Message evaluation method, apparatus and electronic device

Abstract

The application provides a message evaluation method, device and electronic equipment. The message evaluation method performed by a terminal comprises the following steps: receiving a first message sent by a server, wherein the first message carries first time information of sending a vehicle Internet message to the terminal by the server, and the first message is sent by the server to the terminal in the case that the server receives a basic safety message (BSM) sent by the terminal; determining a trusted receiving time interval of the vehicle Internet message according to the first time information; and determining the trustworthiness information of the vehicle Internet message according to second time information of receiving the vehicle Internet message by the terminal and the trusted receiving time interval. The application can improve the accuracy of the trustworthiness evaluation of the vehicle Internet message.

Description

Technical Field

[0001] This application relates to the field of vehicle networking technology, and in particular to a message evaluation method, apparatus and electronic device. Background Technology

[0002] In scenarios such as assisted driving or autonomous driving, vehicle-to-everything (V2X) technology can provide reliable information services to enhance vehicle perception capabilities and improve driving safety and efficiency. Vehicles make driving decisions by referring to information transmitted over the network, which makes the evaluation of the credibility of V2X information important.

[0003] Currently, networks typically characterize the reliability of information transmission based on transmission probability. This transmission probability is a value obtained through numerous packet-sending and receiving tests during network measurement. This means that the transmission probability only represents the probability that a message packet will be received after it has been sent, and does not effectively reflect the reliability of the specific content within the message packet. Therefore, the accuracy of current technologies for evaluating the reliability of vehicle-to-everything (V2X) messages is relatively low. Summary of the Invention

[0004] The purpose of this application is to provide a message evaluation method, apparatus, and electronic device, which solves the problem of low accuracy in the credibility evaluation of vehicle network messages in the prior art.

[0005] In a first aspect, embodiments of this application provide a message evaluation method, executed by a terminal, the method comprising:

[0006] The server receives a first message, which carries first-time information that the server will send a vehicle-to-everything (V2X) message to the terminal. The first message is sent by the server to the terminal after receiving the Basic Security Message (BSM) sent by the terminal.

[0007] Based on the first time information, the reliable reception time interval of the vehicle network message is determined;

[0008] The credibility information of the vehicle network message is determined based on the second time information of the terminal receiving the vehicle network message and the trusted reception time interval.

[0009] Optionally, determining the credibility information of the vehicle-to-everything (V2X) message based on the second time information of the terminal receiving the V2X message and the trusted reception time interval includes:

[0010] If the second time information indicates that the time when the terminal receives the vehicle network message is within the trusted reception time interval, the vehicle network message is determined to be trusted.

[0011] Alternatively, if the second time information indicates that the time when the terminal receives the vehicle network message is not within the trusted reception time interval, the vehicle network message is determined to be untrustworthy.

[0012] Optionally, after determining the reliable reception time interval of the vehicle network message based on the first time information, the method further includes:

[0013] Refuse to receive the vehicle-to-everything (V2X) messages sent by the server outside the trusted reception time interval.

[0014] Optionally, determining the reliable reception time interval of the vehicle network message based on the first time information includes:

[0015] Based on the first time information, determine the initial time information for receiving the vehicle network message;

[0016] The reliable reception time interval is determined based on the initial reception time information and the preset reception delay information associated with the vehicle network message.

[0017] Optionally, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message;

[0018] The initial reception time information includes the initial reception time, which is the sum of the time when the server sends the first message to the terminal and the time interval.

[0019] Optionally, the initial reception time information includes the initial reception time, and the reception delay information includes the reception duration;

[0020] The start time of the trusted reception time interval is the reception initiation time, and the end time of the trusted reception time interval is the sum of the reception initiation time and the reception duration.

[0021] Optionally, the reception delay information may also include a reference duration;

[0022] Determining the reliable reception time interval includes:

[0023] Determine the first time interval and the second time interval;

[0024] The trusted reception time interval includes a first time interval and a second time interval. The initial time of the first time interval is the initial time of the trusted reception time interval. The end time of the first time interval is the sum of the initial reception time and the reference duration. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval.

[0025] Optionally, determining the credibility information of the vehicle-to-everything (V2X) message based on the second time information of the terminal receiving the V2X message and the trusted reception time interval includes:

[0026] If the second time information indicates that the time when the terminal receives the vehicle network message falls within the first time interval, the credibility of the vehicle network message is determined to be the first credibility.

[0027] If the second time information indicates that the time when the terminal receives the vehicle network message falls within the second time interval, the credibility of the vehicle network message is determined to be the second credibility.

[0028] The second level of credibility is lower than the first level of credibility.

[0029] Optionally, determining the reliable reception time interval of the vehicle network message based on the first time information includes:

[0030] If the interval between the reception time of the first message and the transmission time of the BSM does not exceed a preset time, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0031] Optionally, the first message may also carry an identifier of the first message;

[0032] Determining the reliable reception time interval of the vehicle network message based on the first time information includes:

[0033] If the identifier of the first message matches the identifier of the BSM, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0034] Secondly, embodiments of this application provide a message evaluation method, executed by a server, the method comprising:

[0035] Upon receiving a BSM sent by the terminal, a first message is determined, wherein the first message carries first time information of the server sending a vehicle networking message to the terminal;

[0036] The first message is sent to the terminal.

[0037] Optionally, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message.

[0038] Optionally, determining the first message includes:

[0039] The time interval is determined based on the target information, wherein the target information includes at least one of the type information of the vehicle network message, the computing power information of the server, and the network status information.

[0040] Optionally, the target information includes the type information of the vehicle-to-everything (V2X) message and the network status information;

[0041] Determining the time interval based on the target information includes:

[0042] The calculation delay of the vehicle network message is determined based on the type information of the vehicle network message;

[0043] Based on the network status information, determine the network congestion level;

[0044] The time interval is determined based on the calculated latency and the network congestion level.

[0045] Optionally, the time interval is determined based on the following formula:

[0046] Time interval = Calculation delay + Network congestion level × α;

[0047] Where α is a constant.

[0048] Thirdly, embodiments of this application provide a message evaluation apparatus, including:

[0049] The first receiving module is used to receive a first message sent by the server, wherein the first message carries first time information that the server will send a vehicle networking message to the terminal, and the first message is sent by the server to the terminal after receiving the Basic Security Message (BSM) sent by the terminal;

[0050] The first determining module is used to determine the reliable reception time interval of the vehicle network message based on the first time information;

[0051] The second determining module is used to determine the credibility information of the vehicle network message based on the second time information of the terminal receiving the vehicle network message and the credible reception time interval.

[0052] Optionally, the second determining module is specifically used for:

[0053] If the second time information indicates that the time when the terminal receives the vehicle network message is within the trusted reception time interval, the vehicle network message is determined to be trusted.

[0054] Alternatively, if the second time information indicates that the time when the terminal receives the vehicle network message is not within the trusted reception time interval, the vehicle network message is determined to be untrustworthy.

[0055] Optionally, the message evaluation device further includes:

[0056] The first processing module is used to refuse to receive the vehicle network messages sent by the server outside the trusted reception time interval.

[0057] Optionally, the first determining module includes:

[0058] The first determining unit is configured to determine the initial time information for receiving the vehicle network message based on the first time information;

[0059] The second determining unit is used to determine the reliable reception time interval based on the initial reception time information and the preset reception delay information associated with the vehicle network message.

[0060] Optionally, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message;

[0061] The initial reception time information includes the initial reception time, which is the sum of the time when the server sends the first message to the terminal and the time interval.

[0062] Optionally, the initial reception time information includes the initial reception time, and the reception delay information includes the reception duration;

[0063] The start time of the trusted reception time interval is the reception initiation time, and the end time of the trusted reception time interval is the sum of the reception initiation time and the reception duration.

[0064] Optionally, the reception delay information may also include a reference duration;

[0065] The first determining module is specifically used for:

[0066] Determine the first time interval and the second time interval;

[0067] The trusted reception time interval includes a first time interval and a second time interval. The initial time of the first time interval is the initial time of the trusted reception time interval. The end time of the first time interval is the sum of the initial reception time and the reference duration. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval.

[0068] Optionally, the second determining module includes:

[0069] The third determining unit is used to determine the credibility of the vehicle network message as a first credibility when the time when the terminal receives the vehicle network message, as indicated by the second time information, is within the first time interval.

[0070] The fourth determining unit is used to determine the credibility of the vehicle network message as a second credibility when the time when the terminal receives the vehicle network message, as characterized by the second time information, is within the second time interval.

[0071] The second level of credibility is lower than the first level of credibility.

[0072] Optionally, the first determining module is specifically used for:

[0073] If the interval between the reception time of the first message and the transmission time of the BSM does not exceed a preset time, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0074] Optionally, the first message may also carry an identifier of the first message;

[0075] The first determining module is specifically used for:

[0076] If the identifier of the first message matches the identifier of the BSM, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0077] Fourthly, embodiments of this application provide a message evaluation apparatus, including:

[0078] The third determining module is used to determine the first message when receiving the BSM sent by the terminal, wherein the first message carries the first time information of the server sending the vehicle network message to the terminal;

[0079] The first sending module is used to send the first message to the terminal.

[0080] Optionally, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message.

[0081] Optionally, the third determining module includes:

[0082] The fifth determining unit is used to determine the time interval based on the target information, wherein the target information includes at least one of the vehicle network message type information, the server computing power information, and network status information.

[0083] Optionally, the target information includes the type information of the vehicle-to-everything (V2X) message and the network status information;

[0084] The fifth determining unit includes:

[0085] The first determining subunit is used to determine the computation delay of the vehicle network message based on the type information of the vehicle network message;

[0086] The second determining subunit is used to determine the network congestion level based on the network status information;

[0087] The third determining subunit is used to determine the time interval based on the calculation delay and the network congestion level.

[0088] Optionally, the time interval is determined based on the following formula:

[0089] Time interval = Calculation delay + Network congestion level × α;

[0090] Where α is a constant.

[0091] Fifthly, embodiments of this application provide an electronic device, including a transceiver, a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the message evaluation method provided in the first aspect; or, when executed by the processor, the computer program implements the steps of the message evaluation method provided in the second aspect.

[0092] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the message evaluation method provided in the first aspect; or, when executed by the processor, the computer program implements the steps of the message evaluation method provided in the second aspect.

[0093] In this embodiment, after receiving a BSM message from a terminal, the server can determine the first time information of sending a vehicle-to-everything (V2X) message to the terminal and encapsulate it into a first message for transmission to the terminal. The terminal can determine the reliable reception time interval of the V2X message based on the first time information, and then determine the reliability information of the V2X message based on the actual time of receipt and the aforementioned reliable reception time interval. Through information interaction between the server and the terminal, the terminal can assess the reliability of the V2X message based on its reception latency, thereby avoiding the involvement of time-sensitive V2X messages in decision-making and improving the accuracy of the reliability assessment. Attached Figure Description

[0094] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0095] Figure 1 A structural diagram of a network system applicable to embodiments of this application;

[0096] Figure 2 This is one of the flowcharts of the message evaluation method provided in the embodiments of this application;

[0097] Figure 3 This is the second flowchart of the message evaluation method provided in the embodiments of this application;

[0098] Figure 4 This is a flowchart of an example of the message evaluation method provided in the embodiments of this application;

[0099] Figure 5 This is a message format for an ACK message provided in an embodiment of this application;

[0100] Figure 6 This is one of the structural diagrams of the message evaluation device provided in the embodiments of this application;

[0101] Figure 7 This is one of the structural diagrams of the message evaluation device provided in the embodiments of this application;

[0102] Figure 8 This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0103] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0104] The terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses. Additionally, the use of "and / or" in this application indicates at least one of the connected objects, such as A and / or B and / or C, representing seven possibilities: including A alone, B alone, C alone, and the presence of both A and B, both B and C, both A and C, and the presence of A, B, and C.

[0105] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0106] Please see Figure 1 , Figure 1 This is a structural diagram of a network system to which embodiments of this application can be applied. For example... Figure 1 As shown, it includes a terminal 11 and a server 12, and the terminal 11 and the server 12 can communicate with each other.

[0107] In this embodiment, terminal 11 can be any vehicle user equipment (VUE), which is a front-end device for monitoring and managing vehicles. Server 12 can be a vehicle-to-everything (V2X) platform, or other devices or data platforms with data processing capabilities in the vehicle networking service.

[0108] For ease of understanding, some aspects related to the embodiments of this application are described below:

[0109] In the vehicle-to-everything (V2X) scenario, terminal 11 and server 12 can exchange V2X messages. Specifically, V2X messages can include, but are not limited to, the following five types:

[0110] Basic Safety Messages (BSMs), also known as basic safety information, are sent periodically from the terminal to the server. They can include information such as vehicle type, speed, acceleration / deceleration, steering, braking, hazard lights, and location. BSMs are primarily used in vehicle-to-vehicle (V2V) scenarios to provide lane change warnings, blind spot warnings, and intersection collision warnings.

[0111] Roadside Information (RSI), also known as traffic incident messages or roadside information, is collected by roadside units (RSUs), processed by a server, and then sent to terminals. RSI messages are primarily used in vehicle-to-load (V2I) scenarios to facilitate road construction, speed limit sign placement, speeding warnings, and bus lane warnings.

[0112] Roadside Safety Messages (RSMs), also known as roadside safety information, are collected by the Roadside Safety Unit (RSU), processed by the server, and then sent to the terminal. RSMs are primarily used for identifying vehicle events, such as vehicle accidents, vehicle malfunctions, and foreign object intrusion.

[0113] Traffic signal message (SPAT), also known as traffic light phase and timing message, is collected by the RSU (mainly traffic lights), processed by the server, and then sent to the terminal for use in scenarios such as vehicle speed guidance and green wave push.

[0114] Map messages (MAP), hereinafter referred to as MAP messages, are sent by the server to the terminal.

[0115] Vehicle-to-everything (V2X) messaging provides reliable information services to vehicles, which make driving decisions by referring to these messages. Therefore, evaluating the reliability of V2X messages is crucial. Currently, the reliability of V2X messages is typically characterized by their transmission probability. However, this transmission probability refers to the probability that a message packet will be received after it has been sent, and it does not effectively reflect the reliability of the message content. The message evaluation method provided in this application evaluates message reliability based on message reception latency, improving the accuracy and reliability of message evaluation, thereby enhancing the safety and efficiency of vehicle driving. The embodiments of this application will be described below from the perspectives of the terminal and the server.

[0116] Please see Figure 2 , Figure 2 This is one of the flowcharts of a message evaluation method provided in the embodiments of this application. The message evaluation method can be executed by a terminal.

[0117] like Figure 2 As shown, the message evaluation method performed by the terminal includes the following steps:

[0118] Step 201: Receive the first message sent by the server.

[0119] The first message carries real-time information that the server will send a vehicle-to-everything (V2X) message to the terminal. The first message is sent by the server to the terminal after receiving a BSM message from the terminal.

[0120] In practice, the terminal can periodically send BSM messages to the server to inform the server of the vehicle's current status information. The server can collect the BSM messages sent by the terminal and vehicle-related information sent by other devices to generate a vehicle-to-everything (V2X) message to be sent to the terminal. In an optional implementation, the V2X message may include at least one of RSI messages, RSM messages, SPAT messages, and MAP messages.

[0121] Each time the server receives a BSM message, it can evaluate the timing information for sending various vehicle-to-everything (V2X) messages to the terminal. This timing information is denoted as the first timing information, which is associated with the server's action of sending V2X messages to the terminal. In an optional implementation, the first timing information can be used to characterize the moment when the server will send V2X messages to the terminal. It is understood that the server can evaluate the first timing information corresponding to different types of V2X messages separately; the first timing information corresponding to different types of V2X messages may be different or the same.

[0122] After determining the first-time information of the vehicle-to-everything (V2X) message, the server can encapsulate it into a first message and send it to the terminal. The terminal can receive the first message, obtain the first-time information encapsulated within it, and then execute step 202.

[0123] Step 202: Determine the reliable reception time interval of the vehicle network message based on the first time information.

[0124] In this embodiment, the terminal can evaluate the reliability of the vehicle-to-everything (V2X) message based on the reception latency of the V2X message. The terminal can determine information associated with the sending behavior of the V2X message based on the first time information. If the first time information characterizes the moment when the server will send the V2X message to the terminal, the terminal can know when the V2X message was sent from the server. Therefore, the terminal can determine within what time interval the V2X message was received, and that the reception latency of the V2X message is acceptable and will not affect the timeliness of the message content. This time interval is referred to here as the reliable reception time interval. It is understood that different types of V2X messages can each correspond to a reliable reception time interval.

[0125] In specific implementation, the information used to characterize the trusted reception time interval may include the start and end times of the trusted reception time interval, such as 11:00:00:000 to 11:00:00:200. The information used to characterize the trusted reception time interval may also include the start time and duration of the trusted reception time interval, for example, (11:00:00:000, 200ms), indicating that the trusted reception time interval starts at 11:00:00:000 and lasts for 200 milliseconds. It should be noted that the terminal and server typically perform a time synchronization step when accessing the network. That is, in the subsequent message evaluation process, the terminal and server maintain clock synchronization, allowing the terminal to accurately evaluate the trustworthiness of vehicle-to-everything (V2X) messages based on the specific trusted reception time interval.

[0126] Step 203: Determine the credibility information of the vehicle network message based on the second time information of the terminal receiving the vehicle network message and the trusted reception time interval.

[0127] The second time information is associated with the terminal's actual reception behavior of the vehicle-to-everything (V2X) message. In one optional embodiment, the second time information can be used to characterize the moment when the terminal actually receives the V2X message. Using the second time information, the terminal can determine whether it received the V2X message within the trusted reception time interval, and based on this, determine the trustworthiness information of the V2X message.

[0128] In practice, the credibility information can be used to characterize whether the vehicle network message is credible or untrustworthy. If the vehicle network message is credible, the credibility information can also be used to characterize the credibility value of the vehicle network message. The specific determination can be made according to the actual situation and is not specifically limited here.

[0129] In an optional implementation, step 203 includes: determining that the vehicle network message is reliable if the time when the second time information representation terminal receives the vehicle network message is within the reliable reception time interval; or determining that the vehicle network message is unreliable if the time when the second time information representation terminal receives the vehicle network message is not within the reliable reception time interval.

[0130] In this embodiment, if the terminal receives a vehicle-to-everything (V2X) message within the trusted reception time interval, the V2X message can be determined to be reliable, and can subsequently be processed or used to assist driving. If the terminal receives a V2X message outside the trusted reception time interval (typically after the trusted reception time interval), the V2X message can be determined to be unreliable, and may have lost its timeliness. Continuing to process or use the V2X message to assist driving may lead to decision-making errors or even safety hazards. The terminal can ignore the V2X message, resend a BSM message to the server, and wait for a new V2X message.

[0131] In another alternative implementation, after step 202, the message evaluation method further includes: rejecting vehicle-to-everything (V2X) messages sent by the server outside the trusted reception time interval.

[0132] The difference between this implementation and the previous implementation is that the terminal can stop receiving the vehicle-to-everything (V2X) message outside the trusted reception time interval. Since V2X messages outside the trusted reception time interval may have lost their timeliness, stopping the reception of V2X messages can not only reduce decision-making errors such as misjudgment and false positives, but also save local cache space and computing resources on the terminal, thereby improving system resource utilization.

[0133] In this embodiment, by sending first-time information of vehicle-to-everything (V2X) messages to the terminal via the server, the terminal can determine the reliable reception time interval of the V2X messages based on the first-time information. Then, based on the actual time of receiving the V2X messages and the aforementioned reliable reception time interval, the terminal determines the reliability of the V2X messages. Through information interaction between the server and the terminal, the terminal can assess the reliability of V2X messages based on their reception latency, thereby avoiding the involvement of time-sensitive V2X messages in decision-making and improving the accuracy of V2X message evaluation.

[0134] Optionally, step 202 includes:

[0135] If the interval between the reception time of the first message and the transmission time of the BSM message does not exceed a preset time, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0136] In this embodiment, before determining the reliable reception time interval of the vehicle network message, the terminal needs to determine whether the currently received first message meets a preset condition to evaluate whether the currently received first message corresponds to the most recently sent BSM message. This can improve the timeliness of the first message, thereby improving the timeliness of the first time information encapsulated in the first message, and further improving the accuracy of vehicle network message evaluation. Optionally, if the interval between the reception time of the first message and the transmission time of the BSM message does not exceed the preset time, it can be determined that the currently received first message corresponds to the most recently sent BSM message.

[0137] In one optional implementation, the first message can be an acknowledgment (ACK) message returned by the server to the terminal after receiving the BSM message. This allows the terminal to obtain the information as quickly as possible and prepare in time to receive vehicle network messages for accurate evaluation. Furthermore, reusing existing ACK messages can reduce signaling overhead between the terminal and the server.

[0138] In specific implementation, a field corresponding to the first time information can be added to the existing ACK message, or the message structure of the ACK message can be customized to adapt to the message evaluation process of this application embodiment. When the first message is an ACK message, the aforementioned preset duration can be 100 milliseconds. That is, if the terminal receives an ACK message from the server within 100 milliseconds after sending the BSM message, it can determine that the ACK message is a response message to the most recently sent BSM message, and subsequent message evaluation steps can continue.

[0139] Optionally, the first message further carries an identifier of the first message; step 202 includes:

[0140] If the identifier of the first message matches the identifier of the BSM message, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0141] In practice, the server assigns an identifier to the first message each time it generates it. Upon receiving the first message, the terminal matches the identifier carried in the first message with the most recently sent BSM message. If a match is found, it indicates that the first message corresponds to the most recently sent BSM message. This prevents the terminal from mistaking a previously sent BSM message for the most recently sent one, thus avoiding misjudgments or incorrect decisions made using outdated first-time information.

[0142] In an optional implementation, where the identifier of the BSM message is used to characterize the sequence number of the BSM message sent by the terminal to the server, the identifier of the first message can also be used to characterize the sequence number of the first message sent by the server to the terminal. For example, if the identifier in the first message received by the terminal is "3", it indicates that this is the third first message sent by the server to the terminal. If the identifier of the BSM message most recently sent by the terminal to the server is also "3", it indicates that the most recently sent BSM message by the terminal to the server is the third BSM message sent by the terminal to the server, and it can be determined that the identifier of the first message matches the identifier of the BSM message.

[0143] Optionally, step 202 includes:

[0144] Based on the first time information, determine the initial time information for receiving the vehicle network message;

[0145] The reliable reception time interval is determined based on the initial reception time information and the preset reception delay information associated with the vehicle network message.

[0146] The initial reception time information refers to the time information at which the terminal begins waiting to receive vehicle-to-everything (V2X) messages. In an optional embodiment, the initial reception time information can be used to characterize the moment when the terminal begins waiting to receive V2X messages, denoted here as the initial reception moment. Based on the first time information, the terminal can determine when the V2X message was sent from the server. Therefore, the terminal can determine when it can begin receiving V2X messages and, based on preset reception delay information, determine the reliable reception time interval using the moment when it begins receiving V2X messages as a reference.

[0147] In one optional implementation, the initial reception time information includes the initial reception time, and the reception delay information includes the reception duration; the start time of the reliable reception time interval is the initial reception time, and the end time of the reliable reception time interval is the sum of the initial reception time and the reception duration.

[0148] In practice, the reception duration can be determined by the terminal based on the service requirements of various services, especially latency requirements. Specifically, different types or functions of vehicle-to-everything (V2X) applications have different latency requirements for receiving different V2X messages. The terminal can determine the reception latency of each V2X message in the current service based on the aforementioned latency requirements, which is denoted as the reception duration. The start time of the trusted reception time interval is the aforementioned initial reception time, and the end time of the trusted reception time interval is the sum of the initial reception time and the reception duration. For example, if the initial reception time is 11:00:00:000 and the terminal's preset reception duration is 200 milliseconds, then the trusted reception time interval is from 11:00:00:000 to 11:00:00:200.

[0149] Further, optionally, the reception delay information also includes a reference duration; step 202 includes: determining a first time interval and a second time interval. The reliable reception time interval includes the first time interval and the second time interval, the initial time of the first time interval is the initial time of the reliable reception time interval, the end time of the first time interval is the sum of the initial reception time and the reference duration, the start time of the second time interval is consecutive to the end time of the first time interval and follows the end time of the first time interval, and the end time of the second time interval is the end time of the reliable reception time interval.

[0150] In practical implementation, the terminal can set an evaluation segmentation point based on the reception duration. This evaluation segmentation point is used to further evaluate the credibility of the vehicle-to-everything (V2X) message, assuming the message is already credible. Specifically, the terminal can determine a reference duration while determining the reception duration based on the latency requirements of various services, and then determine the aforementioned evaluation segmentation point based on this reference duration. The evaluation segmentation point can divide the credible reception time interval into a first time interval and a second time interval, and the reference duration can be the time from the initial reception moment to the evaluation segmentation point.

[0151] If the terminal receives a vehicle-to-everything (V2X) message within the first time interval, it can set the message's credibility to the first level, indicating a high level of credibility. If the terminal receives a V2X message within the second time interval, it can set the message's credibility to the second level, indicating a low level of credibility. It should be noted that the terminal can also set two or more evaluation segmentation points to divide the credible reception time interval into three or more time intervals, further subdividing the credibility level of the V2X message after determining its credibility. This allows for the development of different processing strategies for V2X messages with different credibility levels, better realizing the value of different V2X messages.

[0152] In one optional implementation, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, the time interval corresponding to the type of vehicle network message; the initial reception time information includes the initial reception time, the initial reception time being the sum of the time when the server sends the first message to the terminal and the time interval.

[0153] In specific implementation, the time interval for the server to send vehicle network messages to the terminal can be based on the time when the server sends the first message to the terminal. For example, if the server sends the first message to the terminal at 10:59:59:900 and the time interval for the server to send vehicle network messages to the terminal is 100 milliseconds, it means that after sending the first message to the terminal, the server will send vehicle network messages after 100 milliseconds, that is, the server will send vehicle network messages to the terminal at 11:00:00:000.

[0154] The terminal can use the moment when the server sends the vehicle-to-everything (V2X) message to the terminal as the initial receiving time. Specifically, the time interval between the server sending the V2X message and the moment when the server sends the first message to the terminal can be encapsulated in the first message. After receiving the first message, the terminal can obtain the moment when the server sends the first message to the terminal and the time interval corresponding to the V2X message, and then determine the initial receiving time as the sum of the moment when the server sends the first message to the terminal and the time interval. For example, if the server sends the first message to the terminal at 10:59:59:900 and the time interval between the server sending the V2X message to the terminal is 100 milliseconds, then the terminal can start waiting to receive the V2X message at 11:00:00:000.

[0155] In this embodiment, the time interval for the server to send vehicle network messages to the terminal can be determined by the server. The specific implementation method for the server to determine the time interval is described below:

[0156] In one optional implementation, a time interval is determined based on target information, wherein the target information includes at least one of vehicle network message type information, server computing power information, and network status information.

[0157] In practice, the server can determine the type of vehicle-to-everything (V2X) messages associated with the terminal based on event information related to the location area of ​​the terminal. This type information includes the type of V2X messages associated with the terminal. For example, the type of V2X messages required by terminal A includes at least one of RSI messages, RSM messages, and SPAT messages, while the type of V2X messages required by terminal B includes at least one of RSI messages, RSM messages, SPAT messages, and MAP messages.

[0158] Servers can determine their computing power information based on their own performance, which can characterize the server's current computing power status or situation. Specifically, servers can determine their computing power information based on their own performance and the current data processing volume or request processing volume. The aforementioned performance can refer to the performance of the server's Central Processing Unit (CPU), such as its operating frequency and cache capacity.

[0159] The server can determine the network status information within a preset time period based on information such as the current network capacity ratio, throughput, and uplink or downlink transmission rate. The preset time period can be determined by the server based on the cycle of sending vehicle network messages.

[0160] Further, optionally, the target information includes the type information of the vehicle-to-everything (V2X) message and the network status information;

[0161] Determining the time interval based on the target information includes:

[0162] The calculation delay of the vehicle network message is determined based on the type information of the vehicle network message;

[0163] Based on the network status information, determine the network congestion level;

[0164] The time interval is determined based on the calculated latency and the network congestion level.

[0165] In practice, the server can first determine the type of vehicle-to-everything (V2X) message associated with the terminal, and the server can determine its computing power information based on its own computing power status. Based on the attributes of each V2X message and the aforementioned computing power information, the server can determine the computation latency for each type of V2X message, i.e., the computation latency required to generate each type of V2X message.

[0166] The server can determine the network congestion level within a preset time period based on the current network status. In an optional implementation, the server can classify multiple network congestion levels based on the network capacity percentage. For example, if the network capacity percentage is less than or equal to 30%, the network congestion level can be defined as excellent and have a value of 0; if the network capacity percentage is greater than 30% and less than or equal to 70%, the network congestion level can be defined as medium and have a value of 0.5; if the network capacity percentage is greater than 70%, the network congestion level can be defined as poor and have a value of 1. It is understood that the classification and values ​​of the network congestion levels are not limited to these, and can be determined according to the actual situation, and are not specifically limited here.

[0167] Given the computational latency and network congestion level for each type of vehicle-to-everything (V2X) message, the time interval for the server to send each type of V2X message can be determined. In an alternative implementation, the time interval is determined based on the following formula:

[0168] Time interval = Calculation delay + Network congestion level × α;

[0169] Where α is a constant.

[0170] The value of α can be adaptively adjusted according to the value of the network congestion level. For example, when the value of the network congestion level is between 0 and 1, α can be 100, and the specific value can be determined according to the actual situation, without being specifically limited here.

[0171] Please see Figure 3 , Figure 3 This is a second flowchart of a message evaluation method provided in the embodiments of this application. This message evaluation method can be executed by a server.

[0172] like Figure 3 As shown, the message evaluation method performed by the server includes the following steps:

[0173] Step 301: Upon receiving the BSM sent by the terminal, determine the first message, wherein the first message carries the first time information of the server sending the vehicle network message to the terminal;

[0174] Step 302: Send the first message to the terminal.

[0175] Optionally, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message.

[0176] Optionally, step 301 includes:

[0177] The time interval is determined based on the target information, wherein the target information includes at least one of the type information of the vehicle network message, the computing power information of the server, and the network status information.

[0178] Optionally, the target information includes the type information of the vehicle-to-everything (V2X) message and the network status information;

[0179] Determining the time interval based on the target information includes:

[0180] The calculation delay of the vehicle network message is determined based on the type information of the vehicle network message;

[0181] Based on the network status information, determine the network congestion level;

[0182] The time interval is determined based on the calculated latency and the network congestion level.

[0183] Optionally, the time interval is determined based on the following formula:

[0184] Time interval = Calculation delay + Network congestion level × α;

[0185] Where α is a constant.

[0186] It should be noted that this embodiment is an implementation of the server corresponding to the above method embodiment. Therefore, the relevant descriptions in the above method embodiment can be referred to, and the same beneficial effects can be achieved. To avoid repetition, further details will not be provided here.

[0187] In this embodiment, after receiving a BSM message from a terminal, the server can determine the first time information of the vehicle-to-everything (V2X) message to be sent to the terminal, and encapsulate it into a first message and send it to the terminal. The terminal can determine the reliable reception time interval of the V2X message based on the first time information, and then determine the reliability information of the V2X message based on the actual time information of receiving the V2X message and the aforementioned reliable reception time interval. Through information interaction between the server and the terminal, the terminal can evaluate the reliability of the V2X message based on the reception latency of the V2X message, thereby avoiding the participation of V2X messages with low timeliness in decision-making and improving the accuracy of V2X message evaluation.

[0188] For ease of understanding, an example of an embodiment of this application is described below.

[0189] In this example, the server is a V2X platform, such as... Figure 4 As shown, the specific process of this example is as follows:

[0190] Step 1: The terminal and V2X platform connect to the network and achieve time synchronization.

[0191] In this step, when the terminal accesses the network, it initiates an access request to the base station and simultaneously requests uplink synchronization to obtain a dedicated timing advance (TA). Upon receiving the access request, the base station can send a Primary Synchronization Signal (PSS) or a Secondary Synchronization Signal (SSS) to the terminal. This part can reuse existing procedures; specific implementation details can be found in the descriptions of existing related procedures and will not be elaborated upon here.

[0192] When a V2X platform receives network traffic, it will initiate an access request to relevant network elements (such as Network Exposure Function (NEF) elements). These network elements can provide clock calibration for the V2X platform based on its needs. The V2X platform can then include clock synchronization accuracy requirements in its access request based on message evaluation. In this example, the clock synchronization accuracy can be at the millisecond level.

[0193] Step 2: During normal operation, the terminal periodically reports BSM messages to the V2X platform.

[0194] In this step, the terminal can use the Uu interface unicast to interact with the V2X platform. The Uu interface will periodically report BSM messages to the V2X platform to inform the V2X platform of the current vehicle status information, including vehicle speed, acceleration and deceleration, vehicle type, high-precision location, etc.

[0195] Step 3: The V2X platform receives BSM information and assesses the timing of sending vehicle-to-everything (V2X) messages.

[0196] In this step, the evaluation factors for the V2X platform in assessing the timing of the vehicle-to-everything (V2X) messages may include, but are not limited to: event information related to the terminal's location area, the V2X platform's own computing power, and network congestion status. It should be noted that the V2X platform currently sends V2X messages to the terminal, including RSM messages, RSI messages, MAP messages, and SPAT messages.

[0197] Specifically, the evaluation steps for a V2X platform are as follows:

[0198] 1) The V2X platform determines the type of vehicle-to-everything (V2X) message associated with the current terminal.

[0199] The V2X platform can determine the type of vehicle-to-everything (V2X) message associated with the terminal based on event information related to the terminal's location area. In this example, the V2X messages associated with the current terminal include RSM messages, RSI messages, and SPAT messages.

[0200] 2) The V2X platform determines the computation latency for different vehicle-to-everything (V2X) messages.

[0201] The V2X platform server can determine the computation latency of each type of vehicle-to-everything (V2X) message based on its attributes and computing power, i.e., the computation latency required to generate each type of V2X message.

[0202] 3) The V2X platform determines the level of network congestion within a preset time period in the future.

[0203] The server can classify network status into multiple network congestion levels based on network capacity percentage. In this example, if the network capacity percentage is less than or equal to 30%, the network congestion level is defined as excellent and the value is 0; if the network capacity percentage is greater than 30% and less than or equal to 70%, the network congestion level is defined as medium and the value is 0.5; if the network capacity percentage is greater than 70%, the network congestion level is defined as poor and the value is 1.

[0204] 4) The V2X platform combines the information obtained in 1), 2) and 3) to determine the time interval at which each type of vehicle-to-everything (V2X) message will be sent to the terminal in the future.

[0205] Time interval = Calculation delay + Network congestion level × 100

[0206] The unit for time interval and calculation delay is milliseconds (ms).

[0207] Step 4: The V2X platform encapsulates the time information of the vehicle-to-everything (V2X) message into an ACK message and sends the ACK message to the terminal.

[0208] In this step, the ACK message can be named confidencejudge-ack, and its message format can be as follows: Figure 5 As shown in Table 1, the definitions of each field in the ACK message can be seen from the table.

[0209] Table 1 Definition of ACK message fields

[0210]

[0211] Step 5: The terminal determines whether it receives the ACK information sent by the V2X platform within 100ms after sending the BSM message.

[0212] In this step, the sending of the ACK message also has a certain time limit. After sending the BSM message to the V2X platform, the terminal can start a first countdown, which is limited to 100ms. If the terminal receives the ACK message before the first countdown ends, it can continue to step six; if the terminal does not receive the ACK message before the first countdown ends, it can ignore the previous interaction with the V2X platform and resend the BSM message.

[0213] It should be noted that, in order to avoid the terminal receiving an invalid ACK message after more than 100ms and mistakenly taking it as a response message to the most recently sent BSM message, the V2X platform adds a message identifier (Message ID) field to the ACK message. This allows the terminal to match the identifier of the current ACK message with the identifier of the most recently sent BSM message, and only execute subsequent processes if the identifier of the current ACK message matches the identifier of the most recently sent BSM message.

[0214] For example, the terminal has sent the first, second, and third BSM messages to the V2X platform in sequence, and received an ACK message after sending the third BSM message. This ACK message is identified as "2", indicating that it is a response to the second BSM message. If the terminal receives this ACK message more than 100ms after sending the second BSM message, without a Message ID field for reference, the terminal might mistakenly treat this ACK message as a response to the third BSM message, thus affecting subsequent judgments. With a Message ID field for reference, the terminal obtains the identifier of the most recently sent BSM message, which is "3". By comparison, it can be determined that the identifier of the most recently sent BSM message does not match the identifier of this ACK message. Therefore, the ACK message can be ignored, and a new BSM message identical to the second BSM message can be resent. For the third BSM message, it is necessary to determine whether an ACK message with the identifier "3" was received within 100ms after sending the third BSM message.

[0215] Step 6: The terminal receives the ACK message and determines the initial reception time and reception duration.

[0216] In this step, the terminal obtains the information from the ACK message and determines the initial reception time of each vehicle-to-everything (V2X) message. The initial reception time can be calculated based on the following formula:

[0217] Initial reception time = Time stamp + Time interval

[0218] Among them, Time stamp is as follows Figure 5The timestamp field in the ACK message shown has a Timeinterval value as follows: Figure 5 The time interval subfield in the ACK message's time information (Message time) shown can be determined according to the message type.

[0219] The terminal can determine the reception duration based on the latency requirements of various services for vehicle-to-everything (V2X) messages. After determining the initial reception time and reception duration, the terminal can generate a list of received information, as shown in Table 2.

[0220] Table 2 List of Received Information

[0221] RSI message 11:00:00:000 200 RSM message 11:00:00:050 200 SPAT News 11:00:00:055 1500

[0222] Step 7: The terminal starts the second countdown at the initial moment of receiving the message and waits to receive the vehicle network message.

[0223] In this step, the terminal can evaluate the credibility of vehicle-to-everything (V2X) messages based on the second countdown. Specifically, the terminal can determine a reference duration based on the latency requirements of various services for V2X messages. If the terminal actually receives the V2X message within the first countdown interval of the second countdown, the credibility of the V2X message is set to "high"; if the terminal actually receives the V2X message within the second countdown interval of the second countdown, the credibility of the V2X message is set to "low". The first countdown interval is (initial countdown value, initial countdown value - reference duration), where the initial countdown value equals the reception duration; the second countdown interval is (initial countdown value - reference duration, 0). After the second countdown is set to "0", the terminal stops receiving V2X messages to conserve resources.

[0224] In this example, based on time synchronization, through information exchange between the V2X platform and the UE, the V2X platform can predict the sending time, or sending interval, of various vehicle-to-everything (V2X) messages by calculating the latency of these messages and the degree of network congestion. This time information is then encapsulated in the ACK message of the BSM message and sent to the terminal. Upon receiving the ACK message, the terminal can determine the receiving latency of the V2X message based on the aforementioned time interval and the latency requirements of various services, thereby determining the reliability of the V2X message.

[0225] See Figure 6 , Figure 6 This is a structural diagram of the message evaluation device provided in the embodiments of this application.

[0226] like Figure 6 As shown, the message evaluation device 600 includes:

[0227] The first receiving module 601 is used to receive a first message sent by the server, wherein the first message carries first time information that the server will send a vehicle networking message to the terminal, and the first message is sent by the server to the terminal after receiving the Basic Security Message (BSM) sent by the terminal;

[0228] The first determining module 602 is used to determine the reliable reception time interval of the vehicle network message based on the first time information;

[0229] The second determining module 603 is used to determine the credibility information of the vehicle network message based on the second time information of the terminal receiving the vehicle network message and the credible reception time interval.

[0230] Optionally, the second determining module 603 is specifically used for:

[0231] If the second time information indicates that the time when the terminal receives the vehicle network message is within the trusted reception time interval, the vehicle network message is determined to be trusted.

[0232] Alternatively, if the second time information indicates that the time when the terminal receives the vehicle network message is not within the trusted reception time interval, the vehicle network message is determined to be untrustworthy.

[0233] Optionally, the message evaluation device 600 also includes:

[0234] The first processing module is used to refuse to receive the vehicle network messages sent by the server outside the trusted reception time interval.

[0235] Optionally, the first determining module 602 includes:

[0236] The first determining unit is configured to determine the initial time information for receiving the vehicle network message based on the first time information;

[0237] The second determining unit is used to determine the reliable reception time interval based on the initial reception time information and the preset reception delay information associated with the vehicle network message.

[0238] Optionally, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message;

[0239] The initial reception time information includes the initial reception time, which is the sum of the time when the server sends the first message to the terminal and the time interval.

[0240] Optionally, the initial reception time information includes the initial reception time, and the reception delay information includes the reception duration;

[0241] The start time of the trusted reception time interval is the reception initiation time, and the end time of the trusted reception time interval is the sum of the reception initiation time and the reception duration.

[0242] Optionally, the reception delay information may also include a reference duration;

[0243] The first determining module 602 is specifically used for:

[0244] Determine the first time interval and the second time interval;

[0245] The trusted reception time interval includes a first time interval and a second time interval. The initial time of the first time interval is the initial time of the trusted reception time interval. The end time of the first time interval is the sum of the initial reception time and the reference duration. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval.

[0246] Optionally, the second determining module 603 includes:

[0247] The third determining unit is used to determine the credibility of the vehicle network message as a first credibility when the time when the terminal receives the vehicle network message, as indicated by the second time information, is within the first time interval.

[0248] The fourth determining unit is used to determine the credibility of the vehicle network message as a second credibility when the time when the terminal receives the vehicle network message, as characterized by the second time information, is within the second time interval.

[0249] The second level of credibility is lower than the first level of credibility.

[0250] Optionally, the first determining module 602 is specifically used for:

[0251] If the interval between the reception time of the first message and the transmission time of the BSM does not exceed a preset time, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0252] Optionally, the first message may also carry an identifier of the first message;

[0253] The first determining module 602 is specifically used for:

[0254] If the identifier of the first message matches the identifier of the BSM, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0255] The message evaluation device 600 can implement all the processes that the terminal can implement in the method embodiment of the present invention, and achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0256] See Figure 7 , Figure 7 This is a structural diagram of another message evaluation device provided in the embodiments of this application.

[0257] like Figure 7 As shown, the message evaluation device 700 includes:

[0258] The third determining module 701 is used to determine a first message when receiving a BSM sent by the terminal, wherein the first message carries first time information of the server sending a vehicle networking message to the terminal;

[0259] The first sending module 702 is used to send the first message to the terminal.

[0260] Optionally, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message.

[0261] Optionally, the third determining module 701 includes:

[0262] The fifth determining unit is used to determine the time interval based on the target information, wherein the target information includes at least one of the vehicle network message type information, the server computing power information, and network status information.

[0263] Optionally, the target information includes the type information of the vehicle-to-everything (V2X) message and the network status information;

[0264] The fifth determining unit includes:

[0265] The first determining subunit is used to determine the computation delay of the vehicle network message based on the type information of the vehicle network message;

[0266] The second determining subunit is used to determine the network congestion level based on the network status information;

[0267] The third determining subunit is used to determine the time interval based on the calculation delay and the network congestion level.

[0268] Optionally, the time interval is determined based on the following formula:

[0269] Time interval = Calculation delay + Network congestion level × α;

[0270] Where α is a constant.

[0271] The message evaluation device 700 can implement all the processes that the server can implement in the method embodiment of the present invention, and achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0272] This application also provides an electronic device. Since the principle by which the electronic device solves the problem is similar to the message evaluation method provided in this application, the implementation of this electronic device can be found in the implementation of the method, and repeated details will not be described again. Figure 8 As shown in the embodiment of this application, the terminal includes a processor 800, a transceiver 810, and a memory 820.

[0273] In one embodiment, the electronic device is a terminal, and the processor 800 is used to read the program in the memory 820 and execute the following processes:

[0274] The transceiver 810 receives a first message sent by the server, wherein the first message carries first time information that the server will send a vehicle networking message to the terminal. The first message is sent by the server to the terminal after receiving the Basic Security Message (BSM) sent by the terminal.

[0275] Based on the first time information, the reliable reception time interval of the vehicle network message is determined;

[0276] Based on the second time information of the vehicle network message received by the terminal and the trusted reception time interval, the trust information of the vehicle network message is determined.

[0277] Transceiver 810 is used to receive and send data under the control of processor 800.

[0278] Among them, Figure 8 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 800) and memory (memory 820). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 810 can be multiple elements, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. The processor 800 is responsible for managing the bus architecture and general processing, and the memory 820 can store data used by the processor 800 during operation.

[0279] Optionally, the processor 800 is also used to read the program from the memory 820 and perform the following steps:

[0280] If the second time information indicates that the time when the terminal receives the vehicle network message is within the trusted reception time interval, the vehicle network message is determined to be trusted.

[0281] Alternatively, if the second time information indicates that the time when the terminal receives the vehicle network message is not within the trusted reception time interval, the vehicle network message is determined to be untrustworthy.

[0282] Optionally, the vehicle-to-everything (V2X) messages sent by the server outside the trusted reception time interval may be rejected.

[0283] Optionally, the initial time information for receiving the vehicle network message is determined based on the first time information;

[0284] The reliable reception time interval is determined based on the initial reception time information and the preset reception delay information associated with the vehicle network message.

[0285] Optionally, the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message;

[0286] The initial reception time information includes the initial reception time, which is the sum of the time when the server sends the first message to the terminal and the time interval.

[0287] Optionally, the initial reception time information includes the initial reception time, and the reception delay information includes the reception duration;

[0288] The start time of the trusted reception time interval is the reception initiation time, and the end time of the trusted reception time interval is the sum of the reception initiation time and the reception duration.

[0289] Optionally, the reception delay information may also include a reference duration;

[0290] Determine the first time interval and the second time interval;

[0291] The trusted reception time interval includes a first time interval and a second time interval. The initial time of the first time interval is the initial time of the trusted reception time interval. The end time of the first time interval is the sum of the initial reception time and the reference duration. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval.

[0292] Optionally, if the second time information indicates that the time when the terminal receives the vehicle network message is within the first time interval, the credibility of the vehicle network message is determined to be the first credibility.

[0293] If the second time information indicates that the time when the terminal receives the vehicle network message falls within the second time interval, the credibility of the vehicle network message is determined to be the second credibility.

[0294] The second level of credibility is lower than the first level of credibility.

[0295] Optionally, if the interval between the receiving time of the first message and the sending time of the BSM does not exceed a preset duration, the reliable receiving time interval of the vehicle network message is determined based on the first time information.

[0296] Optionally, the first message may also carry an identifier of the first message;

[0297] If the identifier of the first message matches the identifier of the BSM, the reliable reception time interval of the vehicle network message is determined based on the first time information.

[0298] In another embodiment, the electronic device is a server, and the processor 800 is used to read the program in the memory 820 and execute the following processes:

[0299] Upon receiving a BSM sent by the terminal, a first message is determined, wherein the first message carries first time information of the server sending a vehicle networking message to the terminal;

[0300] The first message is sent to the terminal via transceiver 810.

[0301] Optionally, the processor 800 is also used to read the program from the memory 820 and perform the following steps:

[0302] The first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message.

[0303] Optionally, the time interval is determined based on target information, wherein the target information includes at least one of the type information of the vehicle network message, the computing power information of the server, and the network status information.

[0304] Optionally, the target information includes the type information of the vehicle-to-everything (V2X) message and the network status information;

[0305] The calculation delay of the vehicle network message is determined based on the type information of the vehicle network message;

[0306] Based on the network status information, determine the network congestion level;

[0307] The time interval is determined based on the calculated latency and the network congestion level.

[0308] Optionally, the time interval is determined based on the following formula:

[0309] Time interval = Calculation delay + Network congestion level × α;

[0310] Where α is a constant.

[0311] The electronic device provided in this application embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0312] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by hardware related to program instructions, and the program can be stored in a readable medium. This application also provides a readable storage medium storing a computer program, which, when executed by a processor, can implement the above-described methods. Figure 2 or Figure 3 Any step in the corresponding method embodiment can achieve the same technical effect, and will not be repeated here to avoid repetition.

[0313] The storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0314] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0315] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can be physically included separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0316] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the transmission and reception methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0317] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A message evaluation method, characterized in that, The method, executed by a terminal, includes: The server receives a first message, which carries first time information indicating that the server will send a vehicle-to-everything (V2X) message to the terminal. The first message is sent by the server to the terminal after receiving a Basic Security Message (BSM) from the terminal. The first time information includes the time when the server sends the first message to the terminal and the time interval between the server sending the V2X message to the terminal. The time interval corresponds to the type of the V2X message. Based on the first time information, a reliable reception time interval for the vehicle network message is determined. This determination includes: Based on the first time information, determine the initial time information for receiving the vehicle network message; The reliable reception time interval is determined based on the initial reception time information and the preset reception delay information associated with the vehicle network message. The trusted reception time interval includes a first time interval and a second time interval. The initial reception time information includes the initial reception time, which is the sum of the time when the server sends the first message to the terminal and the time interval. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval. Based on the second time information of the terminal receiving the vehicle network message and the trusted reception time interval, the credibility information of the vehicle network message is determined. Specifically, if the second time information indicates that the time the terminal receives the vehicle network message falls within the first time interval, the credibility of the vehicle network message is determined to be a first credibility; if the second time information indicates that the time the terminal receives the vehicle network message falls within the second time interval, the credibility of the vehicle network message is determined to be a second credibility; the second credibility is lower than the first credibility.

2. The method according to claim 1, characterized in that, The step of determining the credibility information of the vehicle-to-everything (V2X) message based on the second time information of the terminal receiving the V2X message and the credible reception time interval includes: If the second time information indicates that the time when the terminal receives the vehicle network message is within the trusted reception time interval, the vehicle network message is determined to be trusted. Alternatively, if the second time information indicates that the time when the terminal receives the vehicle network message is not within the trusted reception time interval, the vehicle network message is determined to be untrustworthy.

3. The method according to claim 1, characterized in that, After determining the reliable reception time interval of the vehicle network message based on the first time information, the method further includes: Refuse to receive the vehicle-to-everything (V2X) messages sent by the server outside the trusted reception time interval.

4. The method according to claim 1, characterized in that, The initial reception time information includes the initial reception time, and the reception delay information includes the reception duration; The start time of the trusted reception time interval is the reception initiation time, and the end time of the trusted reception time interval is the sum of the reception initiation time and the reception duration.

5. The method according to claim 4, characterized in that, The reception delay information also includes a reference duration; Determining the reliable reception time interval includes: Determine the first time interval and the second time interval; The trusted reception time interval includes a first time interval and a second time interval. The initial time of the first time interval is the initial time of the trusted reception time interval. The end time of the first time interval is the sum of the initial reception time and the reference duration. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval.

6. The method according to claim 5, characterized in that, The step of determining the credibility information of the vehicle-to-everything (V2X) message based on the second time information of the terminal receiving the V2X message and the credible reception time interval includes: If the second time information indicates that the time when the terminal receives the vehicle network message falls within the first time interval, the credibility of the vehicle network message is determined to be the first credibility. If the second time information indicates that the time when the terminal receives the vehicle network message falls within the second time interval, the credibility of the vehicle network message is determined to be the second credibility. The second level of credibility is lower than the first level of credibility.

7. The method according to claim 1, characterized in that, Determining the reliable reception time interval of the vehicle network message based on the first time information includes: If the interval between the reception time of the first message and the transmission time of the BSM does not exceed a preset time, the reliable reception time interval of the vehicle network message is determined based on the first time information.

8. The method according to claim 1, characterized in that, The first message also carries the identifier of the first message; Determining the reliable reception time interval of the vehicle network message based on the first time information includes: If the identifier of the first message matches the identifier of the BSM, the reliable reception time interval of the vehicle network message is determined based on the first time information.

9. A message evaluation method, characterized in that, The method, executed by the server, includes: Upon receiving a BSM sent by a terminal, a first message is determined, wherein the first message carries first time information of the server sending a vehicle-to-everything (V2X) message to the terminal; the first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the V2X message to the terminal, the time interval corresponding to the type of the V2X message; The first time information is used to determine the reliable reception time interval of the vehicle network message, and the first time information is specifically used for: Based on the first time information, determine the initial time information for receiving the vehicle network message; The reliable reception time interval is determined based on the initial reception time information and the preset reception delay information associated with the vehicle network message. The trusted reception time interval includes a first time interval and a second time interval. The initial reception time information includes the initial reception time, which is the sum of the time when the server sends the first message to the terminal and the time interval. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval. Send the first message to the terminal, wherein the terminal is used to: Based on the second time information of the terminal receiving the vehicle network message and the trusted reception time interval, the credibility information of the vehicle network message is determined. Specifically, if the second time information indicates that the time the terminal receives the vehicle network message falls within the first time interval, the credibility of the vehicle network message is determined to be a first credibility; if the second time information indicates that the time the terminal receives the vehicle network message falls within the second time interval, the credibility of the vehicle network message is determined to be a second credibility; the second credibility is lower than the first credibility.

10. The method according to claim 9, characterized in that, The first time information includes the time when the server sends the first message to the terminal, and the time interval between the server sending the vehicle network message to the terminal, wherein the time interval corresponds to the type of the vehicle network message.

11. The method according to claim 10, characterized in that, The determination of the first message includes: The time interval is determined based on the target information, wherein the target information includes at least one of the type information of the vehicle network message, the computing power information of the server, and the network status information.

12. The method according to claim 11, characterized in that, The target information includes the type information of the vehicle network message and the network status information; Determining the time interval based on the target information includes: The calculation delay of the vehicle network message is determined based on the type information of the vehicle network message; Based on the network status information, determine the network congestion level; The time interval is determined based on the calculated latency and the network congestion level.

13. The method according to claim 12, characterized in that, The time interval is determined based on the following formula: Time interval = Calculation delay + Network congestion level × α; Where α is a constant.

14. A message evaluation device, characterized in that, include: The first receiving module is used to receive a first message sent by the server, wherein the first message carries first time information that the server will send a vehicle-to-everything (V2X) message to the terminal. The first message is sent by the server to the terminal after receiving the Basic Security Message (BSM) sent by the terminal. The first time information includes the time when the server sends the first message to the terminal and the time interval between the server sending the V2X message to the terminal. The time interval corresponds to the type of the V2X message. The first determining module is configured to determine a reliable reception time interval for the vehicle-to-everything (V2X) message based on the first time information. The determination of the reliable reception time interval for the V2X message based on the first time information includes: Based on the first time information, determine the initial time information for receiving the vehicle network message; The reliable reception time interval is determined based on the initial reception time information and the preset reception delay information associated with the vehicle network message. The trusted reception time interval includes a first time interval and a second time interval. The initial reception time information includes the initial reception time, which is the sum of the time when the server sends the first message to the terminal and the time interval. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval. The second determining module is used to determine the credibility information of the vehicle network message based on the second time information indicating that the terminal receives the vehicle network message and the credible reception time interval. Specifically, if the second time information indicates that the time when the terminal receives the vehicle network message falls within the first time interval, the credibility of the vehicle network message is determined to be a first credibility; if the second time information indicates that the time when the terminal receives the vehicle network message falls within the second time interval, the credibility of the vehicle network message is determined to be a second credibility; the second credibility is lower than the first credibility.

15. A message evaluation device, characterized in that, include: The third determining module is used to determine a first message upon receiving a BSM sent by a terminal, wherein the first message carries first time information of the server sending a vehicle-to-everything (V2X) message to the terminal; the first time information includes the time when the server sends the first message to the terminal and the time interval between the server sending the V2X message to the terminal, and the time interval corresponds to the type of the V2X message; The first time information is used to determine the reliable reception time interval of the vehicle network message, and the first time information is specifically used for: Based on the first time information, determine the initial time information for receiving the vehicle network message; The reliable reception time interval is determined based on the initial reception time information and the preset reception delay information associated with the vehicle network message. The trusted reception time interval includes a first time interval and a second time interval. The initial reception time information includes the initial reception time, which is the sum of the time when the server sends the first message to the terminal and the time interval. The start time of the second time interval is consecutive to the end time of the first time interval and is after the end time of the first time interval. The end time of the second time interval is the end time of the trusted reception time interval. A first sending module is configured to send the first message to the terminal, wherein the terminal is configured to: Based on the second time information of the terminal receiving the vehicle network message and the trusted reception time interval, the credibility information of the vehicle network message is determined. Specifically, if the second time information indicates that the time the terminal receives the vehicle network message falls within the first time interval, the credibility of the vehicle network message is determined to be a first credibility; if the second time information indicates that the time the terminal receives the vehicle network message falls within the second time interval, the credibility of the vehicle network message is determined to be a second credibility; the second credibility is lower than the first credibility.

16. An electronic device, characterized in that, The method includes a transceiver, a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method as described in any one of claims 1 to 8; or, the computer program, when executed by the processor, implements the steps of the method as described in any one of claims 9 to 13.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 8; or, when executed by the processor, the computer program implements the steps of the method as described in any one of claims 9 to 13.

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