Vehicle-to-external information interaction v2x message transmission method and device, terminal and vehicle

Abstract

This invention provides a method, apparatus, terminal, and vehicle for transmitting V2X messages for vehicle-to-the-world information interaction. The method is applied to a first terminal and includes: the first terminal sending a first V2X message to a first device and sending vehicle information of a first vehicle to a second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; and / or receiving a second V2X message sent by the second terminal; wherein the second V2X message is a V2X message received by the second terminal from a second device sent to the first vehicle; wherein both the first terminal and the second terminal are located on the first vehicle. The solution of this invention can reduce the distance of radio frequency cables, improve V2X coverage distance and quality, and also avoid the problem that a single OBU cannot perform simultaneous transmission and reception, thus avoiding packet loss.

Description

Technical Field

[0001] This invention relates to the field of vehicle networking technology, and in particular to a method, device, terminal, and vehicle for transmitting V2X messages for vehicle-to-the-world information interaction. Background Technology

[0002] Because LTE (Long Term Evolution) V2X (vehicle to everything) uses the 5.9GHz frequency band, which has poor penetration, the two antennas of the OBU (On-Board Unit) are generally installed on the roof or sides of the vehicle in unobstructed locations to facilitate the propagation of wireless signals. Figure 1 In China, LTE V2X OBU vehicle terminals are typically divided into two parts: the OBU equipment and the V2X antenna. They use one or two antennas to transmit V2X signals and two antennas to receive V2X signals.

[0003] Currently, in scenarios where installation is inconvenient, such as on large trucks, the V2X antenna needs to be extended from the OBU device installation location to an unobstructed installation position via RF cables. Cable loss reduces the V2X coverage distance. If the extension distance is too great, the RF cables will introduce significant losses. Furthermore, if... Figure 2 As shown, for devices transmitting with a single antenna, to reduce coverage blind spots, the single transmitting antenna needs to be split into two or more antennas using a power divider, which also reduces the transmit power of the single antenna. The losses in the RF cables and power dividers mentioned above will reduce the signal strength of both the V2X antenna transmission and the OBU device reception, resulting in reduced V2X signal transmission quality and shorter coverage distance. Furthermore, LTE V2X is a time-division duplex system, where each millisecond is defined as a frame. The OBU can only transmit or receive information within one millisecond, not simultaneously.

[0004] In summary, existing V2X message transmission methods suffer from low signal strength and the inability to simultaneously send and receive information, which can easily lead to packet loss at the application layer. Summary of the Invention

[0005] This invention provides a method, apparatus, terminal, and vehicle for transmitting V2X messages for vehicle-to-the-world information interaction, solving the problem that existing V2X message transmission methods are prone to packet loss at the application layer.

[0006] In a first aspect, embodiments of the present invention provide a method for transmitting V2X messages for vehicle-to-the-world information interaction, applied to a first terminal, comprising:

[0007] The first terminal sends a first V2X message to the first device and sends the vehicle information of the first vehicle to the second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; and / or

[0008] Receive a second V2X message sent by the second terminal; wherein the second V2X message is a V2X message sent by the second device to the first vehicle and received by the second terminal;

[0009] Both the first terminal and the second terminal are installed on the first vehicle.

[0010] Secondly, embodiments of the present invention provide a method for transmitting V2X messages for vehicle-to-the-world information interaction, applied to a second terminal, comprising:

[0011] Receive vehicle information of a first vehicle sent by a first terminal; generate a first V2X message based on the vehicle information; and send the first V2X message to a first device; and / or,

[0012] Send a second V2X message to the first terminal; wherein, the second V2X message is a V2X message sent from the second device to the first vehicle and received by the second terminal;

[0013] Both the first terminal and the second terminal are installed on the first vehicle.

[0014] Thirdly, embodiments of the present invention provide a vehicle, the vehicle comprising a first terminal and at least one second terminal; wherein...

[0015] The first terminal sends a first V2X message to the first device and sends the vehicle information of the vehicle to the second terminal; the second terminal generates the first V2X message based on the vehicle information; and sends the first V2X message to the first device; and / or

[0016] The second terminal receives the second V2X message sent to the vehicle by the second device, and then sends the second V2X message to the first terminal.

[0017] Fourthly, embodiments of the present invention provide a terminal, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of transmitting V2X messages for vehicle-to-external information interaction as described in the first aspect, or implements the steps of transmitting V2X messages for vehicle-to-external information interaction as described in the second aspect.

[0018] Fifthly, embodiments of the present invention provide a vehicle-to-the-outside information exchange (V2X) message transmission device, applied to a first terminal, comprising:

[0019] A first processing module is configured to send a first V2X message from the first terminal to the first device, and send vehicle information of the first vehicle to the second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; and / or

[0020] Receive a second V2X message sent by the second terminal; wherein the second V2X message is a V2X message sent by the second device to the first vehicle and received by the second terminal;

[0021] Both the first terminal and the second terminal are installed on the first vehicle.

[0022] Sixthly, embodiments of the present invention provide a vehicle-to-the-world (V2X) message transmission device, applied to a second terminal, comprising:

[0023] The second processing module is configured to receive vehicle information of a first vehicle sent by a first terminal; generate a first V2X message based on the vehicle information; and send the first V2X message to a first device; and / or send a second V2X message to the first terminal; wherein the second V2X message is a V2X message sent from a second device to the first vehicle received by the second terminal;

[0024] Both the first terminal and the second terminal are installed on the first vehicle.

[0025] In a seventh aspect, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of transmitting V2X messages for vehicle-to-external information interaction as described in the first aspect, or implements the steps of transmitting V2X messages for vehicle-to-external information interaction as described in the second aspect.

[0026] The beneficial effects of the above-mentioned technical solution of the present invention are:

[0027] In the above-described scheme of this application, both the first terminal and the second terminal are installed on the first vehicle. The first terminal sends a first V2X message to the first device and sends the vehicle information of the first vehicle to the second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; and / or, the first terminal receives a second V2X message sent by the second terminal. The second V2X message is a V2X message sent from the second device to the first vehicle and received by the second terminal. Through this scheme, the first vehicle can simultaneously transmit and receive V2X messages through the first terminal and the second terminal. On the one hand, it can realize the arrangement of the first terminal and the second terminal according to the antenna points, reducing the distance of the radio frequency cable, thereby improving the V2X coverage distance and quality. On the other hand, the simultaneous transmission and reception of multiple terminal devices and antennas improves the coverage effect. That is, when the first terminal transmits and receives V2X messages, it does not affect the transmission and reception of V2X messages by the second terminal, and it can also avoid the problem of packet loss caused by a single OBU not being able to transmit and receive simultaneously. Attached Figure Description

[0028] Figure 1 This diagram illustrates the existing connection between the OBU and the antenna.

[0029] Figure 2 A schematic diagram showing the installation of existing OBUs and antennas on a vehicle;

[0030] Figure 3 This is one of the flowcharts illustrating a method for transmitting V2X messages for vehicle-to-external information interaction according to an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram showing the installation of the OBU and antenna on a vehicle according to an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the protocol layer of the OBU in an embodiment of the present invention;

[0033] Figure 6 This is one of the schematic diagrams illustrating data transmission between a first terminal and a second terminal according to an embodiment of the present invention;

[0034] Figure 7 This is the second schematic diagram illustrating data transmission between the first terminal and the second terminal according to an embodiment of the present invention.

[0035] Figure 8 This is the second flowchart illustrating the method for transmitting V2X messages for vehicle-to-external information interaction according to an embodiment of the present invention.

[0036] Figure 9 A block diagram illustrating a vehicle-to-the-outside V2X message transmission device according to an embodiment of the present invention; one of them;

[0037] Figure 10A second block diagram illustrating a vehicle-to-the-outside V2X message transmission device according to an embodiment of the present invention;

[0038] Figure 11 This represents one of the hardware structures of the terminal in an embodiment of the present invention;

[0039] Figure 12 This represents a second hardware structure of the terminal in an embodiment of the present invention. Detailed Implementation

[0040] To make the technical problems, technical solutions, and advantages of this invention clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this invention. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this invention. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0041] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0042] In various embodiments of the present invention, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0043] In addition, the terms "system" and "network" are often used interchangeably in this article.

[0044] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0045] In this embodiment of the invention, the form of the access network is not limited, and can include access networks such as macro base stations, micro base stations, Node Bs (a term for 3G mobile base stations), enhanced base stations (eNBs), home enhanced base stations (Femto eNBs, Home eNode Bs, Home eNBs, or HeNBs), relay stations, access points, RRUs (Remote Radio Units), and RRHs (Remote Radio Heads). The user terminal can be a mobile phone (or cell phone), or other devices capable of sending or receiving wireless signals, including user equipment, personal digital assistants (PDAs), wireless modems, wireless communication devices, handheld devices, laptops, cordless phones, wireless local loop (WLL) stations, CPEs (Customer Premise Equipment) or mobile smart hotspots capable of converting mobile signals into WiFi signals, smart home appliances, or other devices that can spontaneously communicate with the mobile communication network without human intervention.

[0046] Specifically, embodiments of the present invention provide a method for transmitting V2X messages for vehicle-to-the-world information interaction, which solves the problem that the transmission method of V2X messages in the prior art is prone to packet loss in the application layer.

[0047] First Embodiment

[0048] like Figure 3 As shown, an embodiment of the present invention provides a method for transmitting V2X messages for vehicle-to-the-world information interaction, applied to a first terminal, specifically including the following steps:

[0049] Step 101: The first terminal sends a first V2X message to the first device and sends the vehicle information of the first vehicle to the second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; and / or receives a second V2X message sent by the second terminal; wherein the second V2X message is a V2X message sent by the second device to the first vehicle received by the second terminal;

[0050] Both the first terminal and the second terminal are installed on the first vehicle. The first terminal and the second terminal are on-board units (OBUs), and there may be one or more second terminals.

[0051] like Figure 4As shown, the installation positions of the first terminal and the second terminal on the first vehicle can be specifically as follows: one first terminal corresponds to one first antenna on the vehicle; one second terminal corresponds to one second antenna on the vehicle; and the first distance and the second distance are less than a preset length; wherein, the first distance is the distance between the first terminal and the first antenna, and the second distance is the distance between the second terminal and the second antenna. That is, multiple antenna points are arranged on the first vehicle according to the requirement of unobstructed access, and one OBU is arranged at a position close to each antenna installation point. Each OBU uses one or two antennas to transmit and receive V2X signals, and multiple OBUs are connected through Ethernet, USB, WIFI or other interfaces for data transmission.

[0052] It should be noted that the first terminal can be understood as the main OBU installed on the first vehicle, and the second terminal can be the auxiliary OBU installed on the first vehicle. Both the first terminal and the second terminal will use the vehicle information such as position and speed from the Global Navigation Satellite System (GNSS) of the main terminal.

[0053] Specifically, the vehicle information of the first vehicle sent from the first terminal to the second terminal includes at least one of the following: vehicle identification number, three-dimensional coordinates, vehicle speed, and vehicle heading angle. The first device and the second device may each include: the second vehicle's OBU, roadside unit (RSU), base station, etc.

[0054] In this embodiment, when sending a first V2X message to the first device, the first terminal obtains the vehicle information of the first vehicle and sends the vehicle information to the second terminal. Both the first and second terminals generate and send the first V2X message based on the vehicle information. When the second device sends a second V2X message to the first vehicle, both the first and second terminals simultaneously receive the second V2X message. The second terminal then sends the received second V2X message back to the first terminal, allowing the first terminal to perform deduplication and merging of the second V2X messages. In this embodiment, the first vehicle can simultaneously send and receive V2X messages through both the first and second terminals. On one hand, this allows for the deployment of the first and second terminals according to antenna locations, reducing the distance of RF cables and thus improving V2X coverage distance and quality. On the other hand, the simultaneous transmission and reception of multiple OBU devices and antennas improves coverage. The transmission and reception of V2X messages by the first terminal does not affect the transmission and reception of V2X messages by the second terminal, and it also avoids the problem of packet loss caused by a single OBU not being able to transmit and receive simultaneously.

[0055] In an optional embodiment, when a second V2X message and a third V2X message are received within a first time period, the second V2X message and the third V2X message are merged and deduplicated; wherein, the third V2X message is a V2X message sent from the second device to the first vehicle and received by the first terminal.

[0056] The first time period is a configurable merging time threshold, such as 5ms. For example, if the first terminal receives a third V2X message directly sent by the second device and a second V2X message sent by the second terminal within 5ms, and the second V2X message carries the same data packet, it means that they were sent by the same V2X device and received by the first and second terminals simultaneously. In this way, merging and deduplication processing is performed based on whether the data packets are the same, so that only one copy of the same data packet is retained.

[0057] In practice, the first terminal can establish a deduplication list to store the vehicle identification number (VIN) and serial number (SN) of data packets received within the merging time threshold. When a data packet is received, the vehicle ID and SN are compared with the information stored in the list. If the same information is found, the packet is discarded. If the same information is not found, the packet is retained and added to the list.

[0058] like Figure 5 As shown, the OBU protocol layer comprises three parts: the application layer, the network layer, and the access layer. The application layer includes user applications, a security layer, and a messaging layer. The network layer includes a management sublayer and a data sublayer. The management sublayer includes a Dedicated Management Entity (DME), and the data sublayer includes a Dedicated Short Range Communication (DSRC) Short Message Protocol (DSMP) and an adaptation layer. DSRC stands for Dedicated Short Range Communication.

[0059] Based on the above protocol layer, in a specific embodiment, in step 101, sending vehicle information related to the first V2X message to the second terminal includes: sending the vehicle information to the second protocol layer of the second terminal through the first protocol layer of the first terminal.

[0060] In one embodiment, step 101, receiving the second V2X message sent by the second terminal, includes: receiving the second V2X message sent by the second terminal through the second protocol layer of the first terminal through the first protocol layer of the first terminal.

[0061] Wherein, the first protocol layer is a network layer, and the second protocol layer is a network layer; or...

[0062] The first protocol layer is the message layer, and the second protocol layer is the network layer; or,

[0063] The first protocol layer is a message layer, and the second protocol layer is a message layer.

[0064] In the above embodiments, the communication transmission between the first terminal and the second terminal can be implemented through the message layer or the network layer. The first terminal has all protocol layers, while the second terminal only needs all layers below the merging layer (referring to the message layer or the network layer). The functions of the protocol layers above the merging layer reuse the corresponding protocol layers of the first terminal.

[0065] The following example illustrates the merging of two OBUs (one as the primary OBU and the other as the secondary OBU).

[0066] Example 1, see Figure 6 For the case where both the first and second protocol layers are message layers, the process of sending and receiving V2X messages is as follows:

[0067] 1) When sending V2X signals

[0068] First, the primary OBU user application assembles a basic security message (BSM) from vehicle information such as the primary OBU's vehicle ID, 3D coordinates, speed, and heading angle. This BSM is then added to the primary OBU's security layer with a signature, encoded using ASN.1, and simultaneously delivered to both the primary OBU's network layer and the secondary OBU's message layer. The secondary OBU's message layer acts as a proxy for the primary OBU, transparently transmitting information from the primary OBU's message layer to its network layer. The network layers of both the primary and secondary OBUs use AIDs to distinguish different application layer services and the same SrcID to identify the sending source. They convert the application layer data into DSMP protocol data streams and send them to the access layers of the primary and secondary OBUs respectively. The access layers of both the primary and secondary OBUs periodically select appropriate air interface time and frequency domain resources at the L2 (Layer 2) MAC layer, encoding them into air interface signals through the primary and secondary OBUs' L1 physical layer for transmission.

[0069] 2) When receiving V2X signals

[0070] First, the air interface signals received from the L1 (Layer 1) physical layer of the primary and secondary OBUs are decoded and then packetized and forwarded to the network layer via the L2 (PDCP / RLC / MAC layer) of the primary and secondary OBUs. The network layers of the primary and secondary OBUs use Application Identification (AID) to distinguish different application layer services, decode the DSMP protocol data stream, and forward it to the message layer of the primary and secondary OBUs. The message layer of the secondary OBU acts as a proxy for the primary OBU, transparently transmitting information from the secondary OBU message layer to the primary OBU message layer. The primary OBU message layer deduplicates the data packets from both the primary OBU network layer and the secondary OBU message layer, retaining only one. After ASN.1 decoding of the deduplicated data packets by the primary OBU message layer, they are delivered to the primary OBU security layer for signature verification. Once the signature verification is successful, the V2X message is sent to the primary OBU user application.

[0071] Example 2, see Figure 7 For cases where both the first and second protocol layers are network layers, the process of sending and receiving V2X messages is as follows:

[0072] 1) When sending V2X signals

[0073] First, the primary OBU user application assembles vehicle information such as the primary OBU's vehicle ID, 3D coordinates, vehicle speed, and heading angle into a BSM message. This message is then signed by the primary OBU's security layer, encoded using ASN.1, and delivered to the primary OBU's network layer. The primary OBU's network layer uses an AID to distinguish different application layer services and the same SrcID to identify the sending source. It converts the application layer data into a DSMP protocol data stream and sends it to the primary OBU's access layer and the secondary OBU's network layer, respectively. The secondary OBU's network layer acts as a proxy for the primary OBU, transparently transmitting information from the primary OBU's network layer to its access layer. At the L2 MAC layer, the access layers of both the primary and secondary OBUs periodically select appropriate air interface time and frequency domain resources, encoding them into air interface signals using the primary and secondary OBUs' L1 physical layers for transmission.

[0074] 2) When receiving V2X signals

[0075] First, the air interface signals received from the L1 physical layer of the primary and secondary OBUs are decoded and then packetized and forwarded to the network layer via the L2 (PDCP / RLC / MAC layer) of the primary and secondary OBUs. The network layer of the secondary OBU acts as a proxy for the primary OBU, transparently transmitting information from the secondary OBU's access layer to the primary OBU's network layer. The primary OBU's network layer deduplicates the data packets from both the primary and secondary OBU access layers, retaining only one packet. The primary OBU's network layer uses AID to distinguish different application layer services, decodes the deduplicated DSMP protocol data stream, and forwards it to the primary OBU's message layer. After ASN.1 decoding by the primary OBU's message layer, the data is delivered to the primary OBU's security layer for signature verification. Once the signature verification is successful, the V2X message is sent to the primary OBU's user application.

[0076] Example 3: For the case where the first protocol layer is the message layer and the second protocol layer is the network layer, the process of sending and receiving V2X messages is as follows:

[0077] 1) When sending V2X signals

[0078] First, the primary OBU user application assembles vehicle information such as the primary OBU device's vehicle ID, 3D coordinates, vehicle speed, and heading angle into a BSM message. This message is then signed by the primary OBU's security layer, encoded using ASN.1 by the primary OBU's message layer, and delivered to the primary and secondary OBU's network layers. The primary and secondary OBU network layers use AIDs to distinguish different application layer services and the same SrcID to identify the sending source. They convert the application layer data into DSMP protocol data streams and send them to the primary and secondary OBU access layers respectively. The primary and secondary OBU access layers periodically select appropriate air interface time and frequency domain resources at the L2 MAC layer, and convert them into air interface signals through L1 physical layer encoding by the primary and secondary OBUs for transmission.

[0079] 2) When the OBU receives a signal

[0080] First, the air interface signals received from the L1 physical layer of the primary and secondary OBUs are decoded and then packetized and forwarded to the network layer via the L2 (PDCP / RLC / MAC layer) of the primary and secondary OBUs. The network layer of the secondary OBU sends the information from the secondary OBU access layer to the message layer of the primary OBU. The message layer of the primary OBU deduplicates the data packets from the network layers of the primary and secondary OBUs, retaining only one. After the primary OBU message layer decodes the deduplicated data packets using ASN.1, it is delivered to the primary OBU security layer for signature verification. Once the signature verification is successful, the V2X message is sent to the primary OBU user application.

[0081] In one embodiment, before the first terminal sends the first V2X message to the first device in step 101, the method further includes:

[0082] The resource scheduling mode of the first terminal is determined, and the resource scheduling mode includes the following four modes:

[0083] 1. First Mode

[0084] The first mode refers to the first terminal and the second terminal independently scheduling resources, and neither of them enables Hybrid Automatic Repeat Request (HARQ).

[0085] For example, taking two OBUs (one as the primary OBU and the other as the secondary OBU), neither the primary nor the secondary OBU enables HARQ retransmission, and the MAC layer of each OBU independently selects appropriate air interface time and frequency domain resources (including resources for both initial and retransmission transmissions) in real time or periodically. In this way, each OBU sending a V2X message from the application layer will only send it once at the access layer. Compared to a single OBU, the two OBUs transmit a total of twice over the air interface, with the same time and frequency domain resource usage as a single OBU, and HARQ merging cannot be performed on the receiving device side. Because the two OBUs use different time domain resources, the transmission of one OBU does not affect the reception of the other OBU, reducing packet loss caused by time domain collisions.

[0086] It should be noted that in this mode, the access layer does not need to be modified and can be implemented simply by configuring existing parameters. It is also suitable for congestion scenarios of V2X OBU devices where coverage requirements are not high.

[0087] 2. Second Mode

[0088] The second mode refers to the first terminal and the second terminal independently performing resource scheduling, and both of them enabling HARQ;

[0089] For example, taking two OBUs (one as the primary OBU and the other as the secondary OBU), the MAC layers of the primary and secondary OBUs independently select appropriate air interface time and frequency domain resources (including resources for initial and retransmission transmissions) in real time or periodically. Each OBU sends one V2X message from the application layer, which will be transmitted twice at the access layer. Compared to a single OBU, the two OBUs transmit a total of four times over the air interface, and the time and frequency domain resources used are twice that of a single OBU. HARQ merging can be performed on the receiving device side, and the coverage distance is the same as that of a single OBU. Because the two OBUs use different time domain resources, the transmission of one OBU does not affect the reception of the other OBU, reducing packet loss caused by transmission time domain collisions.

[0090] It should be noted that in this mode, the access layer does not need to be modified and can be implemented only through existing parameter configuration, making it suitable for scenarios with low V2X OBU device density.

[0091] 3. Third Mode

[0092] The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, and neither of them enabling HARQ;

[0093] Joint resource scheduling can refer to the first terminal and the second terminal jointly using the resources selected by the first terminal. For example, the first terminal selects resources for initial transmission and retransmission, and sends the selected resource scheduling information to the second terminal.

[0094] Furthermore, in the third mode, the initial transmission resource selected by the first terminal is used as the transmission resource of the first terminal, and the scheduling information of the retransmission resource selected by the first terminal is sent to the second terminal.

[0095] For example, taking two OBUs (one as the primary OBU and the other as the secondary OBU), neither the primary nor the secondary OBU enables HARQ retransmission. The primary OBU's MAC layer selects appropriate air interface time and frequency domain resources (including resources for both initial and retransmission transmissions) in real-time or periodically, depending on whether HARQ is enabled. Each time resources are selected, the air interface time and frequency domain resources for the initial transmission are reserved for the primary OBU, and the scheduling information for the retransmission air interface time and frequency domain resources is sent to the secondary OBU through the inter-OBU interface. In this way, each V2X message sent from the application layer by each OBU will be transmitted only once at the access layer. Compared to a single OBU, the two OBUs transmit a total of twice on the air interface, with the same time and frequency domain resource usage as a single OBU. HARQ merging can be performed on the receiving device side, and the coverage distance is the same as a single OBU. Because the two OBUs use different time domain resources, the transmission of one OBU does not affect the reception of the other OBU, reducing packet loss caused by transmission time domain collisions.

[0096] It should be noted that the access layer needs to be modified in this mode, which is suitable for congestion scenarios of V2X OBU devices with general coverage requirements.

[0097] 4. Fourth Mode

[0098] The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, with both enabling HARQ.

[0099] Furthermore, in the fourth mode, the scheduling information of the initial transmission resources and retransmission resources selected by the first terminal is sent to the second terminal.

[0100] For example, taking two OBUs (one as the primary OBU and the other as the secondary OBU), both the primary and secondary OBUs enable HARQ retransmission. The primary OBU's MAC layer selects appropriate air interface time and frequency domain resources (including resources for both initial and retransmission transmissions) in real-time or periodically according to the enabled HARQ. Each time resources are selected, the air interface time and frequency domain resource scheduling information for the initial and retransmissions is sent to the secondary OBU for use. Each OBU sends one V2X message from the application layer, which will be sent twice at the access layer. Compared with a single OBU, the two OBUs transmit a total of twice on the air interface, the time and frequency domain resource usage is the same as a single OBU, HARQ merging can be performed on the receiving device side, and the coverage distance is the same as a single OBU.

[0101] It should be noted that the access layer needs to be modified in this mode, which is suitable for scenarios with low density of V2X OBU devices where coverage requirements are high.

[0102] Second Embodiment

[0103] like Figure 8 As shown, the second embodiment of the present invention provides a method for transmitting V2X messages for vehicle-to-the-world information interaction, applied to a second terminal, specifically including the following steps:

[0104] Step 201: Receive vehicle information of a first vehicle sent by a first terminal; generate the first V2X message based on the vehicle information; and send the first V2X message to a first device; and / or,

[0105] Send a second V2X message to the first terminal; wherein, the second V2X message is a V2X message sent from the second device to the first vehicle and received by the second terminal;

[0106] Both the first terminal and the second terminal are installed on the first vehicle. Optionally, the first terminal and the second terminal are on-board units (OBUs), and there may be one or more second terminals.

[0107] like Figure 4 As shown, the installation positions of the first terminal and the second terminal on the first vehicle can be specifically as follows: one first terminal corresponds to one first antenna on the vehicle; one second terminal corresponds to one second antenna on the vehicle; and the first distance and the second distance are less than a preset length; wherein, the first distance is the distance between the first terminal and the first antenna, and the second distance is the distance between the second terminal and the second antenna. That is, multiple antenna points are arranged on the first vehicle according to the requirement of unobstructed access, and one OBU is arranged at a position close to each antenna installation point. Each OBU uses one or two antennas to transmit and receive V2X signals, and multiple OBUs are connected through Ethernet, USB, WIFI or other interfaces for data transmission.

[0108] It should be noted that the first terminal can be understood as the main OBU installed on the first vehicle, and the second terminal can be the auxiliary OBU installed on the first vehicle. Both the first terminal and the second terminal will use the vehicle information such as GNSS position and speed from the main first terminal.

[0109] Specifically, the vehicle information of the first vehicle sent from the first terminal to the second terminal includes at least one of the following: vehicle identification number, three-dimensional coordinates, vehicle speed, and vehicle heading angle. The first device and the second device may each include: the second vehicle's OBU, roadside equipment, base station, etc.

[0110] In this embodiment, when sending a first V2X message to the first device, vehicle information of the first vehicle sent by the first terminal is received; the first V2X message is generated based on the vehicle information; and the first V2X message is sent to the first device, so that both the first terminal and the second terminal generate and send the first V2X message based on the vehicle information. When the second device sends a second V2X message to the first vehicle, the first terminal and the second terminal simultaneously receive the second V2X message. The second terminal sends the received second V2X message to the first terminal so that the first terminal can perform deduplication processing on the second V2X message. Through this embodiment, the first vehicle can simultaneously send and receive V2X messages through the first terminal and the second terminal. On the one hand, it is possible to arrange the first terminal and the second terminal according to the antenna positions, reducing the distance of the radio frequency cable and thus improving the V2X coverage distance and quality. On the other hand, the simultaneous transmission and reception of multiple OBU terminals and antennas improves the coverage effect. When the first terminal is sending and receiving V2X messages, it does not affect the second terminal's transmission and reception of V2X messages, and it also avoids the problem of packet loss caused by a single OBU not being able to transmit and receive simultaneously.

[0111] like Figure 5 As shown, the OBU protocol layer comprises three parts: the application layer, the network layer, and the access layer. The application layer includes user applications, a security layer, and a messaging layer. The network layer includes a management sublayer and a data sublayer. The management sublayer includes the Dedicated Short Range Management Entity (DME), and the data sublayer includes the Dedicated Short Range Protocol (DSMP) and an adaptation layer.

[0112] Based on the above protocol layer, in a specific embodiment, step 201, receiving vehicle information of the first vehicle sent by the first terminal, includes: receiving the vehicle information sent by the first terminal through the first protocol layer through the second protocol layer of the second terminal.

[0113] In one embodiment, step 201, sending the second V2X message to the first terminal, includes: sending the second V2X message to the first protocol layer of the first terminal through the second protocol layer of the second terminal.

[0114] Wherein, the first protocol layer is a network layer, and the second protocol layer is a network layer; or...

[0115] The first protocol layer is the message layer, and the second protocol layer is the network layer; or,

[0116] The first protocol layer is a message layer, and the second protocol layer is a message layer.

[0117] In the above embodiments, the communication transmission between the first terminal and the second terminal can be implemented through the message layer or the network layer. The first terminal has all protocol layers, while the second terminal only needs all layers below the merging layer (referring to the message layer or the network layer). The functions of the protocol layers above the merging layer reuse the corresponding protocol layers of the first terminal.

[0118] The following example illustrates the merging of two OBUs (one as the primary OBU and the other as the secondary OBU).

[0119] Example 1, see Figure 6 For the case where both the first and second protocol layers are message layers, the process of sending and receiving V2X messages is as follows:

[0120] 1) When sending V2X signals

[0121] First, the primary OBU user application assembles a basic security message (BSM) from vehicle information such as the primary OBU's vehicle ID, 3D coordinates, speed, and heading angle. This BSM is then added to the primary OBU's security layer with a signature, encoded using ASN.1, and simultaneously delivered to both the primary OBU's network layer and the secondary OBU's message layer. The secondary OBU's message layer acts as a proxy for the primary OBU, transparently transmitting information from the primary OBU's message layer to its network layer. The network layers of both the primary and secondary OBUs use AIDs to distinguish different application layer services and the same SrcID to identify the sending source. They convert the application layer data into DSMP protocol data streams and send them to the access layers of the primary and secondary OBUs respectively. The access layers of both the primary and secondary OBUs periodically select appropriate air interface time and frequency domain resources at the L2 (Layer 2) MAC layer, encoding them into air interface signals through the primary and secondary OBUs' L1 physical layer for transmission.

[0122] 2) When receiving V2X signals

[0123] First, the air interface signals received from the L1 (Layer 1) physical layer of the primary and secondary OBUs are decoded and then packetized and forwarded to the network layer via the L2 (PDCP / RLC / MAC layer) of the primary and secondary OBUs. The network layers of the primary and secondary OBUs use Application Identifiers (AIDs) to distinguish different application layer services, decode the DSMP protocol data stream, and forward it to the message layer of the primary and secondary OBUs. The message layer of the secondary OBU acts as a proxy for the primary OBU, transparently transmitting information from the secondary OBU message layer to the primary OBU message layer. The primary OBU message layer deduplicates the data packets from the primary OBU network layer and the secondary OBU message layer, retaining only one. After ASN.1 decoding of the deduplicated data packet by the primary OBU message layer, it is delivered to the primary OBU security layer for signature verification. Once the signature verification is successful, the V2X message is sent to the primary OBU user application.

[0124] Example 2, see Figure 7 For cases where both the first and second protocol layers are network layers, the process of sending and receiving V2X messages is as follows:

[0125] 1) When sending V2X signals

[0126] First, the primary OBU user application assembles vehicle information such as the primary OBU's vehicle ID, 3D coordinates, vehicle speed, and heading angle into a BSM message. This message is then signed by the primary OBU's security layer, encoded using ASN.1, and delivered to the primary OBU's network layer. The primary OBU's network layer uses an AID to distinguish different application layer services and the same SrcID to identify the sending source. It converts the application layer data into a DSMP protocol data stream and sends it to the primary OBU's access layer and the secondary OBU's network layer, respectively. The secondary OBU's network layer acts as a proxy for the primary OBU, transparently transmitting information from the primary OBU's network layer to its access layer. At the L2 MAC layer, the access layers of both the primary and secondary OBUs periodically select appropriate air interface time and frequency domain resources, encoding them into air interface signals using the primary and secondary OBUs' L1 physical layers for transmission.

[0127] 2) When receiving V2X signals

[0128] First, the air interface signals received from the L1 physical layer of the primary and secondary OBUs are decoded and then packetized and forwarded to the network layer via the L2 (PDCP / RLC / MAC layer) of the primary and secondary OBUs. The network layer of the secondary OBU acts as a proxy for the primary OBU, transparently transmitting information from the secondary OBU's access layer to the primary OBU's network layer. The primary OBU's network layer deduplicates the data packets from both the primary and secondary OBU access layers, retaining only one packet. The primary OBU's network layer uses AID to distinguish different application layer services, decodes the deduplicated DSMP protocol data stream, and forwards it to the primary OBU's message layer. After ASN.1 decoding by the primary OBU's message layer, the data is delivered to the primary OBU's security layer for signature verification. Once the signature verification is successful, the V2X message is sent to the primary OBU's user application.

[0129] Example 3: For the case where the first protocol layer is the message layer and the second protocol layer is the network layer, the process of sending and receiving V2X messages is as follows:

[0130] 1) When sending V2X signals

[0131] First, the primary OBU user application assembles vehicle information such as the primary OBU device's vehicle ID, 3D coordinates, vehicle speed, and heading angle into a BSM message. This message is then signed by the primary OBU's security layer, encoded using ASN.1 by the primary OBU's message layer, and delivered to the primary and secondary OBU's network layers. The primary and secondary OBU network layers use AIDs to distinguish different application layer services and the same SrcID to identify the sending source. They convert the application layer data into DSMP protocol data streams and send them to the primary and secondary OBU access layers respectively. The primary and secondary OBU access layers periodically select appropriate air interface time and frequency domain resources at the L2 MAC layer, and convert them into air interface signals through L1 physical layer encoding by the primary and secondary OBUs for transmission.

[0132] 2) When the OBU receives a signal

[0133] First, the air interface signals received from the L1 physical layer of the primary and secondary OBUs are decoded and then packetized and forwarded to the network layer via the L2 (PDCP / RLC / MAC layer) of the primary and secondary OBUs. The network layer of the secondary OBU sends the information from the secondary OBU access layer to the message layer of the primary OBU. The message layer of the primary OBU deduplicates the data packets from the network layers of the primary and secondary OBUs, retaining only one. After the primary OBU message layer decodes the deduplicated data packets using ASN.1, it is delivered to the primary OBU security layer for signature verification. Once the signature verification is successful, the V2X message is sent to the primary OBU user application.

[0134] In one embodiment, before sending the first V2X message to the first device in step 201, the method further includes:

[0135] Determine the resource scheduling mode of the second terminal, wherein the resource scheduling mode includes:

[0136] 1. First Mode

[0137] The first mode refers to the first terminal and the second terminal independently scheduling resources, and neither of them enables Hybrid Automatic Repeat Request (HARQ).

[0138] For example, taking two OBUs (one as the primary OBU and the other as the secondary OBU), neither the primary nor the secondary OBU enables HARQ retransmission, and the MAC layer of each OBU independently selects appropriate air interface time and frequency domain resources (including resources for both initial and retransmission transmissions) in real time or periodically. In this way, each OBU sending a V2X message from the application layer will only send it once at the access layer. Compared to a single OBU, the two OBUs transmit a total of twice over the air interface, with the same time and frequency domain resource usage as a single OBU, and HARQ merging cannot be performed on the receiving device side. Because the two OBUs use different time domain resources, the transmission of one OBU does not affect the reception of the other OBU, reducing packet loss caused by time domain collisions.

[0139] It should be noted that in this mode, the access layer does not need to be modified and can be implemented simply by configuring existing parameters. It is also suitable for congestion scenarios of V2X OBU devices where coverage requirements are not high.

[0140] 2. Second Mode

[0141] The second mode refers to the first terminal and the second terminal independently performing resource scheduling, and both of them enabling HARQ;

[0142] For example, taking two OBUs (one as the primary OBU and the other as the secondary OBU), the MAC layers of the primary and secondary OBUs independently select appropriate air interface time and frequency domain resources (including resources for initial and retransmission transmissions) in real time or periodically. Each OBU sends one V2X message from the application layer, which will be transmitted twice at the access layer. Compared to a single OBU, the two OBUs transmit a total of four times over the air interface, and the time and frequency domain resources used are twice that of a single OBU. HARQ merging can be performed on the receiving device side, and the coverage distance is the same as that of a single OBU. Because the two OBUs use different time domain resources, the transmission of one OBU does not affect the reception of the other OBU, reducing packet loss caused by transmission time domain collisions.

[0143] It should be noted that in this mode, the access layer does not need to be modified and can be implemented only through existing parameter configuration, making it suitable for scenarios with low V2X OBU device density.

[0144] 3. Third Mode

[0145] The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, and neither of them enabling HARQ;

[0146] Furthermore, in the third mode, the retransmission resource scheduling information sent by the first terminal is received, the retransmission resource is used as the transmission resource, and HARQ is not enabled.

[0147] For example, taking two OBUs (one as the primary OBU and the other as the secondary OBU), neither the primary nor the secondary OBU enables HARQ retransmission. The primary OBU's MAC layer selects appropriate air interface time and frequency domain resources (including resources for both initial and retransmission transmissions) in real-time or periodically, depending on whether HARQ is enabled. Each time resources are selected, the air interface time and frequency domain resources for the initial transmission are reserved for the primary OBU, and the scheduling information for the retransmission air interface time and frequency domain resources is sent to the secondary OBU through the inter-OBU interface. In this way, each V2X message sent from the application layer by each OBU will be transmitted only once at the access layer. Compared to a single OBU, the two OBUs transmit a total of twice on the air interface, with the same time and frequency domain resource usage as a single OBU. HARQ merging can be performed on the receiving device side, and the coverage distance is the same as a single OBU. Because the two OBUs use different time domain resources, the transmission of one OBU does not affect the reception of the other OBU, reducing packet loss caused by transmission time domain collisions.

[0148] It should be noted that the access layer needs to be modified in this mode, which is suitable for congestion scenarios of V2X OBU devices with general coverage requirements.

[0149] 4. Fourth Mode

[0150] The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, with both enabling HARQ.

[0151] Furthermore, in the fourth mode, the scheduling information of the initial transmission resources and retransmission resources sent by the first terminal is received, the initial transmission resources and the retransmission resources are used as the transmission resources, and HARQ is enabled.

[0152] For example, taking two OBUs (one as the primary OBU and the other as the secondary OBU), both the primary and secondary OBUs enable HARQ retransmission. The primary OBU's MAC layer selects appropriate air interface time and frequency domain resources (including resources for both initial and retransmission transmissions) in real-time or periodically according to the enabled HARQ. Each time resources are selected, the air interface time and frequency domain resource scheduling information for the initial and retransmissions is sent to the secondary OBU for use. Each OBU sends one V2X message from the application layer, which will be sent twice at the access layer. Compared with a single OBU, the two OBUs transmit a total of twice on the air interface, the time and frequency domain resource usage is the same as a single OBU, HARQ merging can be performed on the receiving device side, and the coverage distance is the same as a single OBU.

[0153] It should be noted that the access layer needs to be modified in this mode, which is suitable for scenarios with low density of V2X OBU devices where coverage requirements are high.

[0154] The aforementioned joint resource scheduling can refer to the first terminal and the second terminal jointly using the resources selected by the first terminal. For example, the first terminal selects resources for initial transmission and retransmission, and then sends the selected resource scheduling information to the second terminal.

[0155] Third Embodiment

[0156] This invention provides a vehicle, which includes a first terminal and at least one second terminal; wherein,

[0157] The first terminal sends a first V2X message to the first device and sends the vehicle information of the vehicle to the second terminal; the second terminal generates the first V2X message based on the vehicle information; and sends the first V2X message to the first device; and / or

[0158] The second terminal receives the second V2X message sent to the vehicle by the second device, and then sends the second V2X message to the first terminal.

[0159] In this embodiment, when sending a first V2X message to the first device, the first terminal obtains the vehicle information of the first vehicle and sends the vehicle information to the second terminal. Both the first and second terminals generate and send the first V2X message based on the vehicle information. When the second device sends a second V2X message to the first vehicle, both the first and second terminals simultaneously receive the second V2X message. The second terminal then sends the received second V2X message back to the first terminal, allowing the first terminal to perform deduplication and merging of the second V2X message. In this embodiment, the first vehicle can simultaneously send and receive V2X messages through both the first and second terminals. On one hand, this allows for the deployment of the first and second terminals according to antenna locations, reducing the distance of RF cables and thus improving V2X coverage distance and quality. On the other hand, the sending and receiving of V2X messages by the first terminal does not affect the sending and receiving of V2X messages by the second terminal, avoiding the problem of packet loss caused by a single OBU not being able to send and receive simultaneously.

[0160] like Figure 4 In this design, the installation positions of the first terminal and the second terminal on the first vehicle can be specifically defined as follows: one first terminal corresponds to one first antenna on the vehicle; one second terminal corresponds to one second antenna on the vehicle; and the first distance and the second distance are less than a preset length; wherein, the first distance is the distance between the first terminal and the first antenna, and the second distance is the distance between the second terminal and the second antenna. That is, multiple antenna points are arranged on the first vehicle according to the requirement of unobstructed access, and one OBU is placed close to each antenna installation point. Each OBU uses one or two antennas to transmit and receive V2X signals, and multiple OBUs are connected via Ethernet, USB, WIFI, or other interfaces for data transmission.

[0161] In one embodiment, the second terminal reuses the functions of multiple protocol layers of the first terminal, wherein the multiple protocol layers include: a user application layer, a security layer, and a messaging layer; or, the multiple protocol layers include: a user application layer and a security layer.

[0162] The first terminal and the second terminal send and receive data through the message layer or the network layer. See Examples 1 to 3 in the first embodiment above for details, which will not be repeated here.

[0163] In the above scheme, multiple OBU devices are deployed at multiple antenna locations to reduce the RF cable loss between the OBU and the antenna and improve the coverage effect; multiple OBU devices and antennas transmit and receive simultaneously, improving the coverage effect; multiple OBUs use different time domain resources, so that when one OBU transmits, other OBUs can still receive, reducing packet loss caused by transmission time domain collision.

[0164] Fourth embodiment

[0165] like Figure 9 As shown, this embodiment of the invention provides a vehicle-to-the-world (V2X) message transmission device 900, applied to a first terminal, comprising:

[0166] The first processing module 901 is configured to send a first V2X message from the first terminal to the first device and send vehicle information of the first vehicle to the second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; and / or

[0167] Receive a second V2X message sent by the second terminal; wherein the second V2X message is a V2X message sent by the second device to the first vehicle and received by the second terminal;

[0168] Both the first terminal and the second terminal are installed on the first vehicle.

[0169] Optionally, the aforementioned device 900 further includes:

[0170] The deduplication process is used to merge and deduplicate the second V2X message and the third V2X message when the second V2X message and the third V2X message are received within the first time period; wherein the third V2X message is the V2X message sent from the second device to the first vehicle and received by the first terminal.

[0171] Optionally, the first processing module 901 includes:

[0172] The first processing submodule is used to send the vehicle information to the second protocol layer of the second terminal through the first protocol layer of the first terminal.

[0173] Optionally, the first processing module 901 includes:

[0174] The second processing submodule is used to receive the second V2X message sent by the second terminal through the second protocol layer of the second terminal through the first protocol layer of the first terminal.

[0175] Optionally, the first protocol layer is a network layer, and the second protocol layer is a network layer; or,

[0176] The first protocol layer is the message layer, and the second protocol layer is the network layer; or,

[0177] The first protocol layer is a message layer, and the second protocol layer is a message layer.

[0178] Optionally, the aforementioned device 900 further includes:

[0179] A first determining module is configured to determine the resource scheduling mode of the first terminal, the resource scheduling mode including:

[0180] The first mode refers to the first terminal and the second terminal independently scheduling resources, and neither of them enables Hybrid Automatic Repeat Request (HARQ).

[0181] The second mode refers to the first terminal and the second terminal independently scheduling resources, and both of them enabling HARQ;

[0182] The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, and neither of them enabling HARQ;

[0183] The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

[0184] Optionally, the aforementioned device 900 further includes:

[0185] The first resource scheduling module is used in the third mode to use the initial transmission resource selected by the first terminal as the transmission resource of the first terminal, and to send the scheduling information of the retransmission resource selected by the first terminal to the second terminal.

[0186] The second resource scheduling module is used to send the scheduling information of the initial transmission resources and retransmission resources selected by the first terminal to the second terminal in the fourth mode.

[0187] Optionally, the vehicle information includes at least one of the following: vehicle identification number, three-dimensional coordinates, vehicle speed, and vehicle heading angle.

[0188] The embodiment of the vehicle-to-the-outside information interaction V2X message transmission device of the present invention corresponds to the method of the first embodiment described above. All the implementation means in the first embodiment described above are applicable to the embodiment of the vehicle-to-the-outside information interaction V2X message transmission device and can achieve the same technical effect.

[0189] Fourth embodiment

[0190] like Figure 10 As shown, an embodiment of the present invention provides a vehicle-to-the-world (V2X) message transmission device 1000, applied to a second terminal, comprising:

[0191] The second processing module 1001 is configured to receive vehicle information of a first vehicle sent by a first terminal; generate a first V2X message based on the vehicle information; and send the first V2X message to a first device; and / or,

[0192] Send a second V2X message to the first terminal; wherein, the second V2X message is a V2X message sent from the second device to the first vehicle and received by the second terminal;

[0193] Both the first terminal and the second terminal are installed on the first vehicle.

[0194] Optionally, the second processing module 1001 includes:

[0195] The third processing submodule is used to receive the vehicle information sent by the first terminal through the first protocol layer through the second protocol layer of the second terminal.

[0196] Optionally, the second processing module 1001 includes:

[0197] The fourth processing submodule is used to send the second V2X message to the first protocol layer of the first terminal through the second protocol layer of the second terminal.

[0198] Optionally, the first protocol layer is a network layer, and the second protocol layer is a network layer; or,

[0199] The first protocol layer is the message layer, and the second protocol layer is the network layer; or,

[0200] The first protocol layer is a message layer, and the second protocol layer is a message layer.

[0201] Optionally, the aforementioned device 1000 further includes:

[0202] The first determining module is used to determine the resource scheduling mode of the second terminal, wherein the resource scheduling mode includes:

[0203] The first mode refers to the first terminal and the second terminal independently scheduling resources, and neither of them enables Hybrid Automatic Repeat Request (HARQ).

[0204] The second mode refers to the first terminal and the second terminal independently scheduling resources, and both of them enabling HARQ;

[0205] The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, and neither of them enabling HARQ;

[0206] The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

[0207] Optionally, the aforementioned device 1000 further includes:

[0208] The third resource scheduling module is used in the third mode to receive the retransmission resource scheduling information sent by the first terminal, use the retransmission resource as the transmission resource, and not enable HARQ.

[0209] The fourth resource scheduling module is used in the fourth mode to receive scheduling information of initial transmission resources and retransmission resources sent by the first terminal, use the initial transmission resources and the retransmission resources as the transmission resources, and enable HARQ.

[0210] Optionally, the vehicle information includes at least one of the following: vehicle identification number, three-dimensional coordinates, vehicle speed, and vehicle heading angle.

[0211] The vehicle's V2X message transmission device 1000 for exchanging information with the outside world is a device corresponding to the method in the second embodiment described above. All implementation means in the above method embodiment are applicable to the embodiment of the vehicle's V2X message transmission device for exchanging information with the outside world, and can achieve the same technical effect.

[0212] Fifth embodiment

[0213] To better achieve the above objectives, such as Figure 11 As shown, the fifth embodiment of the present invention also provides a terminal, specifically a first terminal, comprising:

[0214] The processor 1100; and the memory 1120 connected to the processor 1100 via a bus interface, the memory 1120 being used to store programs and data used by the processor 1100 during operation, and the processor 1100 calling and executing the programs and data stored in the memory 1120.

[0215] The transceiver 1110 is connected to the bus interface and is used to receive and send data under the control of the processor 1100; the processor 1100 is used to read the program in the memory 1120.

[0216] Specifically, transceiver 1110 is used to send a first V2X message to a first device and send vehicle information of the first vehicle to a second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; and / or

[0217] Receive a second V2X message sent by the second terminal; wherein the second V2X message is a V2X message sent by the second device to the first vehicle and received by the second terminal;

[0218] Both the first terminal and the second terminal are installed on the first vehicle.

[0219] Among them, Figure 11In 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 1100) and memory (memory 1120). 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 1110 can be multiple components, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. For different terminals, the user interface 1130 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc. The processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1120 can store data used by the processor 1100 during operation.

[0220] Optionally, the processor 1100 is configured to, when receiving the second V2X message and the third V2X message within a first time period, perform a merge and deduplication process on the second V2X message and the third V2X message; wherein the third V2X message is a V2X message sent from the second device to the first vehicle and received by the first terminal.

[0221] Optionally, transceiver 1110 is specifically used to send the vehicle information to the second protocol layer of the second terminal through the first protocol layer of the first terminal.

[0222] Optionally, transceiver 1110 is specifically used to receive the second V2X message sent by the second terminal through the second protocol layer of the second terminal through the first protocol layer of the first terminal.

[0223] Optionally, the first protocol layer is a network layer, and the second protocol layer is a network layer;

[0224] or,

[0225] The first protocol layer is the message layer, and the second protocol layer is the network layer;

[0226] or,

[0227] The first protocol layer is a message layer, and the second protocol layer is a message layer.

[0228] Optionally, the processor 1100 is further configured to determine the resource scheduling mode of the first terminal, the resource scheduling mode including:

[0229] The first mode refers to the first terminal and the second terminal independently scheduling resources, and neither of them enables Hybrid Automatic Repeat Request (HARQ).

[0230] The second mode refers to the first terminal and the second terminal independently scheduling resources, and both of them enabling HARQ;

[0231] The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, and neither of them enabling HARQ;

[0232] The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

[0233] Optionally, the processor 1100 is further configured to, in the third mode, use the initial transmission resource selected by the first terminal as the transmission resource of the first terminal, and send the scheduling information of the retransmission resource selected by the first terminal to the second terminal; and in the fourth mode, send the scheduling information of the initial transmission resource and the retransmission resource selected by the first terminal to the second terminal.

[0234] Optionally, the vehicle information includes at least one of the following: vehicle identification number, three-dimensional coordinates, vehicle speed, and vehicle heading angle.

[0235] The first terminal provided by this invention, when sending a first V2X message to a first device, obtains vehicle information of a first vehicle and sends the vehicle information to a second terminal. Both the first and second terminals generate and send the first V2X message based on the vehicle information. When the second device sends a second V2X message to the first vehicle, both the first and second terminals simultaneously receive the second V2X message. The second terminal then sends the received second V2X message back to the first terminal, enabling the first terminal to perform deduplication and merging of the second V2X messages. In this embodiment, the first vehicle can simultaneously send and receive V2X messages through the first and second terminals. On the one hand, this allows for the deployment of the first and second terminals according to antenna locations, reducing the distance of RF cables and thus improving V2X coverage distance and quality. On the other hand, the simultaneous transmission and reception of multiple terminal devices and antennas improves coverage. The transmission and reception of V2X messages by the first terminal does not affect the transmission and reception of V2X messages by the second terminal, and it also avoids the problem of packet loss caused by a single OBU not being able to transmit and receive simultaneously.

[0236] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a computer program instructing the relevant hardware to implement them. The computer program includes instructions to perform some or all of the steps of the above methods; and the computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0237] Sixth Embodiment

[0238] To better achieve the above objectives, such as Figure 12 As shown, the sixth embodiment of the present invention also provides a terminal, specifically a second terminal, comprising:

[0239] The processor 1200; and the memory 1220 connected to the processor 1200 via a bus interface, the memory 1220 being used to store programs and data used by the processor 1200 during operation, and the processor 1200 calling and executing the programs and data stored in the memory 1220.

[0240] The transceiver 1210 is connected to the bus interface and is used to receive and send data under the control of the processor 1200; the processor 1200 is used to read the program in the memory 1220.

[0241] Specifically, transceiver 1210 is used to: receive vehicle information of a first vehicle sent by a first terminal; generate a first V2X message based on the vehicle information; and send the first V2X message to a first device; and / or,

[0242] Send a second V2X message to the first terminal; wherein, the second V2X message is a V2X message sent from the second device to the first vehicle and received by the second terminal;

[0243] Both the first terminal and the second terminal are installed on the first vehicle.

[0244] Among them, Figure 12 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 1200) and memory (memory 1220). 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 1210 can be multiple components, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. For different terminals, the user interface 1230 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc. The processor 1200 is responsible for managing the bus architecture and general processing, and the memory 1220 can store data used by the processor 1200 during operation.

[0245] Optionally, transceiver 1210 is specifically used to receive vehicle information sent by the first terminal through the first protocol layer via the second protocol layer of the second terminal.

[0246] Optionally, transceiver 1210 is specifically used to send the second V2X message to the first protocol layer of the first terminal through the second protocol layer of the second terminal.

[0247] Optionally, the first protocol layer is a network layer, and the second protocol layer is a network layer;

[0248] or,

[0249] The first protocol layer is the message layer, and the second protocol layer is the network layer;

[0250] or,

[0251] The first protocol layer is a message layer, and the second protocol layer is a message layer.

[0252] Optionally, the processor 1200 is configured to determine the resource scheduling mode of the second terminal, wherein the resource scheduling mode includes:

[0253] The first mode refers to the first terminal and the second terminal independently scheduling resources, and neither of them enables Hybrid Automatic Repeat Request (HARQ).

[0254] The second mode refers to the first terminal and the second terminal independently scheduling resources, and both of them enabling HARQ;

[0255] The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, and neither of them enabling HARQ;

[0256] The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

[0257] Optionally, the processor 1200 is further configured to, in the third mode, receive scheduling information of retransmission resources sent by the first terminal, use the retransmission resources as the transmission resources, and not enable HARQ; and in the fourth mode, receive scheduling information of initial transmission resources and retransmission resources sent by the first terminal, use the initial transmission resources and the retransmission resources as the transmission resources, and enable HARQ.

[0258] Optionally, the vehicle information includes at least one of the following: vehicle identification number, three-dimensional coordinates, vehicle speed, and vehicle heading angle.

[0259] The second terminal provided by this invention, when sending a first V2X message to a first device, receives vehicle information of a first vehicle sent by the first terminal; generates the first V2X message based on the vehicle information; and sends the first V2X message to the first device, realizing that both the first terminal and the second terminal generate and send the first V2X message based on the vehicle information; when the second device sends a second V2X message to the first vehicle, the first terminal and the second terminal simultaneously receive the second V2X message, wherein the second terminal sends the received second V2X message to the first terminal so that the first terminal performs merging and deduplication processing on the second V2X message. Through the embodiments, the first vehicle can simultaneously send and receive V2X messages through the first terminal and the second terminal. On the one hand, it can realize the arrangement of the first terminal and the second terminal according to the antenna points, reducing the distance of the radio frequency cable, thereby improving the V2X coverage distance and quality; on the other hand, the simultaneous transmission and reception of multiple terminal devices and antennas improves the coverage effect. When the first terminal is sending and receiving V2X messages, it does not affect the second terminal's transmission and reception of V2X messages, and it can also avoid the problem of packet loss caused by a single OBU not being able to transmit and receive simultaneously.

[0260] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a computer program instructing the relevant hardware to implement them. The computer program includes instructions to perform some or all of the steps of the above methods; and the computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0261] In addition, specific embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the methods described in the first or second embodiment. The same technical effects can be achieved, and to avoid repetition, further details are omitted here.

[0262] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above-described series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.

[0263] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0264] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles 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 method for transmitting V2X messages for vehicle-to-the-world information interaction, characterized in that, Applied to the first terminal, including: The first terminal sends a first V2X message to the first device and sends the vehicle information of the first vehicle to the second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; the first device is a roadside device, a base station, or an on-board unit (OBU) on the second vehicle; The second terminal receives a second V2X message; wherein the second V2X message is a V2X message received by the second terminal from a second device sent to the first vehicle; the second device is a roadside device, a base station, or an OBU on the second vehicle; Both the first terminal and the second terminal are installed on the first vehicle; the first terminal and the second terminal are OBUs (On-Board Units). Before the first terminal sends the first V2X message to the first device, the method further includes: The resource scheduling mode of the first terminal is determined, and the resource scheduling mode includes: In the first mode, the first terminal and the second terminal independently perform resource scheduling, and neither enables Hybrid Automatic Repeat Request (HARQ); or... The second mode refers to the first terminal and the second terminal independently performing resource scheduling, and both enabling HARQ; or, The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, with neither enabling HARQ; or, The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

2. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 1, characterized in that, In the case of receiving a second V2X message sent by the second terminal, the method further includes: When the second V2X message and the third V2X message are received within the first time period, the second V2X message and the third V2X message are merged and deduplicated; wherein, the third V2X message is the V2X message sent from the second device to the first vehicle and received by the first terminal.

3. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 1, characterized in that, Sending the vehicle information of the first vehicle to the second terminal includes: The vehicle information is sent from the first protocol layer of the first terminal to the second protocol layer of the second terminal.

4. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 1, characterized in that, Receiving the second V2X message sent by the second terminal, including: The first terminal receives the second V2X message sent by the second terminal through the second protocol layer of the second terminal through the first protocol layer.

5. The method for transmitting V2X messages for vehicle-to-the-world information interaction according to claim 3 or 4, characterized in that, The first protocol layer is a network layer, and the second protocol layer is a network layer; or, The first protocol layer is the message layer, and the second protocol layer is the network layer; or, The first protocol layer is a message layer, and the second protocol layer is a message layer.

6. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 1, characterized in that, After determining the resource scheduling modes of the first terminal and the second terminal, the method further includes: In the third mode, the initial transmission resource selected by the first terminal is used as the transmission resource of the first terminal, and the scheduling information of the retransmission resource selected by the first terminal is sent to the second terminal. In the fourth mode, the scheduling information of the initial transmission resources and retransmission resources selected by the first terminal is sent to the second terminal.

7. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 1, characterized in that, The vehicle information includes at least one of the following: vehicle identification number, three-dimensional coordinates, vehicle speed, and vehicle heading angle.

8. A method for transmitting V2X messages for vehicle-to-the-world information interaction, characterized in that, Applied to the second terminal, including: The system receives vehicle information of a first vehicle sent by a first terminal; generates a first V2X message based on the vehicle information; and sends the first V2X message to a first device, which is a roadside device, a base station, or an OBU on a second vehicle. Send a second V2X message to the first terminal; wherein, the second V2X message is a V2X message sent from a second device to the first vehicle and received by the second terminal; the second device is a roadside device, a base station, or an OBU on the second vehicle; Both the first terminal and the second terminal are installed on the first vehicle; the first terminal and the second terminal are OBUs (On-Board Units). Before sending the first V2X message to the first device, the method further includes: Determine the resource scheduling mode of the second terminal, wherein the resource scheduling mode includes: In the first mode, the first terminal and the second terminal independently perform resource scheduling, and neither enables Hybrid Automatic Repeat Request (HARQ); or... The second mode refers to the first terminal and the second terminal independently performing resource scheduling, and both enabling HARQ; or, The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, with neither enabling HARQ; or, The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

9. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 8, characterized in that, The receipt of vehicle information of the first vehicle sent by the first terminal includes: The second terminal receives the vehicle information sent by the first terminal through the first protocol layer via the second protocol layer.

10. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 8, characterized in that, Sending the second V2X message to the first terminal includes: The second V2X message is sent from the second terminal to the first terminal's first protocol layer via the second terminal's second protocol layer.

11. The method for transmitting V2X messages for vehicle-to-the-world information interaction according to claim 9 or 10, characterized in that, The first protocol layer is a network layer, and the second protocol layer is a network layer; or, The first protocol layer is the message layer, and the second protocol layer is the network layer; or, The first protocol layer is a message layer, and the second protocol layer is a message layer.

12. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 8, characterized in that, After determining the resource scheduling mode of the second terminal, the method further includes: In the third mode, the retransmission resource scheduling information sent by the first terminal is received, the retransmission resource is used as the transmission resource, and HARQ is not enabled. In the fourth mode, the scheduling information of the initial transmission resources and retransmission resources sent by the first terminal is received, the initial transmission resources and the retransmission resources are used as the transmission resources, and HARQ is enabled.

13. The method for transmitting V2X messages for vehicle-to-external information interaction according to claim 9, characterized in that, The vehicle information includes at least one of the following: vehicle identification number, three-dimensional coordinates, vehicle speed, and vehicle heading angle.

14. A first vehicle, characterized in that, The first vehicle includes a first terminal and at least one second terminal; the first terminal and the second terminal are OBUs (On-Board Units); wherein, The first terminal sends a first V2X message to the first device and sends the vehicle information of the first vehicle to the second terminal; the second terminal generates the first V2X message based on the vehicle information; and sends the first V2X message to the first device; the first device is a roadside device, a base station, or an OBU on the second vehicle; The second terminal receives the second V2X message sent to the vehicle by the second device, and sends the second V2X message to the first terminal; the second device is a roadside device, a base station, or an OBU on the second vehicle; Specifically, before the first terminal sends the first V2X message to the first device, the first terminal determines its resource scheduling mode; before the second terminal sends the first V2X message to the first device, the second terminal determines its resource scheduling mode. The resource scheduling modes include: In the first mode, the first terminal and the second terminal independently perform resource scheduling, and neither enables Hybrid Automatic Repeat Request (HARQ); or... The second mode refers to the first terminal and the second terminal independently performing resource scheduling, and both enabling HARQ; or, The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, with neither enabling HARQ; or, The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

15. The vehicle according to claim 14, characterized in that, One first terminal corresponds to one first antenna on the vehicle; one second terminal corresponds to one second antenna on the vehicle; and the first distance and the second distance are less than a preset length; wherein, the first distance is the distance between the first terminal and the first antenna, and the second distance is the distance between the second terminal and the second antenna.

16. The vehicle according to claim 14, characterized in that, The second terminal reuses the functions of multiple protocol layers of the first terminal, wherein the multiple protocol layers include: a user application layer, a security layer, and a messaging layer; or, the multiple protocol layers include: a user application layer and a security layer. The first terminal and the second terminal send and receive data through the message layer or the network layer.

17. A terminal, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the step of transmitting V2X messages for vehicle-to-external information interaction as described in any one of claims 1 to 7, or implements the step of transmitting V2X messages for vehicle-to-external information interaction as described in any one of claims 8 to 13.

18. A vehicle-to-the-world (V2X) message transmission device, characterized in that, Applied to the first terminal, including: The first processing module is used to send a first V2X message from the first terminal to the first device and send the vehicle information of the first vehicle to the second terminal, so that the second terminal generates and sends the first V2X message based on the vehicle information; the first device is a roadside device, a base station, or an OBU on the second vehicle; The second terminal receives a second V2X message; wherein the second V2X message is a V2X message received by the second terminal from a second device sent to the first vehicle; the second device is a roadside device, a base station, or an OBU on the second vehicle; Both the first terminal and the second terminal are installed on the first vehicle; the first terminal and the second terminal are OBUs (On-Board Units). The first processing module is further configured to: determine the resource scheduling mode of the first terminal before sending the first V2X message to the first device, the resource scheduling mode including: In the first mode, the first terminal and the second terminal independently perform resource scheduling, and neither enables Hybrid Automatic Repeat Request (HARQ); or... The second mode refers to the first terminal and the second terminal independently performing resource scheduling, and both enabling HARQ; or, The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, with neither enabling HARQ; or, The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

19. A vehicle-to-the-world (V2X) message transmission device, characterized in that, Applied to the second terminal, including: The second processing module is used to receive vehicle information of a first vehicle sent by a first terminal; generate a first V2X message based on the vehicle information; and send the first V2X message to a first device; the first device is a roadside device, a base station, or an OBU on a second vehicle. Send a second V2X message to the first terminal; wherein, the second V2X message is a V2X message sent from a second device to the first vehicle and received by the second terminal; the second device is a roadside device, a base station, or an OBU on the second vehicle; Both the first terminal and the second terminal are installed on the first vehicle; the first terminal and the second terminal are OBUs (On-Board Units). The second processing module is further configured to: determine the resource scheduling mode of the second terminal before sending the first V2X message to the first device, wherein the resource scheduling mode includes: In the first mode, the first terminal and the second terminal independently perform resource scheduling, and neither enables Hybrid Automatic Repeat Request (HARQ); or... The second mode refers to the first terminal and the second terminal independently performing resource scheduling, and both enabling HARQ; or, The third mode refers to the first terminal and the second terminal jointly performing resource scheduling, with neither enabling HARQ; or, The fourth mode refers to the first terminal and the second terminal jointly performing resource scheduling, and both of them enabling HARQ.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of transmitting V2X messages for vehicle-to-external information interaction as described in any one of claims 1 to 7, or implements the steps of transmitting V2X messages for vehicle-to-external information interaction as described in any one of claims 8 to 13.

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