Message processing method and system

Abstract

The application discloses a message processing method executed by a vehicle-mounted V2X device, the vehicle-mounted V2X device is installed on a self-vehicle and comprises a bottom layer module and an upper layer module, the method comprises the following steps: S1, receiving a message from another vehicle at the bottom layer module; S2, transmitting the message to the upper layer module for further processing, the method further comprises the following steps between steps S1 and S2: S12, decoding the message to obtain vehicle ID information, a timestamp and travel information of the another vehicle; S14, judging whether the travel information meets a preset condition; S16, if the travel information meets the preset condition, saving the vehicle ID information of the another vehicle into a concerned vehicle ID list of the self-vehicle and executing step S2; S18, if the travel information does not meet the preset condition, judging whether the vehicle ID information of the another vehicle is already in the concerned vehicle ID list, if yes, executing step S2; if no, discarding the message and not executing step S2 any more. Related systems and computer media are also provided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of Internet of Vehicles, and in particular to a message processing method and system. BACKGROUND

[0002] The V2X (Vehicle-to-Everything) device installed on the ego vehicle will receive V2V messages sent by other vehicles during operation. After receiving the V2V message, the V2V message needs to undergo a series of processes in each layer module of the V2X device. Since the V2V message processing needs time and the computing power of the V2X device is limited, if there are a large number of vehicles sending V2V messages outside, it is possible that the V2X device cannot process all messages due to the limit of computing power, resulting in the loss of key messages. This will cause the V2X device to be extremely likely to miss the report when running at full load, thereby reducing the reliability. At the same time, the V2X device has less chance to be in a high-load environment on the actual road. In order to cover extreme cases, a high-performance processing chip is carried, which will cause resource waste.

[0003] In the case that the V2X device cannot process all messages due to full load operation, how to ensure that the system can normally process important messages and make the V2X applications of the V2X device work normally is an important issue.

[0004] Therefore, there is an urgent need for an improved message processing method to solve the above problems of the prior art. SUMMARY

[0005] The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

[0006] The application provides a message processing method performed by a vehicle-mounted V2X device, the vehicle-mounted V2X device is installed on a self-vehicle and comprises a bottom layer module and an upper layer module, the method comprises the following steps: S1, receiving a message from another vehicle at the bottom layer module; S2, transmitting the message to the upper layer module for further processing, characterized in that the following steps are further performed between steps S1 and S2: S12, decoding the message to obtain vehicle ID information of the another vehicle, a timestamp of the vehicle ID information and driving information; S14, judging whether the driving information meets a preset condition; S16, if the driving information meets the preset condition, saving the vehicle ID information of the another vehicle into a focus vehicle ID list of the self-vehicle and performing step S2; S18, if the driving information does not meet the preset condition, judging whether the vehicle ID information of the another vehicle is already in the focus vehicle ID list, if yes, performing step S2; if no, discarding the message and not performing step S2 any more.

[0007] In some embodiments, the preset condition is set according to an application scenario pre-set by the self-vehicle.

[0008] In some embodiments, the bottom layer module comprises an RF module and a network layer functional module, and the upper layer module comprises a security layer functional module, a V2X middleware module and a V2X application module.

[0009] In some embodiments, when step S16 is performed, saving the vehicle ID information of the another vehicle into the focus vehicle ID list of the self-vehicle further comprises: if the vehicle ID information is not in the focus vehicle ID list, adding the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information into the focus vehicle ID list; if the vehicle ID information is already in the focus vehicle ID list, updating the timestamp of the vehicle ID information stored in the focus vehicle ID list.

[0010] In some embodiments, the method further comprises: periodically circulating through the timestamps of the vehicle ID information in the focus vehicle ID list; if the timestamp of a vehicle ID information is more than a preset timeout period away from the current time, removing the vehicle ID information and its timestamp from the focus vehicle ID list.

[0011] In some embodiments, when step S18 is performed, if it is judged that the vehicle ID information of the another vehicle is already in the focus vehicle ID list, the following operations are performed: determining a time difference between the timestamp of the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information stored in the focus vehicle ID list; if the time difference does not exceed a preset interval period, performing step S2; if the time difference exceeds the preset interval period, discarding the message and not performing step S2 any more.

[0012] In some embodiments, the driving information of the other vehicle comprises one or more of the following: position information, speed information, acceleration information, heading information of the other vehicle.

[0013] In some embodiments, when performing step S14, if it is determined that the driving information does not satisfy the preset condition, the following operations are performed: predicting the driving information of the other vehicle after a preset prediction time period from the current time based on the driving information; and performing steps S14 to S18 using the predicted driving information instead of the driving information.

[0014] In some embodiments, the method further comprises: monitoring a receiving rate of the messages from the other vehicle; comparing the receiving rate with a preset rate threshold; if the receiving rate does not exceed the preset rate threshold, not performing steps S12 to S18; and if the receiving rate exceeds the preset rate threshold, performing steps S12 to S18.

[0015] The present application also provides a message processing system installed on a host vehicle, comprising: a message receiving module, which is a bottom layer module of the message processing system and is configured to perform step S1 of receiving a message from an other vehicle; a message uploading module configured to perform step S2 of transmitting the message to an upper layer module of the message processing system for further processing; and a message screening module configured to perform the following steps between steps S1 and S2: S12 of decoding the message to obtain vehicle ID information of the other vehicle, a time stamp of the vehicle ID information, and driving information; S14 of determining whether the driving information satisfies a preset condition; S16 of, if the driving information satisfies the preset condition, saving the vehicle ID information of the other vehicle to a list of interested vehicle IDs of the host vehicle, and performing step S2 through the message uploading module; and S18 of, if the driving information does not satisfy the preset condition, determining whether the vehicle ID information of the other vehicle is already in the list of interested vehicle IDs, and if yes, performing step S2 through the message uploading module, and if no, discarding the message and not performing step S2 any more.

[0016] In some embodiments, the preset condition is set according to an application scenario pre-set by the host vehicle.

[0017] In some embodiments, the message receiving module is an RF module, and the bottom layer module comprises the RF module, a network layer functional module, and the upper layer module comprises a security layer functional module, a V2X middleware module, and a V2X application module.

[0018] In some embodiments, the message screening module is further configured to, when performing step S16, save the vehicle ID information of the other vehicle into the list of interested vehicle ID of the ego vehicle by: if the vehicle ID information is not in the list of interested vehicle ID, adding the vehicle ID information obtained in step S12 and the time stamp of the vehicle ID information into the list of interested vehicle ID; if the vehicle ID information is already in the list of interested vehicle ID, updating the time stamp of the vehicle ID information stored in the list of interested vehicle ID.

[0019] In some embodiments, the system further comprises a list traversal module configured to: periodically loop through the time stamps of the vehicle ID information in the list of interested vehicle ID; if a time stamp of a vehicle ID information is beyond a preset timeout period from the current time, remove the vehicle ID information and its time stamp from the list of interested vehicle ID.

[0020] In some embodiments, the message screening module is further configured to, when performing step S18, if it is determined that the vehicle ID information of the other vehicle is already in the list of interested vehicle ID, perform the following operations: determine a time difference between the time stamp of the vehicle ID information obtained in step S12 and the time stamp of the vehicle ID information stored in the list of interested vehicle ID; if the time difference does not exceed a preset interval period, perform step S2 by the message uploading module; if the time difference exceeds the preset interval period, discard the message and not perform step S2.

[0021] In some embodiments, the driving information of the other vehicle comprises at least one or more of the following: position information, speed information, acceleration information, heading information of the other vehicle.

[0022] In some embodiments, the message screening module is further configured to, when performing step S14, if it is determined that the driving information does not satisfy the preset condition, perform the following operations: predict the driving information of the other vehicle after a preset prediction period from the current time based on the driving information; perform steps S14 to S18 using the predicted driving information instead of the driving information.

[0023] In some embodiments, the system further comprises a message screening control module configured to: monitor a receiving rate of the messages from the other vehicle; compare the receiving rate with a preset rate threshold; if the receiving rate does not exceed the preset rate threshold, disable the message screening module; if the receiving rate exceeds the preset rate threshold, enable the message screening module.

[0024] The present application also provides a computer readable storage medium storing a computer program for message processing, which can be executed by a processor to perform the aforementioned message processing method. BRIEF DESCRIPTION OF DRAWINGS

[0025] The features, nature, and advantages of the present application will become more apparent from the detailed description set forth below when taken in conjunction with the drawings in which like reference characters identify correspondingly throughout. It is to be understood that the described drawings are merely schematic and are not limiting of the present application. In the drawings, the relative sizes of some of the components can be exaggerated and not drawn to scale for illustrative purposes.

[0026] Figure 1A A conventional V2V message reception flowchart is shown.

[0027] Figure 1A A V2V message reception flowchart of the present application is shown.

[0028] Figure 2 A flowchart of a message processing method according to a first embodiment of the present application is shown.

[0029] Figure 3 An exemplary method of maintaining a list of vehicle IDs of interest of the present application is shown.

[0030] Figure 4 A flowchart of a message processing method according to a second embodiment of the present application is shown.

[0031] Figure 5 A flowchart of a message processing method according to a third embodiment of the present application is shown.

[0032] Figure 6 An exemplary method of controlling a message screening function of the present application is shown.

[0033] Figure 7 An exemplary process of message processing using a message processing method of the present application is shown.

[0034] Figure 8 A block diagram of a message processing system of the present application is shown. DETAILED DESCRIPTION

[0035] For the purposes of the present application, the term "coupled" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) at least indirectly connected or linked; ii) in communication, directly or indirectly; and / or iii) physically touching, directly or indirectly. For the purposes of the present application, the term "connected" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii). For the purposes of the present application, the term "in communication" is used to describe a relationship between or among multiple elements and can be used in the following ways: i) directly physically touching; ii) directly in communication; and / or iii) both i) and ii).

[0036] During operation, the V2X device installed in the vehicle receives V2V messages sent by other vehicles (vehicles around the vehicle). These V2V messages undergo a series of processing steps by various modules within the V2X device before being used by V2X applications. However, most V2V messages do not trigger any scenarios (e.g., alarms or alerts) during V2X application operation, thus rendering them practically useless. Pre-filtering such messages can effectively reduce system load.

[0037] In view of this, this invention filters V2V messages sent by surrounding vehicles according to the requirements of the application scenario, discarding V2V messages that do not trigger the scenario or have no processing value. This message filtering is performed immediately after the underlying module of the V2X device receives the V2V message, thereby minimizing the workload of the upper-layer module. Furthermore, the message filtering function can be enabled or disabled based on the actual computing pressure of the V2X device, further improving the flexibility of message processing and the stability of the V2X device.

[0038] Figure 1A A schematic diagram of a typical V2V message receiving process 100 is shown.

[0039] like Figure 1A As shown, in a typical V2V message reception process, the RF module of the V2X device receives V2V messages (primarily referring to BSM messages in this article, which can be interchangeably called "messages") from other vehicles. Here, the RF module refers to the C-V2X wireless communication module, which is used to transmit and receive radio frequency signals and process them. Afterward, the V2V messages sequentially pass through the network layer functional module, the security layer functional module, the V2X middleware module, and finally reach the V2X application module.

[0040] The network layer module processes V2V messages using network communication protocols. The security layer module performs security-related processing on V2V messages (e.g., security verification, message signature verification). The V2X middleware module performs middleware processing on V2V messages, while the V2X application module performs application-related processing on V2V messages.

[0041] In a preferred embodiment, the above modules can be implemented as software modules in a V2X device. For example, each module can exist in the form of software code, and this software code can perform corresponding functions. Furthermore, although... Figure 1A The specific modules shown above are merely illustrative and not restrictive. In actual implementations, one or more of these modules can be combined, split, removed, or additional modules can be added as needed.

[0042] As can be seen from the V2V message receiving process 100, the V2V message needs to go through a series of processing by the various modules, which takes a certain amount of time. For V2X devices with limited computing power, if a large number of V2V messages from surrounding vehicles are received and each V2V message goes through processing by all modules, it is possible that the computing power reaches the limit and cannot process all messages, resulting in loss of critical information and reducing the reliability of the V2X device.

[0043] Figure 1B A schematic diagram of the V2V message receiving process 150 of the present application is shown.

[0044] As Figure 1B shown, the V2V message receiving process 150 adds three modules between the network layer function module and the security layer function module on the basis of the V2V message receiving process 100: a message analysis module, a message screening module, and a message screening control module. In the preferred embodiment, these added modules are also implemented as software modules.

[0045] After the RF module receives the V2V message, the message is first processed by the network communication protocol through the network layer function module. Subsequently, the message content can be decoded and analyzed through the message analysis module to obtain the vehicle ID information, timestamp, and travel information of the other vehicle sending the message.

[0046] After obtaining the vehicle ID information, timestamp, and travel information of the other vehicle, message screening can be performed through the message screening module. For example, the message screening module can screen out messages that do not meet the conditions according to the preset conditions. Messages that do not meet the conditions will be discarded and will not be transmitted to the upper module for subsequent processing. In this way, the processing load of the modules above the network layer function module can be reduced, saving system resources. At the same time, message screening can also be performed in combination with the list of concerned vehicle IDs saved by the ego vehicle. The specific screening method will be further described below in conjunction with Figures 2-5 .

[0047] In addition, the message screening control module is responsible for obtaining the receiving rate of the V2V message and controlling the message screening function (e.g., enabling or disabling the message screening function) according to the receiving rate. The specific control method will be further described below in conjunction with Figure 6 .

[0048] It should be noted that although Figure 1BThe message analysis module, the message screening module and the message screening control module are shown as separate modules, but this is only exemplary. In actual implementation, these modules can also be integrated in a single module. For example, the message analysis module can be integrated in the message screening module, and the message screening module performs the functions of message decoding analysis and obtaining the vehicle ID, timestamp and travel information of the required other vehicle.

[0049] As mentioned above, the network layer function module is used for processing of the message in the network communication protocol. Since the message screening needs to be performed according to the message content to determine whether the message meets the condition, the above-mentioned new modules need to be placed at least above the network layer function module. The security layer function module is used for processing of the security verification of the message, and the processing process is time-consuming, so in the Figure 1B In the present application, the message analysis module, the message screening module and the message screening control module are shown as being located between the network layer function module and the security layer function module. In this way, the workload of the upper module can be saved to the greatest extent. Of course, in actual implementation, these new modules can also be located at other higher positions. For example, in a special scenario where message encryption is required, the above-mentioned new modules can be placed above the security layer function module to ensure that the message screening is performed after the security verification of the received message is completed.

[0050] Figure 2 A flowchart of a message processing method 200 according to the first embodiment of the present application is shown. The method 200 can be performed by a vehicle-mounted V2X device installed on a host vehicle and comprising a bottom layer module and an upper layer module. In the present application, the bottom layer module comprises an RF module, a network layer function module, and the upper layer module comprises a security layer function module, a V2X middleware module and a V2X application module.

[0051] As shown in Figure 2 After the method 200 starts, first, the message from the other vehicle is received in the bottom layer module (205).

[0052] After the message is transmitted to the upper layer module for further processing (235), the method 200 ends.

[0053] Between steps 205 and 235, the message can be screened. Specifically, after receiving the message, the message can be decoded to obtain the vehicle ID information, timestamp and travel information of the other vehicle (210).

[0054] In embodiments of the present application, the vehicle ID information of the other vehicle is a field in the message indicating the vehicle ID. The time stamp is a field in the message indicating the time. The driving information of the other vehicle includes at least one or more of the following: position information, speed information, acceleration information, heading information, etc. of the other vehicle, specifically, fields in the message indicating the position, speed, acceleration, heading, etc. driving information.

[0055] Subsequently, it can be determined whether the driving information of the other vehicle satisfies the preset condition (215).

[0056] In some embodiments, the preset condition can be set according to the application scenario pre-set by the ego vehicle.

[0057] In the present application, the application scenario can be a specific scenario related to the V2X application, and when the scenario is triggered, the ego vehicle owner can be informed in some way (e.g. by alarm, notification, prompt, etc.). For example, application A in the V2X device can trigger an alarm when receiving a V2V message (from the V2V message of the other vehicle) indicating an emergency brake within 50 meters, to inform the ego vehicle owner of the potential risk (e.g. the driving condition of the other vehicle may pose a risk to the ego vehicle). In other words, in the present application, the application scenario can represent a specific driving environment (e.g. the driving condition of the ego vehicle, the driving condition of the other vehicle, the surrounding environment of the ego vehicle, etc.) that has an impact on the normal operation of the V2X application (e.g. will trigger an alarm, etc.).

[0058] In actual implementation, multiple application scenarios can be pre-set for the ego vehicle. During driving, the ego vehicle can determine which scenario (or scenarios) the ego vehicle is currently in according to the driving condition and / or the surrounding environment.

[0059] Meanwhile, the trigger condition of each application scenario can be set. For example, for the collision risk scenario, if the continuous 3 V2V messages received from the other vehicle all indicate that the vehicle speed of the other vehicle is > 60 km / h, the scenario will be triggered. That is, "continuous 3 messages all satisfy vehicle speed > 60 km / h" is the trigger condition of the scenario.

[0060] In embodiments of the present application, the trigger condition of the scenario can be used as the preset condition, or part of the conditions can be selected from the trigger condition of the scenario as the preset condition. For example, "single message satisfies vehicle speed > 60 km / h" can be used as the preset condition. It should be noted that the same scenario can have one or more trigger conditions. That is, different conditions / driving conditions can trigger the same scenario (e.g. trigger the same alarm). Thus, one or more preset conditions can be set for the same scenario.

[0061] In some embodiments, the message analysis module, the message filtering module and the message filtering control module are as follows: Figure 1BThe message may not have been verified for security when the message is screened. After the message is screened, the security of the message can only be confirmed by the subsequent security layer function module one by one. Therefore, in order to ensure information security, the conditions are relaxed when the message is screened, and only the conditions of a single message are used for screening, for example, "three consecutive messages satisfy the condition of vehicle speed > 60km / h" is converted to "a single message satisfies the condition of vehicle speed > 60km / h".

[0062] After the preset conditions are set for each application scenario, all the preset conditions of all the application scenarios can be summarized to obtain a summarized preset condition as the preset condition in step 215. An example of the summarized preset condition is as follows:

[0063] (Scene 1 Condition 1 and Scene 1 Condition 2) or (Scene 2 Condition 1 and Scene 2 Condition 2)

[0064] If the driving information of the other vehicle satisfies the preset condition (YES at determination block 215), it means that the V2V message triggers the application scenario, and thus the V2V message can be considered to have processing value. At this time, the vehicle ID information of the other vehicle can be saved to the attention vehicle ID list of the ego vehicle (220), and the message can be transmitted to the upper layer module for further processing (235). The attention vehicle ID list is responsible for recording the vehicle ID information that satisfies the preset condition and the timestamp of the vehicle ID information, which indicates the vehicle ID information and the timestamp information decoded from the same V2V message.

[0065] As mentioned above, the vehicle ID information and the timestamp are different fields in the V2V message. In the present application, the "timestamp of the vehicle ID information" essentially indicates the timestamp information obtained from the same V2V message from which the vehicle ID information is obtained. Therefore, the expressions "timestamp of the vehicle ID information" and "timestamp" in this text can be equivalently interpreted as "timestamp associated / corresponding to the vehicle ID information" or "timestamp of the V2V message".

[0066] In an embodiment of the present application, saving the vehicle ID information of the other vehicle to the attention vehicle ID list of the ego vehicle further includes: if the vehicle ID information is not in the attention vehicle ID list, adding the vehicle ID information obtained in step 210 and the timestamp of the vehicle ID information to the attention vehicle ID list; if the vehicle ID information is already in the attention vehicle ID list, updating the timestamp of the vehicle ID information stored in the attention vehicle ID list.

[0067] If the driving information of the ego vehicle does not satisfy the preset condition (NO at decision block 215), it is further determined whether the vehicle ID information of the ego vehicle is already in the list of vehicle IDs of interest (225). If the vehicle ID information of the ego vehicle is already in the list of vehicle IDs of interest (YES at decision block 225), the message can still be passed to the upper module for further processing (235). At this time, the timestamp of the vehicle ID information stored in the list of vehicle IDs of interest can also be updated (not shown in the figure).

[0068] The applications and intermediate modules of the V2X device can have numerical smoothing processing or vehicle timeout processing of the message. By means of the list of vehicle IDs of interest, the message can still be passed to the upper module for further processing even if the preset condition is not satisfied (i.e., the driving information in the message does not satisfy the preset condition), which can ensure that the upper application can continuously track the messages from the same vehicle, prevent the discontinuity of the messages caused by message screening, and thus have no adverse effect on the processing logic of the upper module.

[0069] If the vehicle ID information of the ego vehicle is not in the list of vehicle IDs of interest (NO at decision block 225), the message can be discarded (230) and will not be passed to the upper module.

[0070] The message passed to the upper module will be processed subsequently, such as safety verification, middleware processing, V2X application processing, etc.

[0071] Figure 2 The method 200 of the present application discards the messages that will not trigger the scenario, thereby reducing the processing load of the upper module. At the same time, the list of vehicle IDs of interest ensures the continuous tracking of the messages from the same vehicle, preventing the discontinuity of the messages caused by message screening.

[0072] Figure 3 An exemplary method 300 of maintaining the list of vehicle IDs of interest of the present application is shown.

[0073] As described above, the list of vehicle IDs of interest is responsible for recording the vehicle ID information satisfying the preset condition and the timestamp of the vehicle ID information. Since the driving information of each vehicle in the list of vehicle IDs of interest satisfies the preset condition at a certain time, each vehicle in the list of vehicle IDs of interest has interest value for the ego vehicle (i.e., can trigger the application scenario of the ego vehicle).

[0074] Since the driving information of the vehicle changes over time, whether the driving information satisfies the preset condition is related to time. That is, the driving information of the same vehicle can satisfy the preset condition at a certain time and not satisfy the preset condition at another time later.

[0075] The vehicles in the list of attention vehicles are considered to be of interest to the ego vehicle when the travel information in the messages received from the vehicles satisfies the preset condition. However, if a vehicle in the list of attention vehicles does not satisfy the condition for a long time (i.e., the travel information in the messages received from the vehicle does not satisfy the preset condition for a long time) or no message is received from the vehicle for a long time, the vehicle is considered to be of no interest to the ego vehicle, and the vehicle should be removed from the list of attention vehicles of the ego vehicle.

[0076] Therefore, the method 300 maintains the list of attention vehicles by periodically iterating through the list of attention vehicles. As shown in the figure, after the method 300 starts, a certain time interval is first waited for (305). In a preferred embodiment, the time interval can be the period of maintaining the list of attention vehicles. That is, one iteration through the list of attention vehicles is completed in each time interval.

[0077] At 310, the time stamp of each vehicle ID information in the list of attention vehicles is iterated through.

[0078] At 315, it is determined whether the time stamp of the vehicle ID information is more than a preset timeout period away from the current time. As described above, the time stamp of the vehicle ID information represents the time information decoded from the received V2V message.

[0079] If the time stamp of the vehicle ID information is more than the preset timeout period away from the current time (YES at decision block 315), it indicates that no message is received from the vehicle corresponding to the vehicle ID information for a long time or the travel information in the messages from the vehicle does not satisfy the preset condition for a long time, which indicates that the vehicle is of no interest to the ego vehicle. In this case, the vehicle ID information and the time stamp thereof can be removed from the list of attention vehicles (320).

[0080] If the time stamp of the vehicle ID information is not more than the preset timeout period away from the current time (NO at decision block 315), it indicates that the vehicle corresponding to the vehicle ID information is still of interest to the ego vehicle, and the vehicle ID information is retained in the list of attention vehicles.

[0081] At 325, it is determined whether the iteration is completed. If the time stamps of all the vehicle ID information in the list of attention vehicles are iterated through, it indicates that the iteration is completed, and the method 300 can return to 305 to wait for the next iteration. If the iteration is not completed, the method 300 returns to 310 to iterate through the next vehicle ID information and the time stamp thereof in the list.

[0082] By the method 300, the list of vehicle IDs of interest can be maintained periodically to delete the vehicle IDs of vehicles in the list that are not of interest to the ego vehicle (delete the vehicle ID information of the vehicle and its timestamp). In this way, it can be ensured that each vehicle remaining in the list of vehicle IDs of interest is of interest to the ego vehicle.

[0083] Figure 4 A flowchart of a message processing method 400 according to a second embodiment of the present application is shown.

[0084] The method 400 is similar to the method 300, with the main difference being that in the method 400, in the case that the driving information of the other vehicle does not satisfy the preset condition and the vehicle ID information of the other vehicle is already in the list of vehicle IDs of interest of the ego vehicle, the update interval of the vehicle ID information is further determined. In the present application, the update interval of the vehicle ID information represents the time interval between the timestamp decoded from the previous message received from the vehicle corresponding to the vehicle ID information (and the driving information of the message satisfies the preset condition) and the timestamp decoded from the current message received from the vehicle. If the update interval of the vehicle ID information is within the preset interval time period, the message is still transmitted to the upper module; if the update interval of the vehicle ID information exceeds the preset interval time period, the message is discarded.

[0085] The above difference is shown in a dashed box in Figure 4 . As shown, when the driving information of the other vehicle does not satisfy the preset condition and the vehicle ID information of the other vehicle is already in the list of vehicle IDs of interest of the ego vehicle, the update interval of the vehicle ID information can be further determined. Since the update interval of the vehicle ID information represents the time interval between the timestamp decoded from the previous message received from the same vehicle (the vehicle corresponding to the vehicle ID information) and the timestamp decoded from the current message, the update interval can be represented by the time difference between the timestamp in the current message (which represents the time decoded from the current message received from the vehicle) and the timestamp stored in the list of vehicle IDs of interest (which represents the time decoded from the last message received from the vehicle). The smaller the time difference, the shorter the time interval between the previous message and the current message received from the same vehicle. The larger the time difference, the longer the time interval between the previous message and the current message received from the same vehicle.

[0086] After determining the time difference between the two timestamps (i.e., the update interval of the vehicle ID information), it can be determined whether this time difference exceeds a preset time interval. If the time difference does not exceed the preset time interval, it can be considered that the other vehicle sending the message still has value of interest to the own vehicle, and the message can be sent to the upper-level module for further processing. If the time difference exceeds the preset time interval, it can be considered that the other vehicle sending the message no longer has value of interest to the own vehicle, and the message can be discarded.

[0087] Figure 3 and 4 The preset timeout period and preset interval period can be determined by the maximum value of message timeout judgment by each application and intermediate module. In some embodiments, the preset timeout period can be the same as the preset interval period. In other embodiments, the preset timeout period can be longer than the preset interval period.

[0088] Figure 3 Method 300 and Figure 4 Method 400 aims to filter out vehicle IDs in the list of followed vehicle IDs that no longer have any value for attention (e.g., vehicle IDs whose timestamps are more than a preset timeout period from the current time, or vehicle IDs whose update intervals exceed a preset time interval). Method 300 filters out vehicle IDs by periodically maintaining the list of followed vehicle IDs. However, Figure 3 The method involves iterating through the list of vehicle IDs to be followed periodically. In some cases, some vehicle IDs in the list may lose their value after the previous iteration ends and before the next iteration begins. In this case, if a message is received from the vehicle corresponding to that vehicle ID before the next iteration begins, filtering using only method 300 may result in omissions.

[0089] For example, in a system that only uses method 300 to filter vehicle ID information, the following situation may occur: In the previous iteration, the timestamp of a certain vehicle ID was within a preset timeout period, so it was considered to have interest value (i.e., the vehicle corresponding to that vehicle ID is of interest value to the current vehicle) and retained in the list of caring vehicle IDs. Subsequently, before the next iteration begins, the timestamp of that vehicle ID exceeds the preset timeout period. If a new message is received from the vehicle corresponding to that vehicle ID at this time, the system will mistakenly believe that the vehicle ID still has interest value and send the new message to the upper-level module. Therefore, a system that only uses method 300 to filter vehicle ID information may miss some messages, causing messages that should have been filtered to be sent to the upper-level module, thus increasing the processing load on the upper-level module.

[0090] By combining the method 400, the vehicle ID information can be rechecked on the basis of the periodic maintenance of the list of vehicle IDs of interest, so as to filter out the vehicle ID information whose update interval exceeds the preset interval period. In this way, all vehicle ID information that no longer has the interest value can be ensured to be filtered out in time, so that the message filtering is more comprehensive and accurate.

[0091] Figure 5 A flowchart of a message processing method 500 according to a third embodiment of the present application is shown.

[0092] The method 500 is similar to the method 400, and the main difference between the two is that in the method 500, in the case where the driving information of the other vehicle is determined not to satisfy the preset condition, the driving information of the other vehicle at a future time is further predicted, and it is determined whether the predicted driving information satisfies the preset condition. In this way, the case where the message does not satisfy the preset condition at the time of reception, but the actual vehicles (the ego vehicle and the other vehicle) will satisfy the preset condition after a short time (for example, a few seconds) of operation in the present situation can be covered.

[0093] The above difference is shown in the method 500 with a dashed box. Figure 5 As shown in the figure, when the driving information of the other vehicle is determined not to satisfy the preset condition, the driving information of the other vehicle after a preset prediction period from the current time can be predicted. Then it can be determined whether the predicted driving information satisfies the preset condition. If the predicted driving information satisfies the preset condition, the vehicle ID information of the other vehicle can be saved to the list of vehicle IDs of interest and the message can be transmitted to the upper module for further processing. If the predicted driving information does not satisfy the preset condition, it can be further determined whether the vehicle ID information of the other vehicle is already in the list of vehicle IDs of interest, and the subsequent steps are the same as the corresponding steps in the method 400.

[0094] In some embodiments, the vehicle driving information can be predicted by an application or a module in the V2X device. In such embodiments, the preset prediction period can be set based on the requirements of the various applications and modules of the V2X for predicting / calculating the vehicle driving information. In other embodiments, the vehicle driving information can be predicted by other devices in the ego vehicle. In such embodiments, the preset prediction period can be set based on the requirements of the other devices for predicting / calculating the vehicle driving information.

[0095] For example, assuming the preset condition is "the distance between the location of another vehicle and the location of the own vehicle is less than a threshold distance", if the driving information does not meet the preset condition (i.e., the distance between the location of another vehicle and the location of the own vehicle is greater than or equal to the threshold distance), the driving information of the other vehicle after a preset prediction time period (e.g., 3 seconds) can be predicted, and the driving information of the own vehicle after 3 seconds can also be predicted. Then, it can be determined whether the predicted driving information of the other vehicle meets the preset condition (i.e., whether the predicted distance between the location of the other vehicle and the predicted location of the own vehicle is less than the threshold distance).

[0096] In various embodiments of the present invention, multiple methods can be used to predict vehicle driving information. Since the present invention only involves predicting vehicle driving information over a short period, the vehicle's acceleration information can be considered constant within that short period. For example, assuming it is necessary to predict the vehicle's driving information 3 seconds later based on its current driving information, the vehicle's current acceleration information can be considered as the acceleration information 3 seconds later. Simultaneously, the vehicle's speed information 3 seconds later can be predicted / calculated based on its current speed and acceleration information. Furthermore, the vehicle's heading information 3 seconds later can be predicted based on its current heading information and yaw rate, where the yaw rate can be obtained from the vehicle's current driving information (e.g., the yaw rate can be provided as part of the speed information or included as separate information in the driving information). Finally, the vehicle's position information 3 seconds later can be predicted / calculated based on its current position information, speed information, acceleration information, and heading information.

[0097] Figure 6 An exemplary method 600 for controlling message filtering functionality according to the present invention is shown.

[0098] Since V2X devices rarely encounter high-load environments on actual roads, when the processing load is within the V2X device's capacity (e.g., a V2V message reception rate below 500 messages / second), the V2X device is capable of processing all messages and can directly transmit all messages to the upper-layer module without enabling message filtering. However, when the processing load exceeds the V2X device's capacity, message filtering can be enabled to filter messages. This approach improves the stability of the V2X device.

[0099] like Figure 6 As shown, after method 600 begins, the message reception rate from other vehicles can be monitored (605). For example, the message reception rate can be obtained periodically (such as every second, every 2 seconds, etc.).

[0100] At 610, the receiving rate can be compared with a preset rate threshold (e.g., 500 messages / second).

[0101] In various embodiments of the present invention, the preset rate threshold can be set based on the message processing capability of the V2X device. When the V2V message receiving rate is less than the preset rate threshold, the V2X device is not operating at full capacity.

[0102] If the receiving rate exceeds the preset rate threshold (the decision box 610 indicates "yes"), it means that the message processing load exceeds the capacity of the V2X device. In this case, the message filtering function can be enabled to filter messages (615).

[0103] If the receiving rate does not exceed the preset rate threshold (the decision box 610 indicates "No"), it means that the message processing load is within the tolerance range of the V2X device. At this time, the message filtering function can be turned off and the message can be directly sent to the upper layer module for further processing (620).

[0104] To better understand the implementation of this invention, Figure 7 An exemplary process 700 for message processing using the message processing method of the present invention is shown.

[0105] As an example, suppose there are two applications, A and B, in a V2X device. Application A will trigger an alarm (i.e., trigger one application scenario) when it receives a message about a vehicle with its hazard lights on within 100 meters, and application B will trigger an alarm (i.e., trigger another application scenario) when it receives a message about a vehicle braking suddenly within 50 meters. Therefore, the preset conditions can be set as: "The location in the V2V message is less than 100 meters from the vehicle and the hazard lights are on" or "The location in the V2V message is less than 50 meters from the vehicle and sudden braking is on".

[0106] like Figure 7 As shown, after method 700 begins, the V2X device can receive V2V messages from other vehicles (705).

[0107] The message filtering control module of the V2X device can periodically obtain the V2V message reception rate and determine whether the reception rate exceeds 500 messages / second (a preset threshold rate). If the V2V message reception rate exceeds 500 messages / second (the decision box 710 shows "Yes"), the message filtering function is activated (720). If the V2V message reception rate does not exceed 500 messages / second, the message filtering function is disabled (715), and the message filtering is performed according to the specified parameters. Figure 1A The standard V2V message receiving process is used to receive V2V messages.

[0108] In the case of enabling the message screening function, the V2X device periodically (e.g., every 500 milliseconds, every second, every 2 seconds, every 3 seconds, etc.) maintains a list of vehicle IDs of interest (725) to delete vehicle ID information in the list whose timestamp is more than 1 second (preset timeout period) away from the current time.

[0109] At 730, the message is decoded to obtain vehicle ID information, a timestamp, and travel information (e.g., vehicle position, speed, acceleration, heading, hazard light information, sudden braking information, etc.) of the other vehicle.

[0110] Subsequently, at 735, the message screening module can determine whether the travel information of the other vehicle satisfies a preset condition. For example, if a message is 80 meters away from the ego vehicle and the hazard light is active, the message satisfies the preset condition of "less than 100 meters away from the ego vehicle and the hazard light is active". At this time, the vehicle ID information of the message can be saved to the list of vehicle IDs of interest (765), and the message is then transmitted to the upper module for further processing (770).

[0111] If a message is 105 meters away from the ego vehicle and the hazard light is active, the message does not satisfy the preset condition of "less than 100 meters away from the ego vehicle and the hazard light is active". At this time, the travel information (e.g., position) of the other vehicle 3 seconds (preset prediction period) later can be predicted based on the position, heading, speed, acceleration, etc. of the other vehicle in the message (740). Meanwhile, the travel information (e.g., position) of the ego vehicle 3 seconds later can be predicted using the position, heading, speed, acceleration of the ego vehicle. Subsequently, the message screening module can determine whether the predicted travel information of the other vehicle satisfies the preset condition of "less than 100 meters away from the ego vehicle and the hazard light is active" (745).

[0112] If it is determined that the position of the other vehicle 3 seconds later is 95 meters away from the ego vehicle and the hazard light is active, it means that the predicted travel information satisfies the preset condition (Yes at decision block 745), at which time the vehicle ID information of the message can be saved to the list of vehicle IDs of interest and the message can be transmitted to the upper module.

[0113] If it is determined that the position of the other vehicle 3 seconds later is 101 meters away from the ego vehicle and the hazard light is active, it means that the predicted travel information does not satisfy the preset condition (No at decision block 745), at which time it can be further checked whether the vehicle ID information of the message is already in the list of vehicle IDs of interest (750), and in the case where the vehicle ID information is already in the list of vehicle IDs of interest, it is determined whether the update interval of the vehicle ID information is more than 1 second (preset interval period).

[0114] If the vehicle ID information of the message is in the list of interested vehicle IDs (YES at decision block 750) and the update interval of the vehicle ID information is within 1 second (NO at decision block 760), the message can be passed to the upper layer module. Thus, the upper layer application can still receive the message of a certain vehicle and continue to track the vehicle within 1 second even if the message of the vehicle does not satisfy the preset condition.

[0115] If the vehicle ID information of the message is not in the list of interested vehicle IDs (NO at decision block 750) or the update interval of the vehicle ID information in the list of interested vehicle IDs exceeds 1 second (YES at decision block 760), the message can be discarded (755).

[0116] It should be noted that although Figure 7 The process 700 of the present application shows specific steps, which are merely exemplary. In actual implementation, steps can be added, deleted, or combined. In addition, although Figure 7 The specific preset condition and the specific values of the preset time periods are shown, which are not intended to limit the present application. In different implementations, the skilled in the art can set different preset conditions and different values of the preset time periods according to actual situations.

[0117] Figure 8 A block diagram of a message processing system 800 of the present application is shown. The message processing system 800 can be installed in a ego vehicle.

[0118] Referring to Figure 8 The message processing system 800 can include a message receiving module 805, a message uploading module 810, a message screening module 815, a list traversing module 820, and a message screening control module 825. As shown, the message receiving module 805, the message uploading module 810, the message screening module 815, the list traversing module 820, and the message screening control module 825 can be directly or indirectly connected or communicate with each other over one or more buses 830.

[0119] In embodiments of the present application, the message receiving module 805 belongs to the lower layer module of the message processing system 800 and can be used to perform step S1: receiving a message from a he vehicle.

[0120] The message uploading module 810 can be used to perform step S2: passing the message to the upper layer module of the message processing system 800 for further processing.

[0121] In some embodiments, the message receiving module 805 is an RF module, and the lower layer module of the message processing system 800 includes the RF module, a network layer function module, the upper layer module of the message processing system 800 includes a security layer function module, a V2X middleware module, a V2X application module.

[0122] The message screening module 815 can be configured to perform the following steps between steps S1 and S2: S12: decoding the message to obtain the vehicle ID information of the other vehicle, the timestamp of the vehicle ID information, and the travel information; S14: determining whether the travel information satisfies a preset condition; S16: if the travel information satisfies the preset condition, saving the vehicle ID information of the other vehicle into the attention vehicle ID list of the ego vehicle, and performing step S2 via the message uploading module; S18: if the travel information does not satisfy the preset condition, determining whether the vehicle ID information of the other vehicle is already in the attention vehicle ID list, and if yes, performing step S2 via the message uploading module; if no, discarding the message and not performing step S2 any more.

[0123] In some embodiments, the message screening module 815 can be further configured to, when performing step S16, save the vehicle ID information of the other vehicle into the attention vehicle ID list of the ego vehicle by: if the vehicle ID information is not in the attention vehicle ID list, adding the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information into the attention vehicle ID list; if the vehicle ID information is already in the attention vehicle ID list, updating the timestamp of the vehicle ID information stored in the attention vehicle ID list.

[0124] The list traversal module 820 is configured to: periodically loop through the timestamps of the vehicle ID information in the attention vehicle ID list; if a timestamp of a vehicle ID information is more than a preset timeout period away from the current time, remove the vehicle ID information and its timestamp from the attention vehicle ID list.

[0125] In some embodiments, the message screening module 815 can be further configured to, when performing step S18, if it is determined that the vehicle ID information of the other vehicle is already in the attention vehicle ID list, determine a time difference between the timestamp of the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information stored in the attention vehicle ID list; if the time difference does not exceed a preset interval period, perform step S2 via the message uploading module; if the time difference exceeds the preset interval period, discard the message and not perform step S2 any more.

[0126] In some embodiments, the message screening module 815 can be further configured to, when performing step S14, if it is determined that the travel information does not satisfy the preset condition, predict the travel information of the other vehicle after a preset prediction time period from the current time based on the travel information; and perform steps S14 to S18 using the predicted travel information instead of the travel information.

[0127] The message screening control module 825 is configured to monitor a rate of receipt of messages from other vehicles, compare the rate of receipt to a preset rate threshold, disable the message screening module if the rate of receipt does not exceed the preset rate threshold, and enable the message screening module if the rate of receipt exceeds the preset rate threshold.

[0128] Figure 8 Particular modules of the message processing system 800 are shown, but it should be understood that these modules are merely exemplary and non-limiting. In different implementations, one or more of these modules can be combined, split, removed, or additional modules can be added. For example, in some implementations, the message screening module 815 and the list traversal module 820 can be combined into one module.

[0129] The technical solution of the present application reduces the processing load of the V2X device by effectively screening unnecessary V2V messages (e.g., V2V messages that do not trigger a scenario), reduces CPU occupation, while ensuring the normal work of various applications, thereby improving the message processing performance of the V2X device. At the same time, by focusing on the vehicle ID list, the message can still pass the screening under the condition that the preset condition is not met, to ensure that the upper application can continuously track the same vehicle, and prevent the message from being intermittent due to message screening. In addition, the hardware configuration of the existing V2X device is usually designed according to the limit of V2X communication load, which is high in performance but high in cost. In contrast, the technical solution of the present application can reduce the hardware configuration requirements of the V2X device, thereby reducing the cost.

[0130] The detailed description set forth above in connection with the appended drawings describes examples and does not represent all of the examples that can be implemented or that are within the scope of the claims. The terms “example” and “exemplary” are used herein to mean “serving as an example, instance, or illustration,” and not to imply “preferred” or “superior” over other examples.

[0131] Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases “in one embodiment” or “an embodiment” in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0132] The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein, but is to be accorded the full scope consistent with the language claims, wherein reference to an element in the singular is not intended to mean "one and only one" unless specifically so stated, but rather "one or more." Unless specifically stated otherwise, the term "some" refers to one or more. All structural and functional equivalents to aspects described herein that are known or later come to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the claims. Moreover, combinations of features of aspects described herein can not only be used in the combinations indicated, but also in other combinations.

[0133] It should also be noted that these embodiments can be described as a process which is depicted as a flowchart, a flow diagram, a structure diagram, or a block diagram. Although a flowchart can describe operations as a sequential process, many of the operations can be performed in parallel, or concurrently, or in any order. In addition, the order of the operations can be re-arranged.

[0134] While various embodiments have been illustrated and described, it will be understood that the embodiments are not limited to the precise configuration and components shown and described herein. Various modifications, substitutions, and alterations to the devices disclosed herein can be apparent to those of ordinary skill in the art without departing from the scope of the claims.

Claims

1. A message processing method executed by an onboard V2X device, the onboard V2X device being installed in a vehicle and including a lower-level module and an upper-level module, the method comprising the following steps: S1: The underlying module receives messages from other vehicles; S2: Transmit the message to the upper-layer module for further processing. The feature is that, between steps S1 and S2, the following steps are further performed: S12: Decode the message to obtain the vehicle ID information of the other vehicle, the timestamp of the vehicle ID information, and the driving information; S14: Determine whether the driving information meets the preset conditions; S16: If the driving information meets the preset conditions, save the vehicle ID information of the other vehicle to the vehicle's list of followed vehicle IDs and execute step S2. S18: If the driving information does not meet the preset conditions, determine whether the vehicle ID information of the other vehicle is already in the list of vehicle IDs to be monitored. If yes, proceed to step S2; if no, discard the message and do not proceed to step S2. Specifically, when performing step S14, if it is determined that the driving information does not meet the preset conditions, the driving information of the other vehicle is predicted based on the driving information after a preset prediction time period starting from the current time, and the predicted driving information is used to replace the driving information to perform steps S14 to S18.

2. The method according to claim 1, characterized in that, The preset conditions are set according to the application scenarios pre-configured for the vehicle.

3. The method according to claim 1, characterized in that, The underlying modules include an RF module and a network layer functional module, while the upper-layer modules include a security layer functional module, a V2X middleware module, and a V2X application module.

4. The method according to claim 1, characterized in that, When performing step S16, saving the vehicle ID information of the other vehicle to the vehicle's list of followed vehicle IDs further includes: If the vehicle ID information is not in the list of vehicle IDs to be followed, then the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information are added to the list of vehicle IDs to be followed. If the vehicle ID information is already in the list of vehicle IDs to be followed, then the timestamp of the vehicle ID information stored in the list of vehicle IDs to be followed is updated.

5. The method according to claim 1, characterized in that, Further includes: The timestamps of each vehicle ID in the list of vehicle IDs to be monitored are periodically traversed. If the timestamp of a vehicle ID exceeds a preset timeout period from the current time, the vehicle ID and its timestamp will be removed from the list of vehicle IDs to be monitored.

6. The method according to claim 1, characterized in that, When performing step S18, if it is determined that the vehicle ID information of the other vehicle is already in the list of vehicles with interest, then the following operation is performed: Determine the time difference between the timestamp of the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information stored in the list of vehicle IDs under interest; If the time difference does not exceed the preset time interval, then proceed to step S2; If the time difference exceeds the preset interval, the message will be discarded and step S2 will not be executed.

7. The method according to claim 1, characterized in that, The driving information of the other vehicle includes at least one or more of the following: the other vehicle's position information, speed information, acceleration information, and heading information.

8. The method according to claim 1, characterized in that, Also includes: Monitor the message reception rate from other vehicles; The receiving rate is compared with a preset rate threshold. If the receiving rate does not exceed the preset rate threshold, steps S12 to S18 are not executed. If the receiving rate exceeds the preset rate threshold, then steps S12 to S18 are executed.

9. A message processing method executed by an onboard V2X device, the onboard V2X device being installed in a vehicle and including a lower-level module and an upper-level module, the method comprising the following steps: S1: The underlying module receives messages from other vehicles; S2: Transmit the message to the upper-layer module for further processing. The feature is that, between steps S1 and S2, the following steps are further performed: S12: Decode the message to obtain the vehicle ID information of the other vehicle, the timestamp of the vehicle ID information, and the driving information; S14: Determine whether the driving information meets the preset conditions; S16: If the driving information meets the preset conditions, save the vehicle ID information of the other vehicle to the vehicle's list of followed vehicle IDs and execute step S2. S18: If the driving information does not meet the preset conditions, determine whether the vehicle ID information of the other vehicle is already in the list of vehicle IDs to be monitored. If not, discard the message and do not execute step S2 again; if yes, perform the following operations: Determine the time difference between the timestamp of the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information stored in the list of vehicle IDs under interest; If the time difference does not exceed the preset time interval, then proceed to step S2; If the time difference exceeds the preset interval, the message will be discarded and step S2 will not be executed.

10. The method according to claim 9, characterized in that, The preset conditions are set according to the application scenarios pre-configured for the vehicle.

11. The method according to claim 9, characterized in that, The underlying modules include an RF module and a network layer functional module, while the upper-layer modules include a security layer functional module, a V2X middleware module, and a V2X application module.

12. The method according to claim 9, characterized in that, When performing step S16, saving the vehicle ID information of the other vehicle to the vehicle's list of followed vehicle IDs further includes: If the vehicle ID information is not in the list of vehicle IDs to be followed, then the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information are added to the list of vehicle IDs to be followed. If the vehicle ID information is already in the list of vehicle IDs to be followed, then the timestamp of the vehicle ID information stored in the list of vehicle IDs to be followed is updated.

13. The method according to claim 9, characterized in that, Further includes: The timestamps of each vehicle ID in the list of vehicle IDs to be monitored are periodically traversed. If the timestamp of a vehicle ID exceeds a preset timeout period from the current time, the vehicle ID and its timestamp will be removed from the list of vehicle IDs to be monitored.

14. The method according to claim 9, characterized in that, The driving information of the other vehicle includes at least one or more of the following: the other vehicle's position information, speed information, acceleration information, and heading information.

15. The method according to claim 9, characterized in that, If, during step S14, it is determined that the driving information does not meet the preset conditions, the following operations are performed: Based on the driving information, predict the driving information of other vehicles after a preset prediction period starting from the current time; Steps S14 to S18 are performed using the predicted driving information instead of the driving information.

16. The method according to claim 9, characterized in that, Also includes: Monitor the message reception rate from other vehicles; The receiving rate is compared with a preset rate threshold. If the receiving rate does not exceed the preset rate threshold, steps S12 to S18 are not executed. If the receiving rate exceeds the preset rate threshold, then steps S12 to S18 are executed.

17. A message processing system installed in a vehicle, comprising: The message receiving module is a low-level module of the message processing system and is used to perform step S1: receiving messages from other vehicles; The message upload module is used to perform step S2: transmit the message to the upper-layer module of the message processing system for further processing; as well as The message filtering module is used to perform the following steps between steps S1 and S2: S12: Decode the message to obtain the vehicle ID information of the other vehicle, the timestamp of the vehicle ID information, and the driving information; S14: Determine whether the driving information meets the preset conditions; S16: If the driving information meets the preset conditions, the vehicle ID information of the other vehicle is saved to the vehicle's list of followed vehicle IDs, and step S2 is executed through the message upload module; S18: If the driving information does not meet the preset conditions, determine whether the vehicle ID information of the other vehicle is already in the list of vehicle IDs to be monitored. If yes, proceed to step S2 through the message upload module; if no, discard the message and do not proceed to step S2. The message filtering module is further configured to: when executing step S14, if it is determined that the driving information does not meet the preset conditions, then predict the driving information of the other vehicle after a preset prediction time period starting from the current time based on the driving information, and use the predicted driving information to replace the driving information to execute steps S14 to S18.

18. The system according to claim 17, characterized in that, The preset conditions are set according to the application scenarios pre-configured for the vehicle.

19. The system according to claim 17, characterized in that, The message receiving module is an RF module, and the underlying module includes the RF module and a network layer functional module, while the upper layer module includes a security layer functional module, a V2X middleware module, and a V2X application module.

20. The system according to claim 17, characterized in that, The message filtering module is further configured to: when executing step S16, save the vehicle ID information of the other vehicle to the vehicle's list of followed vehicle IDs through the following operations: If the vehicle ID information is not in the list of vehicle IDs to be followed, then the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information are added to the list of vehicle IDs to be followed. If the vehicle ID information is already in the list of vehicle IDs to be followed, then the timestamp of the vehicle ID information stored in the list of vehicle IDs to be followed is updated.

21. The system according to claim 17, characterized in that, It also includes a list traversal module, which is configured as follows: The timestamps of each vehicle ID in the list of vehicle IDs to be monitored are periodically traversed. If the timestamp of a vehicle ID exceeds a preset timeout period from the current time, the vehicle ID and its timestamp will be removed from the list of vehicle IDs to be monitored.

22. The system according to claim 17, characterized in that, The message filtering module is further configured to: when executing step S18, if it is determined that the vehicle ID information of the other vehicle is already in the list of vehicle IDs to be monitored, then the following operation is performed: Determine the time difference between the timestamp of the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information stored in the list of vehicle IDs under interest; If the time difference does not exceed the preset interval, then step S2 is executed through the message upload module; If the time difference exceeds the preset interval, the message will be discarded and step S2 will not be executed.

23. The system according to claim 17, characterized in that, The driving information of the other vehicle includes at least one or more of the following: the other vehicle's position information, speed information, acceleration information, and heading information.

24. The system according to claim 17, characterized in that, It also includes a message filtering control module, which is configured to: Monitor the message reception rate from other vehicles; The receiving rate is compared with a preset rate threshold. If the receiving rate does not exceed the preset rate threshold, then the message filtering module is disabled; If the receiving rate exceeds the preset rate threshold, the message filtering module is activated.

25. A message processing system installed in a vehicle, comprising: The message receiving module is a low-level module of the message processing system and is used to perform step S1: receiving messages from other vehicles; The message upload module is used to perform step S2: transmit the message to the upper-layer module of the message processing system for further processing; as well as The message filtering module is used to perform the following steps between steps S1 and S2: S12: Decode the message to obtain the vehicle ID information of the other vehicle, the timestamp of the vehicle ID information, and the driving information; S14: Determine whether the driving information meets the preset conditions; S16: If the driving information meets the preset conditions, the vehicle ID information of the other vehicle is saved to the vehicle's list of followed vehicle IDs, and step S2 is executed through the message upload module; S18: If the driving information does not meet the preset conditions, determine whether the vehicle ID information of the other vehicle is already in the list of vehicle IDs to be monitored. If not, discard the message and do not execute step S2 again; if yes, perform the following operations: Determine the time difference between the timestamp of the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information stored in the list of vehicle IDs under interest; If the time difference does not exceed the preset interval, then step S2 is executed through the message upload module; If the time difference exceeds the preset interval, the message will be discarded and step S2 will not be executed.

26. The system according to claim 25, characterized in that, The preset conditions are set according to the application scenarios pre-configured for the vehicle.

27. The system according to claim 25, characterized in that, The message receiving module is an RF module, and the underlying module includes the RF module and a network layer functional module, while the upper layer module includes a security layer functional module, a V2X middleware module, and a V2X application module.

28. The system according to claim 25, characterized in that, The message filtering module is further configured to: when executing step S16, save the vehicle ID information of the other vehicle to the vehicle's list of followed vehicle IDs through the following operations: If the vehicle ID information is not in the list of vehicle IDs to be followed, then the vehicle ID information obtained in step S12 and the timestamp of the vehicle ID information are added to the list of vehicle IDs to be followed. If the vehicle ID information is already in the list of vehicle IDs to be followed, then the timestamp of the vehicle ID information stored in the list of vehicle IDs to be followed is updated.

29. The system according to claim 25, characterized in that, It also includes a list traversal module, which is configured as follows: The timestamps of each vehicle ID in the list of vehicle IDs to be monitored are periodically traversed. If the timestamp of a vehicle ID exceeds a preset timeout period from the current time, the vehicle ID and its timestamp will be removed from the list of vehicle IDs to be monitored.

30. The system according to claim 25, characterized in that, The driving information of the other vehicle includes at least one or more of the following: the other vehicle's position information, speed information, acceleration information, and heading information.

31. The system according to claim 25, characterized in that, The message filtering module is further configured to: when executing step S14, if it is determined that the driving information does not meet the preset conditions, then perform the following operations: Based on the driving information, predict the driving information of other vehicles after a preset prediction period starting from the current time; Steps S14 to S18 are performed using the predicted driving information instead of the driving information.

32. The system according to claim 25, characterized in that, It also includes a message filtering control module, which is configured to: Monitor the message reception rate from other vehicles; The receiving rate is compared with a preset rate threshold. If the receiving rate does not exceed the preset rate threshold, then the message filtering module is disabled; If the receiving rate exceeds the preset rate threshold, the message filtering module is activated.

33. A computer-readable storage medium storing a computer program for message processing, said computer program being executable by a processor to perform the method as described in any one of claims 1 to 8.

34. A computer-readable storage medium storing a computer program for message processing, the computer program being executable by a processor to perform the method as described in any one of claims 9 to 16.

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