Vehicle formation element information synchronization method and system based on 5G and TSN, and medium

Abstract

The invention belongs to the technical field of Internet of Vehicles, and particularly relates to a 5G and TSN-based vehicle formation element information synchronization method and system and a medium, and the method comprises the steps: describing and defining a form scene of a vehicle formation based on 5G + TSN, setting a key information degree, distinguishing an information importance degree, and then considering the maximum effective time and processing time of the information, mapping the information to different priorities, setting a first vehicle clock as a main clock and a base station as an auxiliary clock according to a TSN clock synchronization rule, and correcting other nodes all the time; the method comprises the following steps that: firstly, a vehicle passes through a base station and a base station, then the vehicle passes through a Uu interface, a PC5 interface, a DS-TT module, an NW-TT module and a TSN-AF module, two transmission methods of the vehicle and the base station and between the vehicles are realized, and finally, a historical channel state is utilized, information transmission time is predicted, and transmission time is reserved for compensation, so that the synchronization precision is improved. The problem that in the prior art, timely and synchronous element information obtained by the vehicle intranet and the vehicle extranet of the vehicle formation cannot be effectively guaranteed can be solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle networking, and in particular, to a method, system and medium for synchronizing vehicle formation element information based on 5G and TSN. Background Art

[0002] At present, intelligent assisted driving and even unmanned driving have gradually become a hot topic in industry research. Among them, vehicle platoons have been widely recognized in the industry for their positive role in improving road efficiency, alleviating traffic congestion, reducing fuel consumption, and reducing environmental pollution through rapid sharing and collaborative decision-making.

[0003] At the same time, with the advancement of industrial technology, the development of road traffic and the promotion of sustainable development strategies, vehicles are gradually developing towards intelligence, new energy and diversified applications. Vehicles have become mobile intelligent nodes with considerable self-computing and decision-making capabilities, and their performance and user experience are constantly improving. In view of the low-latency, high-capacity communication requirements and the characteristics of new energy vehicle systems, Ethernet-based TSN has gradually become a possible solution to replace the traditional CAN bus to realize the basic network of the in-vehicle network, namely, in-vehicle Ethernet. 5G provides strong support for vehicle-to-vehicle, vehicle-to-road and other external vehicle communications with its large bandwidth, ultra-low latency and wide connectivity.

[0004] When a vehicle formation is driving, it usually involves various tasks such as formation management, vehicle control, path planning, and personalized services. Vehicles need to make decisions based on profoundly changing information elements for different tasks. In order to achieve the coordination of vehicle formations, existing research often uses multi-objective optimization, multi-agent reinforcement learning and other methods to perceive and calculate changes in formation environment elements to achieve optimization and intelligent group decision-making. For example, the speed, direction, acceleration, etc. of vehicles in the formation need to be maintained or adjusted based on information about surrounding vehicles, weather, road conditions, destinations and other factors; for another example, the task calculation of the vehicle formation will be based on factors such as task size, priority, maximum tolerable delay, and communication channel conditions to perform overall resource allocation.

[0005] However, in the process of implementing relevant methods, it is often necessary to synchronously identify, perceive, and deliver the ever-changing element information to ensure the real-time and consistency of decision-making. And only when the vehicle element information is synchronized at a certain moment can the group decision made by the formation achieve the optimal solution at the moment.

[0006] Currently, TSN-based in-vehicle Ethernet uses the IEEE 802.1AS protocol to ensure the synchronization of the in-vehicle network, while the external vehicle communication is achieved through IEEE 802.11p or cellular vehicle-to-everything (C-V2X). Therefore, how to ensure that the element information obtained by the in-vehicle network and the external network of the vehicle formation is timely and synchronized is an issue worthy of study. Summary of the invention

[0007] The technical problem solved by the present invention is to provide a method, system and medium for synchronizing vehicle formation element information based on 5G and TSN, so as to solve the problem in the prior art that the element information obtained by the vehicle formation's in-vehicle network and external network cannot be effectively guaranteed to be timely and synchronized.

[0008] The basic solution provided by the present invention is a method for synchronizing vehicle formation element information based on 5G and TSN, comprising:

[0009] S1: Build a regional network for communication scenarios, generate a network transmission channel based on the vehicle external network equipped with 5G-V2X communication, the vehicle internal network of the TSN network, and the roadside unit, and obtain vehicle information in the regional network; the vehicle information includes vehicle internal information and vehicle external information;

[0010] S2: extracting element information from the acquired vehicle information, calculating the critical information degree of the element information, defining the critical information degree according to a preset priority, and mapping the information transmitted by the external vehicle network to the preset priority of the internal vehicle network;

[0011] S3: A vehicle clock synchronization mechanism is constructed based on the roadside units and platoon vehicles in the regional network, and the platoon vehicles are subjected to clock synchronization adjustment according to the timestamp mechanism and then the synchronization information is transmitted; during the transmission of the synchronization information, the channel data of the historical vehicles is obtained through the network transmission channel in S1 to calculate the estimated time for the transmission of the synchronization information, and wireless transmission compensation is reserved within the estimated time.

[0012] Further, the S1 includes:

[0013] S1-1: A regional network will be built with multiple roadside units with computing capabilities within the preset communication range;

[0014] S1-2: Authenticate and access vehicles within the communication range of the regional network through 5G-V2X communication to form an external vehicle network;

[0015] S1-3: Connect with the vehicle's internal system through the TSN network to form an in-vehicle network;

[0016] S1-4: Extract vehicle internal information and vehicle external information based on the in-vehicle network and the external network to obtain vehicle information.

[0017] Further, the S2 includes:

[0018] S2-1: Extract elements based on the vehicle information obtained through access, and calculate the key information degree of the element information. The calculation formula is:

[0019] A(a l,i )=-log x (1-p(al,i ))

[0020] Among them, a l,i represents the i-th element information of the l-th vehicle, p(a l,i ) indicates element information a l,i The importance of the l-th vehicle formation decision, x represents the information tensor;

[0021] S2-2: Preset priority, define the priority according to the critical information of the element information in the vehicle information;

[0022] S2-3: Map the information transmitted from the external vehicle network to the priority of the internal vehicle network.

[0023] Further, the S2-3 includes:

[0024] S2-3-1: Obtain the maximum effective time for the central processing unit of the vehicle system to recognize the vehicle external information, the estimated information processing time, and the estimated information transmission time for the vehicle external information transmission in the vehicle external network;

[0025] S2-3-2: Calculate the priority of vehicle information based on the longest valid time, estimated information processing time and estimated information transmission time. The calculation formula is:

[0026]

[0027] in, Indicates the maximum effective time. Indicates the estimated information delivery time. Indicates the estimated information processing time;

[0028] S2-3-3: Based on the calculated Determine the priority of the vehicle's external information, then generate an empty time period for mapping the vehicle's external information to the priority of the vehicle system based on the vehicle system resources, and map the vehicle's external information in order of priority in each empty time period.

[0029] Further, the S3 includes:

[0030] S3-1: Set the first vehicle in the formation in the regional network as the master clock, the roadside unit as the auxiliary clock, and the remaining vehicles as slave clocks. The roadside unit auxiliary clock performs auxiliary correction on clock synchronization based on the master clock information reported by the formation end vehicle and the slave clock information reported by the remaining vehicles;

[0031] S3-2: After receiving the information transmitted by the master clock and the auxiliary clock according to the timestamp mechanism, the target vehicle compares the local real-time clock and adjusts the local real-time clock according to the comparison result;

[0032] S3-3: Based on the established network transmission channel, analyze the channel status according to the previous set of information transmission data, and then predict the estimated time for the next set of information transmission based on the channel status, generate a time compensation value for reserved wireless transmission, and compensate for the network delay of the target vehicle system based on the time compensation value.

[0033] Furthermore, the network transmission channel generated in S1 based on the vehicle external network equipped with 5G-V2X communication, the vehicle internal network of the TSN network, and the roadside unit includes:

[0034] Uu interface module, used for communication interface between vehicle and roadside unit;

[0035] PC5 interface module, used for direct communication between vehicles;

[0036] The DS-TT module is deployed on the vehicle side and is used to map port data, protocol data, and vehicle information criticality between the vehicle and the business system, as well as to schedule TSN network traffic;

[0037] The NW-TT module is deployed on the roadside unit side and is used to map port data, protocol data, and QoS mechanisms between the core network and the service system, as well as to schedule TSN network traffic;

[0038] The TSN-AF module is used to connect to the TSN network and execute the application functions of the TSN network for direct communication between vehicles.

[0039] A vehicle formation element information synchronization system based on 5G and TSN, applied to the above-mentioned vehicle formation element information synchronization method based on 5G and TSN, comprising:

[0040] Communication scenario construction module: used to construct a regional network for communication scenarios, and generate a network transmission channel based on the vehicle external network equipped with 5G-V2X communication, the vehicle internal network of the TSN network, and the roadside unit to obtain vehicle information in the regional network; the vehicle information includes vehicle internal information and vehicle external information;

[0041] Key information degree calculation module: used to extract element information from the acquired vehicle information and calculate the key information degree of the element information;

[0042] Priority mapping module: used to define the key information according to the preset priority, and map the information transmitted by the external network to the preset priority of the internal network;

[0043] Clock synchronization module: used to build a vehicle clock synchronization mechanism based on roadside units and platoon vehicles in the regional network, and transmit synchronization information after clock synchronization adjustment of platoon vehicles according to the timestamp mechanism; in the process of transmitting synchronization information, the channel data of historical vehicles is obtained through the network transmission channel in S1 to calculate the estimated time for synchronization information transmission, and wireless transmission compensation is reserved within the estimated time.

[0044] An electronic device includes a processor and a memory, wherein the memory stores programs or instructions, and the processor executes a vehicle formation element information synchronization method based on 5G and TSN as described above by calling the program or instructions stored in the memory.

[0045] A computer-readable storage medium stores a program or instruction, wherein the program or instruction enables a computer to execute a vehicle formation element information synchronization method based on 5G and TSN as described above.

[0046] The principles and advantages of the present invention are as follows: first, a regional network is constructed and described for the communication scenario in which the vehicle is located, and the vehicle-external communication of the 5G-V2X network and the vehicle-inside communication of the TSN network are carried out. At the same time, the regional network transmission process is converted into different network and formation services through the Uu interface module, PC5 interface module, DS-TT module, NW-TT module, and TSN-AF module. At the same time, when vehicles communicate with each other, the services do not need to be processed by the core network, and the vehicles at both ends process the services according to the same standard, thereby improving communication efficiency and reducing latency.

[0047] At the same time, during the formation business conversion process, based on the priority mapping operation of the criticality of element information in obtaining vehicle information, the clock synchronization operation under the auxiliary clock and the time compensation operation reserved for wireless transmission, the information synchronization accuracy of the 5G+TSN network is improved, and the group decision-making execution of the vehicle formation is assisted.

[0048] Therefore, the advantage of the present invention is that it can improve the timeliness and synchronization of the element information obtained by the vehicle formation external network and the vehicle internal network. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a flowchart of an embodiment of the present invention;

[0050] Figure 2 A schematic diagram of a communication scenario constructed in an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of the structure of a vehicle system according to an embodiment of the present invention;

[0052] Figure 4 A schematic diagram of key modules of a network transmission channel according to an embodiment of the present invention;

[0053] Figure 5 This is an example diagram of transmission delay reservation compensation according to an embodiment of the present invention;

[0054] Figure 6 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following is further described in detail through specific implementation methods:

[0056] The symbols in the drawings of the specification include: electronic device 400 , processor 401 , memory 402 , input device 403 , and output device 404 .

[0057] The embodiment is basically as shown in the attached Figure 1 As shown: A vehicle formation element information synchronization method based on 5G and TSN, comprising:

[0058] S1: Build a regional network for communication scenarios, generate a network transmission channel based on the vehicle external network equipped with 5G-V2X communication, the vehicle internal network of the TSN network, and the roadside unit, and obtain vehicle information in the regional network; the vehicle information includes vehicle internal information and vehicle external information; S1 includes:

[0059] S1-1: A regional network will be built with multiple roadside units with computing capabilities within the preset communication range;

[0060] S1-2: Authenticate and access vehicles within the communication range of the regional network through 5G-V2X communication to form an external vehicle network;

[0061] S1-3: Connect with the vehicle's internal system through the TSN network to form an in-vehicle network;

[0062] S1-4: Extract vehicle internal information and vehicle external information based on the in-vehicle network and the external network to obtain vehicle information.

[0063] In this embodiment, the communication scenario of the vehicle currently performing the platooning service is first described. Specifically, one or more roadside units within a preset range form a regional network. In this application, the roadside unit is a base station. By forming a regional network within the range where one or more base stations are located, information is extracted from vehicles authenticated and connected in the area through 5G-V2X wireless communication, such as the vehicle's location, driving destination, driving planned path, driving road environment, vehicle interest preferences, vehicle's own computing capabilities, and other information; Figure 2 As shown, the set of base stations in the regional network is set to B = {b1, b2, ..., b u}, b urepresents the uth base station arranged in the direction of the formation within the communication range, and the set of vehicles is set to V = {v1,v2,…,v l}, where v l represents the lth vehicle in the order of the formation position, vehicle v l The information set is A l ={a l,1 ,a l,2 ,…,a l,i}.

[0064] In addition, the vehicle information obtained includes vehicle external information and vehicle internal information. Specifically, the structure of the vehicle is as follows: Figure 3 As shown, it includes an environmental perception system, a positioning and navigation system, a path planning system, a central processing unit, an external communication system, a motion control system and an assisted driving system. The vehicle's internal information is identified and processed by the environmental perception system, the positioning and navigation system, and the path planning system, and transmitted to the central processing unit by the in-vehicle system, while the vehicle's external information is obtained from surrounding vehicles or base stations by the external communication system and is used for vehicle formation information transmission to assist vehicles in making decisions faster during formation driving.

[0065] In addition, in the process of transmitting information through the network transmission channel, for vehicles in the fleet, the main communication nodes of the external network are the front and rear vehicles and the base stations in the area, and the internal network is the various systems of the vehicle structure. In this process, 5G-V2X is a transparent transmission channel relative to the vehicle's business system. It needs to be combined with various modules to realize the required functions. This application includes Uu interface module, PC5 interface module, DS-TT module, NW-TT module, TSN-AF module, such as Figure 4 As shown in the figure, the module association between the in-vehicle network and the external network is constructed, where:

[0066] Uu interface module, used for communication interface between vehicle and roadside unit;

[0067] PC5 interface module, used for direct communication between vehicles;

[0068] The DS-TT module is deployed on the vehicle side and is used to map port data, protocol data, and vehicle information criticality between the vehicle and the business system, as well as to schedule TSN network traffic;

[0069] The NW-TT module is deployed on the roadside unit side and is used to map port data, protocol data, and QoS mechanisms between the core network and the service system, as well as to schedule TSN network traffic;

[0070] The TSN-AF module is used to connect to the TSN network and execute the application functions of the TSN network for direct communication between vehicles.

[0071] Therefore, when the vehicle communicates with the base station, the network converts different networks and services during the network transmission process through the DS-TT, NW-TT and TSN-AF modules; when the vehicle communicates with the vehicle, the service does not go through the core network processing, and the vehicles at both ends process the service according to a unified standard, which can improve communication efficiency and reduce latency.

[0072] S2: extracting element information from the acquired vehicle information, calculating the critical information degree of the element information, defining the critical information degree according to a preset priority, and mapping the information transmitted from the external vehicle network to the preset priority of the internal vehicle network; wherein S2 includes:

[0073] S2-1: Extract elements based on the vehicle information obtained through access, and calculate the key information degree of the element information. The calculation formula is:

[0074] A(a l,i )=-log x (1-p(a l,i ))

[0075] Among them, a l,i represents the i-th element information of the l-th vehicle, p(a l,i ) indicates element information a l,i The importance of the lth vehicle formation decision, 0 <p(a l,i )<1, p(a l,i ) is larger, the more important the information is, and the higher the priority of the information is; x represents the information degree tensor; x>1, the information degree tensor is used to control the difference of key information degree. When system resources are tight, the closer x is set to 1, therefore, the key information degree determination method of the present application can better distinguish the criticality of information according to the system resource situation and the function characteristics.

[0076] S2-2: Preset priority, define the priority according to the critical information degree of the element information in the vehicle information; in the TSN network of this embodiment, the preset priority is 8 priorities from 0 (lowest) to 7 (highest), represented by priority code (priority code point, PCP); after the critical information degree is calculated in S2-1, the vehicle v l A collection of information l ={a l,1 ,a l,2 ,…,a l,i}Define the priority;

[0077] S2-3: Mapping the information transmitted from the external vehicle network to the priority of the internal vehicle network, wherein S2-3 includes:

[0078] S2-3-1: Obtain the maximum effective time for the central processing unit of the vehicle system to recognize the vehicle external information, the estimated information processing time, and the estimated information transmission time for the vehicle external information transmission in the vehicle external network;

[0079] S2-3-2: Calculate the priority of vehicle information based on the longest valid time, estimated information processing time and estimated information transmission time. The calculation formula is:

[0080]

[0081] in, Indicates the maximum effective time. Indicates the estimated information delivery time. Indicates the estimated information processing time;

[0082] S2-3-3: Based on the calculated Determine the priority of the vehicle's external information, then generate an empty time period for mapping the vehicle's external information to the priority of the vehicle system based on the vehicle system resources, and map the vehicle's external information in order of priority in each empty time period.

[0083] In this embodiment, the maximum validity period of the vehicle's central processing unit identification information is The estimated information transmission time is generated by the vehicle's external communication system after identifying the channel conditions of the vehicle communicating with the base station through the interface. The expression is The estimated information processing time is the estimated information processing time of the vehicle's central processing unit, expressed as After obtaining the maximum validity time, estimated information delivery time, and estimated information processing time, calculate When the key information is the same, The smaller the value, the higher the priority. The corresponding vehicle information a l,i Slice processing is performed and more resources are requested from the system for processing. Finally, according to the system resource situation, the system is judged to reserve the preset 8 priority gap times {T0, T1, ..., T7}, and in each time period, they are mapped in the order of completing the sorting information.

[0084] S3: A vehicle clock synchronization mechanism is constructed based on the roadside units and platoon vehicles in the regional network, and the platoon vehicles are subjected to clock synchronization adjustment according to the timestamp mechanism and then the synchronization information is transmitted; during the transmission of the synchronization information, the channel data of the historical vehicles is obtained through the network transmission channel in S1 to calculate the estimated time for the transmission of the synchronization information, and wireless transmission compensation is reserved within the estimated time; wherein, S3 includes:

[0085] S3-1: Set the first vehicle in the formation in the regional network as the master clock, the roadside unit as the auxiliary clock, and the remaining vehicles as slave clocks. The roadside unit auxiliary clock performs auxiliary correction on the clock synchronization based on the master clock information reported by the formation receiving vehicle and the slave clock information reported by the remaining vehicles. The clock synchronization mechanism in this embodiment is based on the gPTP generalized clock synchronization protocol of the TSN network. All vehicles and base stations are equipped with clock sources. The first vehicle in the formation is directly set as the master clock. The base stations B in the regional network range = {b1, b2, …, b u} is the auxiliary clock, and the other vehicles are slave clocks. The auxiliary clock of the base station comes from the base station itself and the clock reported by the vehicles within the base station range, so as to play an auxiliary correction role in clock synchronization.

[0086] S3-2: After the target vehicle receives the information transmitted by the main clock and the auxiliary clock according to the timestamp mechanism, it compares the local real-time clock and adjusts the local real-time clock according to the comparison result; in this embodiment, after the clock is synchronized according to the aforementioned S3-1 step, through the timestamp mechanism, when the vehicle receives the relevant information of the main clock and the auxiliary clock, it compares it with the local real-time clock, and uses the path delay measurement and compensation technology to adjust the clock to achieve time synchronization of nodes within the range.

[0087] S3-3: Based on the established network transmission channel, analyze the channel status according to the previous set of information transmission data, and then predict the estimated time for the next set of information transmission according to the channel status, generate a time compensation value for reserved wireless transmission, and compensate for the network delay of the target vehicle system according to the time compensation value. Under the aforementioned S3-1 and S3-2 steps, in order to achieve accurate information transmission synchronization, it is also necessary to calculate the network delay for compensation, specifically including the system's transmission delay and processing delay, and the processing delay includes information queuing and calculation delay. This type of delay exists inside the vehicle and base station, and can be solved after internal measurement, with high accuracy and stability. As for the transmission delay, the solution of the present application is to analyze the channel status according to the previous set of information transmission data before synchronous information transmission, such as Figure 5 As shown in the figure, through the two transmission processes of t1 and t2, t3 and t4, the channel change from vehicle A to vehicle B is analyzed, where a l,i-1 To transmit information for this phase, set s l,i-1 To send the message size, set s l, ′ i-1 The size of the received information is obtained by Shannon's formula, and the signal-to-noise ratio in the sending stage is Receiving Phase Compare the signal-to-noise ratio, analyze the channel change trend, and estimate the expected time t′ for the next group of information transmission, where t′ is based on a l,iThe sending information, receiving size information and signal-to-noise ratio change trend are obtained by Shannon's formula. Taking t′ as a reference, wireless transmission compensation is reserved for network delay within the maximum delay tolerance to improve synchronization accuracy.

[0088] Therefore, in summary, in the embodiments of the present application, a synchronous transmission guarantee mechanism is provided for the element information required for vehicles in the vehicle formation to perform different tasks based on 5G+TSN. By describing and defining the form scenario of the vehicle formation and setting the critical information degree, the importance of the information can be better distinguished, and then the maximum effective time and processing time of the information are considered, and the information is mapped to different priorities so that the system can better perform scheduling. According to the TSN clock synchronization rule, the clock of the first vehicle is set as the main clock, and the base station is used as the auxiliary clock to correct other nodes at all times to improve the accuracy of clock synchronization. The vehicle implements two transmission methods between the vehicle and the base station, and between the vehicle and the vehicle through the Uu interface module, PC5 interface module, DS-TT module, NW-TT module and TSN-AF module, thereby saving information transmission time to a certain extent. Finally, the historical channel status is used to predict the information transmission time, reserve transmission time compensation, and improve synchronization accuracy.

[0089] In another embodiment of the present embodiment, a vehicle formation element information synchronization system based on 5G and TSN is also included, which is applied to the above-mentioned vehicle formation element information synchronization method based on 5G and TSN, including:

[0090] Communication scenario construction module: used to construct a regional network for communication scenarios, and generate a network transmission channel based on the vehicle external network equipped with 5G-V2X communication, the vehicle internal network of the TSN network, and the roadside unit to obtain vehicle information in the regional network; the vehicle information includes vehicle internal information and vehicle external information;

[0091] Key information degree calculation module: used to extract element information from the acquired vehicle information and calculate the key information degree of the element information;

[0092] Priority mapping module: used to define the key information according to the preset priority, and map the information transmitted by the external network to the preset priority of the internal network;

[0093] Clock synchronization module: used to build a vehicle clock synchronization mechanism based on roadside units and platoon vehicles in the regional network, and transmit synchronization information after clock synchronization adjustment of platoon vehicles according to the timestamp mechanism; in the process of transmitting synchronization information, the channel data of historical vehicles is obtained through the network transmission channel in S1 to calculate the estimated time for synchronization information transmission, and wireless transmission compensation is reserved within the estimated time.

[0094] Also included is an electronic device such as Figure 6As shown, the electronic device 400 includes one or more processors 401 and a memory 402 .

[0095] The processor 401 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.

[0096] The memory 402 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 401 may run the program instructions to implement a vehicle formation element information synchronization method based on 5G and TSN and / or other desired functions of any embodiment of the present invention described above. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage medium.

[0097] In one example, the electronic device 400 may further include: an input device 403 and an output device 404, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 403 may include, for example, a keyboard, a mouse, etc. The output device 404 may output various information to the outside, including early warning information, braking force, etc. The output device 404 may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0098] Of course, to simplify, Figure 6 Only some of the components related to the present invention in the electronic device 400 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 400 may also include any other appropriate components.

[0099] In addition to the above-mentioned methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of a vehicle formation element information synchronization method based on 5G and TSN provided in any embodiment of the present invention.

[0100] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0101] In addition, an embodiment of the present invention may also be a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the processor executes the steps of a vehicle formation element information synchronization method based on 5G and TSN provided in any embodiment of the present invention.

[0102] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0103] The above are only embodiments of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the relevant field know all the common technical knowledge in the technical field to which the invention belongs before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A vehicle formation element information synchronization method based on 5G and TSN, characterized by: include: S1: Build a regional network for communication scenarios, generate a network transmission channel based on the vehicle external network equipped with 5G-V2X communication, the vehicle internal network of the TSN network, and the roadside unit, and obtain vehicle information in the regional network; the vehicle information includes vehicle internal information and vehicle external information; S2: extracting element information from the acquired vehicle information, calculating the critical information degree of the element information, defining the critical information degree according to a preset priority, and mapping the information transmitted by the external vehicle network to the preset priority of the internal vehicle network; S3: A vehicle clock synchronization mechanism is built based on the roadside units and platoon vehicles in the regional network, and the platoon vehicles are synchronized according to the timestamp mechanism and then the synchronization information is transmitted; In the process of transmitting synchronization information, the channel data of historical vehicles is obtained through the network transmission channel in S1 to calculate the estimated time for synchronization information transmission, and wireless transmission compensation is reserved within the estimated time.

2. According to a method for synchronizing vehicle formation element information based on 5G and TSN according to claim 1, it is characterized in that: The S1 includes: S1-1: A regional network will be built with multiple roadside units with computing capabilities within the preset communication range; S1-2: Authenticate and access vehicles within the communication range of the regional network through 5G-V2X communication to form an external vehicle network; S1-3: Connect with the vehicle's internal system through the TSN network to form an in-vehicle network; S1-4: Extract vehicle internal information and vehicle external information based on the in-vehicle network and the external network to obtain vehicle information.

3. According to a method for synchronizing vehicle formation element information based on 5G and TSN according to claim 2, it is characterized in that: The S2 includes: S2-1: Extract elements based on the vehicle information obtained through access, and calculate the key information degree of the element information. The calculation formula is: A(a l,i )=-log x (1-p(a l,i )) Among them, a l,i represents the i-th element information of the l-th vehicle, p(a l,i ) indicates element information a l,i The importance of the l-th vehicle formation decision, x represents the information tensor; S2-2: preset priority, defining the priority according to the critical information of the element information in the vehicle information; S2-3: Map the information transmitted from the external vehicle network to the priority of the internal vehicle network.

4. The method for synchronizing vehicle formation element information based on 5G and TSN according to claim 3, characterized in that: The S2-3 includes: S2-3-1: Obtain the maximum effective time for the central processing unit of the vehicle system to recognize the vehicle external information, the estimated information processing time, and the estimated information transmission time for the vehicle external information transmission in the vehicle external network; S2-3-2: Calculate the priority of vehicle information based on the longest valid time, estimated information processing time and estimated information transmission time. The calculation formula is: in, Indicates the maximum effective time. Indicates the estimated information delivery time. Indicates the estimated information processing time; S2-3-3: Based on the calculated Determine the priority of the vehicle's external information, then generate an empty time period for mapping the vehicle's external information to the priority of the vehicle system based on the vehicle system resources, and map the vehicle's external information in order of priority in each empty time period.

5. The method for synchronizing vehicle formation element information based on 5G and TSN according to claim 4, characterized in that: The S3 includes: S3-1: Set the first vehicle in the formation in the regional network as the master clock, the roadside unit as the auxiliary clock, and the remaining vehicles as slave clocks. The roadside unit auxiliary clock performs auxiliary correction on clock synchronization based on the master clock information reported by the formation end vehicle and the slave clock information reported by the remaining vehicles; S3-2: After receiving the information transmitted by the master clock and the auxiliary clock according to the timestamp mechanism, the target vehicle compares the local real-time clock and adjusts the local real-time clock according to the comparison result; S3-3: Based on the established network transmission channel, analyze the channel status according to the previous set of information transmission data, and then predict the estimated time for the next set of information transmission based on the channel status, generate a time compensation value for reserved wireless transmission, and compensate for the network delay of the target vehicle system based on the time compensation value.

6. The method for synchronizing vehicle formation element information based on 5G and TSN according to claim 5, characterized in that: The network transmission channel generated in S1 based on the vehicle external network equipped with 5G-V2X communication, the vehicle internal network of the TSN network and the roadside unit includes: Uu interface module, used for communication interface between vehicle and roadside unit; PC5 interface module, used for direct communication between vehicles; The DS-TT module is deployed on the vehicle side and is used to map port data, protocol data, and vehicle information criticality between the vehicle and the business system, as well as to schedule TSN network traffic; The NW-TT module is deployed on the roadside unit side and is used to map port data, protocol data, and QoS mechanisms between the core network and the service system, as well as to schedule TSN network traffic; The TSN-AF module is used to connect to the TSN network and execute the application functions of the TSN network for direct communication between vehicles.

7. A vehicle formation element information synchronization system based on 5G and TSN, applied to a vehicle formation element information synchronization method based on 5G and TSN as described in any one of claims 1 to 6 above, characterized in that: include: Communication scenario construction module: used to construct a regional network for communication scenarios, and generate a network transmission channel based on the vehicle external network equipped with 5G-V2X communication, the vehicle internal network of the TSN network, and the roadside unit to obtain vehicle information in the regional network; the vehicle information includes vehicle internal information and vehicle external information; Key information degree calculation module: used to extract element information from the acquired vehicle information and calculate the key information degree of the element information; Priority mapping module: used to define the key information according to the preset priority, and map the information transmitted from the external network to the preset priority of the internal network; Clock synchronization module: used to build a vehicle clock synchronization mechanism based on roadside units and platoon vehicles in the regional network, and to perform clock synchronization adjustment on platoon vehicles according to the timestamp mechanism and then transmit synchronization information; In the process of transmitting synchronization information, the channel data of historical vehicles is obtained through the network transmission channel in S1 to calculate the estimated time for synchronization information transmission, and wireless transmission compensation is reserved within the estimated time.

8. An electronic device, characterized in that: It includes a processor and a memory, wherein the memory stores programs or instructions, and the processor executes a vehicle formation element information synchronization method based on 5G and TSN as described in any one of claims 1 to 6 by calling the programs or instructions stored in the memory.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute a vehicle formation element information synchronization method based on 5G and TSN as described in any one of claims 1-6 above.

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