Vehicle platooning communication method, device, roadside unit RSU and system

Abstract

The present application provides a method, apparatus, roadside unit (RSU), and system for platooning vehicle driving. Among them, the method includes: the RSU receives a first request message sent by a leading vehicle of a vehicle platoon, and the first identification ID of each vehicle in the vehicle platoon is carried in the first request message; the RSU monitors whether all vehicles in the vehicle platoon have entered the communication coverage range of the RSU based on the first identification ID; in response to the monitoring result that all vehicles in the vehicle platoon have entered the communication coverage range of the RSU, the RSU synchronizes a first broadcast message to all vehicles in the vehicle platoon, and the first broadcast message includes a driving instruction message and / or traffic environment information. By the above method, the problem that vehicles in a platoon cannot synchronously obtain the RSU broadcast message can be effectively solved, and the stability during the platooning vehicle driving process can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and particularly to a vehicle platoon driving communication method, device, roadside unit (RSU), and system. Background Art

[0002] With the development and application of autonomous driving technology, the cooperative communication problem between vehicles and roadside units (RoadSide Unit, abbreviated as RSU) during vehicle platoon driving has also become an object of attention.

[0003] When the roadside unit RSU sends messages to vehicles on the road, it generally sends them in a broadcast form. That is, when a vehicle on the road enters the communication coverage range of the RSU, it will immediately receive the broadcast information and execute the corresponding response. Platoon vehicles drive on the road in a queue, with the same speed and spacing between vehicles, that is, the same driving behavior is maintained between vehicles. When the roadside unit RSU broadcasts information, the vehicles in the platoon enter the communication range of the RSU in sequence, which may cause the vehicles in the platoon to fail to synchronously obtain the RSU message. Summary of the Invention

[0004] In view of the above problems, that is, the problem that vehicles in the platoon cannot synchronously obtain the RSU broadcast message. Embodiments of this application provide a vehicle platoon driving communication method, device, roadside unit RSU, and system.

[0005] To achieve the above object, the embodiments of this application provide the following technical solutions:

[0006] According to the first aspect of the embodiments of this application, a vehicle platoon driving communication method is provided, including:

[0007] The roadside unit RSU receives a first request message sent by the lead vehicle of the vehicle platoon, and the first identification ID of each vehicle in the vehicle platoon is carried in the first request message;

[0008] The roadside unit RSU monitors whether all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit RSU based on the first identification ID;

[0009] In response to the monitoring result that all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit RSU, the roadside unit RSU synchronizes a first broadcast message to all vehicles in the vehicle platoon, and the first broadcast message includes a driving instruction message and / or traffic environment information.

[0010] In the embodiments of the present application, by using the above method, the roadside unit (RSU) first receives a first request message carrying the first identification ID of the formation vehicles sent by the leading vehicle of the vehicle formation, and monitors whether all the vehicles in the formation have entered the communication coverage range of the RSU according to the information in the first request message. When all the vehicles have entered the communication coverage range of the RSU, the RSU broadcasts an RSU message to the vehicle formation, achieving the technical effect that the vehicles in the formation can obtain the RSU message synchronously.

[0011] In one implementation, the first request message is sent by the leading vehicle to the roadside unit (RSU) when the leading vehicle enters the preset range of the roadside unit (RSU), and the preset range is greater than or equal to the communication coverage range.

[0012] After the roadside unit (RSU) receives the first request message sent by the leading vehicle of the vehicle formation, it further includes:

[0013] When the leading vehicle enters the communication coverage range of the roadside unit (RSU), the roadside unit (RSU) feeds back a message receipt confirmation message to the leading vehicle.

[0014] In the embodiments of the present application, by using the above method, it can be realized that when all the vehicles in the vehicle formation enter the coverage range of the RSU, the RSU synchronizes the first broadcast message to the vehicle formation in a timely manner.

[0015] In one implementation, the roadside unit (RSU) monitors whether all the vehicles in the vehicle formation have entered the communication coverage range of the roadside unit (RSU) based on the first identification ID, including:

[0016] The roadside unit (RSU) sends a second broadcast message to all the vehicles within its communication coverage range, and the second broadcast message includes the second identification ID of the roadside unit (RSU), so that all the vehicles within the communication coverage range of the roadside unit (RSU) send a second request message to the roadside unit (RSU) based on the second identification ID;

[0017] The roadside unit (RSU) receives the second request messages sent by all the vehicles within the communication coverage range of the roadside unit (RSU);

[0018] When the second request messages include the second request messages of all the vehicles corresponding to the first identification ID, it is determined that all the vehicles in the vehicle formation have entered the communication coverage range of the roadside unit (RSU).

[0019] In the embodiments of the present application, by using the above method, the monitoring accuracy of the roadside unit (RSU) for the vehicles in the formation entering the communication coverage range of the RSU can be effectively improved.

[0020] In one embodiment, the first broadcast message further includes flag bit information, which is generated according to the formation ID of the vehicle formation and is used for all vehicles in the vehicle formation to identify whether the first broadcast message is sent to the vehicle formation after receiving the first broadcast message.

[0021] In the embodiments of the present application, by using the above method, the vehicle formation can accurately receive the broadcast message sent by the RSU to it, so as to distinguish different vehicle formations or the RSU messages received by the vehicle formation and free vehicles.

[0022] In one embodiment, the roadside unit RSU synchronizes the first broadcast message to all vehicles in the vehicle formation, including:

[0023] The roadside unit RSU synchronizes the first broadcast message to all vehicles in the vehicle formation based on the third request message periodically sent by the vehicle formation, wherein the period for the vehicle formation to send the third request message is adjusted according to the content of the first broadcast message.

[0024] In the embodiments of the present application, by using the above method, the broadcast message can be synchronized to the vehicle formation in real time according to the request period of the vehicle formation.

[0025] In one embodiment, after the roadside unit RSU receives the first request message sent by the leading vehicle of the vehicle formation and before the roadside unit RSU monitors whether all vehicles in the vehicle formation have entered the communication coverage range of the roadside unit RSU based on the first identification ID, it further includes:

[0026] The roadside unit RSU obtains the length of the vehicle formation;

[0027] When the length of the vehicle formation is less than or equal to the coverage range of the roadside unit RSU, the roadside unit RSU performs the step of monitoring whether all vehicles in the vehicle formation have entered the communication coverage range of the roadside unit RSU based on the first identification ID.

[0028] In the embodiments of the present application, by using the above method, the problem that the RSU message synchronization cannot be achieved when the length of the vehicle formation is too long can be effectively avoided.

[0029] According to the second aspect of the embodiments of the present application, there is provided a vehicle formation driving communication device, including:

[0030] A message receiving module, configured to receive the first request message sent by the leading vehicle of the vehicle formation, and the first request message carries the first identification ID of each vehicle in the vehicle formation;

[0031] A monitoring module, which is configured to monitor whether all vehicles in the vehicle formation have entered the communication coverage range of the roadside unit (RSU) based on the first identification ID.

[0032] A broadcast module, which is configured to synchronize a first broadcast message to all vehicles in the vehicle formation in response to the monitoring result that all vehicles in the vehicle formation have entered the communication coverage range of the roadside unit (RSU), where the first broadcast message includes a driving instruction message and / or traffic environment information.

[0033] In one implementation, the vehicle formation driving device is used to execute any possible implementation manner in the above first aspect.

[0034] According to a third aspect of the embodiments of the present application, a roadside unit (RSU) is provided, including: a memory, a processor, and a computer program, where the computer program is stored in the memory, and the processor runs the computer program to execute the vehicle formation driving communication method.

[0035] According to a fourth aspect of the embodiments of the present application, a vehicle formation driving communication system is provided, including: a vehicle formation and a roadside unit (RSU);

[0036] The vehicle formation includes a lead vehicle and following vehicles, the lead vehicle is configured to send a first request message to the roadside unit (RSU), where the first request message carries the first identification ID of each vehicle in the vehicle formation and receive the first broadcast message synchronized by the roadside unit (RSU);

[0037] The roadside unit (RSU) is configured to implement the vehicle formation driving communication method.

[0038] In one implementation, the vehicle formation is further configured to periodically send a third request message to the roadside unit (RSU);

[0039] The roadside unit (RSU) is further configured to synchronize the first broadcast message to all vehicles in the vehicle formation based on the third request message periodically sent by the vehicle formation;

[0040] The vehicle formation is further configured to adjust the period of sending the third request message according to the content of the first broadcast message.

[0041] According to a fifth aspect of the embodiments of the present application, a computer-readable storage medium is provided, where the storage medium includes a computer program, and the computer program is used to implement the vehicle formation driving communication method.

[0042] According to a sixth aspect of the embodiments of the present application, there is provided a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer is caused to execute the vehicle platooning communication method described above.

[0043] According to a seventh aspect of the embodiments of the present application, there is provided a chip, including a memory and a processor. The memory is used for storing a computer program, and the processor is used for calling and running the computer program from the memory to execute the vehicle platooning communication method described above. Description of the Drawings

[0044] Figure 1a One of the possible scenario schematic diagrams provided by the embodiments of the present application;

[0045] Figure 1b Another possible scenario schematic diagram provided by the embodiments of the present application;

[0046] Figure 1c Another possible scenario schematic diagram provided by the embodiments of the present application;

[0047] Figure 2 A flowchart of a vehicle platooning communication method provided by the embodiments of the present application;

[0048] Figure 3 For Figure 2 a flowchart of step S202 in

[0049] Figure 4 An example diagram of the message format of the first broadcast message in the embodiments of the present application;

[0050] Figure 5 A flowchart of another vehicle platooning communication method provided by the embodiments of the present application;

[0051] Figure 6 A schematic structural diagram of a vehicle platooning communication device provided by the embodiments of the present application;

[0052] Figure 7 A schematic structural diagram of a roadside unit OBU provided by the embodiments of the present application;

[0053] Figure 8 A schematic structural diagram of a vehicle platooning communication system provided by the embodiments of the present application. Detailed Embodiments

[0054] The technical solutions provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that "when..." in the embodiments of the present application can be at the instant when a certain situation occurs or within a period of time after a certain situation occurs. The embodiments of the present application do not make specific limitations on this.

[0055] With the development and application of new technologies such as autonomous driving technology, information and communication technology, and cloud computing, automobiles are accelerating their transformation from mechanically controlled products to intelligent products controlled by intelligent systems. Traffic accidents caused by drivers' fatigue driving are frequently reported in the newspapers. Applying autonomous driving technology to automobiles can effectively reduce the accident rate.

[0056] Among them, multi-vehicle formation is a key direction. If formation coordination and stable driving can be achieved between vehicles, it can effectively avoid rear-end collisions caused by the sudden braking of the vehicle in front, greatly improve road safety, and multi-vehicle formation autonomous driving can reduce the following distance between vehicles, making the wind resistance of the following vehicle smaller and reducing the fuel consumption cost of the following vehicle.

[0057] During the driving process of vehicle formation, it is necessary to interact with the roadside unit RSU and receive the broadcast information of the RSU. When the RSU broadcasts information, the vehicles in the formation enter the communication range of the RSU in sequence, which may result in the vehicles in the formation being unable to obtain the RSU message synchronously. In related technologies, to enable vehicles to obtain the RSU message synchronously, additional RSU devices are added near the RSU that broadcasts information, and two or more RSUs are used to synchronously send the same information to increase the RSU broadcast range. However, the above solution requires an increase in infrastructure construction, which will bring higher costs on the one hand, and it is not easy to estimate the number of RSUs added on the road on the other hand.

[0058] In view of this, the embodiments of the present application propose a driving communication method for vehicle formation. The roadside unit RSU first receives a first request message carrying the first identifier ID of the formation vehicles sent by the lead vehicle of the vehicle formation. For the vehicle formation corresponding to the received first request message, the roadside unit RSU does not directly send a broadcast message to the vehicles in the vehicle formation, but monitors whether all the vehicles in the formation have entered the communication coverage range of the RSU according to the information in the first request message, and then broadcasts the RSU message to the vehicle formation when all have entered the RSU communication coverage range. Without adding RSU devices, the technical effect that the vehicles in the formation can obtain the RSU message synchronously can be achieved.

[0059] The technical solutions of the present application will be described in detail below. The embodiments of the present application can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0060] Figures 1a to 1c This is a schematic diagram of the scenario provided by the embodiment of the present application. As Figures 1a to 1c shown, it includes a traveling vehicle formation, surrounding free vehicles, and a roadside unit RSU. Figure 1a , Figure 1b and Figure 1c are respectively schematic diagrams of the scenarios where the vehicle formation drives into the communication coverage range of the roadside unit RSU, some vehicles in the vehicle formation are within the communication coverage range of the roadside unit RSU, and all vehicles in the vehicle formation are within the communication coverage range of the roadside unit RSU. In this embodiment, the vehicle formation includes a leading vehicle (i.e., the head vehicle of the vehicle formation) and multiple following vehicles (including the tail vehicle) that follow the leading vehicle.

[0061] Exemplarily, as Figure 1a and Figure 1b shown, they are schematic diagrams of the scenarios where the vehicle formation has not entered or partially entered the communication coverage range of the RSU. In this scenario, the information broadcast by the roadside unit RSU is only sent to the surrounding free vehicles within the coverage range. In other scenarios, the communication coverage range of the RSU may also include other vehicle formations. If all vehicles in other vehicle formations are within the communication coverage range of the RSU, the information broadcast by the roadside unit RSU can be sent to the surrounding free vehicles within the communication coverage range and other vehicle formations simultaneously.

[0062] In this embodiment, when the leading vehicle in the vehicle formation enters the preset range of the roadside unit (without entering the communication coverage range), it sends a first request message to the RSU. The RSU obtains that there will be a corresponding vehicle formation driving into the communication coverage range of the RSU according to the first request message, and monitors whether the vehicles in the vehicle formation enter the communication coverage range according to the vehicle identification ID information of the vehicle formation carried in the first request message. Combining Figure 1c shown, when the RSU monitors that all vehicles in the vehicle formation have entered the communication coverage range of the RSU, at this time, the information broadcast by the RSU is sent to the formation vehicles simultaneously, enabling the vehicles in the vehicle formation to receive the RSU message synchronously and reducing the safety risks brought by the asynchronous reception of the RSU message in the vehicle formation. It can be understood that the broadcast messages sent by the RSU for different vehicle formations or different free vehicles can be different, and the broadcast messages can be driving instruction messages, traffic environment information, weather push messages, etc.

[0063] The above briefly describes the schematic diagram of the scenario of the present application. Next, taking the roadside unit RSU applied to Figures 1a to 1c as an example, the formation driving communication method provided by the embodiment of the present application will be described in detail.

[0064] Please refer to Figure 2 , Figure 2The flowchart shows a vehicle platoon driving communication method provided by an embodiment of this application, including steps S201 - S203.

[0065] Step S201: The roadside unit (RSU) receives a first request message sent by the lead vehicle of the vehicle platoon, and the first identification ID of each vehicle in the vehicle platoon is carried in the first request message.

[0066] It can be understood that the lead vehicle is the head vehicle in the platoon vehicles.

[0067] Compared with the related technology where the RSU directly broadcasts RSU messages to all vehicles within its communication coverage area without considering that during the driving process of the vehicle platoon, some vehicles may be within the communication coverage while some have not entered the communication coverage of the RSU, resulting in the problem of out - of - sync RSU messages for the vehicle platoon. In this embodiment, the roadside unit (RSU) does not directly broadcast messages to the vehicles in the vehicle platoon. Instead, it first receives the first request message sent by the lead vehicle of the vehicle platoon, and in subsequent steps, monitors whether all vehicles in the vehicle platoon have entered the communication coverage area based on this first request message and completes the synchronization of the broadcast message. Among them, the first request message can be used to indicate that the vehicle platoon is about to drive into the communication coverage area of the RSU device. It carries the first identification ID of each vehicle in the vehicle platoon. The first identification ID can be the license plate number of the vehicle or other identification information. The first identification ID can be used by the RSU to identify the corresponding vehicle in the vehicle platoon. It can be understood that in addition to the first identification ID of each vehicle, the first request message may also include information such as the platoon ID.

[0068] In one implementation, the first request message is sent by the lead vehicle to the roadside unit (RSU) when the lead vehicle enters the preset range of the roadside unit (RSU), and the preset range is greater than or equal to the communication coverage range.

[0069] It should be noted that those skilled in the art can adaptively set the preset range according to the actual application. Exemplarily, it can be set according to the communication coverage range of the RSU. For example, if the communication coverage range is a circle with the RSU as the center and a radius of 300 meters, the preset range can be set as a range with the RSU as the center and a radius of 350 meters.

[0070] In this embodiment, after the roadside unit (RSU) receives the first request message sent by the lead vehicle of the vehicle platoon in step S201, the following steps may also be included:

[0071] When the lead vehicle enters the communication coverage area of the roadside unit (RSU), the roadside unit (RSU) feeds back a message receipt confirmation to the lead vehicle.

[0072] In one implementation, when a vehicle platoon is driving on a road, the navigation map will provide the positions of RSU devices on the platoon driving path. When the vehicle platoon approaches a roadside RSU device, for example, when the leading vehicle is X meters (such as 350 meters) away from the roadside RSU device, the leading vehicle actively sends a first request message to the RSU to indicate that the vehicle platoon is about to enter the communication range of the RSU. Optionally, when the leading vehicle has not entered the communication coverage range of the RSU, the RSU does not feedback message receipt information to the vehicle platoon. At this time, the leading vehicle cannot receive the feedback information from the RSU and continues to wait until it enters the communication coverage range of the RSU, and then the RSU feedbacks the confirmation information of receiving the request. This information does not include the message content (i.e., the first broadcast message) broadcast by the RSU.

[0073] In this embodiment, the first request message sent by the leading vehicle may include the ID of the platoon and the first identification ID of each vehicle in the platoon. The RSU can determine whether all vehicles in the platoon have entered the communication coverage range based on the platoon ID and the ID of each vehicle. For example, in a platoon with 3 vehicles, the leading vehicle sends a first request message to the RSU, including the first identification IDs of the 3 vehicles. When the RSU recognizes that all 3 vehicles have entered the communication range of the RSU, it synchronously sends the first broadcast message of the RSU to each vehicle in the vehicle platoon.

[0074] Optionally, when a following vehicle (other vehicles in the vehicle platoon except the leading vehicle) is X meters away from the roadside RSU device, it can also send a corresponding request message to the RSU and wait for the confirmation information from the RSU. Extensibly, the request messages of the leading vehicle and all following vehicles in the platoon can include ID information. In this process, the RSU can confirm that each vehicle in the vehicle platoon is about to enter the communication coverage range of the RSU. This process can effectively solve the communication problem between the vehicle platoon and the RSU in the case of a vehicle leaving the platoon, a new vehicle joining the platoon, the vehicle platoon being reorganized, the total number of vehicles decreasing or increasing during the driving process of the vehicle platoon.

[0075] Optionally, the RSU can broadcast messages to the vehicles within the communication coverage range under several working conditions where the platoon has not entered the coverage range, partially entered the coverage range, partially exited the coverage range, and all entered the coverage range. If the request IDs of the platoon vehicles received by the RSU are inconsistent with the number of platoon vehicles, the RSU should not reply with the message content (the first broadcast message), but only feedback the message receipt confirmation message.

[0076] In the embodiment of this application, by using the above method, it can be realized that when all vehicles in the vehicle platoon enter the coverage range of the RSU, the RSU timely synchronizes the first broadcast message to the vehicle platoon.

[0077] Step S202: The roadside unit (RSU) monitors whether all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit (RSU) based on the first identification (ID).

[0078] In this embodiment, after receiving the first request message of the vehicle platoon, the roadside unit (RSU) can identify whether all vehicles in the vehicle platoon have entered the communication coverage based on the first ID of each vehicle. In one implementation, the first ID can be the license plate number of the vehicle. The license plate numbers of the vehicles entering the communication range can be collected by a camera, and based on the corresponding license plate numbers, it can be identified whether all vehicles in the vehicle platoon have entered the communication range of the RSU.

[0079] In one implementation manner, to further improve the monitoring efficiency and accuracy of whether vehicles in the vehicle platoon have entered the communication range of the RSU, as Figure 3 shown, step S202 where the roadside unit (RSU) monitors whether all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit (RSU) based on the first ID can include the following steps S202a - S202c:

[0080] S202a: The roadside unit (RSU) sends a second broadcast message to all vehicles within its communication coverage range. The second broadcast message includes the second ID of the roadside unit (RSU), so that all vehicles within the communication coverage range of the roadside unit (RSU) send a second request message to the roadside unit (RSU) based on the second ID.

[0081] It should be noted that the first broadcast message and the second broadcast message are only used to distinguish similar objects, and the specific content and form of these two broadcast messages do not have to be limited. In this embodiment, the second broadcast message can be a broadcast message without carrying specific broadcast content (such as a driving instruction message or traffic environment information). In some embodiments, the second broadcast message can also be a broadcast message carrying specific broadcast content, such as a broadcast message with the same content as the first broadcast message. This embodiment does not make specific limitations on this.

[0082] S202b: The roadside unit (RSU) receives the second request messages sent by all vehicles within the communication coverage range of the roadside unit (RSU).

[0083] Similarly, the first request message, the second request message, and the third request message described later are only used to distinguish similar objects, and the specific content and form of these different request messages do not have to be limited. In this embodiment, the second request message can be a response message to the second broadcast message, which carries the first ID of the vehicle to facilitate the RSU's monitoring of the vehicle platoon entering the RSU communication range.

[0084] S202c. When all the second request messages of the vehicles corresponding to the first identification ID are included in the second request message, it is determined that all the vehicles in the vehicle formation have entered the communication coverage range of the roadside unit RSU.

[0085] In the above process, by using the RSU to perform real-time broadcast interaction with the vehicles within its communication range, the accuracy and monitoring efficiency of the roadside unit RSU for the vehicles in the formation entering the communication coverage range of the RSU can be effectively improved.

[0086] Step S203. In response to the monitoring result that all the vehicles in the vehicle formation have entered the communication coverage range of the roadside unit RSU, the roadside unit RSU synchronizes a first broadcast message to all the vehicles in the vehicle formation, and the first broadcast message includes a driving instruction message and / or traffic environment information.

[0087] In this embodiment, the first broadcast message synchronized by the RSU can be divided into three types or more types, such as a driving instruction message (i.e., a control command), traffic environment information, and message push, etc.; among them, the driving instruction message can directly affect the driving behavior of the vehicle, such as deceleration, emergency braking, etc.; the traffic environment information affects the path planning of the vehicle, such as traffic events information like congestion ahead, construction ahead, etc.; the message push generally has no impact on the driving behavior, such as pushing weather, pushing entertainment news, etc. Optionally, the first broadcast message can be generated according to the request message of the vehicle formation. For example, if the driving instruction message of the vehicle formation is requested in the first request message, the message content of the first broadcast message is the corresponding driving instruction message.

[0088] In the embodiment of the present application, by using the above method, the roadside unit RSU first receives the first request message carried by the leading vehicle of the vehicle formation and including the first identification ID of the formation vehicles, and monitors whether all the vehicles in the formation have entered the communication coverage range of the RSU according to the information in the first request message. When all have entered the communication coverage range of the RSU, it broadcasts the RSU message to the vehicle formation, achieving the technical effect that the vehicles in the formation can synchronously obtain the RSU message, and can effectively avoid the formation driving safety risk caused by the vehicles in the vehicle formation being unable to synchronously obtain the RSU message.

[0089] In one implementation manner, the first broadcast message further includes flag bit information, and the flag bit information is generated according to the formation ID of the vehicle formation, and is used for all the vehicles in the vehicle formation to identify whether the first broadcast message is sent to the vehicle formation after receiving the first broadcast message.

[0090] Exemplarily, for different vehicle formations, corresponding flag bit information is generated for each vehicle formation according to the formation ID of the vehicle formation, such as Figure 4As shown in the figure, the first broadcast message includes flag bit information and message content information. The message content is the driving instruction message and / or traffic environment information. For different vehicle formations, there is a corresponding response flag bit information. For example, the response flag bit information of the vehicle formation with formation ID1 is flag bit 1, the response flag bit information of the vehicle formation with formation ID2 is flag bit 2, and the response flag bit information of the vehicle formation with formation ID3 is flag bit 3, and so on. After the vehicles in the vehicle formation receive the message broadcast by the RSU, they can determine whether the broadcast message is sent to the vehicle formation according to the corresponding flag bit information, so as to synchronize the broadcast messages received by the vehicles in the vehicle formation with other vehicles in the vehicle formation. Optionally, for different vehicle formations, the RSU can broadcast different message contents.

[0091] In the embodiment of the present application, the above method can be used to enable the vehicle formation to accurately receive the broadcast message sent by the RSU to it, so as to distinguish different vehicle formations or the RSU messages received by the vehicle formation and free vehicles.

[0092] In one implementation manner, the roadside unit RSU synchronizes the first broadcast message to all vehicles in the vehicle formation in step S203, which may include the following steps:

[0093] The roadside unit RSU synchronizes the first broadcast message to all vehicles in the vehicle formation based on the third request message periodically sent by the vehicle formation, where the period of the vehicle formation sending the third request message is adjusted according to the content of the first broadcast message.

[0094] Taking the message content types of the first broadcast message including driving instruction messages, traffic environment information, and message push as an example, the formation vehicles can adjust the period of the request (the third request message) according to the message content type corresponding to the received broadcast information, so as to increase the acquisition of key information or reduce the channel occupancy rate. Exemplarily, according to the influence of the three types of content on driving behavior safety, it is determined that the period of the formation vehicle request message from high to low is driving instruction message > traffic environment information > message push. For example, the period of the formation vehicle requesting the RSU (the third request message) is Ts. When the content of the RSU response message (the first broadcast message) is a driving instruction message type, the formation vehicle adjusts the request period to (T - 1)s. When the content of the RSU response message is traffic environment information, the formation vehicle does not adjust the request period and still remains Ts. When the content of the RSU response message is a message push type, the formation vehicle adjusts the request period to (T + 1)s. After the roadside unit RSU receives the third request message of the vehicle in the vehicle formation, it synchronizes the first broadcast message to the vehicle in the vehicle formation in real time.

[0095] In the embodiment of the present application, the above method can be used to synchronize the broadcast message to the vehicle formation in real time according to the request period of the vehicle formation.

[0096] Please refer to Figure 5 , Figure 5 which is a schematic flowchart of another vehicle platoon driving communication method provided by an embodiment of the present application. On the basis of the above embodiment, this embodiment takes into account the situation where the vehicle platoon is too long or the communication coverage range of the RSU is too small, and the problem that the vehicle platoon cannot obtain the broadcast message of the RSU. By identifying whether the length of the vehicle platoon is within the communication coverage range and performing subsequent steps for synchronous broadcasting, the stable driving of the vehicle platoon is further ensured. Specifically, after the roadside unit RSU receives the first request message sent by the leading vehicle of the vehicle platoon in step S201, and before the roadside unit RSU monitors whether all vehicles of the vehicle platoon have entered the communication coverage range of the roadside unit RSU in step S202, step S501 is further included, and step S202 is further divided into step S502.

[0097] Step S501: The roadside unit RSU obtains the length of the vehicle platoon.

[0098] It can be understood that the length of the vehicle platoon is the distance between the leading vehicle and the trailing vehicle in the vehicle platoon.

[0099] Step S502: When the length of the vehicle platoon is less than or equal to the coverage range of the roadside unit RSU, the roadside unit monitors whether all vehicles of the vehicle platoon have entered the communication coverage range of the roadside unit RSU based on the first identification ID.

[0100] In an implementable manner, when the length of the vehicle platoon is greater than the coverage range of the roadside unit RSU, the RSU can synchronize the broadcast information to the leading vehicle, and the leading vehicle uses the OBU (On board Unit) communication method for vehicle-to-vehicle communication to achieve the synchronization of RSU messages of each vehicle in the vehicle platoon. In other implementation manners, the communication between the vehicle platoon and the RSU can also be completed according to the prior art.

[0101] In the embodiment of the present application, the above method can effectively avoid the problem that the RSU message synchronization cannot be achieved when the length of the vehicle platoon is too long.

[0102] Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of a vehicle platoon driving communication device provided by an embodiment of the present application, including a message receiving module 61, a monitoring module 62, and a broadcast module 63. Among them,

[0103] A message receiving module 61, which is configured to receive a first request message sent by a leading vehicle of a vehicle formation, where the first request message carries first identification IDs of vehicles in the vehicle formation;

[0104] A monitoring module 62, which is configured to monitor whether all vehicles in the vehicle formation have entered the communication coverage range of a roadside unit RSU based on the first identification IDs;

[0105] A broadcasting module 63, which is configured to synchronize a first broadcast message to all vehicles in the vehicle formation in response to a monitoring result that all vehicles in the vehicle formation have entered the communication coverage range of the roadside unit RSU, where the first broadcast message includes a driving instruction message and / or traffic environment information.

[0106] In one implementation, the first request message is sent by the leading vehicle to the roadside unit RSU when the leading vehicle enters a preset range of the roadside unit RSU, and the preset range is greater than or equal to the communication coverage range.

[0107] The device further includes:

[0108] A feedback module, which is configured to feedback a message receipt confirmation message to the leading vehicle when the leading vehicle enters the communication coverage range of the roadside unit RSU.

[0109] In an embodiment of the present application, based on the feedback module, it can be realized that when all vehicles in the vehicle formation enter the coverage range of the RSU, the RSU synchronizes the first broadcast message to the vehicle formation in a timely manner.

[0110] In one implementation, the monitoring module 62 includes:

[0111] A sending unit, which is configured to send a second broadcast message to all vehicles within its communication coverage range, where the second broadcast message includes a second identification ID of the roadside unit RSU, so that all vehicles within the communication coverage range of the roadside unit RSU send second request messages to the roadside unit RSU based on the second identification ID;

[0112] A receiving unit, which is configured to receive second request messages sent by all vehicles within the communication coverage range of the roadside unit RSU;

[0113] A determining unit, which is configured to determine that all vehicles in the vehicle formation have entered the communication coverage range of the roadside unit RSU when the second request messages include second request messages of all vehicles corresponding to the first identification ID.

[0114] In the embodiments of the present application, the specific implementation of the monitoring module can effectively improve the accuracy of the roadside unit (RSU) in determining whether a vehicle in a platoon enters the communication coverage range of the RSU.

[0115] In one implementation, the first broadcast message further includes flag bit information, which is generated according to the platoon ID of the vehicle platoon and is used for all vehicles in the vehicle platoon to identify whether the first broadcast message is sent to the vehicle platoon after receiving the first broadcast message.

[0116] In the embodiments of the present application, by using the flag bit information, the vehicle platoon can accurately receive the broadcast message sent by the RSU, so as to distinguish different vehicle platoons or the RSU messages received by the vehicle platoon and free vehicles.

[0117] In one implementation, the broadcast module 63 is specifically configured to synchronize the first broadcast message to all vehicles in the vehicle platoon based on the third request message periodically sent by the vehicle platoon, where the period of the vehicle platoon sending the third request message is adjusted according to the content of the first broadcast message.

[0118] In the embodiments of the present application, the specific implementation of the broadcast module 63 can synchronize the broadcast message to the vehicle platoon in real time according to the request period of the vehicle platoon.

[0119] In one implementation, the device further includes:

[0120] a length acquisition module configured to acquire the length of the vehicle platoon;

[0121] The monitoring module 63 is specifically configured to monitor whether all vehicles in the vehicle platoon enter the communication coverage range of the roadside unit (RSU) based on the first identification ID when the length of the vehicle platoon is less than or equal to the coverage range of the RSU.

[0122] In the embodiments of the present application, the specific implementation of the monitoring module 63 can effectively avoid the problem that RSU message synchronization cannot be achieved when the length of the vehicle platoon is too long.

[0123] In one implementation, the vehicle platoon driving communication device is used to execute any possible implementation manner in the first aspect above.

[0124] The embodiments of the present application further provide a roadside unit (RSU), as Figure 7 shown, including: a memory 71, a processor 72, and a computer program, where the computer program is stored in the memory 71, and the processor 72 runs the computer program to execute the vehicle platoon driving communication method.

[0125] The embodiment of the present application further provides a vehicle platoon driving communication system, as Figure 8 shown, including: a vehicle platoon 81 and a roadside unit RSU82;

[0126] The vehicle platoon 81 includes a leading vehicle and following vehicles. The leading vehicle is used to send a first request message to the roadside unit RSU. The first request message carries the first identification ID of each vehicle in the vehicle platoon and receives the first broadcast message synchronized by the roadside unit RSU;

[0127] The roadside unit RSU82 is used to implement the vehicle platoon driving communication method described above.

[0128] In an implementation manner, the vehicle platoon 81 is further used to periodically send a third request message to the roadside unit RSU;

[0129] The roadside unit RSU82 is further used to synchronize the first broadcast message to all vehicles in the vehicle platoon based on the third request message periodically sent by the vehicle platoon;

[0130] The vehicle platoon 81 is further used to adjust the period of sending the third request message according to the content of the first broadcast message.

[0131] The embodiment of the present application further provides a computer-readable storage medium. The storage medium includes a computer program, and the computer program is used to implement the vehicle platoon driving communication method described above.

[0132] The embodiment of the present application further provides a computer program product. The computer program product includes computer program code. When the computer program code runs on a computer, it causes the computer to execute the vehicle platoon driving communication method described above.

[0133] The embodiment of the present application further provides a chip, including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory to execute the vehicle platoon driving communication method described above.

[0134] Those of ordinary skill in the art will understand that all or some of the steps in the methods disclosed above, and the functional modules / units in systems and devices, can be implemented as software, firmware, hardware, and their appropriate combinations. In the hardware implementation, the division of functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be executed by several physical components in cooperation. Some or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or can be implemented as hardware, or can be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium).

[0135] As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0136] In addition, as is well known to those of ordinary skill in the art, a communication medium typically contains computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0137] In the description of the embodiments of the present application, the term "and / or" only represents an associative relationship describing associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" represents any one or any combination of at least two of a plurality. For example, including at least one of A and B can represent any one or more elements selected from the set including A, B, and C.

[0138] In the description of the embodiments of the present application, the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application. In addition, the meaning of the term "plurality" is two or more, unless otherwise specifically and precisely defined.

[0139] In the description of the embodiments of the present application, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for vehicle platoon driving communication, characterized in that, it includes: The roadside unit RSU receives a first request message sent by the leading vehicle of the vehicle platoon, and the first identification ID of each vehicle in the vehicle platoon is carried in the first request message; The roadside unit RSU monitors whether all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit RSU based on the first identification ID; In response to the monitoring result that all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit RSU, the roadside unit RSU synchronizes a first broadcast message to all vehicles in the vehicle platoon, and the first broadcast message includes a driving instruction message and / or traffic environment information; The roadside unit RSU monitors whether all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit RSU based on the first identification ID, including: The roadside unit RSU sends a second broadcast message to all vehicles within its communication coverage range, and the second broadcast message includes the second identification ID of the roadside unit RSU, so that all vehicles within the communication coverage range of the roadside unit RSU send a second request message to the roadside unit RSU based on the second identification ID; The roadside unit RSU receives the second request messages sent by all vehicles within the communication coverage range of the roadside unit RSU; In the case that the second request messages include the second request messages of all vehicles corresponding to the first identification ID, it is determined that all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit RSU.

2. The method according to claim 1, characterized in that, The first request message is sent by the leading vehicle to the roadside unit RSU when the leading vehicle enters a preset range of the roadside unit RSU, and the preset range is greater than or equal to the communication coverage range. After the roadside unit RSU receives the first request message sent by the leading vehicle of the vehicle platoon, it further includes: In the case that the leading vehicle enters the communication coverage range of the roadside unit RSU, the roadside unit RSU feeds back a message receipt confirmation message to the leading vehicle.

3. The method according to claim 1, characterized in that, The first broadcast message further includes flag bit information, and the flag bit information is generated according to the platoon ID of the vehicle platoon, and is used for all vehicles in the vehicle platoon to identify whether the first broadcast message is sent to the vehicle platoon after receiving the first broadcast message.

4. The method according to claim 1, characterized in that, The roadside unit RSU synchronizes the first broadcast message to all vehicles in the vehicle platoon, including: The roadside unit RSU synchronizes the first broadcast message to all vehicles in the vehicle platoon based on a third request message periodically sent by the vehicle platoon, wherein the period of the vehicle platoon sending the third request message is adjusted according to the content of the first broadcast message.

5. The method according to any one of claims 1-4, characterized in that, After the roadside unit (RSU) receives the first request message sent by the lead vehicle of the vehicle platoon, and before the RSU monitors whether all vehicles of the vehicle platoon have entered the communication coverage range of the RSU based on the first identification (ID), the following steps are further included: The RSU obtains the length of the vehicle platoon; In the case where the length of the vehicle platoon is less than or equal to the coverage range of the RSU, the RSU performs the step of monitoring whether all vehicles of the vehicle platoon have entered the communication coverage range of the RSU based on the first ID.

6. A vehicle platoon driving communication device, Characterized in that, It includes: A message receiving module configured to receive the first request message sent by the lead vehicle of the vehicle platoon, and the first request message carries the first ID of each vehicle in the vehicle platoon; A monitoring module configured to monitor whether all vehicles in the vehicle platoon have entered the communication coverage range of the roadside unit (RSU) based on the first ID; A broadcast module configured to synchronize the first broadcast message to all vehicles in the vehicle platoon in response to the monitoring result that all vehicles in the vehicle platoon have entered the communication coverage range of the RSU, and the first broadcast message includes a driving instruction message and / or traffic environment information; The monitoring module is specifically configured to: Send a second broadcast message to all vehicles within its communication coverage range, and the second broadcast message includes the second ID of the RSU, so that all vehicles within the communication coverage range of the RSU send a second request message to the RSU based on the second ID; Receive the second request messages sent by all vehicles within the communication coverage range of the RSU; In the case where the second request messages include the second request messages of all vehicles corresponding to the first ID, it is determined that all vehicles of the vehicle platoon have entered the communication coverage range of the RSU.

7. A roadside unit (RSU), Characterized in that, It includes: A memory, a processor, and a computer program, the computer program is stored in the memory, and the processor runs the computer program to execute the vehicle platoon driving communication method according to any one of claims 1 to 5.

8. A vehicle platoon driving communication system, Characterized in that, It includes: A vehicle platoon and a roadside unit (RSU); The vehicle platoon includes a lead vehicle and following vehicles, the lead vehicle is configured to send a first request message to the RSU, and the first request message carries the first ID of each vehicle in the vehicle platoon and receives the first broadcast message synchronized by the RSU; The RSU is configured to implement the vehicle platoon driving communication method according to any one of claims 1 to 5.

9. According to the system of claim 8, Characterized in that, The vehicle platoon is further configured to periodically send a third request message to the RSU; The roadside unit RSU is further configured to synchronize the first broadcast message to all vehicles in the vehicle formation based on the third request message periodically sent by the vehicle formation; The vehicle formation is further configured to adjust the period of sending the third request message according to the content of the first broadcast message.

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