Data transmission method, apparatus and readable storage medium

Abstract

This application provides a data transmission method, apparatus, and readable storage medium. The method includes: receiving a first message sent by an on-board unit (OBU) via a direct link or cellular link; receiving raw image information of road objects; and broadcasting and / or multicasting vehicle-to-everything (V2X) messages to the OBU based on the first message and the raw image information. The V2X messages include at least traffic efficiency-related vehicle-to-infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information. The solution of this application, based on the first message and the raw image information, sends at least one of the following messages to the OBU in different scenarios: V2I messages, V2X regional congestion control information, and V2X regional alarm information, which can reduce the load on the communication link system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a data transmission method, device and readable storage medium. BACKGROUND

[0002] In a cellular vehicle-to-everything (C-V2X) system, a roadside device sends some vehicle-to-infrastructure (V2I) information to inform the onboard device of some road safety information, such as static and semi-static information of road construction, road spilling, and safety information related to vehicles obtained through a camera and a PC5 communication interface (PC5 communication interface is a short-distance direct communication interface between vehicles, people and roads). At the same time, the onboard device (OBU) sends its position information to surrounding vehicles through a PC5 link, so that each vehicle can obtain the information of surrounding vehicles, identify the danger in advance and avoid traffic accidents. Studies have shown that when the installation penetration rate of the mobile terminal direct transmission link (OBU-PC5) exceeds 80%, the vehicle-to-vehicle active safety can fully play a role.

[0003] The prior art has the following disadvantages:

[0004] 1) In the early development of C-V2X, the coverage area of the direct transmission link of the roadside unit (RSU-PC5) is limited, and the roadside unit cannot provide full-coverage road safety information;

[0005] 2) When the penetration rate of OBU-PC5 is relatively low, the role of vehicle-to-vehicle active safety is difficult to realize; and mobile terminals without OBU-PC5 cannot obtain road safety information;

[0006] 3) In any of the crossroads, multi-layer overpass and traffic congestion, the PC5 communication link is overloaded, and effective safety messages are difficult to be reliably transmitted. SUMMARY

[0007] The purpose of the present application is to provide a data transmission method, device and readable storage medium to solve the various disadvantages in the prior art, reduce the load of the communication link system and improve the communication quality.

[0008] To achieve the above-mentioned purpose, the embodiments of the present application provide a data transmission method applied to a roadside device, comprising:

[0009] receiving a first message sent by an onboard device OBU through a direct link or a cellular link;

[0010] Receive raw image information of road objects;

[0011] Based on the first message and the original image information, broadcast and / or multicast vehicle-to-everything (V2X) messages to the vehicle-mounted equipment. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information.

[0012] To achieve the above objectives, embodiments of this application also provide a data transmission method applied to an in-vehicle device, comprising:

[0013] The first message is sent to the roadside equipment via a direct link or cellular link;

[0014] Receive vehicle-to-everything (V2X) messages broadcast and / or multicast from roadside equipment. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information.

[0015] To achieve the above objectives, embodiments of this application also provide a data transmission device applied to roadside equipment, comprising:

[0016] The first receiving module is used to receive the first message sent by the on-board unit (OBU) through a direct link or a cellular link.

[0017] The second receiving module is used to receive the original image information of road objects;

[0018] The first sending module is used to broadcast and / or multicast vehicle-to-everything (V2X) messages to the vehicle-mounted device based on the first message and the original image information. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information.

[0019] To achieve the above objectives, embodiments of this application also provide a transmission device applied to vehicle-mounted equipment, comprising:

[0020] The second sending module is used to send the first message to the roadside equipment via a direct link or a cellular link;

[0021] The third receiving module is used to receive vehicle-to-everything (V2X) messages broadcast and / or multicast by roadside equipment. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information.

[0022] To achieve the above objectives, embodiments of this application also provide a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps of the data transmission method as described in any of the preceding claims.

[0023] The beneficial effects of the above technical solution in this application are as follows:

[0024] In the embodiments of this application, a first message is received from the vehicle-mounted device, and original image information of road objects is received. Based on the first message and the original image information, at least one of the following messages is sent to the vehicle-mounted device in different scenarios: V2I message, V2X regional congestion control information, and V2X regional alarm information, which can reduce the load on the communication link system. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the roadside equipment provided in the embodiments of this application;

[0026] Figure 2 This is a schematic diagram of the structure of the vehicle-mounted device provided in the embodiments of this application;

[0027] Figure 3 This is a schematic flowchart illustrating the data transmission method applied to roadside equipment according to an embodiment of this application;

[0028] Figure 4 This is a schematic flowchart illustrating the data transmission method applied to in-vehicle equipment according to an embodiment of this application;

[0029] Figure 5 A schematic diagram illustrating the effective geographical area provided in the embodiments of this application;

[0030] Figure 6 An application diagram illustrating the priority relationship between events and communication links provided in embodiments of this application;

[0031] Figure 7 This is a schematic diagram illustrating the application of RSU road blind spot filling in an embodiment of this application;

[0032] Figure 8 This is an application diagram illustrating regional congestion control provided in an embodiment of this application;

[0033] Figure 9 This is one of the structural schematic diagrams of the data transmission device provided in the embodiments of this application;

[0034] Figure 10 This is a second schematic diagram of the data transmission device provided in the embodiments of this application. Detailed Implementation

[0035] To make the technical problems, technical solutions and advantages of this application clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments.

[0036] 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 this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does 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.

[0037] In the various embodiments of this application, 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 this application.

[0038] Reference Figure 1 As shown in the figure, this application embodiment provides a structural schematic diagram of a roadside device, which is a roadside unit (RSU) or a base station.

[0039] in, Figure 1 Sensors in the middle:

[0040] Sensors such as cameras and radar generate raw information about various objects on the road, such as pictures / videos, which can obtain information about all objects or events that affect traffic within a certain range of the road.

[0041] The detection unit detects the type, location, and speed of objects in the road.

[0042] in, Figure 1 Early warning unit in the middle:

[0043] (1) Analyze the abnormal messages (such as construction, spilled materials, etc. in a certain area) provided by the detection unit and V2X message unit, filter out the events that have an impact on the coverage area of ​​the roadside equipment, and send the event as an early warning information to the V2X message unit;

[0044] (2) Make a warning judgment based on the object type, position and speed provided by the detection unit and the V2X message unit, and send the warning information that needs to be sent to the V2X message unit;

[0045] in, Figure 1 V2X message unit in:

[0046] (1) Generate corresponding V2X messages (V2I basic messages, V2X regional congestion control information and / or V2X regional alarm information) based on the early warning information, and encrypt some of the V2X regional congestion control information and / or V2X regional alarm information;

[0047] (2) Parse the V2X messages received by each communication link and transmit them to the early warning unit;

[0048] (3) Generate control messages to reduce or increase the packet transmission frequency of OBUs in the specified area;

[0049] When there is an imbalance in terminal density (such as local congestion or tidal flow), roadside equipment can use global information to make more reasonable adjustments to message sending frequency and / or sending power.

[0050] in, Figure 1 The communication control unit controls and determines which V2X messages (V2I basic messages, V2X area congestion control information, and / or V2X area alarm information) are sent through one or more communication links; it also determines the merging / cumulative transmission of V2X messages (V2I basic messages, V2X area congestion control information, and / or V2X area alarm information) within a time window, as well as the packet transmission frequency or transmission power; see the communication link selection and transmission mechanism for details. Of course, each type of V2I basic message, V2X area congestion control information, and / or V2X area alarm information can also be processed separately.

[0051] in, Figure 1 Communication links 1 to N in the middle:

[0052] The communication link can be a cellular communication link such as 3G (third-generation mobile communication technology), 4G (fourth-generation mobile communication technology), or 5G (fifth-generation mobile communication technology), or it can be an RSU-PC5 communication link.

[0053] Reference Figure 2 As shown in the figure, this application embodiment also provides a structural schematic diagram of a mobile terminal (OBU-PC5 / Uu).

[0054] in, Figure 2 Sensors in the middle:

[0055] Cameras, radar, and other sensors (optional) generate raw information about various objects around the terminal, such as images / videos; and vehicle interior sensors via the Controller Area Network (CAN) bus.

[0056] in, Figure 2 The detection unit (optional) detects the type, position, and speed of objects around the terminal.

[0057] in, Figure 2The early warning unit in the middle (optional):

[0058] (1) Analyze the abnormal (such as construction, spilled material, fog, etc. information in a certain area) messages provided by the detection unit and V2X message unit, and send the alarm information to the prompt unit or message unit;

[0059] (2) Make a warning judgment based on the object type, position and speed provided by the detection unit and the V2X message unit, and send the alarm information to the prompting unit.

[0060] in, Figure 2 V2X message unit in:

[0061] A) The V2X information received by each communication link is parsed and transmitted to the early warning unit;

[0062] B) Generate V2V or V2I messages based on information from the detection unit or early warning unit;

[0063] C) Based on the prompts of V2X area congestion control information and / or V2X area alarm information, reduce or increase the packet sending frequency of this terminal;

[0064] in, Figure 2 The communication control unit in the middle:

[0065] The decision is made to send V2I messages or V2X area congestion control information and / or V2X area alarm information through one or more communication links.

[0066] When Uu and PC5 coexist, transmission is preferentially sent via the PC5 communication link.

[0067] in, Figure 2 Communication links 1 to N in the middle:

[0068] The communication link can be a 3G / 4G / 5G cellular Uu communication link or an RSU-PC5 communication link.

[0069] It should be added that vehicles such as buoy vehicles must possess [certain features]. Figure 2 The system includes a detection unit and an early warning unit; for ordinary vehicles, these two units are optional configurations.

[0070] It should be noted that the above... Figure 1 It can be applied to the following data transmission methods and can be used with... Figure 2 The devices interact with each other for data.

[0071] Reference Figure 3 As shown, this application provides a data transmission method applied to roadside equipment, including:

[0072] Step 31: Receive the first message sent by the on-board unit (OBU) via a direct link (PC5 link) or a cellular link (Uu link).

[0073] Here, the first message can be understood as a message indicating an emergency safety incident, or information indicating an event affecting road safety, etc.

[0074] Step 32: Receive the original image information of the road objects.

[0075] Here, the raw image information of road objects refers to the raw information of various road objects generated by sensors such as cameras and radar on the road, such as pictures and videos.

[0076] Step 33: Based on the first message and the original image information, broadcast and / or multicast vehicle-to-everything (V2X) messages to the vehicle-mounted device. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information.

[0077] Here, V2X messages are V2X message sets, which may include: V2X basic messages, namely vehicle-to-vehicle (V2V) messages and / or vehicle-to-infrastructure (V2I) messages, as well as V2X area congestion control information and / or V2X area alarm information.

[0078] It should be noted that when a roadside device (such as a roadside unit RSU) has both a direct link (RSU-PC5) and a base station cellular link (NB-Uu) capability, the roadside device needs to send V2X messages through both communication links at the same time, but there are differences in the sending methods.

[0079] In this embodiment, the system receives a first message sent by the vehicle-mounted device via a direct link or a cellular link to determine the event information occurring on the current road. It also receives raw information about various objects on the road generated by sensors such as cameras and radar. By judging the two types of information, it determines whether there is road congestion, low penetration rate of vehicle-mounted devices, or high load on the communication link. Therefore, it can select which V2X message to send to the vehicle-mounted device based on the two types of information. Depending on the different road information, i.e., different application scenarios, the vehicle-mounted device can also receive V2X services from roadside devices, which can effectively reduce the load on the communication link system.

[0080] Optionally, the V2X area congestion control information includes at least one of the following:

[0081] 1) At least one valid geographic area indication information; the configurations of different valid geographic area indication information are the same or different.

[0082] In this embodiment of the application, V2X regional congestion control information can include multiple valid geographic area indication information at once, that is, multiple areas can be indicated at once; here, different valid geographic area indication information can have the same configuration or different configurations, depending on specific requirements.

[0083] In this embodiment, the valid geographic area indication information can be indicated by a zone ID (region identifier). This zone can be a parallelogram area defined by 2 or 4 geographic points. The mobile terminal application layer located within this area receives and processes the message; otherwise, no further parsing or processing is performed. If there are 2 points, the selected area is a point whose longitude and latitude lie between these two points. When all 2 or 4 geographic points are (0, 0), it indicates that the valid geographic area is empty.

[0084] 2) Suggested information on OBU packet transmission frequency ratio N.

[0085] In this embodiment, the packet transmission frequency ratio of the on-board unit (OBU) is referred to as the OBU packet transmission frequency ratio N. This OBU packet transmission frequency ratio N can be indicated in various ways, and this application is not limited to any particular method. For example, the packet transmission frequency of terminals within a specified area can be M times the base frequency, where N = 0 to 14 and M = 2. -N N=15, M=0. When the target message indicates that the mobile terminal's acceleration is less than the acceleration threshold (Tha) and its speed is less than the speed threshold (Thv), and it is located within an area indicating that a certain region is a valid region, the application layer packet transmission frequency needs to be determined based on the target message within that valid region. The base frequency refers to the transmission frequency of services under non-congestion conditions; it has a default value that corresponds to the message type.

[0086] Correspondingly, when receiving data, the OBU needs to make corresponding adjustments based on the default value of the base frequency (i.e., the default base frequency) or the message type.

[0087] 3) OBU transmit power recommendation information.

[0088] In this embodiment, the OBU transmit power recommendation information indicates the OBU's transmit power range information, suggesting that the OBU transmit within this range, which can ensure the security of OBU packet transmission.

[0089] Optionally, the above method further includes:

[0090] When it is determined that the congestion control conditions are met, the V2X regional congestion control information is sent to the on-board equipment, wherein the congestion control conditions include:

[0091] The number of cellular link vehicle-mounted devices within the target area is determined to be greater than or equal to the first threshold value;

[0092] The channel busy ratio (CBR) of the on-board equipment transmission resource pool of the direct link is greater than or equal to the second threshold value;

[0093] The vehicle density of low-speed vehicles in the target area is greater than or equal to a third threshold value; the low-speed vehicles are used to refer to vehicles with a speed lower than a preset speed; the vehicle density is used to represent the ratio of low-speed vehicles to the area of ​​the target area.

[0094] In this embodiment of the application, when it is determined that the congestion control conditions are met, V2X regional congestion control information is sent to the vehicle equipment; the conditions for determining that the congestion control conditions are met include at least one of the following: (1) the number of cellular link vehicle equipment in the target area is greater than or equal to a first threshold value, that is, the number of OBU-Uu terminals in a certain area is greater than or equal to a preset threshold value for vehicle equipment data; (2) the channel busy ratio (CBR) of the vehicle equipment transmission resource pool of the direct link is greater than or equal to a second threshold value, that is, the CBR of the OBU transmission resource pool on the PC5 link is greater than or equal to a preset threshold value for CBR; (3) the vehicle density of low-speed vehicles in the target area is greater than or equal to a third threshold value, that is, the density of low-speed vehicles in the local area is greater than the threshold value; wherein: low-speed vehicles are used to represent vehicles with a speed lower than a preset speed; vehicle density is used to represent the ratio of low-speed vehicles to the area of ​​the target area, for example, low-speed vehicles refer to vehicles with a speed lower than a preset speed threshold value (Thv). A lane of length L can be defined as a region block, and the number of low-speed vehicles in this region block divided by L is defined as the vehicle density Den. When Den is greater than or equal to a second threshold value (Thn), this region block can constitute a subset of the effective geographical area for V2X regional congestion control information and / or V2X regional alarm information.

[0095] Specifically, when the roadside equipment detects an excessive number of on-board devices, such as too many OBU-Uu terminals (the number of OBU-Uu terminals in a certain area is greater than or equal to the first threshold), or determines that the OBU-PC5 system load is high (CBR>=0.6), and simultaneously detects that the vehicle density of low-speed vehicles in a local area of ​​the lane is greater than or equal to the third threshold, it can send V2X regional congestion control information to reduce the frequency of V2X message transmission.

[0096] Optionally, the above method further includes:

[0097] Determining whether the Channel Busy Ratio (CBR) of the on-board equipment's transmit resource pool for the direct link is greater than or equal to the second threshold value includes at least one of the following processing methods:

[0098] The CBR of the resource pool sent by the on-board equipment is determined directly through the direct link to determine whether it is greater than or equal to the second threshold value.

[0099] The roadside equipment receives the CBR reported by the vehicle-mounted equipment, performs smoothing processing on the reported CBR, and determines whether the smoothed CBR is greater than or equal to the second threshold value; the smoothing processing includes smoothing between multiple samples and / or smoothing within a time window.

[0100] Here, the second threshold value is a preset CBR threshold value, which can also be understood as a critical value used to determine whether CBR meets the conditions for congestion control.

[0101] In this embodiment of the application, determining whether the CBR of the OBU transmission resource pool on the PC5 link is greater than or equal to the second threshold value can be achieved through at least one of the following methods: Method 1: The roadside equipment (such as the roadside unit RSU) directly measures the CBR of the PC5 OBU transmission resource pool through the PC5 link. This allows for direct determination of the CBR value based on the measurement results, followed by a judgment on whether the CBR is greater than or equal to the second threshold value. Method 2: The roadside equipment (such as the roadside unit RSU) receives the CBR reported by the OBU and performs a smoothing process, including smoothing between multiple samples and / or time window smoothing. The processed CBR value is then used to determine whether the CBR is greater than or equal to the second threshold value.

[0102] Optionally, this application further includes: determining a target area, wherein determining the target area includes at least one of the following:

[0103] (1) Divide the coverage area of ​​the roadside equipment into multiple sub-areas, and determine the target area based on the number of vehicles in each sub-area; the target area includes sub-area identification information and sub-area configuration information;

[0104] (2) Determine the target area based on the actual geographical location and distribution of the vehicle-mounted equipment.

[0105] In one implementation of this application, the coverage area of ​​the roadside equipment is divided into multiple sub-regions. This can be understood as dividing the coverage area of ​​the roadside equipment into several zones, and then determining the target area based on the number of vehicles in each zone. The target area is indicated by sub-zone identification information (zone ID). The target area also includes the configuration information of the zone. Here, the target area represents valid geographic area indication information.

[0106] In another implementation of this application, the actual geographical location of the vehicle-mounted device can be used. For example, the vehicle-mounted device can determine its current location through positioning technology and then send the information to the roadside device. Alternatively, the roadside device can directly use satellite positioning technology to obtain the actual geographical location and distribution of the vehicle-mounted device in the current scenario and determine the target area.

[0107] Optionally, the V2X area alarm information includes at least one of the following:

[0108] Valid geographic area indication information. Here, the valid geographic area indication information can be the same as the V2X area congestion control information. Similarly, multiple valid geographic area indication information can be included at once through V2X area alarm information, that is, multiple areas can be indicated at once; different valid geographic area indication information can have the same configuration or different configurations, depending on specific requirements.

[0109] Message validity period; here, message validity period refers to the validity period of the alarm information in this V2X area.

[0110] Hazard warning message; the hazard warning message includes at least one of the following: number of hazards, type of hazard, location of hazard, size of hazard, speed of movement of hazard, and direction of movement of hazard.

[0111] In this embodiment, the hazard warning message includes at least one of the following: hazard type, hazard location, hazard size, hazard speed, and hazard direction. Each hazard warning message is composed of the content of "S.1 to S.5," and the message count refers to the number of hazard warning messages. Hazard type (S.1): includes dynamic types: people, animals, objects, two-wheeled vehicles, three-wheeled vehicles, cars, trucks, fire trucks, ambulances; and static / semi-static types: obstacles, construction areas, speed limit information, slippery roads, etc. Hazard location (S.2): can be characterized by latitude, longitude, and altitude. Hazard size (S.3): length, height, area radius, etc., in units of 0.1 meters. Hazard speed (S.4). Hazard direction (S.5).

[0112] In this application, when roadside equipment detects congestion, it sends V2X regional congestion control information; or when dangerous traffic participation that may induce traffic accidents occurs, it can send V2X regional alarm information. Dangerous traffic participation that may induce traffic accidents includes road debris, pedestrians crossing the road, and traffic participants whose speed or acceleration exceeds a certain threshold, or whose speed-to-distance ratio with other traffic participants in the same lane exceeds a certain threshold. By sending V2X regional congestion control information or V2X regional alarm information as described above, the load on the communication link system can be effectively reduced.

[0113] In another optional embodiment, the transmission of the aforementioned V2X area congestion control information or V2X area alarm information can be encrypted by the roadside equipment. The dynamic key A of the OBU-Uu (Mobile Terminal Cellular Transmission Link, Terminal Transmission Capability) can be obtained through the cellular unicast link. Dynamic key A, which only supports OBU-PC5, can be obtained through the direct-access unicast link. Key B is 128 bits long, equal to the dynamic key A modulo 2 plus the lower 128 bits of the UTC clock. Key B can be used to encrypt V2X area congestion control information and / or V2X area alarm information.

[0114] Optionally, the above method further includes:

[0115] Determine the penetration rate of vehicle-mounted devices and target link information in the current scenario, and determine the scheduling priority for sending V2X information; the target link information includes at least one of the following: the interface type information of the vehicle-mounted device, the type of V2X message and the quality of service (QoS) requirements, and the system load of the downlink corresponding to the cellular link.

[0116] According to the scheduling priority, the V2X information is sent to the vehicle-mounted equipment.

[0117] It should be noted that QoS includes multiple factors such as reliability, latency, and communication range, but here we only focus on latency requirements. For latency-sensitive services: services with a maximum latency requirement of less than a certain threshold are called latency-sensitive services. The threshold can be 100ms, or it can be the maximum latency of Uu transmission, etc.

[0118] In this embodiment, the vehicle-mounted device penetration rate refers to the installation penetration rate of vehicle-mounted devices. Here, the vehicle-mounted device penetration rate refers to the penetration rate of OBUs that simultaneously have PC5 and Uu interfaces. When the vehicle-mounted device penetration rate is high, vehicle-to-vehicle active safety can be fully utilized. This vehicle-mounted device penetration rate can be obtained directly from the vehicle-mounted device. The target link information includes at least one of the following: the interface type information of the vehicle-mounted device, the type of V2X message and the quality of service (QoS) requirements, and the system load of the corresponding downlink of the cellular link. The interface type information of the vehicle-mounted device includes the PC5 interface and the Uu downlink information. The type of V2X message and the QoS requirements can be used to determine the corresponding latency requirements. The system load of the corresponding downlink of the cellular link includes the system load of the Uu downlink. In this application, determining the scheduling priority for sending V2X information requires consideration of at least one of the following: vehicle-mounted device penetration rate, PC5 interface, Uu downlink information, and Uu downlink system load. This application also considers the load of the transmission link. Different load conditions result in different priority setting rules. The scheduling priority determined in this way can more effectively reduce the pressure on the Uu and PC5 communication links when the communication load is high.

[0119] Optionally, determining the scheduling priority for sending V2X information includes:

[0120] When the penetration rate of the vehicle-mounted equipment is within a first preset installation range, and the target link information indicates that the current link is a straight-through link, or the target link information indicates that the current link is a cellular link and the downlink system load is below a first preset threshold range, the setting of the scheduling priority includes at least one of the following:

[0121] Set potential risk messages among various traffic participants as the first scheduling priority;

[0122] Set the V2X area congestion control information as the first scheduling priority;

[0123] Set V2I messages of the environmental anomaly type to the second scheduling priority;

[0124] Set traffic efficiency-related V2I information as the third scheduling priority;

[0125] Wherein, the smaller the scheduling priority value, the higher the priority; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both pass-through and cellular link interfaces and the number of vehicle devices with only pass-through interfaces to all vehicle devices.

[0126] It should be noted that the vehicle-mounted device penetration rate refers to the ratio of OBUs with both Uu and PC5 interface capabilities to OBUs with only PC5 interface capabilities, representing the total number of OBUs. "Total OBUs" refers to all OBUs within the effective geographical area. If the vehicle-mounted device penetration rate falls within the first preset installation range, the penetration rate is determined to be low. The first preset threshold range is used to determine whether the downlink system load is high or low. When the downlink system load is below the first preset threshold range, the downlink system load is determined to be low.

[0127] In this embodiment, when the penetration rate is low and the system load on the PC5 link or downlink is low, the message sending priority settings include: setting potential risk messages between various traffic participants, such as emergency safety events, as the first scheduling priority; setting V2X regional congestion control information as the first scheduling priority, which can help on-board equipment receive early warning information in a timely manner; setting V2I messages related to environmental anomalies as the second scheduling priority, such as anomalies detected by roadside equipment that affect road safety, such as spilled materials, slippery roads, and construction, as the second scheduling priority; and setting V2I information related to traffic efficiency as the third scheduling priority, for example, sending information that improves traffic efficiency, such as changes in traffic lights, as the third scheduling priority. Here, the first scheduling priority is the highest, the third scheduling priority is the lowest, and the second scheduling priority is in the middle.

[0128] It should be noted that the priority setting rules for the direct transmission link determined above also apply to the scenario of a direct transmission link (RSU-PC5) with only roadside equipment.

[0129] Optionally, determining the scheduling priority for sending V2X information also includes:

[0130] When the penetration rate of the vehicle-mounted equipment is within a first preset installation range, and the target link information indicates that the current link is a cellular link and the downlink system load is greater than or equal to a first preset threshold range, the setting of the scheduling priority includes at least one of the following:

[0131] Set environmental anomaly messages as the first scheduling priority;

[0132] Set the V2X area congestion control information as the first scheduling priority;

[0133] Set traffic efficiency information as the second scheduling priority;

[0134] The potential risks among various traffic participants are set as the third scheduling priority;

[0135] Wherein, the smaller the scheduling priority value, the higher the priority; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both pass-through and cellular link interfaces and the number of vehicle devices with only pass-through interfaces to all vehicle devices.

[0136] It should be noted that the vehicle-mounted device penetration rate refers to the ratio of OBUs with both Uu and PC5 interface capabilities to OBUs with only PC5 interface capabilities, representing the total number of OBUs. All OBUs refer to all OBUs within the effective geographical area. If the vehicle-mounted device penetration rate falls within the first preset installation range, the penetration rate is considered low. The first preset threshold range is used to determine whether the downlink system load is high or low. When the downlink system load is greater than or equal to the first preset threshold range, the downlink system load is determined to be high.

[0137] In this embodiment, when the penetration rate is low and the system load on the PC5 link or downlink is high, the scheduling priority setting includes at least one of the following: setting environmental anomaly messages as the first scheduling priority; that is, roadside equipment detects road anomaly messages that affect safety with the highest priority, such as debris spills, slippery roads, construction, etc., which are set as the first scheduling priority; setting V2X regional congestion control information as the first scheduling priority, which can help on-board equipment receive early warning information in a timely manner; setting traffic efficiency information as the second scheduling priority, that is, information that improves traffic efficiency, such as changes in traffic lights, is set as the second scheduling priority; and setting road moving object information, such as road moving object information that may cause traffic accidents, as the lowest priority, that is, setting the potential risks among various traffic participants as the third scheduling priority. Here, road moving objects that may cause traffic accidents include: pedestrians crossing the road, vehicles under sudden pedestrian appearances, vehicles that suddenly accelerate or decelerate, etc.

[0138] It should be noted that the first scheduler has the highest priority, the third scheduler has the lowest priority, and the second scheduler has a middle priority.

[0139] It should also be noted that the priority setting rules for base station cellular transmission links determined above also apply to scenarios with only eNB (Evolved NodeB)-Uu.

[0140] This is done because, on the one hand, the accuracy and latency of message acquisition differ between NB-Uu and RSU-PC5, and on the other hand, eNB-Uu and RSU-PC5 can work together better.

[0141] Specifically, the process from sensor data acquisition to the final alarm notification involves multiple stages: data transmission, detection, alarm judgment, transmission resource selection, message generation, and transmission. This leads to unreliable latency. Overly urgent events may result in ineffective alarms. Emergency and dangerous events require the PC5 communication link for resolution. However, in the early stages of vehicle-to-everything (V2X) communication, when system load is low, this approach can address certain issues. This application reduces the communication link system load by setting different scheduling priorities for different message types.

[0142] Optionally, the above method further includes:

[0143] The V2X area congestion control information and other first scheduling priority information are combined and sent.

[0144] In this embodiment, when the penetration rate of the on-board equipment is within a first preset installation range, and regardless of whether the downlink system load is low or high, V2X regional congestion control information and other first scheduling priority information can be sent together. Specifically, when the downlink system load is low, potential risk messages between various traffic participants and V2X regional congestion control information are sent together; when the downlink system load is high, abnormal environmental messages and V2X regional congestion control information are sent together. This application allows for the simultaneous transmission of time-corresponding first priority information and V2X regional congestion control information, facilitating the on-board equipment's ability to analyze the underlying causes and improving the execution time of corresponding early warning strategies for the first priority information, thereby enhancing vehicle safety.

[0145] Optionally, determining the scheduling priority for sending V2X information also includes:

[0146] When the penetration rate of the vehicle-mounted equipment is within the second preset installation range, the scheduling priority setting is determined based on the message latency requirements, including at least one of the following:

[0147] Prioritize sending latency-sensitive services via direct links;

[0148] Cellular links prioritize sending latency-insensitive services.

[0149] When the system load of the second preset cellular transmission link exceeds the second preset threshold range, the V2X area alarm information is sent using the direct link; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both direct link interface and cellular link interface capabilities and the number of vehicle devices with only direct link interface capabilities to all vehicle devices.

[0150] In this embodiment, the vehicle-mounted device penetration rate refers to the ratio of the sum of OBUs with both Uu and PC5 interface capabilities and OBUs with only PC5 interface capabilities to all OBUs. All OBUs refer to all OBUs within the effective geographical area. The vehicle-mounted device penetration rate is a second preset installation range, used to indicate that the current vehicle-mounted device penetration rate is high. When the penetration rate is high, the message sending priority setting is determined according to the message latency requirements, including at least one of the following: One implementation is that the roadside equipment prioritizes sending latency-sensitive V2X messages on RSU-PC5, that is, the PC5 link prioritizes sending latency-sensitive services; another implementation is to prioritize sending latency-insensitive services on the cellular link, such as prioritizing sending latency-insensitive V2I messages on the eNB-Uu; yet another implementation is that when the system load of the second preset cellular transmission link is greater than the second preset threshold range, that is, when the load of NB-Uu is large, the load of eNB-Uu can be shared by the direct link (such as RSU-PC5), and V2X area alarm information can be sent using RSU-PC5.

[0151] Optionally, the above methods also include:

[0152] The V2X message is sent using a cumulative window sending method; wherein the cumulative window sending method includes at least one of the following:

[0153] Multiple V2X messages can be carried using a single data packet from the application layer of the roadside device.

[0154] For messages with latency requirements within a time window, multiple V2X messages are carried in a single data packet.

[0155] For messages whose effective range is within the same area, multiple V2X messages can be carried in a single data packet.

[0156] Here, the V2X message can be selected as V2X area alarm information.

[0157] To improve the efficiency of NB-Uu transmission of V2X messages, a method of cumulative transmission based on service latency requirements can be adopted. In an optional embodiment of this application, in practical applications, base stations can be classified into four categories according to their transmission power: macro base stations, micro base stations, pico base stations, and femto base stations. Among them, macro base stations and micro base stations have a larger coverage area, higher installation height, greater power, and greater system bandwidth compared to roadside units (RSUs). Therefore, when the current NB-Uu load is high, multiple V2X messages can be carried in a single data packet at the application layer of the roadside equipment and sent to the vehicle-mounted equipment. V2X messages include vehicle-to-vehicle (V2V) messages and / or vehicle-to-infrastructure (V2I) messages.

[0158] The reuse of multiple V2I / V2X messages adopts the format in Table 1.

[0159] Table 1:

[0160]

[0161] The message type Null has the same bit length as message type 1, and each bit is equal to 1. The message type Null is followed by the V2I / V2X message body, which is defined the same as the existing V2I / V2X messages.

[0162] In another implementation of this application, for messages with latency requirements within a time window, carrying multiple V2X messages in a single data packet can shorten the time for sending latency-sensitive deterministic events. For messages with an effective range within the same area, carrying multiple V2X messages in a single data packet helps determine whether there are any anomalies within the same area, thus improving the accuracy of early warnings.

[0163] In another implementation of this application, in another optional embodiment, since V2I messages usually originate from time-delay-insensitive deterministic events, and the coverage area of ​​the base station is large, when the vehicle-mounted equipment has Uu interface functionality, it can obtain information about the event from a distance where the event occurs and can predict the state when approaching the location where the event occurs. Therefore, reducing the sending frequency of V2I messages does not affect the actual effect on traffic safety.

[0164] Optionally, the above method further includes:

[0165] The construction environment of the roadside equipment is determined, wherein the construction environment includes at least one of the following:

[0166] A direct transmission link for the roadside equipment is deployed at the edge of the community along the road; the direct transmission link of the roadside equipment communicates with the base station via optical fiber, or via the base station's cellular transmission link.

[0167] The roadside equipment is designed to operate independently.

[0168] A temporary communication network was built using the roadside equipment.

[0169] In one construction environment described in this application, a direct transmission link for the roadside equipment is deployed at the cell edge of the road, specifically an RSU-PC5. V2I messages at the cell edge are carried by the RSU-PC5, effectively reducing the load on the eNB-Uu. This is because the On-Board Unit (OBU) may switch over when receiving NB-Uu broadcast messages. If neighboring cells also broadcast the content of this cell, it will lead to excessive system load. Conversely, not broadcasting will result in missed alarm information and a poor user experience. Here, the RSU-PC5 at the cell edge can communicate with the base station via fiber optic cable or via RSU-Uu. This application achieves a dual-mode RSU with small size, low power consumption, low site requirements, and easy installation, providing excellent coverage.

[0170] In another construction environment of this application, roadside equipment (such as roadside units RSU) does not need to be connected to the backend and can work independently. It can be powered by photovoltaic cells or small wind power generation devices. The working status of the equipment is regularly inspected by drones. Roadside equipment (such as roadside units RSU) can be deployed in areas with weak or no cellular network coverage but where traffic accidents are prone to occur in order to improve the user experience.

[0171] In another construction environment of this application, roadside equipment (such as roadside units, RSUs) can also be used to build a temporary communication network for traffic dispatch and voice communication during disaster relief.

[0172] Correspondingly, on-board units (OBUs) can also provide assistance in acquiring road anomaly information. When an OBU detects an anomaly, it can upload its current location, the location of the anomaly event, or images and event information to the base station. Upon receiving this information, the base station imports it into the early warning unit and then sends relevant road anomaly information to warn following vehicles in advance. The OBU's anomaly reporting method supplements the base station's own anomaly detection.

[0173] Optionally, the broadcast and / or multicast in step 33 above includes at least one of the following transmission methods:

[0174] Cellular link Uu multimedia broadcast multicast service MBMS bearer;

[0175] Uu multicast-multicast single-frequency network MBSFN bearer;

[0176] Uu single-cell point-to-multipoint SC-PTM bearer;

[0177] Uu system broadcast message SIB message;

[0178] Uu multicast broadcast service MBS bearer;

[0179] Straight-through PC5 communication interface.

[0180] In this embodiment, the transmission area involved includes at least one of the following: the cell where the OBU is located, the cell where the OBU is located, and neighboring cells. In an optional embodiment, the roadside device (eNB) determines the transmission method for sending a specified V2X message in the following way: the eNB selects the transmission method based on the V2X message attributes and local policies, wherein the transmission method includes at least one of the following: Uu MBMS bearer, Uu MBSFN bearer; Uu SC-PTM bearer; Uu SIB message; Uu MBS bearer; PC5. For example, in an optional embodiment of this application, a V2X message broadcast via the Uu MBSFN bearer can be converted to be broadcast via the Uu SC-PTM bearer; of course, a V2X message can also be broadcast via the dynamically scheduled Uu MBS bearer; or it can communicate directly with the OBU through the PC5 communication interface to send V2X messages, and communication with the OBU can be guaranteed regardless of whether they are within or outside the access network coverage. By selecting a suitable transmission method, this application can improve the efficiency of Uu bearer V2X message transmission.

[0181] Optionally, the above method further includes:

[0182] The sending method is determined through configuration or pre-configuration;

[0183] Alternatively, the message type of the V2X message and the bearer type in the sending method can be mapped to the vehicle-mounted device through pre-configuration.

[0184] In this embodiment, during periodic transmission, the transmission method can be determined through configuration or pre-configuration to reduce data transmission time. Alternatively, the message type of the V2X message and the bearer type in the transmission method can be mapped to the vehicle-mounted device through pre-configuration, so that the vehicle-mounted device can receive the V2X message on the corresponding bearer, providing multiple data interaction methods.

[0185] In summary, this application enables vehicular equipment to obtain V2X services even when OBU penetration is low; the adaptive communication link selection method makes V2X communication more reliable and efficient, such as setting different scheduling priorities for different links in different scenarios; a region-based congestion control method; a method to improve the efficiency of Uu carrying V2X; and a method to reduce the load on NB-Uu through RSU-PC5. It also discloses a simple method for encrypting V2X region congestion control information and / or V2X region alarm information, which has a low processor load but is beneficial for operator billing and more conducive to the establishment of RSU networks.

[0186] Reference Figure 4 As shown in the illustration, this application also provides a data transmission method applied to an in-vehicle device, comprising:

[0187] Step 41: Send the first message to the roadside equipment via a direct link or cellular link.

[0188] Here, the first message can be understood as a message indicating an emergency safety incident, or information indicating an event affecting road safety, etc.

[0189] Step 42: Receive vehicle-to-everything (V2X) messages broadcast and / or multicast by roadside equipment. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X area congestion control information, and V2X area alarm information.

[0190] In this embodiment, the V2X message is a V2X message set, which may include: basic V2X messages, namely vehicle-to-vehicle (V2V) messages and / or vehicle-to-infrastructure (V2I) messages, as well as V2X area congestion control information and / or V2X area alarm information. This application sends a first message to roadside equipment via a direct link or cellular link and receives V2X messages broadcast and / or multicast by the roadside equipment, which can determine whether the current road is congested, the penetration rate of in-vehicle equipment is low, or the communication link load is high.

[0191] Optionally, the above method further includes:

[0192] Based on the vehicle's own geographical location, determine whether it belongs to the valid geographical area indication information included in the V2X message;

[0193] If so, the packet transmission frequency and / or transmission power of the vehicle-mounted equipment are adjusted according to the pre-configuration message mapped by the roadside equipment through the pre-configuration method.

[0194] If it does not belong to the category, no action will be taken.

[0195] In this embodiment, the valid geographic area indication information included in the V2X message can carry multiple valid geographic area indication information at once through the V2X area congestion control information in the V2X message, i.e., multiple areas can be indicated at once; here, different valid geographic area indication information can have the same configuration or different configurations, set according to specific requirements. When the OBU receives the V2X message, it first determines whether it is within the area specified by the valid geographic area indication. If the on-board unit (OBU) receives the V2X message, it first determines whether it is within the area specified by the valid geographic area indication. Figure 5 (Black dot) in the designated area ( Figure 5 (The parallelogram in the image) determines the uplink data of the on-board equipment. Based on the OBU packet transmission frequency ratio N recommendation information and / or OBU transmission power recommendation information in the V2X regional congestion control information, the packet transmission frequency and / or transmission power of the on-board equipment are adjusted.

[0196] Optionally, adjusting the packet transmission frequency and / or transmission power of the vehicle-mounted equipment includes:

[0197] The frequency recommendation information is adjusted accordingly based on the default value of the base frequency carried in the pre-configured message or the message type; the base frequency refers to the transmission frequency of the service in a non-congestion state, and the value of the base frequency corresponds to the message type.

[0198] In this application, the OBU needs to make corresponding adjustments based on the default value of the base frequency (i.e., the default base frequency) or the message type when receiving data. The base frequency refers to the transmission frequency of services under non-congestion conditions, and it has a default value that corresponds to the message type.

[0199] The power transmission suggestion information is indicated by the load level carried in the pre-configured message, and the on-board equipment adaptively adjusts according to a first mapping relationship; the first mapping relationship is used to indicate a one-to-one correspondence between the load level and the value of the power transmission; or...

[0200] The power recommendation information is indicated by the power level carried in the pre-configured message, and the vehicle-mounted device adaptively adjusts according to the second mapping relationship; the second mapping relationship is used to indicate that there is a correspondence between the power level and the actual power value.

[0201] In this embodiment, the first mapping relationship is used to indicate a one-to-one correspondence between load level and transmission power value. By indicating the load level, the on-board equipment adaptively adjusts according to the first mapping relationship. Alternatively, the second mapping relationship directly configures the transmission power level and matches the actual transmission power value. The transmission power level is transmitted, and the transmission power suggestion information is indicated through the transmission power level. The on-board equipment adaptively adjusts according to the second mapping relationship. For example, adjusting the packet transmission frequency and / or transmission power of the on-board equipment can be done within a specified area. When the acceleration of the on-board equipment is less than Tha and the speed is less than Thv, the packet transmission frequency of the on-board equipment will be M times the reference frequency, where N = 0 to 14 and M = 2. -N N=15, M=0. In particular, M=0 indicates that packet sending is stopped.

[0202] It should be noted that, in this application, the above method can be used for execution in the designated area, while other congestion control methods can be executed outside the designated area, thereby avoiding the problems caused by message congestion through the superposition of technologies.

[0203] Optionally, the above method further includes:

[0204] The various types of V2X messages obtained from various interfaces are analyzed to determine whether there are any anomalies; the anomalies include environmental anomalies and the possibility of collisions between various objects in the area.

[0205] When the anomaly is confirmed, the preset adjustment strategy corresponding to the V2X area alarm information in the V2X message is executed.

[0206] It should be noted that the anomaly includes environmental anomalies and the probability of collisions between various objects within the area; the environmental anomaly includes, but is not limited to, information such as road construction, slippery roads, debris, and fog within a certain area; the probability of collisions between various objects within the area includes, but is not limited to, the potential risks between various traffic participants, including risk analysis between vehicles and between vehicles and pedestrians, such as pedestrians crossing the road, traffic participants whose speed or acceleration exceeds the threshold, or traffic participants whose speed and distance ratio to other traffic participants in the same lane exceeds the threshold, and vehicles located under a pedestrian suddenly appearing from behind a vehicle, etc.

[0207] The various V2X messages obtained from the various interfaces in this application embodiment can be sent by roadside devices in the same effective geographical area. By analyzing different V2X messages, it is determined whether there are any anomalies, which serves as an early warning for the risk situation of the road where the vehicle-mounted device is located, thus avoiding accidents on the road.

[0208] Optionally, the above method further includes:

[0209] Based on the pre-configuration message from the roadside equipment, determine the bearer type corresponding to the pre-configuration message;

[0210] According to the bearer type, the bearer receives the V2X message sent by the roadside equipment.

[0211] In this embodiment of the application, the bearer type corresponding to the pre-configuration message of the roadside device is determined, and the V2X message sent by the roadside device is received on the corresponding bearer to ensure that the bearers of the roadside device and the vehicle-mounted device are in one-to-one correspondence.

[0212] For example, roadside equipment sends V2X messages via Uu MBSFN bearers. These V2X messages carry bearer configuration information, bearer characteristic identifiers (local broadcast indication), and V2X message type. Subsequently, only vehicle-mounted equipment with Uu MBSFN bearer capabilities can receive these V2X messages. During broadcast and / or multicast processes, vehicle-mounted equipment without bearer capabilities is filtered to receive these V2X messages.

[0213] In one optional embodiment, the OBU can also provide some assistance in acquiring road anomaly information. When the OBU detects an anomaly, it can upload its current location, the location of the anomaly event, or information such as images and events to the base station. After receiving this information, the base station imports it into the early warning unit and then sends relevant road anomaly information to warn following vehicles in advance. The way the OBU reports anomalies is a supplement to the base station's own anomaly detection.

[0214] In the first specific embodiment, referring to Figure 6 As shown, in the "ghost pedestrian" scenario, the view of the first car (e.g., a sedan) 61 is blocked by the second car (e.g., a truck) 62, making it unable to see the pedestrian 63 about to cross the road. A collision may occur within the next two seconds. At this time, the roadside equipment detects the occurrence of the event. Because PC5 has a dedicated channel for sending emergency events, essentially being online in real time, sending the message using the PC5 link can transmit the message within 10ms. However, if Uu is used to send the message, if the system load is low, the message may be transmitted in a shorter time; if the load is high, the required time is uncertain, and the safety of pedestrian 63 cannot be guaranteed.

[0215] Therefore, when the road is covered by both base stations and RSUs, or when the roadside equipment has both NB-Uu link 64 and RSU-PC5 link 65 communication capabilities, and the target mobile terminal has both OBU-PC5 and Uu communication capabilities, RSU-PC5 link 65 should be used for transmission in case of emergency.

[0216] For time-insensitive events, such as road icing (66), the message can be preferentially transmitted via the NB-Uu link (64). Since the base station has a wider coverage area, the terminal can receive the warning information from a greater distance, thus reducing the frequency of such messages. Of course, if the NB-Uu is under heavy load, the OBU-PC5 can handle these messages to reduce the load on the NB-Uu.

[0217] In the second specific embodiment, referring to Figure 7 As shown, in cell handover scenarios, the OBU may undergo a handover when receiving NB-Uu broadcast messages, such as switching from the first cell 71 (e.g., NB-1) to the second cell 72 (e.g., NB-2). If neighboring cells also broadcast the content of this cell, it will lead to an excessive increase in system load. Not broadcasting will result in missed alarm information and a poor user experience. RSU-PC5 can be deployed at the cell edge along the road. Figure 7 (73) In this context, V2I messages at the cell edge are carried by the RSU-PC5, which can effectively reduce the load on the NB-Uu. The RSU-PC5 at the cell edge can communicate with the base station via fiber optic cable or via the RSU-Uu. Furthermore, the dual-mode RSU is small in size, has low power consumption, low site requirements, is easy to install, and has a good blind spot coverage function.

[0218] In a third specific embodiment, based on the congestion control mechanism of this application, in Figure 8 In the typical traffic light scenario shown in the figure, because the vehicles at the intersection are relatively close to each other, the CBR measurement values ​​in the PC5 link resource pool for each vehicle are quite similar. Therefore, all vehicles need to reduce their packet transmission frequency.

[0219] However, in terms of actual needs, vehicles on both the left and right sides ( Figure 8 Vehicles in areas A and B are stationary, and most vehicles do not need to send V2V messages. However, vehicles moving up and down may be at risk of colliding with vehicles turning right, so they need to send V2V messages frequently.

[0220] Figure 8 The roadside unit (RSU) 82 in the middle can obtain global information, and the RSU notifies stationary vehicles on both the left and right sides. Figure 8 Vehicles in areas A and B stop sending V2V messages, thus eliminating congestion. Vehicles traveling up and down can send V2V messages at a high frequency. Meanwhile, right-turning vehicles have a certain speed and acceleration exceeding preset speed or acceleration thresholds, and therefore also send V2V messages at a high frequency, ensuring vehicle-to-vehicle safety.

[0221] The solution proposed in this application can receive V2X messages sent by roadside equipment in a timely manner when the communication load is high, enabling the V2X terminal to obtain necessary safety alarm information, which is beneficial for safety avoidance and improves the interaction capability between vehicle-mounted equipment and V2X.

[0222] Reference Figure 9 As shown in the illustration, this application also provides a data transmission device for use in roadside equipment, comprising:

[0223] The first receiving module 91 is used to receive the first message sent by the on-board unit (OBU) through a direct link or a cellular link.

[0224] The second receiving module 92 is used to receive the original image information of road objects;

[0225] The first sending module 93 is used to broadcast and / or multicast vehicle-to-everything (V2X) messages to the vehicle-mounted device based on the first message and the original image information. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information.

[0226] It should be noted that the V2X regional congestion control information includes at least one of the following:

[0227] At least one valid geographic area indication information; the configurations of different valid geographic area indication information are either the same or different;

[0228] OBU packet transmission frequency ratio (N) suggested information;

[0229] The OBU sends power recommendation information.

[0230] In an optional embodiment, the above-described data transmission device further includes:

[0231] The first processing module is configured to send the V2X regional congestion control information to the on-board equipment when it is determined that the congestion control conditions are met, wherein the congestion control conditions include at least one of the following:

[0232] The number of cellular link vehicle-mounted devices within the target area is determined to be greater than or equal to the first threshold value;

[0233] The channel busy ratio (CBR) of the on-board equipment transmission resource pool of the direct link is greater than or equal to the second threshold value;

[0234] The vehicle density of low-speed vehicles in the target area is greater than or equal to a third threshold value; the low-speed vehicles are used to refer to vehicles with a speed lower than a preset speed; the vehicle density is used to represent the ratio of low-speed vehicles to the area of ​​the target area.

[0235] In an optional embodiment, the above-described data transmission device further includes:

[0236] The first judgment module is used to determine whether the channel busy ratio (CBR) of the vehicular equipment transmission resource pool of the direct link is greater than or equal to the second threshold value, including at least one of the following processing methods:

[0237] The CBR of the resource pool sent by the on-board equipment is determined directly through the direct link to determine whether it is greater than or equal to the second threshold value.

[0238] The roadside equipment receives the CBR reported by the vehicle-mounted equipment, performs smoothing processing on the reported CBR, and determines whether the smoothed CBR is greater than or equal to the second threshold value; the smoothing processing includes smoothing between multiple samples and / or smoothing within a time window.

[0239] In an optional embodiment, the above-described data transmission device further includes:

[0240] The first determining module is used to determine the target area, and includes at least one of the following:

[0241] The coverage area of ​​the roadside equipment is divided into multiple sub-regions, and the target area is determined according to the number of vehicles in each sub-region; the target area includes sub-region identification information and sub-region configuration information.

[0242] The target area is determined based on the actual geographical location and distribution of the vehicle-mounted equipment.

[0243] It should be noted that the V2X area alarm information includes at least one of the following:

[0244] Effective geographic area indication information;

[0245] Message validity period;

[0246] Hazard warning message; the hazard warning message includes at least one of the following: number of hazards, type of hazard, location of hazard, size of hazard, speed of movement of hazard, and direction of movement of hazard.

[0247] In an optional embodiment, the above-described data transmission device further includes:

[0248] The second determining module is used to determine the penetration rate of vehicle-mounted devices and target link information in the current scenario, and to determine the scheduling priority for sending V2X information; the target link information includes at least one of the following: the interface type information of the vehicle-mounted device, the type of V2X message and the quality of service (QoS) requirement, and the system load of the downlink corresponding to the cellular link.

[0249] The second processing module is used to send the V2X information to the vehicle-mounted equipment according to the scheduling priority.

[0250] Optionally, the second determining module described above includes:

[0251] The first determining unit is configured to determine, when the penetration rate of the vehicle-mounted equipment is within a first preset installation range, and the target link information indicates that the current link is a straight-through link, or the target link information indicates that the current link is a cellular link and the downlink system load is below a first preset threshold range, that the setting of the scheduling priority includes at least one of the following:

[0252] Set potential risk messages among various traffic participants as the first scheduling priority;

[0253] Set the V2X area congestion control information as the first scheduling priority;

[0254] Set V2I messages of the environmental anomaly type to the second scheduling priority;

[0255] Set traffic efficiency-related V2I information as the third scheduling priority;

[0256] Wherein, the smaller the scheduling priority value, the higher the priority; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both pass-through and cellular link interfaces and the number of vehicle devices with only pass-through interfaces to all vehicle devices.

[0257] Optionally, the second determining module described above further includes:

[0258] The second determining unit is configured to determine, when the penetration rate of the vehicle-mounted equipment is within a first preset installation range, and the target link information indicates that the current link is a cellular link and the downlink system load is greater than or equal to a first preset threshold range, that the scheduling priority setting includes at least one of the following:

[0259] Set environmental anomaly messages as the first scheduling priority;

[0260] Set the V2X area congestion control information as the first scheduling priority;

[0261] Set traffic efficiency information as the second scheduling priority;

[0262] The potential risks among various traffic participants are set as the third scheduling priority;

[0263] Wherein, the smaller the scheduling priority value, the higher the priority; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both pass-through and cellular link interfaces and the number of vehicle devices with only pass-through interfaces to all vehicle devices.

[0264] Optionally, the second determining module described above further includes:

[0265] The third determining unit is used to determine, based on message latency requirements, the scheduling priority setting when the penetration rate of the vehicle-mounted equipment is within a second preset installation range, including at least one of the following:

[0266] Prioritize sending latency-sensitive services via direct links;

[0267] Cellular links prioritize sending latency-insensitive services.

[0268] When the system load of the second preset cellular transmission link exceeds the second preset threshold range, the V2X area alarm information is sent using the direct link; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both direct link interface and cellular link interface capabilities and the number of vehicle devices with only direct link interface capabilities to all vehicle devices.

[0269] In an optional embodiment, the above-described data transmission device further includes:

[0270] The third processing module is used to send the V2X message by means of cumulative window sending; wherein, the means of cumulative window sending includes at least one of the following:

[0271] Multiple V2X messages can be carried using a single data packet from the application layer of the roadside device.

[0272] For messages with latency requirements within a time window, multiple V2X messages are carried in a single data packet.

[0273] For messages whose effective range is within the same area, multiple V2X messages can be carried in a single data packet.

[0274] In an optional embodiment, the above-described data transmission device further includes:

[0275] The fourth processing module is used to merge and send the V2X area congestion control information and other first scheduling priority information.

[0276] In an optional embodiment, the above-described data transmission device further includes:

[0277] The third determining module is used to determine the construction environment of the roadside equipment, wherein the construction environment includes at least one of the following:

[0278] A direct transmission link for the roadside equipment is deployed at the edge of the community along the road; the direct transmission link of the roadside equipment communicates with the base station via optical fiber, or via the cellular transmission link of the roadside equipment.

[0279] The roadside equipment is designed to operate independently.

[0280] A temporary communication network was built using the roadside equipment.

[0281] Optionally, the first sending module 93 is specifically used to broadcast and / or multicast vehicle-to-everything (V2X) messages to the in-vehicle equipment, including at least one of the following sending methods:

[0282] Cellular link Uu multimedia broadcast multicast service MBMS bearer;

[0283] Uu multicast-multicast single-frequency network MBSFN bearer;

[0284] Uu single-cell point-to-multipoint SC-PTM bearer;

[0285] Uu system broadcast message SIB message;

[0286] Uu multicast broadcast service MBS bearer;

[0287] Straight-through PC5 communication interface.

[0288] In an optional embodiment, the above-described data transmission device further includes:

[0289] The first configuration module is used to determine the sending method through configuration or pre-configuration;

[0290] Alternatively, the second configuration module is used to map the message type of the V2X message and the bearer type in the sending method to the vehicle-mounted device through pre-configuration.

[0291] The implementation embodiments of the above data transmission method are all applicable to the embodiments of the data transmission device and can achieve the same technical effect.

[0292] Reference Figure 10 As shown in the illustration, this application also provides a data transmission device for use in vehicle-mounted equipment, comprising:

[0293] The second sending module 101 is used to send a first message to the roadside equipment via a direct link or a cellular link;

[0294] The third receiving module 102 is used to receive vehicle-to-everything (V2X) messages broadcast and / or multicast by roadside equipment. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information.

[0295] In an optional embodiment, the above-described data transmission device further includes:

[0296] The second judgment module is used to determine whether the location belongs to the valid geographical area indication information included in the V2X message based on the geographical location of the vehicle device itself.

[0297] The fifth processing module is used to adjust the packet transmission frequency and / or transmission power of the vehicle-mounted equipment according to the pre-configuration message mapped by the roadside equipment in a pre-configuration manner if the condition is met.

[0298] The sixth processing module is used to leave the case as is if it does not belong to the category.

[0299] Optionally, the fifth processing module described above includes:

[0300] The first processing unit is used to send frequency suggestion information and make corresponding adjustments based on the default value of the reference frequency carried in the pre-configured message or the message type; the reference frequency refers to the transmission frequency of the service in a non-congestion state, and the value of the reference frequency corresponds to the message type;

[0301] The second processing unit is used to send power suggestion information indicating the load level carried in the pre-configured message, and the on-board equipment adaptively adjusts according to a first mapping relationship; the first mapping relationship indicates a one-to-one correspondence between the load level and the value of the transmission power; or...

[0302] The third processing unit is used to send power suggestion information indicated by the transmission power level carried in the pre-configured message, and the vehicle-mounted device adaptively adjusts according to the second mapping relationship; the second mapping relationship is used to indicate that there is a correspondence between the transmission power level and the value corresponding to the actual transmission power.

[0303] In an optional embodiment, the above-described data transmission device further includes:

[0304] The third judgment module is used to analyze the various types of V2X messages obtained from various interfaces and determine whether there are any anomalies; the anomalies include environmental anomalies and the possibility of collisions between various objects in the area.

[0305] The seventh processing module is used to execute the preset adjustment strategy corresponding to the V2X area alarm information in the V2X message when the anomaly is determined to exist.

[0306] In an optional embodiment, the above-described data transmission device further includes:

[0307] The fourth determining module is used to determine the bearer type corresponding to the pre-configuration message based on the pre-configuration message of the roadside equipment;

[0308] The eighth processing module is used to receive the V2X message sent by the roadside equipment according to the bearer type.

[0309] The implementation embodiments of the above data transmission method are all applicable to the embodiments of the data transmission device and can achieve the same technical effect.

[0310] An embodiment of this application provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the steps in the data transmission method described above and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0311] The processor mentioned above is the processor used in the data transmission method described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0312] The exemplary embodiments described above are with reference to the accompanying drawings. Many different forms and embodiments are feasible without departing from the spirit and teachings of this application. Therefore, this application should not be construed as limiting the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided to make this application complete and convey the scope of this application to those skilled in the art. In these drawings, component dimensions and relative dimensions may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, unless clearly indicated otherwise, the singular forms “a,” “an,” and “the” are intended to include all such forms. It will be further understood that the terms “comprising” and / or “including”, when used in this specification, indicate the presence of the stated features, integers, steps, operations, components, and / or elements, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, and / or groups thereof. Unless otherwise indicated, when stated, a range of values ​​includes the upper and lower limits of the range and any subranges in between.

[0313] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles described in this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A data transmission method, characterized in that, Applications in roadside equipment include: Receive a first message sent by the on-board unit (OBU) via a cellular link; wherein the first message is a message indicating an emergency safety event, or information indicating an event affecting road safety; Receive raw image information of road objects; Based on the first message and the original image information, broadcast and / or multicast vehicle-to-everything (V2X) messages to the vehicle-mounted equipment. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information. The method further includes: Determine the penetration rate of vehicle-mounted devices and target link information in the current scenario, and determine the scheduling priority for sending V2X information; the target link information includes at least one of the following: the interface type information of the vehicle-mounted device, the type of V2X message and the quality of service (QoS) requirements, and the system load of the downlink corresponding to the cellular link. According to the scheduling priority, the V2X information is sent to the vehicle-mounted equipment; The V2X regional congestion control information includes at least one of the following: At least one valid geographic area indication information; the configurations of different valid geographic area indication information are either the same or different; The OBU sends power recommendation information.

2. The method according to claim 1, characterized in that, The method further includes: When it is determined that the congestion control conditions are met, the V2X regional congestion control information is sent to the on-board equipment, wherein the congestion control conditions include at least one of the following: The number of cellular link vehicle-mounted devices within the target area is determined to be greater than or equal to the first threshold value; The channel busy ratio (CBR) of the on-board equipment transmission resource pool of the direct link is greater than or equal to the second threshold value; The vehicle density of low-speed vehicles in the target area is greater than or equal to a third threshold value; the low-speed vehicles are used to refer to vehicles with a speed lower than a preset speed; the vehicle density is used to represent the ratio of low-speed vehicles to the area of ​​the target area.

3. The method according to claim 2, characterized in that, The method further includes: Determining whether the Channel Busy Ratio (CBR) of the on-board equipment's transmit resource pool for the direct link is greater than or equal to the second threshold value includes at least one of the following processing methods: The CBR of the resource pool sent by the on-board equipment is determined directly through the direct link to determine whether it is greater than or equal to the second threshold value. The roadside equipment receives the CBR reported by the vehicle-mounted equipment, performs smoothing processing on the reported CBR, and determines whether the smoothed CBR is greater than or equal to the second threshold value; the smoothing processing includes smoothing between multiple samples and / or smoothing within a time window.

4. The method according to claim 2, characterized in that, The target area is defined, including at least one of the following: The coverage area of ​​the roadside equipment is divided into multiple sub-regions, and the target area is determined according to the number of vehicles in each sub-region; the target area includes sub-region identification information and sub-region configuration information. The target area is determined based on the actual geographical location and distribution of the vehicle-mounted equipment.

5. The method according to claim 1, characterized in that, The V2X area alarm information includes at least one of the following: Effective geographic area indication information; Message validity period; Hazard warning message; the hazard warning message includes at least one of the following: number of hazards, type of hazard, location of hazard, size of hazard, speed of movement of hazard, and direction of movement of hazard.

6. The method according to claim 1, characterized in that, Determine the scheduling priority for sending V2X information, including: When the penetration rate of the vehicle-mounted equipment is within a first preset installation range, and the target link information indicates that the current link is a straight-through link, or the target link information indicates that the current link is a cellular link and the downlink system load is below a first preset threshold range, the setting of the scheduling priority includes at least one of the following: Set potential risk messages among various traffic participants as the first scheduling priority; Set the V2X area congestion control information as the first scheduling priority; Set V2I messages of the environmental anomaly type to the second scheduling priority; Set traffic efficiency-related V2I information as the third scheduling priority; Wherein, the smaller the scheduling priority value, the higher the priority; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both pass-through and cellular link interfaces and the number of vehicle devices with only pass-through interfaces to all vehicle devices.

7. The method according to claim 1, characterized in that, Determining the scheduling priority for sending V2X information also includes: When the penetration rate of the vehicle-mounted equipment is within a first preset installation range, and the target link information indicates that the current link is a cellular link and the downlink system load is greater than or equal to a first preset threshold range, the setting of the scheduling priority includes at least one of the following: Set environmental anomaly messages as the first scheduling priority; Set the V2X area congestion control information as the first scheduling priority; Set traffic efficiency information as the second scheduling priority; The potential risks among various traffic participants are set as the third scheduling priority; Wherein, the smaller the scheduling priority value, the higher the priority; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both pass-through and cellular link interfaces and the number of vehicle devices with only pass-through interfaces to all vehicle devices.

8. The method according to claim 1, characterized in that, Determining the scheduling priority for sending V2X information also includes: When the penetration rate of the vehicle-mounted equipment is within the second preset installation range, the scheduling priority setting is determined based on the message latency requirements, including at least one of the following: Prioritize sending latency-sensitive services via direct links; Cellular links prioritize sending latency-insensitive services. When the system load of the second preset cellular transmission link exceeds the second preset threshold range, the V2X area alarm information is sent using the direct link; the vehicle device penetration rate is used to represent the ratio of the sum of the number of vehicle devices with both direct link interface and cellular link interface capabilities and the number of vehicle devices with only direct link interface capabilities to all vehicle devices.

9. The method according to claim 1, characterized in that, The method further includes: The V2X message is sent using a cumulative window sending method; wherein the cumulative window sending method includes at least one of the following: Multiple V2X messages can be carried using a single data packet from the application layer of the roadside device. For messages with latency requirements within a time window, multiple V2X messages are carried in a single data packet. For messages whose effective range is within the same area, multiple V2X messages can be carried in a single data packet.

10. The method according to claim 6 or 7, characterized in that, The method further includes: The V2X area congestion control information and other first scheduling priority information are combined and sent.

11. The method according to claim 1, characterized in that, The method further includes: The construction environment of the roadside equipment is determined, wherein the construction environment includes at least one of the following: A direct transmission link for the roadside equipment is deployed at the edge of the community along the road; the direct transmission link of the roadside equipment communicates with the base station via optical fiber, or via the cellular transmission link of the roadside equipment. The roadside equipment is designed to operate independently. A temporary communication network was built using the roadside equipment.

12. The method according to claim 1, characterized in that, Broadcasting and / or multicasting vehicle-to-everything (V2X) messages to the in-vehicle equipment, including at least one of the following sending methods: Cellular link Uu Multimedia Broadcast Multicast Service (MBMS) bearer; Uu Multicast-Multicast Single Frequency Network (MBSFN) bearer; Uu Single-cell point-to-multipoint SC-PTM bearer; Uu system broadcast message SIB message; Uu multicast broadcast service MBS bearer; Straight-through PC5 communication interface.

13. The method according to claim 12, characterized in that, The method further includes: The sending method is determined through configuration or pre-configuration; Alternatively, the message type of the V2X message and the bearer type in the sending method can be mapped to the vehicle-mounted device through pre-configuration.

14. A data transmission method, characterized in that, Applications in vehicle-mounted equipment, including: A first message is sent to a roadside device via a cellular link; wherein the first message is a message indicating an emergency safety event, or information indicating an event affecting road safety. Receive vehicle-to-everything (V2X) messages broadcast and / or multicast by roadside equipment. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X area congestion control information, and V2X area alarm information. The roadside equipment is also used for: Determine the penetration rate of vehicle-mounted devices and target link information in the current scenario, and determine the scheduling priority for sending V2X information; the target link information includes at least one of the following: the interface type information of the vehicle-mounted device, the type of V2X message and the quality of service (QoS) requirements, and the system load of the downlink corresponding to the cellular link. According to the scheduling priority, the V2X information is sent to the vehicle-mounted equipment; The V2X regional congestion control information includes at least one of the following: At least one valid geographic area indication information; the configurations of different valid geographic area indication information are either the same or different; The OBU sends power recommendation information.

15. The method according to claim 14, characterized in that, The method further includes: Based on the vehicle's own geographical location, determine whether it belongs to the valid geographical area indication information included in the V2X message; If so, the packet transmission frequency and / or transmission power of the vehicle-mounted equipment are adjusted according to the pre-configuration message mapped by the roadside equipment through the pre-configuration method. If it does not belong to the category, no action will be taken.

16. The method according to claim 15, characterized in that, Adjusting the packet transmission frequency and / or transmission power of the vehicle-mounted equipment includes: The suggested transmission frequency is adjusted accordingly based on the default value of the base frequency carried in the pre-configured message or the message type; the base frequency refers to the transmission frequency of the service under non-congestion conditions, and the value of the base frequency corresponds to the message type; The power transmission suggestion information is indicated by the load level carried in the pre-configured message, and the on-board equipment adaptively adjusts according to a first mapping relationship; the first mapping relationship is used to indicate a one-to-one correspondence between the load level and the value of the power transmission; or... The power recommendation information is indicated by the power level carried in the pre-configured message, and the vehicle-mounted device adaptively adjusts according to the second mapping relationship; the second mapping relationship is used to indicate that there is a correspondence between the power level and the actual power value.

17. The method according to claim 14, characterized in that, The method further includes: The various types of V2X messages obtained from various interfaces are analyzed to determine whether there are any anomalies; the anomalies include environmental anomalies and the possibility of collisions between various objects in the area. When the anomaly is confirmed, the preset adjustment strategy corresponding to the V2X area alarm information in the V2X message is executed.

18. The method according to claim 14, characterized in that, The method further includes: Based on the pre-configuration message from the roadside equipment, determine the bearer type corresponding to the pre-configuration message; According to the bearer type, the bearer receives the V2X message sent by the roadside equipment.

19. A data transmission device, characterized in that, Applications in roadside equipment include: The first receiving module is used to receive a first message sent by the on-board unit (OBU) through a cellular link; wherein the first message is a message indicating an emergency safety event, or information indicating an event affecting road safety. The second receiving module is used to receive the original image information of road objects; The first sending module is used to broadcast and / or multicast vehicle-to-everything (V2X) messages to the vehicle-mounted device based on the first message and the original image information. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X regional congestion control information, and V2X regional alarm information. The data transmission device further includes: The second determining module is used to determine the penetration rate of vehicle-mounted devices and target link information in the current scenario, and to determine the scheduling priority for sending V2X information; the target link information includes at least one of the following: the interface type information of the vehicle-mounted device, the type of V2X message and the quality of service (QoS) requirement, and the system load of the downlink corresponding to the cellular link. The second processing module is used to send the V2X information to the vehicle-mounted equipment according to the scheduling priority; The V2X regional congestion control information includes at least one of the following: At least one valid geographic area indication information; the configurations of different valid geographic area indication information are either the same or different; The OBU sends power recommendation information.

20. A data transmission device, characterized in that, Applications in vehicle-mounted equipment, including: The second sending module is used to send a first message to the roadside equipment via a cellular link; wherein the first message is a message indicating an emergency safety event, or information indicating an event affecting road safety; The third receiving module is used to receive vehicle-to-everything (V2X) messages broadcast and / or multicast by roadside equipment. The V2X messages include at least traffic efficiency-related vehicle-to-roadside infrastructure (V2I) messages, V2X area congestion control information, and V2X area alarm information. The roadside equipment is also used for: Determine the penetration rate of vehicle-mounted devices and target link information in the current scenario, and determine the scheduling priority for sending V2X information; the target link information includes at least one of the following: the interface type information of the vehicle-mounted device, the type of V2X message and the quality of service (QoS) requirements, and the system load of the downlink corresponding to the cellular link. According to the scheduling priority, the V2X information is sent to the vehicle-mounted equipment; The V2X regional congestion control information includes at least one of the following: At least one valid geographic area indication information; the configurations of different valid geographic area indication information are either the same or different; The OBU sends power recommendation information.

21. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the data transmission method as described in any one of claims 1 to 13, or when executed, they implement the steps of the data transmission method as described in any one of claims 14 to 18.

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