 3 could be located between regions 1 and 2. Furthermore, at least two of regions 1, 2, and 3 may be discontinuous. Figure 9 The method for transmitting road information provided in this application is illustrated using the example of a MEC (Multi-access Edge Computing) device as the sensing device and an RSU (Roadside Unit) device as the roadside device. Optionally, in other implementations, the sensing device may be other devices, such as those with the function of an MEC device, and the roadside device may be other devices, such as those with the function of an RSU device.

[0205] In the above technical solution, by scheduling air interface resources through MEC3 or RSU3, when RSU3 occupies air interface resource 2 to send road information 2 obtained by MEC3 to vehicle D, RSU2 also occupies air interface resource 2 to send road information 2 obtained by MEC3 to vehicles B and C, and RSU1 also occupies air interface resource 2 to send road information 2 obtained by MEC3 to vehicle A. Air interface resource 2 includes time domain resource 2 and frequency domain resource 2. That is to say, the above technical solution discloses the following: when any MEC (e.g., MEC3) in the target area occupies air interface resources to send the road information corresponding to that RSU, one or more RSUs within the broadcast range of MECs other than that MEC in the target area can also occupy the air interface resources to send the road information corresponding to that RSU. When air interface resources include time-domain and frequency-domain resources, the RSU corresponding to any one of the aforementioned MECs, and the RSUs within the broadcast range of one or more MECs other than that MEC within the target area, simultaneously occupy the same frequency-domain resources to transmit the same road information (i.e., the road information within the broadcast range of the corresponding RSU acquired by that MEC). This method, while ensuring that RSU2 and RSU1 can acquire road information from more distant areas, is beneficial for improving resource utilization. Furthermore, vehicles A, B, and C can also acquire road information from more distant areas, which is beneficial for vehicles A, B, and C to formulate more accurate driving strategies.

[0206] The following is based on Figure 4 Taking the scenario shown as an example, combined with Figure 10 This application provides a specific embodiment of the method for sending road information. Figure 10 The examples provided are merely to help those skilled in the art understand the embodiments of this application, and are not intended to limit the embodiments to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art will understand based on the following... Figure 10 The examples provided can obviously be modified or varied in various ways, and such modifications and variations also fall within the scope of the embodiments of this application. For example, the method for sending road information based on the embodiments of this application is not only applicable to three roadside devices communicating with MEC1 in the first area, but the same idea can also be applied to a smaller number (e.g., two) or more number (e.g., five) of roadside devices communicating with MEC1 in the first area.

[0207] like Figure 4The scenario shown in the target area includes: vehicles traveling horizontally to the right (vehicle A, vehicle B, vehicle C, vehicle D, and vehicle E), 3 MECs (MEC1, MEC2, and MEC3), and 7 RSUs (RSU1a, RSU1b, RSU1c, RSU2a, RSU2b, RSU3a, and RSU3b). Any two MECs among MEC1, MEC2, and MEC3 within the target area (i.e., areas d1 to d4) can communicate with each other. That is, MEC1 and MEC2 can communicate, MEC1 and MEC3 can communicate, and MEC2 and MEC3 can communicate. The broadcast area of ​​MEC1 (i.e., areas d1 to d2) includes RSU1a, RSU1b, and RSU1c. Vehicle A is included in the broadcast area of ​​RSU1a, and vehicle A is included in the broadcast area of ​​RSU1b. Based on this, RSU1a, RSU1b, and RSU1c can all communicate with MEC1, and RSU1a or RSU1b can also communicate with vehicle A. It is understood that when vehicle A enters the broadcast area of ​​RSU1c, RSU1c can communicate with vehicle A. The broadcast area of ​​MEC2 (i.e., area d2 to d3) includes RSU2a and RSU2b. The broadcast area of ​​RSU2a (i.e., area d2 to d2') includes vehicle B, and the broadcast area of ​​RSU2b (i.e., area d2' to d3) includes vehicle C. Based on this, RSU2a and RSU2b can communicate with MEC2, RSU2a can also communicate with vehicle B, and RSU2b can communicate with vehicle C. The broadcast area of ​​MEC3 (i.e., area d3 to d4) includes RSU3a and RSU3b. The broadcast area of ​​RSU3a (i.e., area d3 to d3') includes vehicle D, and the broadcast area of ​​RSU3b (i.e., area d3' to d4) includes vehicle E. Therefore, RSU3a and RSU3b can communicate with MEC3, RSU3a can communicate with vehicle D, and RSU3b can communicate with vehicle E. It is understood that when vehicle D moves into the broadcast area of ​​RSU3b (i.e., area d3' to d4), RSU3b can also communicate with vehicle D. It should be noted that an RSU within the broadcast area of ​​one MEC cannot directly communicate with an RSU within the broadcast area of ​​another MEC. For example, Figure 4 RSU1a cannot communicate directly with RSU2a. Multiple RSUs within the same MEC broadcast range also cannot communicate directly. For example, Figure 3 RSU1a cannot communicate directly with RSU1b.

[0208] Figure 10 This is a schematic flowchart of a method 1000 for sending road information provided in an embodiment of this application.

[0209] like Figure 10 As shown, the method 1000 includes steps 1010 to 1070, and steps 1010 to 1070 are described in detail below.

[0210] In the embodiments of this application, Figure 10 The method 1000 shown is based on Figure 4 The scenario illustrated is described with the following objective: When RSU3b uses air interface resource 3 to transmit road information 3 obtained by MEC3 (i.e., road information obtained by MEC3 from region d3' to d4), any one of RSUs RSU1a, RSU1b, RSU1c, RSU2a, RSU2b, and RSU3a also uses the same air interface resource (i.e., air interface resource 3) to transmit road information 3. In this embodiment, air interface resources include time-domain resources and frequency-domain resources as an example. Based on this, RSU1a, RSU1b, RSU1c, RSU2a, RSU2b, RSU3a, and RSU3b use the same air interface resource (i.e., air interface resource 3) to send the same road information (i.e., road information 3). This can be understood as each RSU in RSU1a, RSU1b, RSU1c, RSU2a, RSU2b, RSU3a, and RSU3b sending the same road information at the same time (i.e., the time domain resource corresponding to air interface resource 3) using the same frequency domain resource (i.e., the frequency domain resource corresponding to air interface resource 3).

[0211] In this embodiment, determining the indication information 3 based on air interface resource scheduling information 1, air interface resource scheduling information 2, air interface resource scheduling information 3, and road information 3 includes two methods: Method 1 is that the fusion sensing device (i.e., MEC3) determines the indication information 3 based on the above information; Method 2 is that the roadside device (i.e., RSU3b) determines the indication information 3 based on the above information. The schemes of Method 1 and Method 2 are described in detail below with reference to steps 1010 and 1020.

[0212] Method 1:

[0213] Step 1010: MEC3 obtains resource scheduling table 1, resource scheduling table 2, resource scheduling table 3, and road information 3. Resource scheduling table 1 includes air interface resource scheduling information 1 corresponding to RSUs in region 1 (i.e., regions d1 to d2); resource scheduling table 2 includes air interface resource scheduling information 2 corresponding to RSUs in region 2 (i.e., regions d2 to d3); and resource scheduling table 3 includes air interface resource scheduling information 3 corresponding to RSUs in region 3 (i.e., regions d3 to d4). No single air interface resource scheduling information includes the air interface resources occupied by RSU3b transmitting road information 3. Road information 3 is the road information obtained by MEC3 from regions d3' to d4. Resource scheduling tables 1, 2, and 3 can be understood as the air interface resource scheduling status of regions d1 to d4. The air interface resource scheduling information (e.g., air interface resource scheduling information 1) corresponding to an RSU (e.g., RSU1) may include scheduling information for all air interface resources allocated to that RSU. This scheduling information includes: scheduling information for air interface resources occupied by the RSU for transmitting information, and information on air interface resources not occupied by the RSU. For example, air interface resource scheduling information 1 includes, but is not limited to, the air interface resources occupied by RSU1 for transmitting road information obtained by MEC1 from area d1 to d2.

[0214] Region 1 includes RSU1a, RSU1b, and RSU1c. RSU1a's broadcast area includes areas d1 to d1', RSU1b's broadcast area includes areas d1' to d1", and RSU1c's broadcast area includes areas d1" to d2. Resource scheduling table 1 represents the air interface resource scheduling information used by RSUs in Region 1 (i.e., areas d1 to d2) to transmit road information obtained by MEC1 from Region 1. In other words, resource scheduling table 1 may include, but is not limited to, the air interface resource scheduling information used by RSU1a to transmit information obtained by MEC1 from areas d1 to d1', the air interface resource scheduling information used by RSU1b to transmit information obtained by MEC1 from areas d1' to d1", and the air interface resource scheduling information used by RSU1c to transmit information obtained by MEC1 from areas d1" to d2. The air interface resources used by any two RSUs among RSU1a, RSU1b, and RSU1c are not the same. Furthermore, Resource Scheduling Table 2 may include, but is not limited to, the air interface resource scheduling information occupied by RSU2a for transmitting information obtained by MEC2 from area d2 to d2', and the air interface resource scheduling information occupied by RSU2b for transmitting information obtained by MEC2 from area d2' to d3. Resource Scheduling Table 3 may include, but is not limited to, the air interface resource scheduling information occupied by RSU3a for transmitting information obtained by MEC3 from area d3 to d3', and the air interface resource scheduling information occupied by RSU3b for transmitting information obtained by MEC3 from area d3' to d4.

[0215] Step 1020: MEC3 determines indication information 3 based on air interface resource scheduling information 1, air interface resource scheduling information 2, air interface resource scheduling information 3 and road information 3. Indication information 3 is used to indicate the use of air interface resources 3 to send road information 3. Air interface resources 3 include time domain resources 3 and frequency domain resources 3.

[0216] Among them, air interface resource 3 includes, but is not limited to, time domain resource 3 and frequency domain resource 3.

[0217] In step 1020 above, RSU3b can determine instruction information 3 based on resource scheduling table 1, resource scheduling table 2, resource scheduling table 3, and road information 3, thereby obtaining instruction information 3. In this embodiment, the method for determining instruction information 3 based on resource scheduling table 1, resource scheduling table 2, resource scheduling table 3, and road information 3 is not specifically limited.

[0218] Method 2:

[0219] Step 1010: RSU3b obtains resource scheduling table 1, resource scheduling table 2, resource scheduling table 3 and road information 3. Resource scheduling table 1 includes air interface resource scheduling information 1 corresponding to RSUs in region 1 (i.e., regions d1 to d2). Resource scheduling table 2 includes air interface resource scheduling information 2 corresponding to RSUs in region 2 (i.e., regions d2 to d3). Resource scheduling table 3 includes air interface resource scheduling information 3 corresponding to RSUs in region 3 (i.e., regions d3 to d4). Any air interface resource scheduling information does not include the air interface resources occupied by RSU3b for sending road information 3. Road information 3 is the road information obtained by MEC3 from regions d3' to d4.

[0220] Resource scheduling tables 1, 2, and 3 can be understood as representing the air interface resource scheduling status for regions d1 to d4. The air interface resource scheduling information (e.g., air interface resource scheduling information 1) corresponding to an RSU (e.g., RSU1) includes the air interface resources occupied by that RSU when transmitting information. For example, air interface resource scheduling information 1 includes, but is not limited to, the air interface resources occupied by RSU1 when transmitting road information obtained by MEC1 from regions d1 to d2.

[0221] Region 1 includes RSU1a, RSU1b, and RSU1c. RSU1a's broadcast area includes areas d1 to d1', RSU1b's broadcast area includes areas d1' to d1", and RSU1c's broadcast area includes areas d1" to d2. Resource scheduling table 1 represents the air interface resource scheduling information 1 for RSUs in Region 1 (i.e., areas d1 to d2) to transmit road information obtained by MEC1 from Region 1. In other words, resource scheduling table 1 may include, but is not limited to, the air interface resource scheduling information for RSU1a transmitting information obtained by MEC1 from areas d1 to d1', the air interface resources for RSU1b transmitting information obtained by MEC1 from areas d1' to d1", and the air interface resource scheduling information for RSU1c transmitting information obtained by MEC1 from areas d1" to d2. The air interface resources used by any two RSUs among RSU1a, RSU1b, and RSU1c are not the same. Furthermore, Resource Scheduling Table 2 may include, but is not limited to, the air interface resource scheduling information occupied by RSU2a for transmitting information obtained by MEC2 from area d2 to d2', and the air interface resource scheduling information occupied by RSU2b for transmitting information obtained by MEC2 from area d2' to d3. Resource Scheduling Table 3 may include, but is not limited to, the air interface resource scheduling information occupied by RSU3a for transmitting information obtained by MEC3 from area d3 to d3', and the air interface resource scheduling information occupied by RSU3b for transmitting information obtained by MEC3 from area d3' to d4.

[0222] In some implementations, RSU3b obtains resource scheduling table 1, resource scheduling table 2, resource scheduling table 3, and road information 3, including:

[0223] RSU3b obtains Resource Scheduling Table 1, Resource Scheduling Table 2, Resource Scheduling Table 3, and Road Information 3 from MEC3. Resource Scheduling Table 1 is obtained by MEC3 from MEC1, Resource Scheduling Table 2 is obtained by MEC3 from MEC2, Resource Scheduling Table 3 and Road Information 3 are information recorded locally on MEC3, Resource Scheduling Table 1 is information recorded locally on MEC1, and Resource Scheduling Table 2 is information recorded locally on MEC2.

[0224] Step 1020: RSU3b obtains instruction information 3 based on air interface resource scheduling information 1, air interface resource scheduling information 2, air interface resource scheduling information 3 and road information 3. Instruction information 3 is used to instruct RSU3b to occupy air interface resource 3 to send road information 3.

[0225] Specifically, air interface resource 3 can include time domain resource 3 and frequency domain resource 3.

[0226] In step 1020 above, RSU3b can determine instruction information 3 based on resource scheduling table 1, resource scheduling table 2, resource scheduling table 3, and road information 3, thereby obtaining instruction information 3. In this embodiment, the method for determining instruction information 3 based on resource scheduling table 1, resource scheduling table 2, resource scheduling table 3, and road information 3 is not specifically limited.

[0227] Step 1021, RSU3b sends message 3 to MEC3. Message 3 includes instruction information 3, identification of air interface resource 3, and road information 3.

[0228] The identifier of air interface resource 3 is used to uniquely identify air interface resource 3 (including time domain resource 3 and frequency domain resource 3). Based on this, the identifier of air interface resource 3 can include the identifier of time domain resource 3 and the identifier of frequency domain resource 3. The identifier of time domain resource 3 is used to uniquely identify time domain resource 3, and the identifier of frequency domain resource 3 is used to uniquely identify frequency domain resource 3.

[0229] Optionally, in some implementations, the instruction information 3 can be carried through the resource scheduling table 3. The resource scheduling table 3 carrying the instruction information 3 is called the updated resource scheduling table 3, and the resource scheduling table 3 in step 1010 above is called the resource scheduling table before the update. The resource scheduling table before the update does not carry the instruction information 3. Based on this, the message 3 in step 1030 above, which includes the instruction information 3 and the road information 3, can be understood as the message 3 including the updated resource scheduling table 3 and the road information 3, and the updated resource scheduling table 3 including the instruction information 3.

[0230] After performing the steps described in Method 1 or Method 2 above, proceed to steps 1030 to 1070. Steps 1030 to 1070 are described in detail below.

[0231] Step 1030: MEC3 broadcasts message 3 to MECs communicating with MEC3 in the target area.

[0232] In this context, the MECs communicating with MEC3 in the target area include MEC1 and MEC2. MEC3 broadcasts message 3 to the MECs communicating with it in the target area; this can be understood as MEC3 broadcasting message 3 to both MEC1 and MEC2 in the target area. Accordingly, MEC1 and MEC2 will receive message 3. Upon receiving message 3, MEC2 will execute step 1050. Upon receiving message 3, MEC1 will execute step 1060.

[0233] Step 1040, MEC3 sends message 3 to RSU3a.

[0234] Step 1050: MEC2 broadcasts message 3 to RSU2a and RSU2b in area 2 that are communicating with MEC2.

[0235] Step 1060: MEC1 broadcasts message 3 to RSU1a, RSU1b and RSU1c in area 1 that are communicating with MEC1.

[0236] Step 1070: The RSU in region 1 occupies frequency domain resource 3 to transmit road information 3 at the time corresponding to time domain resource 3; the RSU in region 2 occupies frequency domain resource 3 to transmit road information 3 at the time corresponding to time domain resource 3; the RSU in region 3 occupies frequency domain resource 3 to transmit road information 3 at the time corresponding to time domain resource 3.

[0237] Optionally, prior to step 1070 above, the RSU (e.g., RSU 1a) can obtain the identifier of the air interface resource 3 based on the received message 3. Based on this, RSU1 can uniquely determine that the air interface resource 3 corresponding to the identifier of the air interface resource 3 includes both time-domain resource 3 and frequency-domain resource 3.

[0238] In this context, the RSUs in Region 1 include RSU1a, RSU1b, and RSU1c. At the time corresponding to time domain resource 3, the RSUs in Region 1 occupy frequency domain resource 3 to transmit road information 3, including: RSU1a, at the time corresponding to time domain resource 3, occupies frequency domain resource 3 to transmit road information 3 to vehicle A within its broadcast range; RSU1b, at the time corresponding to time domain resource 3, occupies frequency domain resource 3 to transmit road information 3 to vehicle A within its broadcast range; and RSU1c, at the time corresponding to time domain resource 3, occupies frequency domain resource 3 to transmit road information 3 to vehicles within its broadcast range.

[0239] In this context, the RSUs in region 2 include RSU2a and RSU2b. At the time corresponding to time domain resource 3, the RSUs in region 2 occupy frequency domain resource 3 to transmit road information 3, including: RSU2a, at the time corresponding to time domain resource 3, occupies frequency domain resource 3 to transmit road information 3 to vehicle B within its broadcast range; and RSU2b, at the time corresponding to time domain resource 3, occupies frequency domain resource 3 to transmit road information 3 to vehicle C within its broadcast range.

[0240] Among them, the RSUs in region 3 include RSU3a and RSU3b. At the time corresponding to time domain resource 3, the RSUs in region 3 occupy frequency domain resource 3 to transmit road information 3, including: RSU3a occupies frequency domain resource 3 to transmit road information 3 to vehicle D at the time corresponding to time domain resource 3; RSU3b occupies frequency domain resource 3 to transmit road information 3 to vehicle E at the time corresponding to time domain resource 3.

[0241] Optionally, in some implementations, MEC2 can also determine message 1 based on a similar principle to steps 1010 to 1070 above. Message 1 includes indication information 1, the identifier of air interface resource 1, and road information 1. Indication information 1 is used to indicate the use of air interface resource 1 to send road information 1. Road information 1 is road information obtained by MEC2 from the d2' to d3 area corresponding to RSU2a. In this implementation, indication information 1 can be determined by MEC2 based on road information 1, resource scheduling table 1 of RSU1, resource scheduling table 2 of RSU2, and resource scheduling table 3 of RSU3. The identifier of air interface resource 1 is used to uniquely identify air interface resource 1, and air interface resource 1 includes, but is not limited to, time-domain resource 1 and frequency-domain resource 1. Air interface resource 1 and air interface resource 3 are not the same, which can be understood as at least one of the time-domain or frequency-domain resources being different. For example, time-domain resource 1 is not the same as time-domain resource 2, but frequency-domain resource 1 is the same as frequency-domain resource 2. For example, time domain resource 1 is the same as time domain resource 2, but frequency domain resource 1 is different from frequency domain resource 2. For example, time domain resource 1 is different from time domain resource 2, and frequency domain resource 1 is also different from frequency domain resource 2. After MEC2 determines message 1, MEC2 can broadcast message 1 to MEC1 communicating with MEC2 in the target area. MEC2 can also send message 1 to RSU2a. After receiving message 1, MEC1 can send message 1 to the RSUs (i.e., RSU1a, RSU1b, and RSU1c) within its broadcast area 1. When the RSUs (i.e., RSU1a, RSU1b, and RSU1c) in area 1 receive message 1, they use frequency domain resource 1 at the time corresponding to time domain resource 1 to send road information 1 to vehicles within their broadcast range. When RSU2a receives message 1, it uses frequency domain resource 1 at the time corresponding to time domain resource 1 to send road information 1 to vehicle B. In this implementation, RSU1a, RSU1b, RSU1c, and RSU2a can also simultaneously (i.e., the time corresponding to time domain resource 1) occupy the same frequency domain resource (the frequency domain resource corresponding to frequency domain resource 1) to transmit the road information (i.e., road information 1) corresponding to RSU2a acquired by the same MEC (i.e., MEC2). It is understood that in this implementation, when an RSU (e.g., RSU2a) corresponding to any MEC (e.g., MEC2) within the target area occupies air interface resources to transmit the road information corresponding to that RSU, RSUs within the broadcast range of one or more MECs within the target area, excluding that particular MEC, can also occupy the air interface resources to transmit the road information corresponding to that RSU.

[0242] Optionally, in some implementations, MEC1 can also determine message 2 based on the similar principles of steps 1010 to 1070 above. Message 2 includes instruction information 2, the identifier of air interface resource 2, and road information 2. In this implementation, indication information 2 is used to instruct the use of air interface resource 2 to transmit road information 2. Road information 2 is the road information obtained by MEC1 from the d1” to d2 area corresponding to RSU1c. In this implementation, indication information 2 can be determined by MEC1 based on road information 2, resource scheduling table 1 of RSU1, resource scheduling table 2 of RSU2, and resource scheduling table 3 of RSU3. The identifier of air interface resource 2 is used to uniquely identify air interface resource 2, and air interface resource 2 includes, but is not limited to, time domain resource 2 and frequency domain resource 2. Any two air interface resources among air interface resource 3, air interface resource 2, and air interface resource 1 are different. After MEC1 determines message 2, MEC1 can broadcast message 2 to the RSUs (i.e., RSU1a, RSU1b, and RSU1c) communicating with MEC1 in area 1. When the RSUs (i.e., RSU1a, RSU1b, and RSU1c) in area 1 receive message 1... Subsequently, at the time corresponding to time domain resource 1, the RSU in region 1 occupies frequency domain resource 1 to send road information 1 to vehicles within its broadcast range. In this implementation, RSU1a, RSU1b, and RSU1c can simultaneously (i.e., the time corresponding to time domain resource 2) occupy the same frequency domain resource (the frequency domain resource corresponding to frequency domain resource 2) to send road information (i.e., road information 2) within the broadcast range of one RSU (i.e., RSU1c) acquired by the same MEC (i.e., MEC1). It is understood that in this implementation, when any RSU (e.g., RSU1c) corresponding to the same MEC occupies air interface resources to send the road information corresponding to that RSU, one or more RSUs (e.g., RSU1a and RSU1b) corresponding to the same MEC, excluding that RSU, can also occupy the same air interface resources to send the road information corresponding to that RSU.

[0243] Optionally, in some implementations, after step 1060, MEC1 may also send message 4 to RSU1a. Message 4 includes indication information 4, the identifier of air interface resource 4, and road information 4. The indication information 4 is used to indicate the use of air interface resource 4 to send road information 4, and the road information 4 is road information obtained by MEC1 from the d1 to d1' area corresponding to RSU1a. In this implementation, the indication information 4 may be determined by MEC1 based on road information 4, RSU1's resource scheduling table 1, RSU2's resource scheduling table 2, and RSU3's resource scheduling table 3. The identifier of air interface resource 4 is used to uniquely identify air interface resource 4, and air interface resource 4 includes, but is not limited to, time-domain resource 4 and frequency-domain resource 4. Any two air interface resources among air interface resource 4, air interface resource 3, air interface resource 2, and air interface resource 1 are different. Based on this, after MEC1 sends message 4 to RSU1, the following step may also be included: RSU1a uses air interface resource 4 to send road information 4 to vehicle A. Understandably, in this implementation, an RSU (e.g., RSU1a) corresponding to an MEC (e.g., MEC1) can send the road information (e.g., road information 4) obtained by that MEC for that RSU.

[0244] It should be understood that Figure 10 The method shown is for illustrative purposes only and does not constitute any limitation on the method of sending road information provided in the embodiments of this application.

[0245] In the above technical solution, when RSU3b in the target area occupies air interface resource 3 to send road information 3 obtained by MEC3 to vehicle E, other RSUs in the target area excluding RSU3b (i.e., RSU1a, RSU1b, RSU1c, RSU2a, RSU2b, RSU3a) also occupy air interface resource 3 to send road information 3 within the broadcast range of that RSU. In other words, the above technical solution discloses the following: when an RSU (e.g., RSU3b) corresponding to any MEC (e.g., MEC3) in the target area occupies air interface resource to send the road information corresponding to that RSU, one or more RSUs within the broadcast range of one or more MECs in the target area excluding that one MEC can also occupy the air interface resource to send the road information corresponding to that RSU, and one or more RSUs corresponding to one MEC excluding that one RSU can also occupy the air interface resource to send the road information corresponding to that RSU. When air interface resources include both time-domain and frequency-domain resources, multiple RSUs corresponding to any one MEC, as well as RSUs within the broadcast range of one or more MECs other than that one MEC in the target area, simultaneously occupy the same frequency-domain resources to transmit the same road information (i.e., the road information within the broadcast range of the corresponding RSU acquired by that one MEC). This method improves resource utilization while ensuring that RSUs can acquire road information from more distant areas. Furthermore, vehicles in the target area can also acquire road information from more distant areas, which helps vehicles in the target area formulate more accurate driving strategies.

[0246] The above text combined Figures 1 to 10 This paper describes in detail the system architecture applicable to this application, as well as the method for transmitting road information provided by this application. Below, in conjunction with... Figures 11 to 13 This application provides a detailed description of the apparatus and system for transmitting road information. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments; therefore, any parts not described in detail can be found in the foregoing method embodiments.

[0247] Figure 11 This is a schematic diagram of a device 1100 for transmitting road information according to an embodiment of this application. It is understood that this device 1100 for transmitting road information can be applied to a first device. For example... Figure 11 The device 1100 for transmitting road information shown includes a determining module 1110 and a transceiver module 1120.

[0248] In some implementations, the determining module 1100 can be used to execute the relevant steps of step 610 in the method 600 described above, and the transceiver module 1120 can be used to execute the relevant steps of steps 620 and 630 in the method 600 described above. Steps 610 to 630 can be found in the relevant descriptions in the method 600 described above, and will not be repeated in detail here.

[0249] In some implementations, the determining module 1100 can be used to execute the relevant steps of step 710 above, and the transceiver module 1120 can be used to execute step 720 above. Optionally, the transceiver module 1120 can also be used to execute steps 730, 740, 750, and 780. The steps described above can be found in the relevant sections above. Figure 7 The description will not be elaborated here.

[0250] In some implementations, the determining module 1100 can be used to execute step 810 above, and the transceiver module 1120 can be used to execute step 820 above. Optionally, the determining module 1100 can also be used to execute step 860. Optionally, the transceiver module 1120 can also be used to execute steps 830, 840, 870, and 880. The steps described above can be found in the relevant sections above. Figure 8 The description will not be elaborated here.

[0251] In some implementations, the determining module 1100 can be used to execute step 920 in the method 900 described above, and the transceiver module 1120 can be used to execute step 910. Optionally, the transceiver module 1120 can also be used to execute steps 921, 930, 940, and 970. The details of these steps can be found in the description of the method 900 described above, and will not be repeated here.

[0252] In some implementations, the determining module 1100 can be used to execute step 1020 of method 1000, and the transceiver module 1120 can be used to execute step 1010. Optionally, the transceiver module 1120 can also be used to execute steps 1021, 1030, 1040, and 1070. The details of these steps can be found in the description of method 1000, and will not be repeated here.

[0253] Figure 12 This is a schematic diagram of the hardware structure of the device 1200 for sending road information provided in this application embodiment.

[0254] like Figure 12As shown, the device 1200 for transmitting road information includes a processor 1210, a communication interface 1220, a memory 1230, and a bus 1240. The communication interface 1220 can be implemented wirelessly or via a wired connection; specifically, it can be a network interface card (NIC). The processor 1210, memory 1230, and communication interface 1220 are connected via the bus 1240.

[0255] In some implementations, Figure 12 The device 1200 for transmitting road information shown can perform the corresponding steps executed by the device for transmitting road information in the method 600 of the above embodiment. Figure 7 The corresponding steps performed by the first roadside equipment in the process. Figure 8 The corresponding steps performed by the first sensing device in the process. Figure 9 The corresponding steps performed by the first roadside device or the first sensing device in the process, and Figure 10 The corresponding steps performed by the first roadside device or the first sensing device in the process. For details of these steps, please refer to the relevant descriptions above; they will not be repeated here.

[0256] Specifically, the communication interface 1220 may include a transmitter and a receiver, and the specific functions of the transmitter are as described above. Figure 11 The transmitting function of the transceiver module 1020 shown is the same. The specific function of the receiver is the same as described above. Figure 11 The receiving function of the transceiver module 1020 shown is the same. The functions of the transmitter and receiver, which are not described in detail here, can be found above. Figure 11 The transceiver module 1020 shown has the following functions.

[0257] The memory 1230 includes an operating system 1231 and an application program 1232, used to store programs, code, or computer-executable instructions. When the processor or hardware device executes these programs, code, or computer-executable instructions, the processing procedures involving the first device in the method 600 embodiment can be completed. Optionally, the memory 1230 may include read-only memory (ROM) and random access memory (RAM). The ROM includes a basic input / output system (BIOS) or an embedded system; the RAM includes the application program and the operating system. When the first device needs to be run, the system is booted through the BIOS embedded in the ROM or the bootloader in the embedded system, guiding the first device into normal operating mode. After the first device enters normal operating mode, the application program and the operating system running in the RAM complete the processing procedures involving the first device in the method embodiment.

[0258] Understandable, Figure 12 Only a simplified design of the device 1200 for transmitting road information is shown. In some implementations, the device 1200 for transmitting road information may also include any number of processors 1210, communication interfaces 1220, or memory 1230. In other implementations, the device 1200 for transmitting road information may include only any number of processors 1210 and communication interfaces 1220.

[0259] Figure 13 This is a schematic diagram of a system 1300 for sending road information according to an embodiment of this application. Figure 13 As shown, the system 1300 for sending road information may include a device 1100 for sending road information.

[0260] This application provides a computer program product that, when run on a network device, causes a first device to execute the method described in the above method embodiments.

[0261] This application provides a computer-readable storage medium for storing a computer program that includes methods for performing the methods described in the above-described method embodiments.

[0262] This application provides a chip system including at least one processor and an interface; the at least one processor is used to call and run a computer program to cause the chip system to perform the method described in the above method embodiment.

[0263] The various product forms of the devices described above each have any of the functions of the first device in the above method embodiments, which will not be repeated here.

[0264] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0265] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0266] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0267] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0268] In addition, the functional units in the various embodiments of this application 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.

[0269] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0270] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for transmitting road information, characterized in that, include: The first device acquires first road information and first air interface resource scheduling information. The first road information is the road information corresponding to the first roadside device. The first roadside device is a roadside device in the first region. The first air interface resource scheduling information is used to indicate the first scheduling status of air interface resources in the target region. The target region includes the first region. The first device determines target information based on the first road information and the first air interface resource scheduling information. The target information includes first indication information, which is used to indicate that the first air interface resource is occupied to send the first road information. The first device sends the target information.

2. The method according to claim 1, characterized in that, The first device is the first roadside device, and the first area includes M roadside devices, where the M roadside devices include the first device, and M is a positive integer. The method further includes: The first device uses the first air interface resources to send the first road information.

3. The method according to claim 2, characterized in that, The target information also includes second indication information, which is used to instruct the first indication information to be sent to one or more roadside devices other than the first roadside device among the M roadside devices, or the second indication information instructs the first indication information to be sent to one or more roadside devices in a second region, wherein the target region includes the second region.

4. The method according to claim 2 or 3, characterized in that, The method further includes: The first device acquires third indication information, which is used to indicate that second air interface resources are occupied to send second road information. The second road information is the road information corresponding to the second roadside device. The second roadside device is one of the M roadside devices other than the first roadside device, or the second roadside device is a roadside device in a second region. The target region includes the second region. The first device occupies the second air interface resources to send the second road information.

5. The method according to claim 1, characterized in that, The first device is a first fusion sensing device, and the first area includes M roadside devices, wherein the M roadside devices include the first roadside device, and M is a positive integer. The first device sends the target information, including: The first device sends the target information to the M roadside devices.

6. The method according to claim 5, characterized in that, The method further includes: The first device acquires second indication information, which is used to indicate that second air interface resources are occupied to send second road information. The second road information is the road information corresponding to the second roadside device. The second roadside device is one of the M roadside devices other than the first roadside device, or the second roadside device is a roadside device in a second region. The target region includes the second region. The first device sends the second instruction information.

7. The method according to claim 6, characterized in that, The first device acquires the second indication information, including: The first device determines the second indication information based on the second air interface resource scheduling information and the second road information, wherein the second air interface resource scheduling information is used to indicate the second scheduling status of air interface resources in the target area; or The first device receives the second indication information sent by the second fusion sensing device.

8. The method according to any one of claims 5 to 7, characterized in that, The target area further includes a second area, and the first device sends the target information, including: The first device sends the target information to one or more roadside devices in the second area.

9. A device for transmitting road information, characterized in that, include: The transceiver unit is used to acquire first road information and first air interface resource scheduling information. The first road information is the road information corresponding to the first roadside device, and the first roadside device is a roadside device in a first region. The first air interface resource scheduling information is used to indicate the first scheduling status of air interface resources in a target region, and the target region includes the first region. The determining unit is configured to determine target information based on the first road information and the first air interface resource scheduling information, wherein the target information includes first indication information, and the first indication information is used to indicate that the first air interface resource is occupied to send the first road information; The transceiver unit is also used to send the target information.

10. The apparatus according to claim 9, characterized in that, The first device is the first roadside device, and the first area includes M roadside devices, where the M roadside devices include the first device, and M is a positive integer. The transceiver unit is also used to: occupy the first air interface resources to send the first road information.

11. The apparatus according to claim 10, characterized in that, The target information also includes second indication information, which is used to instruct the first indication information to be sent to one or more roadside devices other than the first roadside device among the M roadside devices, or the second indication information instructs the first indication information to be sent to one or more roadside devices in a second region, wherein the target region includes the second region.

12. The apparatus according to claim 10 or 11, characterized in that, The transceiver unit is also used for: Obtain third indication information, which is used to indicate that second air interface resources are occupied to send second road information. The second road information is the road information corresponding to the second roadside device. The second roadside device is one of the M roadside devices other than the first roadside device, or the second roadside device is a roadside device in the second region. The target region includes the second region. The second air interface resource is used to send the second road information.

13. The apparatus according to claim 9, characterized in that, The first device is a first fusion sensing device, and the first area includes M roadside devices, wherein the M roadside devices include the first roadside device, and M is a positive integer. The transceiver unit is also used to send the target information to the M roadside devices.

14. The apparatus according to claim 13, characterized in that, The transceiver unit is also used for: Obtain second indication information, which is used to indicate that second air interface resources are occupied to send second road information. The second road information is the road information corresponding to the second roadside device. The second roadside device is one of the M roadside devices other than the first roadside device, or the second roadside device is a roadside device in a second region. The target region includes the second region. Send the second instruction information.

15. The apparatus according to claim 14, characterized in that, The determining unit is further configured to: determine the second indication information based on the second air interface resource scheduling information and the second road information, wherein the second air interface resource scheduling information is used to represent the second scheduling status of air interface resources in the target area; or... The transceiver unit is further configured to: receive the second indication information sent by the second fusion sensing device.

16. The apparatus according to any one of claims 13 to 15, characterized in that, The target area also includes a second area. The transceiver unit is also used to send the target information to one or more roadside devices in the second area.

17. A device for transmitting road information, characterized in that, The means for transmitting road information is applied to a first device, the means including a processor and a memory, the memory for storing instructions, and the processor for reading the instructions stored in the memory to execute the method according to any one of claims 1 to 8.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed on a processor, implements the method as described in any one of claims 1 to 8.

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