Fault road side unit information acquisition method, server, road side unit, vehicle-mounted unit, vehicle networking system and readable medium

Abstract

The invention provides a fault road side unit information acquisition method, which is applied to a server, and comprises the following steps: determining a first transfer road side unit and a first forwarding strategy under the condition that the existence of a fault road side unit is determined; a first control message carrying the control instruction and the first forwarding strategy is sent to the first transfer road side unit, so that the first transfer road side unit sends the first control message to the fault road side unit according to the first forwarding strategy; under the condition that the first response message is received within the first failure duration, obtaining a processing result carried in the first response message; the standby communication link between the server and the faulty road side unit is established to obtain the information of the faulty road side unit, and the faulty road side unit is repaired, diagnosed and the like, so that the cost and time of manual field equipment maintenance are reduced, and the system stability is improved. The invention further provides a server, a road side unit, a vehicle-mounted unit, a vehicle networking system and a readable medium.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle networking, and in particular to a method for acquiring information of a faulty roadside unit, a server, a roadside unit, a vehicle-mounted unit, a vehicle networking system and a readable medium. Background Art

[0002] The Internet of Vehicles is a concept of interconnecting cars with external traffic information based on the Internet and sensor technology. V2X is an important technical direction in the Internet of Vehicles technology, which includes four scenarios: vehicle-to-vehicle (V2V), vehicle-to-roadside infrastructure (V2I), vehicle-to-personnel (V2P), and vehicle-to-cloud (V2N). As a link between vehicles and infrastructure, RSU (Road Side Unit) can transmit real-time traffic information, optimize traffic flow, improve driving safety, and accelerate the realization of intelligent transportation systems. RSU can realize V2I, support V2V, and exchange information with cloud servers, which is of great significance to the construction of the Internet of Vehicles technology ecosystem and the development of smart transportation.

[0003] RSU is a key device for realizing smart roads. It is arranged on the roadside and has a certain failure rate. In addition, manual maintenance of roadside equipment is difficult and costly.

[0004] RSU faults include those that can be discovered through self-test, such as software task anomalies, device hardware module anomalies, etc., which can be reported to the cloud server for processing; while those that cannot be discovered through self-test, such as RSU and server communication failures, will cause the cloud server to lose control of the RSU and status detection capabilities. Therefore, when the RSU device fails to communicate with the server, how to restore the cloud server's remote control capabilities over the RSU is of great significance. Summary of the invention

[0005] The present disclosure provides a method for acquiring information of a faulty roadside unit, a server, a roadside unit, a vehicle-mounted unit, a vehicle networking system, and a readable medium.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for obtaining information of a faulty roadside unit, which is applied to a server, and the method includes:

[0007] In the case where it is determined that there is a faulty roadside unit, determining a first transit roadside unit and a first forwarding strategy;

[0008] Sending a first control message to the first transit roadside unit, where the first control message carries a control instruction and the first forwarding strategy, and is used to instruct the first transit roadside unit to send the first control message to the faulty roadside unit according to the first forwarding strategy;

[0009] In the case where a first response message is received within the first failure duration, a processing result carried in the first response message is obtained, where the processing result is a processing result of the faulty roadside unit executing the control instruction in the first control message.

[0010] In another aspect, an embodiment of the present disclosure further provides a method for obtaining information of a faulty roadside unit, which is applied to a roadside unit, and the method includes:

[0011] Receive a first control message sent by the server, and obtain a first forwarding strategy carried in the first control message;

[0012] In the case where it is determined that the first control message has not timed out, determining a target device according to the first forwarding strategy, the target device being a faulty roadside unit or an on-board unit connected to the roadside unit and the faulty roadside unit;

[0013] Sending the first control message to the target device so that the first control message is sent to the faulty roadside unit;

[0014] A first response message sent by the target device is received, and the first response message is sent to the server.

[0015] In another aspect, an embodiment of the present disclosure further provides a method for obtaining information of a faulty roadside unit, which is applied to a roadside unit, and the method includes:

[0016] Receiving a first control message, and acquiring a control instruction carried in the first control message;

[0017] If it is determined that the first control message is valid and has not timed out, executing the control instruction to obtain a processing result;

[0018] A first response message carrying the processing result is sent to the server.

[0019] In another aspect, an embodiment of the present disclosure further provides a method for obtaining information of a faulty roadside unit, which is applied to a vehicle-mounted unit, and the method includes:

[0020] Receive a first control message, and obtain a location of a faulty roadside unit and a second failure duration carried in the first control message;

[0021] When it is determined that the on-board unit is connected to the faulty roadside unit corresponding to the position, and when it is determined that the first control message is valid and has not timed out, the first control message is sent to the faulty roadside unit, where the first control message is used to instruct the faulty roadside unit to execute the first control message;

[0022] In case that a first response message sent by the faulty roadside unit is received within the second failure time, the first response message is sent to the transit roadside unit that sent the first control message.

[0023] On the other hand, an embodiment of the present disclosure also provides a server, comprising: one or more processors; a memory on which one or more programs are stored; when the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining faulty roadside unit information as described above; at least one I / O interface, connected between the processor and the memory, configured to implement information interaction between the processor and the memory.

[0024] On the other hand, the embodiments of the present disclosure also provide a roadside unit, comprising: one or more processors; a memory on which one or more programs are stored; when the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining faulty roadside unit information as described above; at least one I / O interface, connected between the processor and the memory, configured to implement information interaction between the processor and the memory.

[0025] On the other hand, an embodiment of the present disclosure also provides a vehicle-mounted unit, comprising: one or more processors; a memory on which one or more programs are stored; when the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining information of the faulty roadside unit as described above; at least one I / O interface, connected between the processor and the memory, configured to implement information interaction between the processor and the memory.

[0026] On the other hand, an embodiment of the present disclosure further provides a vehicle networking system, comprising at least one of the following: a cache unit as described above, a roadside unit as described above, and a vehicle-mounted unit as described above.

[0027] On the other hand, an embodiment of the present disclosure further provides a computer-readable medium having a computer program stored thereon, wherein when the program is executed, the method for obtaining faulty roadside unit information as described above is implemented.

[0028] The method for obtaining information of a faulty roadside unit provided by the embodiment of the present disclosure is applied to a server, and the method includes: determining a first transit roadside unit and a first forwarding strategy when it is determined that there is a faulty roadside unit; sending a first control message carrying a control instruction and a first forwarding strategy to the first transit roadside unit, so that the first transit roadside unit sends the first control message to the faulty roadside unit according to the first forwarding strategy; obtaining a processing result carried in the first response message when a first response message is received within a first failure duration, and the processing result is a processing result of the faulty roadside unit executing the control instruction; the embodiment of the present disclosure establishes a backup communication link between the two when the server controls the faulty roadside unit abnormally, so as to obtain relevant information of the faulty roadside unit, so as to perform operations such as repair and diagnosis on the faulty roadside unit, reduce the cost and time of manual on-site maintenance of equipment, and improve the stability of the entire system. More equipment failure information can be obtained before maintenance personnel repair the faulty roadside unit to provide support for on-site repairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of V2X system architecture according to an embodiment of the present disclosure;

[0030] Figure 2 A schematic diagram of a process for obtaining faulty roadside unit information using a server as the execution subject provided in an embodiment of the present disclosure Figure 1 ;

[0031] Figure 3 A schematic diagram of the structure of a first control message provided in an embodiment of the present disclosure;

[0032] Figure 4 The data processing flow diagram provided by the embodiment of the present disclosure with the server as the execution subject is shown as follows: Figure 2 ;

[0033] Figure 5 A schematic diagram of a transmission range of a first control message provided in an embodiment of the present disclosure;

[0034] Figure 6 A schematic diagram of a process for obtaining faulty roadside unit information with a transit roadside unit as the execution subject provided by an embodiment of the present disclosure;

[0035] Figure 7 A schematic diagram of a process for obtaining faulty roadside unit information with the faulty roadside unit as the execution subject provided by an embodiment of the present disclosure;

[0036] Figure 8 A schematic diagram of a process for obtaining information of a faulty roadside unit using a vehicle-mounted unit as an execution subject provided by an embodiment of the present disclosure;

[0037] Fig. 9A schematic diagram of a process for obtaining faulty roadside unit information provided by a specific example of the present disclosure;

[0038] Fig.10 It is a schematic diagram of the structure of the server, roadside unit, and vehicle-mounted unit provided in the embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] Example embodiments will be described more fully below with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, the purpose of providing these embodiments is to make the present disclosure thorough and complete and to enable those skilled in the art to fully understand the scope of the present disclosure.

[0040] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0041] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0042] The embodiments described herein may be described with reference to plan views and / or cross-sectional views by means of idealized schematic diagrams of the present disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings have schematic properties, and the shapes of the regions shown in the figures illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0043] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0044] The present disclosure provides a method for obtaining information of a faulty roadside unit. The method is applied to Figure 1 The V2X system shown in Figure 1As shown, the V2X system includes: a cloud server, an RSU and an OBU (On board Unit). The cloud server is used to detect the RSU status. After detecting the abnormality of the device, it selects the best transit RSU to send control information according to the network topology of the RSU distribution. The cloud server will set the expiration time of the task and end the task after receiving the response message.

[0045] After receiving the control message from the cloud server, the RSU is used to determine whether the target address (for example, the location of the faulty RSU, the RSU device identification, etc.) carried in the message is consistent with the local machine. If it is consistent, the control instructions in the control message are executed; if it is inconsistent, the control message is forwarded according to the network topology and forwarding strategy.

[0046] OBU is used to forward the control message sent by RSU. The forwarding target address can be RSU or other OBU. OBU will judge the transmission range of the control message to be forwarded. If the target address exceeds the transmission range, the control message will be discarded.

[0047] The V2X system can be applied in the following scenarios with the help of network communication facilities: V2V scenario, warning between vehicles, such as forward collision, intersection collision, reverse overtaking, etc.; V2I scenario, interaction between vehicles and roadside information equipment, such as traffic lights and roadside perception messages; V2P scenario, messages between vehicles and people, such as pedestrian warnings; V2N scenario, refers to messages between vehicles and the cloud. The present disclosure embodiment has V2V scenario and V2I scenario.

[0048] According to the national standard, V2X messages are divided into BSM (Basic Safety Message, vehicle status message), that is, the vehicle itself reports the latitude and longitude, heading, speed, etc.; RSM (Road Side Message, road side safety message), which is the information of non-motor vehicles and people recognized by perception; RSI (Road Side Information, road side unit information) event sends messages. The embodiments of this disclosure involve the communication link of BSM reporting and RSI sending.

[0049] The networking mode of the RSU may be a direct communication mode or an indirect communication mode. The embodiments of the present disclosure provide differentiated control links according to different RSU networking modes.

[0050] Figure 2 A schematic diagram of a process for obtaining faulty roadside unit information using a server as the execution subject provided in an embodiment of the present disclosure Figure 1 ,like Figure 2 As shown, the method for obtaining faulty roadside unit information is applied to a server, and the server may be the aforementioned cloud server. The method comprises the following steps:

[0051] Step 11: When it is determined that there is a faulty roadside unit, determine a first transit roadside unit and a first forwarding strategy.

[0052] When a roadside unit fails, the cloud server determines a first transit roadside unit and a first forwarding strategy for forwarding a control message to the failed roadside unit. The first forwarding strategy is a forwarding method for the first transit roadside unit to send the first control message to the failed roadside unit.

[0053] Step S12: Send a first control message to the first transit roadside unit, where the first control message carries a control instruction and a first forwarding strategy, and is used to instruct the first transit roadside unit to send the first control message to the faulty roadside unit according to the first forwarding strategy.

[0054] The control instruction may include at least one of the following: a control path detection instruction, a device restart instruction, a device parameter acquisition instruction, a device parameter setting instruction, a device log capture instruction, a device fault information acquisition instruction, etc.

[0055] Figure 3 This is a schematic diagram of the structure of the first control message provided by the embodiment of the present disclosure. Figure 3 As shown, the first control message may carry a control instruction (control message) and a first forwarding strategy (strategy), and the control instruction is an encrypted annotation message. The first control message may also carry a message type identifier (flag) and a device identifier (device id) of the faulty roadside unit. The message type identifier indicates whether the message is a normal message or a control message sent to the faulty roadside unit. The device identifier may be a unique identifier of the faulty roadside unit, and may be, for example, an IMEI (International Mobile Equipment Identity), an IP address, a SN (serial number), and the like.

[0056] After receiving the first control message, the faulty roadside unit executes the control instruction and returns the processing result. Therefore, the control instruction is used to instruct the faulty roadside unit that has lost connection with the cloud server to return fault information to provide support for remote repair, etc.

[0057] Step S13, when the first response message is received within the first failure duration, obtaining a processing result carried in the first response message, where the processing result is a processing result of the faulty roadside unit executing the control instruction in the first control message.

[0058] The first expiration time (expire) can be set in advance. The initial first expiration time can be set according to the traffic flow and vehicle speed, and should be at least longer than the time required for the cloud server to send the message to the faulty roadside unit to receive the message and execute the message.

[0059] If the time period from sending the first control message to the first transit roadside unit to receiving the first response message is less than the first failure duration, it means that the first response message is valid, and the processing result carried in the first response message is obtained. It should be noted that if the faulty roadside unit restores communication with the cloud server after executing the control instruction, the processing result may include not only information indicating that the faulty roadside unit has been successfully restarted, but also information indicating that the faulty roadside unit has restored normal communication with the server. Exemplarily, if the control instruction is a device restart instruction, after the faulty roadside unit restarts, it re-establishes a communication connection with the server, then the processing result also includes information that the communication connection has been re-established.

[0060] The method for obtaining information of a faulty roadside unit provided by the embodiment of the present disclosure is applied to a server, and the method includes: determining a first transit roadside unit and a first forwarding strategy when it is determined that there is a faulty roadside unit; sending a first control message carrying a control instruction and a first forwarding strategy to the first transit roadside unit, so that the first transit roadside unit sends the first control message to the faulty roadside unit according to the first forwarding strategy; obtaining a processing result carried in the first response message when a first response message is received within the failure time, and the processing result is a processing result of the faulty roadside unit executing the control instruction; the embodiment of the present disclosure establishes a backup communication link between the two when the server controls the faulty roadside unit abnormally, so as to obtain relevant information of the faulty roadside unit, so as to perform operations such as repair and diagnosis on the faulty roadside unit, reduce the cost and time of manual on-site maintenance of equipment, and improve the stability of the entire system. More equipment failure information can be obtained before maintenance personnel repair the faulty roadside unit to provide support for on-site repairs.

[0061] In some embodiments, the determining of the first transit roadside unit and the first forwarding strategy (ie, step S11) includes the following steps: determining the first transit roadside unit and the first forwarding strategy according to the network topology.

[0062] The network topology includes a roadside unit and an onboard unit, and the connection type between the two roadside units in the network topology includes one of the following: direct connection, connection through an onboard unit, and the coexistence of direct connection and connection through an onboard unit. Correspondingly, the first forwarding strategy includes one of the following: direct forwarding from the roadside unit to the roadside unit, forwarding from the roadside unit to the roadside unit through the onboard unit, and the coexistence of direct forwarding from the roadside unit to the roadside unit and forwarding from the roadside unit to the roadside unit through the onboard unit. Among them, the coexistence of direct forwarding from the roadside unit to the roadside unit and forwarding from the roadside unit to the roadside unit through the onboard unit means that when the transit roadside receives a control message, it can simultaneously send the control message to the adjacent faulty roadside unit and the onboard unit within the forwarding range, that is, use two paths to forward the control message at the same time.

[0063] In the disclosed embodiment, it is necessary to find a transit roadside unit that meets the forwarding strategy according to the location of the faulty roadside unit, so it is necessary to construct a network topology for the distribution of roadside units according to the deployment positions between the roadside units. In this network topology, the roadside unit is a node of the network topology, and the communication link between the roadside units is a directed connection between the nodes. The connection between the roadside units is divided into two types according to the networking mode of the roadside unit. The first type is that there is a direct connection between adjacent roadside units, and the connection type between the nodes is RSU-RSU. If there is no direct connection between the roadside units, the connection type between the nodes is RSU-OBU-RSU. If there is no RSU-RSU connection type, only the RSU-OBU-RSU forwarding path can be selected to forward the message; if there is an RSU-RSU connection type, one of the following three forwarding strategies can be selected: the roadside unit directly forwards to the roadside unit, the roadside unit forwards to the roadside unit through the vehicle-mounted unit, and the roadside unit directly forwards to the roadside unit and the roadside unit forwards to the roadside unit through the vehicle-mounted unit. In the network topology, the node information may include the location of the roadside unit, for example, the GPS coordinates of the roadside unit, and the connection type between nodes may be identified by a connection type flag, for example, a connection type flag of 1 indicates RSU-RSU, a connection type flag of 2 indicates RSU-OBU-RSU, and a connection type flag of 3 indicates that both connection types exist. The network topology may dynamically add nodes and their connection relationships according to the increase, decrease, or failure of the roadside unit.

[0064] In some embodiments, the determining of the first transit roadside unit according to the network topology comprises the following steps: calculating the accessible distance (Accessible distance, AD) between the faulty roadside unit and each other roadside unit according to the network topology; determining the first transit roadside unit according to the accessible distance. In the disclosed embodiment, the accessible distance refers to the length of the communication link for message transmission between roadside units. With the faulty roadside unit as the center, the roadside unit with the shortest accessible distance from the faulty roadside unit in the topological network is selected as the first transit roadside unit.

[0065] In some embodiments, the calculating of the reachable distances between the faulty roadside unit and other roadside units respectively according to the network topology includes the following steps: for each other roadside unit, calculating the direct distance and indirect distance between the faulty roadside unit and other roadside units, the direct distance being the distance between two roadside units, and the indirect distance being the distance between the faulty roadside unit and other roadside units through the on-board unit. Calculate the reachable distances between the faulty roadside unit and other roadside units according to the preset weights, direct distances and indirect distances.

[0066] Since there are two ways to connect adjacent roadside units in the network topology, the reachable distance d between roadside units is defined as follows:

[0067] d=αd1+βd2

[0068] α+β=1

[0069] Among them, d1 represents the direct distance of direct communication between roadside units (RSU-RSU), d2 represents the indirect distance (RSU-OBU-RSU) between RSUs with the help of OBU; α and β are weights, which take values ​​between 0 and 1. When there is no direct connection link between roadside units, α=0, β=1.

[0070] In some embodiments, Figure 4 As shown, after determining the first transit roadside unit and the first forwarding strategy (i.e., step S11) and before sending the first control message to the first transit roadside unit (i.e., step S12), the method for obtaining faulty roadside unit information may further include the following steps:

[0071] Step S21, calculating the distance between the faulty roadside unit and the first transfer roadside unit.

[0072] Step S22: Determine the message transmission range according to the distance and the forwarding radius of the roadside unit.

[0073] like Figure 5As shown, the distance between the faulty roadside unit and the first transit roadside unit is d, the forwarding radius of the roadside unit is r, the message transmission range between the roadside unit and the vehicle-mounted unit is range (i.e., the arc shown by the dotted line between the two vehicle-mounted units), range≥r+d.

[0074] like Figure 3 As shown, the first control message also carries the message transmission range (range) and the location of the faulty roadside unit (target GPS), so that the vehicle-mounted unit that receives the first control message can determine whether it is within the transmission range of the faulty roadside unit based on its own location, transmission range and the location of the faulty roadside unit. Since the deployment interval between roadside units is usually several hundred meters, the vehicle-mounted unit needs to calculate whether the control message has failed based on various roadside units and the forwarding radius of the roadside units, and the failed control message will be directly discarded.

[0075] In some embodiments, Figure 3 As shown, the first control message also carries a second expiration time (expire) and a timestamp (timestamp), so that the transit roadside unit and the vehicle-mounted unit that receive the first control message can determine whether the first control message has timed out based on the second expiration time and the timestamp. It should be noted that the second expiration time can be equal to the first expiration time, or can be less than the first expiration time.

[0076] After sending the first control message to the first transit roadside unit (i.e., step S12), the method for obtaining faulty roadside unit information may further include the following steps:

[0077] Step S12', when the first response message is not received within the first failure duration, the second failure duration is updated and the first control message is sent to the first transit roadside unit again; wherein the updated second failure duration is greater than the second failure duration before the update.

[0078] After the cloud server constructs the first control message and sends it to the first transit roadside unit, if the first response message is not received within a timeout period, a retry is performed, that is, the first control message is resent and the second invalidation period is extended. Properly extending the second invalidation period can ensure the smooth progress of the entire process.

[0079] In some embodiments, after updating the second failure duration and sending the first control message to the first transit roadside unit again (ie, step S12'), the method for obtaining faulty roadside unit information may further include the following steps:

[0080] Step S13', when the first control message is sent a preset number of times and the first response message is not received within the first failure time, determine a second transit roadside unit and a second forwarding strategy, wherein the second transit roadside unit is different from the first transit roadside unit.

[0081] Since the reason for not receiving the first response message due to timeout may be caused by the failure of the first transit roadside unit, in order to reduce the probability of the above situation happening again, the forwarding path after switching can avoid the transit roadside unit of the previous forwarding path. Specifically, the second transit roadside unit after switching can be determined according to the reachable distance between the faulty roadside unit and other roadside units. For example, the roadside unit with the second shortest reachable distance can be selected as the second transit roadside unit.

[0082] The second forwarding strategy may be the same as or different from the first forwarding strategy.

[0083] Step S14', sending a second control message to the second transit roadside unit, the second control message carrying a control instruction and a second forwarding strategy, for instructing the second transit roadside unit to send the second control message to the faulty roadside unit according to the second forwarding strategy.

[0084] The structure of the second control message is the same as that of the first control message, and will not be repeated again.

[0085] Step S15', when the second response message is received within the third failure duration, obtaining the processing result carried in the second response message, where the processing result is the processing result obtained by the faulty roadside unit executing the control instruction in the second control message.

[0086] Step S16', when the second response message is not received within the third expiration time, the second expiration time is updated and the second control message is sent to the second transit roadside unit again; wherein the updated second expiration time is greater than the expiration time before the update.

[0087] After the forwarding path is switched, if the second response message is not received within a timeout period, a retry is performed, that is, the second control message is resent, and the invalidation time is extended.

[0088] It can be seen from the above steps S13'-S16' that after the cloud server constructs the first control message and sends it down to the first transit roadside unit, if the first response message is not received within the timeout, the first control message is resent, the second failure time is extended, and the number of retries is set. If the first response message is still not received after the number of retries, the forwarding path is switched to send the second control message.

[0089] In some embodiments, Figure 3As shown, the first control message and the first response message carry a session identifier (session id), and the session identifier is used to prevent the control message from being repeatedly executed.

[0090] After sending the first control message to the first transit roadside unit (i.e., step 12), the method for obtaining information of the faulty roadside unit may further include the following steps: when a first response message is received within the first failure duration, the session task corresponding to the session identifier is terminated. That is, after the cloud server constructs the first control message and sends it to the first transit roadside unit, if a reply data packet of the first control message of the session ID is received within the first failure duration, the session task is terminated.

[0091] In some embodiments, the second control message and the second response message carry a session identifier. After sending the second control message to the second transit roadside unit, the method for obtaining information about the faulty roadside unit may further include the following steps: when the second control message is sent a preset number of times and the second response message is not received within the third failure time, the session task corresponding to the session identifier is terminated; or, when the second response message is received within the third failure time, the session task corresponding to the session identifier is terminated. In other words, if the cloud server fails to send the first control message multiple times and switches the forwarding path to send the second control message, and sets the retry upper limit of the second control message, the session task is terminated after the retry upper limit is reached, and an email may be sent to notify the administrator that the roadside unit equipment failure requires offline maintenance. If the cloud server receives a reply data packet of the second control message with the session id within the third failure time, the session task is terminated.

[0092] It can be seen from this that there are two situations for ending a session task: one is a normal end, that is, after sending the first / second control message, if the first / second response message is received within the expiration time, the session task is ended; the other is an abnormal end, that is, after changing the forwarding path and resending the second control message a preset number of times, if the second response message is still not received, the session task is ended.

[0093] The embodiment of the present disclosure also provides a method for obtaining information of a faulty roadside unit, the method being applied to a roadside unit, the roadside unit being a first transfer roadside unit, such as Figure 6 As shown, the method for obtaining faulty roadside unit information includes the following steps:

[0094] Step S31: Receive a first control message sent by a server, and obtain a first forwarding strategy carried in the first control message.

[0095] Step S32: when it is determined that the first control message has not timed out, determining a target device according to a first forwarding strategy, the target device being a faulty roadside unit or an onboard unit connected to the roadside unit and the faulty roadside unit.

[0096] The first forwarding strategy is a forwarding method in which the first transit roadside unit sends the first control message to the faulty roadside unit. The first transit roadside unit determines to send the first control message to other roadside units or onboard units according to the first forwarding strategy.

[0097] It should be noted that, when it is determined that the first control message has timed out, the first control message is discarded.

[0098] Step S33: Send a first control message to the target device so that the first control message is sent to the faulty roadside unit.

[0099] The first transit roadside unit sends a first control message to the target device determined in step S32. If the target device is a faulty roadside unit, the faulty roadside unit no longer forwards the first control message. If the target device is a vehicle-mounted unit, the vehicle-mounted unit forwards the first control message to the faulty roadside unit after receiving the first control message.

[0100] It should be noted that after receiving the first control message, the faulty roadside unit executes the control instruction carried therein, obtains the processing result, and then carries the processing result in the first response message and sends it to the cloud server. Among them, if the faulty roadside unit restores the communication with the cloud server after executing the control instruction, the first response message is directly sent to the cloud server; if the faulty roadside unit still does not restore the communication with the cloud server after executing the control instruction, the first response message can be sent to the first transit roadside unit, and the first transit roadside unit sends the first response message to the cloud server, or the faulty roadside unit sends the first response message to the vehicle-mounted unit, and the vehicle-mounted unit sends it to the first transit roadside unit, and then the first transit roadside unit sends the first response message to the cloud server. The faulty roadside unit can determine the sending path of the first response message based on the sending path of the first control message.

[0101] Step S34, receiving a first response message sent by the target device, and sending the first response message to the server.

[0102] When the faulty roadside unit has not restored communication with the cloud server after executing the control instruction, a first response message carrying the processing result is sent to the first transit roadside unit, and the first transit roadside unit sends the first response message to the cloud server.

[0103] The method for obtaining information of a faulty roadside unit provided in the embodiment of the present disclosure is applied to a transit roadside unit, and includes: receiving a first control message sent by a server, and obtaining a first forwarding strategy carried in the first control message; determining a target device according to the first forwarding strategy when it is determined that the first control message has not timed out, the target device being a faulty roadside unit or a vehicle-mounted unit connected to the roadside unit and the faulty roadside unit; sending the first control message to the target device so that the first control message is sent to the faulty roadside unit; receiving a first response message sent by the target device, and sending the first response message to the server. The embodiment of the present disclosure establishes a backup communication link between the two when the server controls the faulty roadside unit abnormally, so as to obtain relevant information of the faulty roadside unit, so as to perform repair and diagnosis operations on the faulty roadside unit, reduce the cost and time of manual on-site maintenance of equipment, and improve the stability of the entire system. Before the maintenance personnel repair the faulty roadside unit, more equipment failure information can be obtained to provide support for on-site repairs.

[0104] In some embodiments, the first control message also carries a timestamp and a second expiration time. After receiving the first control message sent by the server (ie, step S31), the method for obtaining information of the faulty roadside unit also includes the following steps: obtaining the timestamp and the second expiration time carried in the first control message.

[0105] The determination that the first control message has not timed out (i.e., step S32) includes the following steps: calculating the sum of the timestamp and the second expiration time, and determining that the first control message has not timed out when the current time is less than the sum of the timestamp and the second expiration time. That is, after receiving the first control message, the first transit roadside unit calculates the sum of the timestamp and the second expiration time. If the current time is less than the sum of the timestamp and the second expiration time, it indicates that the first control message has not timed out; if the current time is greater than or equal to the sum of the timestamp and the second expiration time, it indicates that the first control message has timed out, and the first control message is directly discarded. The current time refers to the time when the first control message is received.

[0106] In some embodiments, the first forwarding strategy includes one of the following: forwarding directly from roadside unit to roadside unit, forwarding from roadside unit to roadside unit via vehicle-mounted unit, and the coexistence of direct forwarding from roadside unit to roadside unit and forwarding from roadside unit to roadside unit via vehicle-mounted unit.

[0107] The method of determining the target device according to the first forwarding strategy (i.e., step S32) includes the following steps: when the first forwarding strategy is that the roadside unit directly forwards to the roadside unit, determining the target device to be the faulty roadside unit; when the first forwarding strategy is that the roadside unit forwards to the roadside unit via the vehicle-mounted unit, determining the target device to be the vehicle-mounted unit connected to the roadside unit and the faulty roadside unit; when the first forwarding strategy is that both the roadside unit directly forwards to the roadside unit and the roadside unit forwards to the roadside unit via the vehicle-mounted unit exist at the same time, the target device is the faulty roadside unit and the vehicle-mounted unit connected to the roadside unit and the faulty roadside unit.

[0108] In some embodiments, the first control message and the first response message also carry a session identifier (sessionid), so that the cloud server can end the corresponding session task according to the session identifier.

[0109] The embodiment of the present disclosure also provides a method for obtaining information of a faulty roadside unit, the method being applied to a roadside unit, the roadside unit being a faulty roadside unit, such as Figure 7 As shown, the method comprises the following steps:

[0110] Step S41: Receive a first control message and obtain a control instruction carried in the first control message.

[0111] It should be noted that the first control message may be sent directly from the transit roadside unit to the faulty roadside unit, or may be sent from the transit roadside unit to the faulty roadside unit via the on-board unit.

[0112] Step S42: When it is determined that the first control message is valid and has not timed out, execute the control instruction to obtain a processing result.

[0113] like Figure 3 As shown, the first control message also carries the location of the faulty roadside unit (target GPS). After receiving the first control message, the roadside unit obtains the location of the faulty roadside unit carried therein, and determines whether the device is the faulty roadside unit according to the location of the faulty roadside unit. If yes, it then determines whether the first control message is valid and whether it has timed out.

[0114] The control instruction may include at least one of the following: a control path detection instruction, a device restart instruction, a device parameter acquisition instruction, a device parameter setting instruction, a device log capture instruction, a device fault information acquisition instruction, etc.

[0115] Step S43: Send a first response message carrying the processing result to the server.

[0116] The faulty roadside unit may directly send a first response message to the server, or the faulty roadside unit may send a first response message to the transit roadside unit that sent the first control message, and forward the first response message to the cloud server through the transit roadside unit. The faulty roadside unit may directly send the first response message to the first transit roadside unit, or may send the first response message to the vehicle-mounted unit, and forward the first response message to the first transit roadside unit through the vehicle-mounted unit.

[0117] The method for obtaining information of a faulty roadside unit provided in an embodiment of the present disclosure is applied to a roadside unit, and the method includes: receiving a first control message, obtaining a control instruction carried therein; when determining that the first control message is valid and has not timed out, executing the control instruction to obtain a processing result, and sending a first response message carrying the processing result to a server. The embodiment of the present disclosure establishes a backup communication link between the server and the faulty roadside unit when the server controls the faulty roadside unit abnormally, so as to obtain relevant information of the faulty roadside unit, so as to perform repair and diagnosis operations on the faulty roadside unit, reduce the cost and time of manual on-site maintenance of equipment, and improve the stability of the entire system. Before maintenance personnel repair the faulty roadside unit, more equipment failure information can be obtained to provide support for on-site repairs.

[0118] In some embodiments, the sending of the first response message carrying the processing result to the server (i.e., step S43) includes the following steps: when the communication failure between the roadside unit and the server is restored, sending the first response message carrying the processing result to the server; when the communication failure between the roadside unit and the server is not restored, sending the first response message carrying the processing result to the transit roadside unit that sent the first control message, so that the transit roadside unit can send the first response message to the server.

[0119] After the faulty roadside unit executes the control instruction and obtains the processing result, it is possible that the communication with the cloud server is restored. For example, after the faulty roadside unit executes the control instruction to restart the equipment, the communication connection with the cloud server is restored, and the first response message can be directly sent to the cloud server; if the faulty roadside unit has not restored the communication with the cloud server after executing the control instruction, the first response message can be sent to the transit roadside unit that sent the first control message, and the transit roadside unit sends the first response message to the cloud server, or the first response message can be sent to the vehicle-mounted unit, and the vehicle-mounted unit sends it to the transit roadside unit that sent the first control message, and the transit roadside unit sends the first response message to the cloud server.

[0120] In some embodiments, the receiving of the first control message (i.e., step S41) includes the following steps: receiving a first control message sent by a transit roadside unit; or, receiving a first control message sent by a vehicle-mounted unit, wherein the first control message is sent by the transit roadside unit to the vehicle-mounted unit.

[0121] Correspondingly, the sending of the first response message carrying the processing result to the transit roadside unit that sends the first control message includes: directly sending the first response message carrying the processing result to the transit roadside unit that sends the first control message; or, sending the first response message carrying the processing result to the vehicle-mounted unit connected to the roadside unit and the transit roadside unit that sends the first control message, so that the vehicle-mounted unit sends the first response message to the transit roadside unit that sends the first control message.

[0122] The forwarding path for the transit roadside unit to send the first control message is different, and the path for the faulty roadside unit to receive the first control message is different. The faulty roadside unit can determine whether to send the first response message directly to the transit roadside unit or to send the first response message to the transit roadside unit through the vehicle-mounted unit based on the forwarding path of the first control message.

[0123] In some embodiments, Figure 3 As shown, the first control message also carries a session identifier (session id). After receiving the first control message (i.e., step S41), the method for obtaining information of the faulty roadside unit may further include the following steps: obtaining the session identifier carried in the first control message, and caching the session identifier. The determination that the first control message is valid includes: determining that the first control message is valid when the session identifier is not found in the cache. It should be noted that if the faulty unit finds the session identifier in the cache, the first control message is discarded.

[0124] In some embodiments, Figure 3 As shown, the first control message also carries a timestamp and a second expiration time. After receiving the first control message (i.e., step S41), the method for obtaining faulty roadside unit information may further include the following steps: obtaining the timestamp and the second expiration time carried in the first control message, and caching the timestamp and the second expiration time.

[0125] After caching the session identifier, timestamp and second expiration time, the method for obtaining faulty roadside unit information also includes the following steps: calculating the life cycle of the session identifier based on the timestamp, the second expiration time and a preset extension factor, and clearing the cached session identifier when the current time is greater than the life cycle of the session identifier.

[0126] After the faulty roadside unit decrypts the first control message, it executes the control instruction and caches the session id, timestamp, and expi re. The faulty roadside unit can calculate the life cycle of the current session identifier according to the following formula: timestamp+n*expi re, where n is the extension factor, n>=1. If the current time is greater than the life cycle of the session identifier, it means that the session identifier has expired, and the session identifier is cleared from the cache.

[0127] In some cases, such as when the network condition is bad, the faulty roadside unit executes the control instruction and returns the first response message to the cloud server, but the cloud server times out and retries before receiving the first response message, which increases the network overhead. In order to solve this problem, in the embodiment of the present disclosure, by setting the extension factor n, the expiration time can be appropriately extended, and the cache time of the session identifier can be correspondingly increased, thereby ensuring that in most cases the first control message will not be repeatedly sent due to timeout retries. It should be noted that even if the extension factor n is set, the cloud server cannot be prevented from repeatedly sending the first control message, the embodiment of the present disclosure also sets a session task termination mechanism, which terminates all session tasks corresponding to the corresponding session identifier after the cloud server receives the first response message, and can also promptly terminate the situation of repeatedly sending the first control message. It should be noted that the initial expiration time in the next first control message can be set with reference to the expiration time in the previous first control message.

[0128] In some embodiments, the determination that the first control message has not timed out (i.e., step S42) includes the following steps: calculating the sum of the timestamp and the expiration time, and determining that the first control message has not timed out when the current time is less than the sum of the timestamp and the expiration time. It should be noted that when the current time is greater than or equal to the sum of the timestamp and the expiration time, it is determined that the first control message has timed out, and the first control message is discarded.

[0129] The present disclosure also provides a method for obtaining information of a faulty roadside unit, which is applied to a vehicle-mounted unit, such as Figure 8 As shown, the method comprises the following steps:

[0130] Step S51: Receive a first control message, and obtain the location and second failure duration of the faulty roadside unit carried in the first control message.

[0131] The first control message may be sent by other vehicle-mounted units or by the first transit roadside unit.

[0132] Step S52, when it is determined that the on-board unit is connected to the faulty roadside unit corresponding to the position, and when it is determined that the first control message is valid and has not timed out, the first control message is sent to the faulty roadside unit, and the first control message is used to instruct the faulty roadside unit to execute the first control message.

[0133] The first control message carries the location of the faulty roadside unit. After receiving the first control message sent by the first transit roadside unit, if the on-board unit determines that the faulty roadside unit corresponding to the location of the faulty roadside unit carried therein is the roadside unit to which it is connected, it determines whether the first control message is valid and whether it has timed out. If the first control message is valid and has not timed out, the first control message is sent to the faulty roadside unit so that the faulty roadside unit executes the control instructions in the first control message.

[0134] It should be noted that if the first control message is invalid or exceeds the time limit, or the on-board unit is not connected to the faulty roadside unit, the first control message is discarded.

[0135] Step S53, when a first response message sent by the faulty roadside unit is received within the second failure time, the first response message is sent to the transit roadside unit that sent the first control message.

[0136] The method for obtaining information of a faulty roadside unit provided in the embodiment of the present disclosure is applied to a vehicle-mounted unit, and includes: receiving a first control message, obtaining the location of the faulty roadside unit and a second failure duration carried therein; when it is determined that the vehicle-mounted unit is connected to the faulty roadside unit corresponding to the location, and when it is determined that the first control message is valid and has not timed out, sending the first control message to the faulty roadside unit so that the faulty roadside unit executes the control instruction in the first control message; when a first response message sent by the faulty roadside unit is received within the second failure duration, sending the first response message to the transit roadside unit that sent the first control message. The embodiment of the present disclosure establishes a backup communication link between the server and the faulty roadside unit when the server controls the faulty roadside unit abnormally, so as to obtain relevant information of the faulty roadside unit, so as to perform repair and diagnosis operations on the faulty roadside unit, reduce the cost and time of manual on-site maintenance of equipment, and improve the stability of the entire system. Before the maintenance personnel repair the faulty roadside unit, more equipment failure information can be obtained to provide support for on-site repairs.

[0137] In some embodiments, Figure 3 As shown, the first control message also carries a transmission range. After receiving the first control message (ie step S51), the method for obtaining faulty roadside unit information further includes: obtaining the transmission range carried in the first control message.

[0138] The determination that the first control message is valid (i.e., step S52) includes the following steps: calculating the distance between the onboard unit and the faulty roadside unit according to the position of the onboard unit and the position of the faulty roadside unit; and determining that the first control message is valid when the distance is less than the transmission range. Exemplarily, the Euclidean distance between the onboard unit and the faulty roadside unit can be calculated, and if the Euclidean distance is less than the range, the first control message is considered valid.

[0139] It should be noted that if the first control message is invalid, the first control message is discarded. In this way, the forwarding range of the message can be controlled within a control range with the faulty roadside unit as the center and range as the radius.

[0140] In order to clearly illustrate the technical solution of the embodiment of the present disclosure, the following Fig. 9 , the process of obtaining faulty roadside unit information is described. Fig. 9 As shown, the process of obtaining the faulty roadside unit information includes the following steps:

[0141] Steps S1-S2: If the cloud server detects a communication anomaly with the RSU, it determines the intermediate RSU and forwarding strategy based on the network topology and sends a control message to the intermediate RSU.

[0142] The control message carries information such as session identifier, forwarding strategy, faulty RSU location, transmission range, timestamp, second failure duration, and control instructions.

[0143] Step S3, the relay RSU parses the control message.

[0144] Step S4: When the control message has not timed out, the transit RSU determines the forwarding path according to the forwarding strategy. If the forwarding path is RSU-OBU-RSU, step 5 is executed; if the forwarding path is RSU-RSU, step S8 is executed.

[0145] If the current time is less than the timestamp + the second invalidation time, the transit RSU determines that the control message has not timed out.

[0146] Step S5: The transit RSU sends a control message to the OBU, and the OBU parses the control message.

[0147] Step S6, the OBU determines whether the control message has timed out and is valid. If the control message has not timed out and is valid, step S7 is executed; if the control message has timed out or is invalid, the process ends.

[0148] Among them, if the current time < timestamp + second failure duration, the OBU determines that the control message has not timed out. The OBU calculates the distance D between the device and the faulty RSU based on the location of the device and the location of the faulty RSU. If D < transmission range, the OBU determines that the control message is valid.

[0149] Step S7: The OBU buffers the control message and sends the control message to the faulty RSU.

[0150] Step S8, the RSU that receives the control message determines whether the device is a faulty RSU, if so, executes step S9; otherwise, ends the process.

[0151] Step S9: The faulty RSU parses the control message, and if it is determined that the control message is valid, executes the control instruction in the control message to obtain a processing result.

[0152] The faulty RSU determines whether the session identifier in the control message hits the cache. If so, it determines that the control message is valid.

[0153] Step S10, the faulty RSU directly returns a response message carrying the processing result to the cloud server, or the faulty RSU returns a response message carrying the processing result to the cloud server through the OBU and the transit RSU.

[0154] Step S11: The cloud server receives a response message within the first failure duration and obtains the processing result carried therein.

[0155] Step S12: A communication link is established between the cloud server and the faulty RSU to start exchanging information.

[0156] The disclosed embodiment proposes a method for restoring the remote control capability of a cloud server over a faulty RSU by using an OBU and an RSU. After the cloud server's control over the RSU becomes abnormal, a backup communication link is established between the cloud server and the faulty RSU to restore the remote control capability of the cloud server over the faulty RSU.

[0157] The disclosed embodiment uses OBU and RSU to transmit information between the cloud server and the faulty RSU. This information can be a control message sent by the cloud server to the faulty RSU or fault information reported by the faulty RSU to the cloud server. A network topology for RSU distribution is constructed based on the networking information between RSUs and the road information between RSUs. According to the network topology and the set forwarding strategy, a normally operating RSU with the best distance from the faulty RSU can be selected to transmit the control information sent by the cloud server. The network topology can be adjusted dynamically. If an RSU service is abnormal or scrapped, or if the RSU service is restored or increased, the nodes in the network topology will be dynamically adjusted.

[0158] The embodiments of the present disclosure can achieve the following technical effects:

[0159] 1. Based on the network topology diagram of RSU distribution, the optimal transit RSU is selected. According to the location of the transit RSU, faulty RSU, OBU and the forwarding radius of RSU, the forwarding of the first control message can be controlled within a smaller range, thereby increasing the forwarding efficiency of the transit control message.

[0160] 2. When the communication link between the RSU and the cloud server is interrupted or the control is abnormal, a new control link can be established, and the faulty RSU can be repaired and diagnosed, reducing the cost and time of manual on-site maintenance of equipment and improving the stability of the entire system.

[0161] 3. Before repairing the RSU on-site manually, more equipment failure information can be provided as much as possible to provide support for on-site repairs.

[0162] like Fig.10 As shown, the embodiment of the present disclosure further provides a server, the server comprising:

[0163] at least one processor 101;

[0164] A memory 102 storing at least one program, when the at least one program is executed by the at least one processor, the at least one processor implements the method for obtaining faulty roadside unit information as described above;

[0165] At least one I / O interface 103 is connected between the processor and the memory and is configured to implement information exchange between the processor and the memory.

[0166] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU) and the like; the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus) and the like.

[0167] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other through a bus, and further connected to other components of the computing device.

[0168] like Fig.10 As shown, the embodiment of the present disclosure further provides a roadside unit, which includes:

[0169] at least one processor 101;

[0170] A memory 102 storing at least one program, when the at least one program is executed by the at least one processor, the at least one processor implements the method for obtaining faulty roadside unit information as described above;

[0171] At least one I / O interface 103 is connected between the processor and the memory and is configured to implement information exchange between the processor and the memory.

[0172] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU) and the like; the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus) and the like.

[0173] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other through a bus, and further connected to other components of the computing device.

[0174] like Fig.10 As shown, the embodiment of the present disclosure further provides a vehicle-mounted unit, which includes:

[0175] at least one processor 101;

[0176] A memory 102 storing at least one program, when the at least one program is executed by the at least one processor, the at least one processor implements the method for obtaining faulty roadside unit information as described above;

[0177] At least one I / O interface 103 is connected between the processor and the memory and is configured to implement information exchange between the processor and the memory.

[0178] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU) and the like; the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus) and the like.

[0179] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other through a bus, and further connected to other components of the computing device.

[0180] The disclosed embodiment also provides a vehicle networking system, which includes at least one of the following: the server as described above, the roadside unit as described above, and the vehicle-mounted unit as described above.

[0181] The embodiments of the present disclosure further provide a computer-readable medium on which a computer program is stored, wherein when the computer program is executed, the method for obtaining faulty roadside unit information provided in the aforementioned embodiments is implemented.

[0182] It will be appreciated by those skilled in the art that all or some of the steps in the method disclosed above, the functional modules / units in the device may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0183] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for limiting purposes. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly stated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method for obtaining faulty roadside unit information, characterized in that: Applied to a server, the method comprises: In the case where it is determined that there is a faulty roadside unit, determining a first transit roadside unit and a first forwarding strategy; Sending a first control message to the first transit roadside unit, where the first control message carries a control instruction and the first forwarding strategy, and is used to instruct the first transit roadside unit to send the first control message to the faulty roadside unit according to the first forwarding strategy; In the case where a first response message is received within the first failure duration, a processing result carried in the first response message is obtained, where the processing result is a processing result of the faulty roadside unit executing the control instruction in the first control message.

2. The method according to claim 1, characterized in that The determining of the first transit roadside unit and the first forwarding strategy includes: Determine the first transit roadside unit and the first forwarding strategy according to the network topology; The network topology includes a roadside unit and an onboard unit, and the connection type between two roadside units in the network topology includes one of the following: direct connection, connection through an onboard unit, or both direct connection and connection through an onboard unit; The first forwarding strategy includes one of the following: forwarding directly from one roadside unit to another, forwarding from one roadside unit to another via an onboard unit, and the coexistence of direct forwarding from one roadside unit to another and forwarding from one roadside unit to another via an onboard unit.

3. The method according to claim 2, characterized in that The determining of the first transit roadside unit according to the network topology includes: Calculate the reachable distances between the faulty roadside unit and other roadside units respectively according to the network topology; A first transit roadside unit is determined according to the reachable distance.

4. The method according to claim 1, characterized in that After determining the first transit roadside unit and the first forwarding strategy and before sending the first control message to the first transit roadside unit, the method further includes: Calculating the distance between the faulty roadside unit and the first transit roadside unit; Determining a message transmission range according to the distance and a forwarding radius of the roadside unit; The first control message also carries the message transmission range and the location of the faulty roadside unit.

5. The method according to claim 1, characterized in that The first control message also carries a second expiration time and a timestamp. After sending the first control message to the first transit roadside unit, the method further includes: If the first response message is not received within the first expiration time, the second expiration time is updated and the first control message is sent to the first transit road side unit again; wherein the updated second expiration time is greater than the second expiration time before the update.

6. The method according to claim 5, characterized in that After updating the second failure duration and sending the first control message to the first transit roadside unit again, the method further includes: When the first control message is sent a preset number of times and the first response message is not received within the first failure time, determining a second transit roadside unit and a second forwarding strategy, wherein the second transit roadside unit is different from the first transit roadside unit; Sending a second control message to the second transit roadside unit, where the second control message carries the control instruction and the second forwarding strategy, and is used to instruct the second transit roadside unit to send the second control message to the faulty roadside unit according to the second forwarding strategy; When the second response message is received within the third failure duration, obtaining a processing result carried in the second response message, where the processing result is a processing result obtained by the faulty roadside unit executing the control instruction in the second control message; If the second response message is not received within the third expiration time, the second expiration time is updated and the second control message is sent to the second transit road side unit again; wherein the updated second expiration time is greater than the second expiration time before the update.

7. The method according to claim 6, characterized in that The first control message and the first response message carry a session identifier. After sending the first control message to the first transit roadside unit, the method further includes: when the first response message is received within the first expiration time, terminating the session task corresponding to the session identifier; or The second control message and the second response message carry a session identifier. After sending the second control message to the second transit road side unit, the method further includes: when the second control message is sent a preset number of times and the second response message is not received within the third expiration time, terminating the session task corresponding to the session identifier, or when the second response message is received within the third expiration time, terminating the session task corresponding to the session identifier.

8. A method for obtaining faulty roadside unit information, characterized in that: Applied to a roadside unit, the method comprises: Receive a first control message sent by the server, and obtain a first forwarding strategy carried in the first control message; In the case where it is determined that the first control message has not timed out, determining a target device according to the first forwarding strategy, the target device being a faulty roadside unit or an on-board unit connected to the roadside unit and the faulty roadside unit; Sending the first control message to the target device so that the first control message is sent to the faulty roadside unit; A first response message sent by the target device is received, and the first response message is sent to the server.

9. The method according to claim 8, characterized in that The first control message also carries a timestamp and a second expiration time. After receiving the first control message sent by the server, the method further comprises: acquiring the timestamp and the second expiration time carried in the first control message; The determining that the first control message has not timed out includes: The sum of the timestamp and the second expiration time is calculated, and when the current time is less than the sum of the timestamp and the second expiration time, it is determined that the first control message has not timed out.

10. A method for obtaining faulty roadside unit information, characterized in that: Applied to a roadside unit, the method comprises: Receiving a first control message, and acquiring a control instruction carried in the first control message; If it is determined that the first control message is valid and has not timed out, executing the control instruction to obtain a processing result; A first response message carrying the processing result is sent to the server.

11. The method according to claim 10, characterized in that The sending a first response message carrying the processing result to the server includes: When the communication failure between the roadside unit and the server is restored, sending a first response message carrying the processing result to the server; When the communication failure between the roadside unit and the server has not been restored, the first response message carrying the processing result is sent to the transit roadside unit that sent the first control message, so that the transit roadside unit can send the first response message to the server.

12. The method according to claim 10, characterized in that The first control message also carries a session identifier. After receiving the first control message, the method further includes: acquiring the session identifier carried in the first control message, and caching the session identifier; The determining that the first control message is valid includes: determining that the first control message is valid when the session identifier is not found in a cache.

13. The method according to claim 12, characterized in that The first control message also carries a timestamp and a second expiration time. After receiving the first control message, the method further includes: obtaining the timestamp and the second expiration time carried in the first control message, and caching the timestamp and the second expiration time; After caching the session identifier, the timestamp and the second expiration time, the method further includes: calculating the life cycle of the session identifier based on the timestamp, the second expiration time and a preset extension factor, and clearing the cached session identifier when the current time is greater than the life cycle of the session identifier.

14. A method for obtaining faulty roadside unit information, characterized in that: Applied to a vehicle-mounted unit, the method comprises: Receive a first control message, and obtain a location of a faulty roadside unit and a second failure duration carried in the first control message; When it is determined that the on-board unit is connected to the faulty roadside unit corresponding to the position, and when it is determined that the first control message is valid and has not timed out, the first control message is sent to the faulty roadside unit, where the first control message is used to instruct the faulty roadside unit to execute the first control message; In case that a first response message sent by the faulty roadside unit is received within the second failure time, the first response message is sent to the transit roadside unit that sent the first control message.

15. The method according to claim 14, characterized in that The first control message also carries a transmission range. After receiving the first control message, the method further comprises: acquiring the transmission range carried in the first control message; The determining that the first control message is valid includes: Calculating the distance between the onboard unit and the faulty roadside unit according to the position of the onboard unit and the position of the faulty roadside unit; When the distance is smaller than the transmission range, it is determined that the first control message is valid.

16. A server, wherein: include: one or more processors; a memory having one or more programs stored therein; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining faulty roadside unit information according to any one of claims 1 to 7; At least one I / O interface is connected between the processor and the memory and is configured to implement information interaction between the processor and the memory.

17. A roadside unit, wherein: include: one or more processors; a memory having one or more programs stored therein; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining faulty roadside unit information according to any one of claims 8 or 9, or the method for obtaining faulty roadside unit information according to any one of claims 10-13; At least one I / O interface is connected between the processor and the memory and is configured to implement information interaction between the processor and the memory.

18. A vehicle-mounted unit, wherein: include: one or more processors; a memory having one or more programs stored therein; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining faulty roadside unit information according to claim 14 or 15; At least one I / O interface is connected between the processor and the memory and is configured to implement information interaction between the processor and the memory.

19. A vehicle networking system, characterized in that: It includes at least one of the following: the server as claimed in claim 16, the roadside unit as claimed in claim 17, and the vehicle-mounted unit as claimed in claim 18.

20. A computer readable medium having a computer program stored thereon, wherein: When the program is executed, it implements the method for obtaining the faulty roadside unit information as described in any one of claims 1 to 7, or the method for obtaining the faulty roadside unit information as described in claim 8 or 9, or the method for obtaining the faulty roadside unit information as described in any one of claims 10 to 13, or the method for obtaining the faulty roadside unit information as described in claim 14 or 15.

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