A raw material yard-oriented internet of vehicles communication method, system and engineering vehicle

Abstract

The application provides a raw material yard-oriented Internet of Vehicles communication method, system and engineering vehicle. The method comprises the following steps: an engineering vehicle generates a first communication structure frame group according to collected raw material yard data and vehicle state data and broadcasts the first communication structure frame group, wherein the first communication structure frame group is composed of data elements corresponding to the raw material yard; a second communication structure frame group of a roadside unit or an engineering vehicle other than the vehicle is received and analyzed to obtain analyzed data elements; the corresponding data elements in the first communication structure frame group are updated according to the analyzed data elements to generate a new first communication structure frame group for broadcasting, so that data interaction between engineering vehicles or between the engineering vehicle and the roadside unit is completed.

Description

Technical Field

[0001] This invention relates to the field of communication applications, and in particular to a vehicle-to-everything (V2X) communication method, system, and engineering vehicle for raw material storage yards. Background Technology

[0002] As wireless network technologies and related standards mature, wireless network applications are increasingly being used in industrial settings. However, in harsh industrial environments, such as raw material storage yards, current practices primarily rely on carrier-built wireless networks. However, due to a lack of industrial production experience and understanding of the processes and deployment environment of raw material storage yards, network performance is limited. Furthermore, the relatively closed production environment of raw material storage yards places high demands on data transmission security, leading to the current practice of using standalone network base stations, resulting in high installation and maintenance costs and low economic efficiency. Summary of the Invention

[0003] In view of the problems existing in the prior art, the present invention proposes a vehicle-to-everything (V2X) communication method, system and engineering vehicle for raw material storage yards, which mainly solves the problems of high networking cost and difficult maintenance of existing base stations.

[0004] To achieve the above and other objectives, the technical solution adopted by the present invention is as follows.

[0005] This application provides a vehicle-to-everything (V2X) communication method for raw material storage yards, including:

[0006] The engineering vehicle generates a first communication structure frame group based on the collected raw material stockpile data and its own status data, and broadcasts it. The communication structure frame group is composed of data elements corresponding to the raw material stockpile.

[0007] The system receives and parses a second communication structure frame group from a roadside unit or an engineering vehicle other than itself to obtain parsed data elements. Based on the parsed data elements, it updates the corresponding data elements in the first communication structure frame group to generate a new first communication structure frame group for broadcasting, thereby completing data interaction between engineering vehicles or between engineering vehicles and roadside units.

[0008] In one embodiment of this application, the engineering vehicle generates a first communication structure frame group for broadcasting based on collected raw material stockpile data and its own vehicle status data, including:

[0009] Obtain the data types contained in the raw material stockpile data and the vehicle status data, and form a data type set;

[0010] The data type set is matched with the data types in the preset message frame, and the current message frame is constructed as the first communication structure frame group based on the matched data type.

[0011] In one embodiment of this application, the preset message frame includes a message body, a data frame, and data elements;

[0012] By matching the raw material stockpile data and the vehicle status data with the predefined data types in the message body, data frame, and data elements, the data is assigned values ​​and then encapsulated to obtain the current message frame.

[0013] In one embodiment of this application, before obtaining the parsed data elements by parsing the second communication structure frame group of the roadside unit or the engineering vehicle other than the vehicle itself, the method further includes:

[0014] Obtain the timestamp in the second communication structure frame group, compare the timestamp with a preset valid time interval, and if the timestamp is within the preset valid time interval, retain the second communication structure frame group; otherwise, discard the second communication structure frame group.

[0015] In one embodiment of this application, updating the corresponding data element in the first communication structure frame group according to the parsed data element to generate a new first communication structure frame group for broadcasting includes:

[0016] The vehicle control command is determined based on the parsed data elements;

[0017] After completing the vehicle-side control according to the vehicle-side control command, the vehicle status data and raw material yard data are updated and repackaged to obtain a new first communication structure frame.

[0018] This application also provides a vehicle-to-everything (V2X) communication system for raw material storage yards, including:

[0019] The communication frame construction module is used by engineering vehicles to generate a first communication structure frame group for broadcasting based on the collected raw material stockpile data and the vehicle's status data. The communication structure frame group is composed of data elements corresponding to the raw material stockpile.

[0020] The frame data update module is used to receive and parse the second communication structure frame group of the roadside unit or engineering vehicle other than the vehicle itself to obtain the parsed data elements, update the corresponding data elements in the first communication structure frame group according to the parsed data elements to generate a new first communication structure frame group for broadcasting, and complete the data interaction between engineering vehicles or between engineering vehicles and roadside units.

[0021] This application also provides an engineering vehicle for raw material stockpiles, the engineering vehicle being equipped with a communication terminal. The communication terminal is used by the engineering vehicle to generate a first communication structure frame group for broadcasting based on collected raw material stockpiles data and its own status data. The communication structure frame group consists of data elements corresponding to the raw material stockpiles. The engineering vehicle receives and parses a second communication structure frame group from a roadside unit or an engineering vehicle other than itself to obtain parsed data elements. Based on the parsed data elements, the corresponding data elements in the first communication structure frame group are updated to generate a new first communication structure frame group for broadcasting, thereby completing data interaction between engineering vehicles or between the engineering vehicle and a roadside unit.

[0022] As described above, the present invention provides a vehicle-to-everything (V2X) communication method, system, and engineering vehicle for raw material storage yards, which has the following beneficial effects.

[0023] This application uses a communication structure frame group between engineering vehicles or between engineering vehicles and roadside units to exchange data. It does not require networking based on base stations. Instead, it uses networking communication between engineering vehicles and between engineering vehicles and roadside units. The structure is simpler and easier to maintain, and can effectively ensure the security and stability of data transmission. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating a vehicle-to-everything (V2X) communication method for raw material storage yards according to an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the communication process of an on-board V2X terminal OBU in one embodiment of this application.

[0026] Figure 3 This is a schematic diagram of the communication process of a ground V2X terminal (RSU) in one embodiment of this application.

[0027] Figure 4 This is a schematic diagram of the frame structure group in one embodiment of this application.

[0028] Figure 5 This is a block diagram of a vehicle-to-everything (V2X) communication system for a raw material storage yard according to one embodiment of this application. Detailed Implementation

[0029] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0030] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0031] Please see Figure 1 This application provides a vehicle-to-everything (V2X) communication method for raw material storage yards, which includes the following steps.

[0032] Step S001: The engineering vehicle generates a first communication structure frame group based on the collected raw material stockpile data and its own status data and broadcasts it. The communication structure frame group is composed of data elements corresponding to the raw material stockpile.

[0033] In one embodiment, Roadside Units (RSUs) can be installed at the raw material yard as roadside communication terminals, and Vehicle-to-Everything (V2X) network devices (OBUs) can be installed on the engineering vehicles operating at the raw material yard. V2X network devices are relatively mature, with controllable overall installation and deployment costs, resulting in high economic benefits. The data transmitted between engineering vehicles and between vehicles and the ground via the V2X communication system consists of compressed structured frames, resulting in a smaller data volume, less impact on communication load, and high communication quality.

[0034] Please see Figure 2 , Figure 2 This is a schematic diagram of the communication process of an onboard V2X terminal (OBU) in one embodiment of this application. The OBU receives communication structure frame groups broadcast by other V2X onboard OBU terminals and transmits these frames to the onboard industrial control computer for parsing. The computer determines the validity of the OBU structure frame groups using methods such as timestamps. If invalid, the OBU continues to receive the next communication structure frame group; if valid, it retains the valid frame group. A new communication structure frame is reconstructed based on the valid frame group and transmitted to the vehicle's V2X communication terminal (OBU) via a wired network. The vehicle's V2X communication terminal (OBU) broadcasts the newly constructed communication structure frame at a fixed period t0. When reconstructing a new communication structure frame, the vehicle's own status information is obtained, and the onboard industrial control computer performs data synchronization, data processing, and fusion operations before using the data to construct the communication structure frame. The vehicle-mounted OBU can also simultaneously receive feedback information sent by the ground roadside unit (RSU), transmit the feedback information to the vehicle-mounted industrial control computer to parse the structure frame group, and determine whether the structure frame group of the RSU is valid by using methods such as timestamps. If it is valid, the computer controls the construction machinery to perform corresponding operations based on the parsed valid information, such as controlling the robotic arm on the construction vehicle to grab raw materials, controlling the steering of the construction vehicle, etc.

[0035] Please see Figure 3 , Figure 3 This is a schematic diagram of the communication process of a ground-based V2X terminal (RSU) in one embodiment of this application. After receiving the structure frame group broadcast by the vehicle-mounted OBU, the roadside unit (RSU) transmits it to the ground control computer for parsing. The ground control computer determines whether the OBU structure frame group is valid using methods such as timestamps. If valid, the ground control computer performs corresponding processing based on the parsed information. After execution, a new communication structure frame is reconstructed and transmitted to the ground-based V2X communication terminal (RSU) via the wired network. The ground-based V2X communication terminal (RSU) broadcasts the new communication structure frame at fixed intervals.

[0036] In one embodiment, the engineering vehicle generates a first communication structure frame group for broadcasting based on collected raw material stockpile data and its own vehicle status data, including:

[0037] The data types contained in the raw material stockpile data and the vehicle status data are obtained to form a data type set;

[0038] The data type set is matched with the data types in the preset message frame, and the current message frame is constructed as the first communication structure frame group based on the matched data type.

[0039] In one embodiment, the preset message frame includes a message body, a data frame, and data elements;

[0040] By matching the raw material stockpile data and the vehicle status data with the predefined data types in the message body, data frame, and data elements, the data is assigned values ​​and then encapsulated to obtain the current message frame.

[0041] Please see Figure 4 , Figure 4 This is a schematic diagram of a frame structure group in one embodiment of this application. The communication frame structure group can be constructed based on preset message frames. A message frame can consist of a message body, a data frame, and data elements. The structural composition of a message frame can be represented as follows:

[0042] Message frame:

[0043] A message frame is a unified packaging format for a single application-layer message and is the sole object of data encoding and decoding. Message frames consist of different types of message bodies and support extensions.

[0044] [ASN.1 Code]

[0045]

[0046] Message body:

[0047] The V2X standard defines five basic message categories: BSM, SPAT, RSI, MAP, and RSM, while also allowing for extensions. Therefore, the engineering vehicle network for raw material stockpiles extends this with the following: mapFrame MAP, / / high-precision mapping.

[0048] ObdFrame Obd, / / Obstacle recognition, extension

[0049] ImiFrame Imi / / Basic Information on Construction Machinery

[0050] high-precision positioning HppFrame hpp / / High-precision positioning

[0051] controlFrame Ctrl / / Control data

[0052] It also features various unique message body structures.

[0053] The following will use ImiFrame, ObdFrame, and controlFrame as examples for detailed explanation.

[0054] Msg_ImiFrame

[0055]

definition

[0056] Basic information about the construction machinery. This generally describes the operational status information of the equipment, such as timestamps, machinery name, machinery type, and basic safety information (switching and analog quantities). It is sent as a linked list; once the list is filled, it is sent to the onboard industrial control computer at a fixed period t1. Simultaneously, the onboard industrial control computer can proactively send messages to retrieve the equipment's basic information.

[0057] [ASN.1 Code]

[0058] ImiFrame::=Sequence{

[0059] Msgcnt msgcount

[0060] --message unique identifier

[0061] Timestamp UTCTime

[0062] --UTC

[0063] Name OCTEC STRING type cmtype

[0064] --type of construction machinery

[0065] safe_info safeinfo

[0066] --safety control message ......

[0068] }

[0069] Msg_ObdFrame

[0070]

definition

[0071] Basic obstacle information, describing the basic characteristics of the obstacle.

[0072] The message, containing timestamps, obstacle type, obstacle length, obstacle width, obstacle height, and absolute coordinates, is sent as a linked list. Once the list is full, it is sent to the onboard industrial control computer at a fixed period t2. [ASN.1 code]

[0073] ObdFrame::=Sequence{

[0074] Msgcnt msgcount

[0075] --message unique identifier

[0076] Timestamp UTCTime

[0077] --UTC

[0078] Type OBdtype

[0079] Length REAL

[0080] Width REAL

[0081] Heigth REAL

[0082] Obd_coordinates Coordinate ......

[0084] }

[0085] Msg_controlFrame

[0086]

definition

[0087] Basic information on the operation of construction machinery, describing the corresponding operations of construction machinery.

[0088] It contains information such as timestamps and types of engineering machinery operations, and is sent as a linked list. After the message is filled, it is sent to the vehicle-mounted industrial control computer at a fixed period t3.

[0089] Ctrl::=Sequence{

[0090] Msgcnt msgcount

[0091] --message unique identifier

[0092] Timestamp UTCTime

[0093] --UTC

[0094] type cmtctrltype

[0095] --type of construction machinery control ......

[0097] }

[0098] Data Frame

[0099] A data frame is composed of other data units or data types and has a specific practical meaning. It is a component of the message body.

[0100] DF_cmtype

[0101]

definition

[0102] Construction machinery types include dump trucks, steel grabbers, excavators, overhead cranes, and other construction machinery used in scrap steel material storage yards.

[0103] cmtype::=Choice{

[0104] Dt dumptruck Sgm steelgrabbingmachine

[0105] --steel grabbing machine

[0106] Excavatim excavatingmachinery

[0107] --excavating machinery

[0108] Bridgecrane bridgecrane

[0109] --bridge crane ......

[0111] }

[0112] DF_dumptruck

[0113]

definition

[0114] Basic information about dump trucks includes the type of dump truck, vehicle number, length, width, height, and corresponding tare weight.

[0115] dumptruck::=Sequence{

[0116] Type trucktype

[0117] carNum INTEGER

[0118] Length REAL

[0119] Width REAL

[0120] Heigth REAL

[0121] Weight REAL ......

[0123] }

[0124] DF_safeinfo

[0125]

definition

[0126] Safety information includes safety bypass, start-up interlock, and safety activation.

[0127] safeinfo::=Sequence{

[0128] SFS safetyswitch

[0129] --interlock device that will not let the ignition switch turn tostart if the machine is in the gear

[0130] Sfb Safetybypass

[0131] --Safety bypass

[0132] Sil startInterlocking

[0133] --Start the interlock ......

[0135] }

[0136] DF_Coordinate

[0137]

definition

[0138] The coordinate system includes the WGS84 coordinate system (XYZ geodetic coordinates, latitude, longitude, and elevation), and the three-dimensional attitude orientation in heading, pitch, and roll. Coordinate::=Sequence{

[0139] X REAL

[0140] Y REAL

[0141] Z REAL

[0142] lat REAL

[0143] Log REAL

[0144] Height REAL

[0145] heading REAL

[0146] Pitch REAL

[0147] poll REAL

[0148] }

[0149] DF_cmtctrltype

[0150]

definition

[0151] The specific operation types of construction machinery include operation types of steel grabbers, excavators, dump trucks, etc.

[0152] cmtctrltype::=Sequence{

[0153] Excavatimcrtl excavatingmachinerycrtl

[0154] Dtcrtl dumptruckcrtl

[0155] Sgmcrtl steelgrabbingmachinecrtl

[0156] Bridgecranecrtl bridgecranecrtl ......

[0158] }

[0159] DF_Excavatimcrtl

[0160]

definition

[0161] The specific actions performed by the steel grabber include traveling, slewing, boom lifting and lowering, stick retraction and outward swing, and end effector status.

[0162] Excavatimcrtl::=Sequence{

[0163] Exca_Driving driving

[0164] Exca_Rotation rotation

[0165] Exca_Arm Armswing

[0166] Exca_bucket bucketswing

[0167] Efs Endeffectorstatus ......

[0169] }

[0170] DF_driving

[0171]

definition

[0172] Basic driving status information, including driving coordinates, direction, speed, acceleration, etc.

[0173] driving::=Sequence{

[0174] Dri_Coordinate Coordinate

[0175] Dri_direction Direction

[0176] Dri_Speed ​​Speed

[0177] Dri_acceleration acceleration ......

[0179] }

[0180] DF_Armswing

[0181]

definition

[0182] Basic information about the boom's motion status, including its coordinates, direction, speed, and acceleration.

[0183] Armswing::=Sequence{

[0184] Arm_Coordinate Coordinate

[0185] Arm_direction Direction

[0186] Arm_Speed ​​Speed

[0187] Arm_acceleration acceleration ......

[0189] }

[0190] Data elements:

[0191] A data element is a component of a message body or data unit. It is generated by the definition of a basic data type and has actual physical meaning.

[0192] DE_msgcount

[0193]

definition

[0194] Information ID. The ID corresponding to the information.

[0195]

[0196] DE_Trucktype

[0197]

definition

[0198] Truck types.

[0199] Trucktype::=ENUMERATED{

[0200] Caterpillar,DOOSAN,KOMATSU,SUNWARD,HITACHI,SDLG,Sany,XCMG,Liugong,Bangli,......

[0201] }

[0202] DE_Safetyswitch

[0203]

definition

[0204] The status of the safety switch determines whether it is normal or not.

[0205]

[0206]

definition

[0207] The safety bypass status is used to determine whether it is normal or not.

[0208]

[0209]

definition

[0210] Initiate the interlock status and determine whether it is normal or not.

[0211]

[0212]

definition

[0213] Direction information, consisting of floating-point numbers ranging from 0 to 360 degrees, with a resolution of 0.1 degrees.

[0214] direction::=REAL{),

[0215] DE_Speed

[0216]

definition

[0217] Speed ​​magnitude, resolution 0.01m / s.

[0218] Speed::=REAL{),

[0219] The specific message bodies, data frames, and data elements described above can be set and expanded according to actual application requirements. Here, only one type of message frame structure is given as an example, and should not be regarded as a limitation on the embodiments of this application.

[0220] Step S002: Receive and parse the second communication structure frame group of the roadside unit or engineering vehicle other than this vehicle to obtain parsed data elements, update the corresponding data elements in the first communication structure frame group according to the parsed data elements to generate a new first communication structure frame group for broadcasting, and complete the data interaction between engineering vehicles or between engineering vehicles and roadside units.

[0221] Before parsing the second communication structure frame group of the roadside unit or engineering vehicle other than the vehicle itself to obtain the parsed data elements in one embodiment, the method further includes:

[0222] Obtain the timestamp in the second communication structure frame group, compare the timestamp with a preset valid time interval, and if the timestamp is within the preset valid time interval, retain the second communication structure frame group; otherwise, discard the second communication structure frame group.

[0223] In one embodiment, updating the corresponding data element in the first communication structure frame group according to the parsed data element to generate a new first communication structure frame group for broadcasting includes:

[0224] The vehicle control command is determined based on the parsed data elements;

[0225] After completing the vehicle-side control according to the vehicle-side control command, the vehicle status data and raw material yard data are updated and repackaged to obtain a new first communication structure frame.

[0226] In one embodiment, the data is broadcast via a V2X wireless communication system network. The onboard industrial control computer transmits the processed frame structure group to the V2X communication terminal OBU via a wired network. The V2X communication terminal OBU broadcasts the frame structure at a fixed period t0. Simultaneously, the onboard V2X OBU receives the frame structure group transmitted from the ground RSU; transmits it to the onboard industrial control computer, parses the structure frame group; and determines whether the received ground RSU structure frame group is valid using methods such as timestamps. If invalid, the process is repeated; if valid, the valid structure frame group information is retained. Based on the corresponding information and the parsed valid information, the construction machinery performs appropriate processing.

[0227] Based on the above solutions, this application achieves high data transmission security through a custom communication frame structure group; it also establishes a relatively unified standard, facilitating replication for industrial applications; all information undergoes parsing, compression, and fusion processing, with the final information transmitted as a structured frame group; the data transmitted between engineering vehicles and between vehicles and the ground via the V2X communication system is a compressed frame structure group, resulting in a smaller data volume, less impact on communication load, and high communication quality; the V2X equipment is relatively mature, the overall system installation and deployment costs are controllable, and the economic benefits are high.

[0228] Please see Figure 5 This embodiment provides a vehicle-to-everything (V2X) communication system for raw material storage yards, used to execute the V2X communication method for raw material storage yards described in the foregoing method embodiments. Since the technical principles of the system embodiment are similar to those of the foregoing method embodiments, the same technical details will not be repeated.

[0229] In one embodiment, a vehicle-to-everything (V2X) communication system for raw material storage yards includes:

[0230] The communication frame construction module 10 is used for engineering vehicles to generate a first communication structure frame group for broadcasting based on the collected raw material stockpile data and the vehicle's status data. The communication structure frame group is composed of data elements corresponding to the raw material stockpile.

[0231] The frame data update module 11 is used to receive and parse the second communication structure frame group of the roadside unit or the engineering vehicle other than the vehicle itself to obtain the parsed data elements, update the corresponding data elements in the first communication structure frame group according to the parsed data elements to generate a new first communication structure frame group for broadcasting, and complete the data interaction between engineering vehicles or between engineering vehicles and roadside units.

[0232] This application embodiment also provides an engineering vehicle for raw material stockpiles. The engineering vehicle is equipped with a communication terminal. The communication terminal is used by the engineering vehicle to generate a first communication structure frame group for broadcasting based on the collected raw material stockpiles data and the vehicle's own status data. The communication structure frame group is composed of data elements corresponding to the raw material stockpiles. The engineering vehicle receives and parses a second communication structure frame group from a roadside unit or an engineering vehicle other than itself to obtain parsed data elements. Based on the parsed data elements, the corresponding data elements in the first communication structure frame group are updated to generate a new first communication structure frame group for broadcasting, thereby completing data interaction between engineering vehicles or between the engineering vehicle and a roadside unit.

[0233] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A vehicle-to-everything (V2X) communication method for raw material storage yards, characterized in that, include: The engineering vehicle generates a first communication structure frame group based on the collected raw material stockpile data and its own status data, and broadcasts it. The first communication structure frame group contains data elements corresponding to the raw material stockpile. The engineering vehicle generates a first communication structure frame group for broadcasting based on the collected raw material stockpile data and its own vehicle status data. This includes: acquiring the data types contained in the raw material stockpile data and the vehicle status data, forming a data type set; matching the data type set with the data types in a preset message frame, and constructing the current message frame as the first communication structure frame group based on the matched data types. Receiving and parsing a second communication structure frame group from a roadside unit or an engineering vehicle other than the vehicle itself to obtain parsed data elements, updating the corresponding data elements in the first communication structure frame group according to the parsed data elements to generate a new first communication structure frame group for broadcasting, completing data interaction between engineering vehicles or between engineering vehicles and roadside units; updating the corresponding data elements in the first communication structure frame group according to the parsed data elements to generate a new first communication structure frame group for broadcasting includes: determining vehicle-side control commands according to the parsed data elements; after completing vehicle-side control according to the vehicle-side control commands, updating the vehicle status data and raw material stockpile data and repackaging them to obtain a new first communication structure frame.

2. The vehicle-to-everything (V2X) communication method for raw material storage yards according to claim 1, characterized in that, The preset message frame includes a message body, a data frame, and data elements; By matching the raw material stockpile data and the vehicle status data with the predefined data types in the message body, data frame, and data elements, the data is assigned values ​​and then encapsulated to obtain the current message frame.

3. The vehicle-to-everything (V2X) communication method for raw material storage yards according to claim 1, characterized in that, Before obtaining the parsed data elements by parsing the second communication structure frame group of the roadside unit or engineering vehicle other than this vehicle, the process also includes: Obtain the timestamp in the second communication structure frame group, compare the timestamp with a preset valid time interval, and if the timestamp is within the preset valid time interval, retain the second communication structure frame group; otherwise, discard the second communication structure frame group.

4. A vehicle-to-everything (V2X) communication system for raw material stockpiles, implementing the V2X communication method for raw material stockpiles as described in any one of claims 1-3, characterized in that, include: The communication frame construction module is used by engineering vehicles to generate a first communication structure frame group for broadcasting based on the collected raw material stockpile data and the vehicle's status data. The first communication structure frame group contains data elements corresponding to the raw material stockpile. The frame data update module is used to receive and parse the second communication structure frame group of the roadside unit or engineering vehicle other than the vehicle itself to obtain the parsed data elements, update the corresponding data elements in the first communication structure frame group according to the parsed data elements to generate a new first communication structure frame group for broadcasting, and complete the data interaction between engineering vehicles or between engineering vehicles and roadside units.

5. An engineering vehicle for a raw material storage yard based on the vehicle-to-everything (V2X) communication method for raw material storage yards according to any one of claims 1-3, characterized in that, The engineering vehicle is equipped with a communication terminal, which is used by the engineering vehicle to generate a first communication structure frame group for broadcasting based on the collected raw material stockpile data and the vehicle's status data. The communication structure frame group contains data elements corresponding to the raw material stockpile. The system receives and parses a second communication structure frame group from a roadside unit or an engineering vehicle other than itself to obtain parsed data elements. Based on the parsed data elements, it updates the corresponding data elements in the first communication structure frame group to generate a new first communication structure frame group for broadcasting, thereby completing data interaction between engineering vehicles or between engineering vehicles and roadside units.

Images