Response method and device of vehicle infrastructure cooperation service, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle-road cooperation service response method and device, electronic equipment and a storage medium, and relates to the field of traffic, the field of automatic driving, the field of cloud technology and the like. The method comprises the following steps: a roadside coordination unit receives a service request message from a vehicle-mounted unit, the service request message carries a vehicle-mounted unit identifier, a target service identifier, a driving intention and service demand information, and the target service identifier indicates a requested target vehicle-road coordination service; if the request response circulation condition is met, the roadside coordination unit determines a target roadside unit responding to the service request message from the first roadside units based on the service demand information, and if the target roadside unit is successfully determined, the target roadside unit is returned to the first roadside unit; and if yes, sending a first response message carrying the first indication information and the identifier of the target road side unit to the vehicle-mounted unit or the second road side unit, and forwarding the service request message to the target road side unit. According to the embodiment of the invention, the response success rate of the vehicle-road cooperation service can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle-road cooperative technology, and may involve the fields of transportation, autonomous driving, cloud technology, etc. Specifically, the present application relates to a response method, device, electronic device, and storage medium for a vehicle-road cooperative service. Background Art

[0002] With the rapid development of vehicle-road cooperative technology, how to improve the response success rate of vehicle-road cooperative services is becoming increasingly important.

[0003] In vehicle-road collaboration technology, the on-board unit (OBU) installed in the vehicle can send a service request message (such as a lane change service request message, a vehicle merging service request message, etc.) to the road side unit (RSU). After the road side unit receives the service request message from the on-board unit requesting the target vehicle-road collaboration service, it can determine whether to respond to the service request message based on the surrounding vehicle information and surrounding traffic environment information perceived by the road side. If it is determined that a response to the service request message is required, a driving guidance message can be fed back to guide the vehicle where the on-board unit that initiated the service request message is located to adjust the driving behavior, or guide the vehicles where other on-board units are located to adjust the driving behavior, so as to achieve safe passage. For example: assisting vehicles to change lanes safely, merge safely, etc.

[0004] However, it has been found in practice that there may be situations where the roadside unit refuses to respond to the service request message. In this case, the service request message will fail to respond, which will lead to the failure of the vehicle-road cooperative service response. Summary of the invention

[0005] The embodiments of the present application provide a method, device, electronic device and storage medium for responding to a vehicle-road cooperative service, which are used to improve the success rate of responding to the vehicle-road cooperative service.

[0006] On the one hand, an embodiment of the present application provides a response method for a vehicle-road cooperative service, which is applied to a roadside coordination unit, and the method includes:

[0007] Receiving a service request message from the vehicle-mounted unit, the service request message carries the vehicle-mounted unit identifier, the target service identifier, the driving intention and the service requirement information, and the target service identifier indicates the requested target vehicle-road cooperative service;

[0008] If the request response flow condition is met, a target road side unit that responds to the service request message is determined from the first road side unit based on the service demand information, wherein the request response flow condition includes that the service request message is forwarded by the second road side unit that meets the service coordination condition or that the road side coordination unit is determined to meet at least one of the service coordination conditions based on the service demand information, and the service coordination condition includes at least one of the conditions that the service request message cannot be continued to be responded to or the conditions that the service request message cannot be independently responded to;

[0009] If the target roadside unit is determined successfully, a first response message carrying the first indication information and the target roadside unit identifier is sent to the vehicle-mounted unit or the second roadside unit, and a service request message is forwarded to the target roadside unit, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message.

[0010] In a possible implementation, the method further includes:

[0011] If the target roadside unit fails to determine, sending a first response message carrying the second indication information and the first roadside unit identifier to the onboard unit or the second roadside unit;

[0012] The second indication information indicates that the roadside unit corresponding to the first roadside unit identifier cannot respond to the service request message.

[0013] In a possible implementation manner, sending a first response message carrying first indication information and a target roadside unit identifier to the onboard unit or the second roadside unit includes:

[0014] In response to the confirmation message fed back by the target roadside unit, a first response message carrying the first indication information and the target roadside unit identifier is sent to the vehicle-mounted unit or the second roadside unit, and the confirmation message indicates that the target roadside unit confirms the response to the service request message.

[0015] In a possible implementation, determining a target roadside unit that responds to the service request message from the first roadside unit based on the service demand information includes:

[0016] In response to the service request message carrying a roadside coordination unit identifier, based on the service demand information, a target roadside unit that responds to the service request message is determined from the first roadside unit, and the roadside coordination unit identifier indicates to the on-board unit that the roadside unit that allows the requested response is different from the roadside unit that actually responds.

[0017] In a possible implementation, the service demand information includes the request time, request location, request life cycle and driving path planning information of the target vehicle-road cooperative service;

[0018] Determining a target roadside unit that responds to the service request message from the first roadside unit based on the service demand information includes:

[0019] If the time difference between the current time and the request time is less than the request life cycle, determining a target roadside unit that meets the response condition of the target vehicle-road cooperative service from the first roadside unit;

[0020] The response condition of the target vehicle-road cooperative service includes at least one of the following:

[0021] The communication range of the first roadside unit covers the area that the vehicle-mounted unit is about to enter;

[0022] The sensing range corresponding to the first roadside unit covers the area to be entered;

[0023] The area to be entered is determined by the current time, request time, request location and driving path planning information.

[0024] On the other hand, an embodiment of the present application further provides a method for responding to a vehicle-road cooperative service, which is applied to a second roadside unit, and the method includes:

[0025] Receiving a service request message from the vehicle-mounted unit, the service request message carries the vehicle-mounted unit identifier, the target service identifier, the driving intention and the service requirement information, and the target service identifier indicates the requested target vehicle-road cooperative service;

[0026] If it is determined based on the service demand information that the second roadside unit meets the condition of independently responding to the service request message, then responding to the service request message and feeding back a first driving guidance message corresponding to the driving intention, where the first driving guidance message is used to guide the driving of the vehicle;

[0027] If it is determined based on the service demand information that the second roadside unit meets the service coordination conditions, the service request message is forwarded to the roadside coordination unit. The service coordination conditions include at least one of the conditions of being unable to continue to respond to the service request message or being unable to independently respond to the service request message.

[0028] In a possible implementation, the method further includes:

[0029] Receive a first response message sent by the roadside coordination unit, the first response message carrying first indication information and a target roadside unit identifier, or carrying second indication information and a first roadside unit identifier, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message, and the second indication information indicates that the roadside unit corresponding to the first roadside unit identifier cannot respond to the service request message;

[0030] Based on the first response message, a second response message is sent to the on-board unit, the second response message carrying the second roadside unit identifier, the indication information in the first response message, and the roadside unit identifier in the first response message.

[0031] In a possible implementation, the method further includes:

[0032] If the second roadside unit meets the condition that it cannot independently respond to the service request message and the indication information in the first response message is the first indication information, it responds to the service request message and feeds back the first driving guidance message.

[0033] In a possible implementation manner, forwarding the service request message to the roadside coordination unit includes:

[0034] In response to the service request message carrying the roadside coordination unit identifier, the service request message is forwarded to the roadside coordination unit, and the roadside coordination unit identifier indicates that the on-board unit allows the roadside unit requesting a response to be different from the roadside unit that actually responds.

[0035] In a possible implementation, the service demand information includes the request time, request location, request life cycle and driving path planning information of the target vehicle-road cooperative service;

[0036] The conditions for independently responding to the service request message include that the communication range of the second roadside unit covers the complete communication range and the perception range corresponding to the second roadside unit covers the complete perception range; wherein the complete communication range includes the communication range required for continuously responding to the service request message within the request life cycle; the complete perception range includes the perception range required for continuously responding to the service request message within the request life cycle;

[0037] The condition for being unable to continue to respond to the service request message includes that at least one of the communication range of the second roadside unit or the perception range corresponding to the second roadside unit does not cover the area that the vehicle-mounted unit is about to enter, wherein the area that is about to enter is determined by the current time, the request time, the request location, and the driving path planning information;

[0038] The conditions for being unable to independently respond to a service request message include at least one of the following:

[0039] The communication range of the second roadside unit covers a partial range of the complete communication range;

[0040] The sensing range of the second roadside unit covers a partial range of the complete sensing range.

[0041] On the other hand, an embodiment of the present application further provides a method for responding to a vehicle-road cooperative service, which is applied to a target roadside unit, and the method includes:

[0042] Receive a service request message forwarded by a roadside coordination unit, the service request message carrying an on-board unit identifier, a target service identifier, driving intention, and service requirement information, the target service identifier indicating the requested target vehicle-road cooperative service;

[0043] The service request message is responded to, and a second driving guidance message corresponding to the driving intention is fed back, where the second driving guidance message is used to guide the driving of the vehicle.

[0044] In a possible implementation, responding to the service request message includes:

[0045] Confirm whether to respond to the service request message;

[0046] If the service request message is confirmed, a confirmation message is sent to the roadside coordination unit.

[0047] In a possible implementation, confirming whether to respond to the service request message includes:

[0048] Detecting the position of the on-board unit corresponding to the on-board unit identifier;

[0049] If it is detected that the position of the vehicle-mounted unit enters the communication range of the target roadside unit and the corresponding perception range, the service request message is confirmed and responded to.

[0050] On the other hand, the embodiment of the present application further provides a method for responding to a vehicle-road cooperative service, including:

[0051] Send a service request message, which carries the vehicle unit identifier, target service identifier, driving intention and service requirement information. The target service identifier indicates the requested target vehicle-road cooperative service;

[0052] receiving a third response message;

[0053] If the third response message carries the second indication information, the service request message is not initiated within the coverage range of the roadside unit corresponding to the roadside unit identifier in the third response message, the second indication information in the third response message indicates that the roadside unit corresponding to the roadside unit identifier in the third response message cannot respond to the service request message, and the coverage range includes at least one of the communication range or the corresponding perception range.

[0054] On the other hand, the embodiment of the present application further provides a response device for a vehicle-road cooperative service, which is applied to a roadside coordination unit, and the device includes:

[0055] A first receiving module is used to receive a service request message from a vehicle-mounted unit, where the service request message carries a vehicle-mounted unit identifier, a target service identifier, a driving intention, and service requirement information, where the target service identifier indicates the requested target vehicle-road cooperative service;

[0056] A roadside unit determination module, configured to determine a target roadside unit that responds to a service request message from a first roadside unit based on service demand information if a request response flow condition is met, wherein the request response flow condition includes that the service request message is forwarded by a second roadside unit that meets a service coordination condition or that a roadside coordination unit meets at least one of service coordination conditions based on the service demand information, and the service coordination condition includes at least one of a condition that a service request message cannot be continued to be responded to or a condition that a service request message cannot be independently responded to;

[0057] The first sending module is used to send a first response message carrying first indication information and a target roadside unit identifier to the vehicle-mounted unit or the second roadside unit if the target roadside unit is successfully determined, and to forward a service request message to the target roadside unit, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message.

[0058] On the other hand, the embodiment of the present application further provides a response device for a vehicle-road cooperative service, which is applied to a second roadside unit, and the device includes:

[0059] A second receiving module is used to receive a service request message from the vehicle-mounted unit, where the service request message carries the vehicle-mounted unit identifier, the target service identifier, the driving intention and the service requirement information, and the target service identifier indicates the requested target vehicle-road cooperative service;

[0060] A first response module, configured to respond to the service request message and feed back a first driving guidance message corresponding to the driving intention if it is determined based on the service demand information that the second roadside unit meets the condition of independently responding to the service request message, where the first driving guidance message is used to guide the driving of the vehicle;

[0061] The second sending module is used to forward the service request message to the roadside coordination unit if it is determined based on the service demand information that the second roadside unit meets the service coordination conditions. The service coordination conditions include at least one of the conditions of being unable to continue to respond to the service request message or being unable to independently respond to the service request message.

[0062] On the other hand, the embodiment of the present application further provides a response device for a vehicle-road cooperative service, which is applied to a target roadside unit, and the device includes:

[0063] The third receiving module is used to receive a service request message forwarded by the roadside coordination unit, where the service request message carries a vehicle-mounted unit identifier, a target service identifier, driving intention and service demand information, and the target service identifier indicates the requested target vehicle-road cooperative service;

[0064] The second response module is used to respond to the service request message and feed back a second driving guidance message corresponding to the driving intention, where the second driving guidance message is used to guide the driving of the vehicle.

[0065] On the other hand, the embodiment of the present application further provides a response device for a vehicle-road cooperative service, including:

[0066] A fourth sending module is used to send a service request message, where the service request message carries a vehicle unit identifier, a target service identifier, a driving intention, and service requirement information, where the target service identifier indicates the requested target vehicle-road cooperative service;

[0067] A fourth receiving module, configured to receive a third response message;

[0068] The fourth sending module is also used to not initiate a service request message within the coverage range of the roadside unit corresponding to the roadside unit identifier in the third response message if the third response message carries second indication information, and the second indication information in the third response message indicates that the roadside unit corresponding to the roadside unit identifier in the third response message cannot respond to the service request message, and the coverage range includes at least one of the communication range or the corresponding perception range.

[0069] On the other hand, an embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method of any embodiment of the present application.

[0070] On the other hand, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of any embodiment of the present application are implemented.

[0071] On the other hand, an embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of the method of any embodiment of the present application when the computer program is executed by a processor.

[0072] The technical solution of this embodiment receives a service request message from the vehicle-mounted unit, the service request message carries the vehicle-mounted unit identifier, the target service identifier, the driving intention and the service requirement information, the target service identifier indicates the requested target vehicle-road cooperative service; if the request-response flow condition is met, then based on the service requirement information, the target roadside unit that responds to the service request message is determined from the first roadside unit, wherein the request-response flow condition includes that the service request message is forwarded by the second roadside unit that meets the service coordination condition or that the roadside coordination unit meets at least one of the service coordination conditions based on the service requirement information; if the target roadside unit is successfully determined, then a first response message carrying the first indication information and the target roadside unit identifier is sent to the vehicle-mounted unit or the second roadside unit, and the service request message is forwarded to the target roadside unit; that is, when one of the roadside units cannot respond to the service request message, the target roadside unit that responds to the service request message can continue to be determined from other roadside units, thereby improving the response success rate of the service request message, and further improving the response success rate of the vehicle-road cooperative service. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 A schematic diagram of the structure of a vehicle-road cooperative system provided in an embodiment of the present application. ;

[0074] Figure 2 A schematic diagram of the structure of another vehicle-road cooperative system provided in an embodiment of the present application;

[0075] Figure 3 A schematic diagram of the structure of another vehicle-road cooperative system provided in an embodiment of the present application;

[0076] Figure 4 A schematic diagram of the structure of another vehicle-road cooperative system provided in an embodiment of the present application;

[0077] Figure 5 A schematic diagram of the structure of another vehicle-road cooperative system provided in an embodiment of the present application;

[0078] Figure 6 A schematic diagram of an application scenario of a response method for a vehicle-road cooperative service provided in an embodiment of the present application;

[0079] Figure 7 A flowchart of a response method for a vehicle-road cooperative service provided in an embodiment of the present application;

[0080] Figure 8 A schematic diagram of partial overlap of coverage areas between different roadside units provided in an embodiment of the present application;

[0081] Fig. 9 A schematic diagram of non-overlapping coverage areas between different roadside units provided in an embodiment of the present application;

[0082] Fig.10 A flowchart of another method for responding to a vehicle-road cooperative service provided in an embodiment of the present application;

[0083] Fig.11 A schematic diagram of the structure of a response device for a vehicle-road cooperative service provided in an embodiment of the present application;

[0084] Fig.12 A schematic diagram of the structure of another response device for a vehicle-road cooperative service provided in an embodiment of the present application;

[0085] Fig.13 A schematic diagram of the structure of another response device for a vehicle-road cooperative service provided in an embodiment of the present application;

[0086] Fig.14 A schematic diagram of the structure of another response device for a vehicle-road cooperative service provided in an embodiment of the present application;

[0087] Fig.15 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0089] It will be understood by those skilled in the art that, unless otherwise stated, the singular forms "a", "an", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application mean that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation as other features, information, data, steps, operations, elements, components and / or their combinations supported by the technical field. It should be understood that when an element is said to be "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may mean that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates that it is implemented as "A", or is implemented as "A", or is implemented as "A and B".

[0090] See also Figure 1 , Figure 1A schematic diagram of the structure of a vehicle-road cooperative system provided for an embodiment of the present application. Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) are a development direction of Intelligent Traffic Systems (ITS). The vehicle-road cooperative system adopts advanced wireless communications and new generation Internet technologies to implement all-round dynamic real-time information interaction between vehicles and roads, and carries out active vehicle safety control and road cooperative management based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective coordination of people, vehicles and roads, ensuring traffic safety, and improving traffic efficiency, thereby forming a safe, efficient and environmentally friendly road traffic system.

[0091] like Figure 1 The vehicle-road cooperative system shown may include a roadside coordination unit (RUS coordinate), a roadside unit, a roadside multi-access edge unit (Multi-access Edge Computing, MEC), a roadside perception unit and a cloud control platform. Among them, the roadside unit, the roadside multi-access edge unit and the roadside perception unit are connected one by one. The cloud control platform is connected to each roadside multi-access edge unit. Among them, the roadside coordination unit can be communicated with the roadside unit, so that the roadside coordination unit can forward service request messages between roadside units. The roadside unit can be used to send and receive messages and respond to service request messages, such as receiving target vehicle-road cooperative service messages, and sending driving guidance messages. Optionally, the roadside unit can send and receive messages through communication networks such as Cellular-Vehicle to Everything (C-V2X) networks. The perception unit can be used to sense the positions of pedestrians and vehicles on the road. The roadside multi-access edge unit and the cloud control platform can perform various data processing, such as calculating whether the vehicle-mounted unit enters or leaves the range of the roadside unit based on the vehicle position (also called the request position) when the vehicle-mounted unit sends the service request message, the request time, the elapsed time, the vehicle's path planning information, etc. The range of the roadside unit may include the communication range of the roadside unit or the perception range of the roadside perception unit connected to the roadside unit.

[0092] It should be noted that the roadside coordination unit can be an independent device. In addition, the roadside coordination unit can also be deployed as a logical unit in the edge cloud, roadside MEC hardware or RSU hardware, and multiple roadside coordination units can also be connected to each other.

[0093] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of another vehicle-road cooperative system provided in an embodiment of the present application. Figure 2The vehicle-road cooperative system shown includes an edge cloud and a roadside unit. In this embodiment, the roadside unit may have perception capabilities and communication capabilities. The edge cloud is used to process data. In this embodiment, the edge cloud includes a roadside coordination unit, and the edge cloud has the ability of roadside coordination, that is, the ability to forward service request messages. A roadside coordination unit can be connected to one or more roadside units.

[0094] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of another vehicle-road cooperative system provided in an embodiment of the present application. Figure 3 The vehicle-road cooperative system shown includes a roadside unit and a roadside multi-access edge unit. Among them, the roadside multi-access edge unit is deployed with a roadside coordination unit. One roadside coordination unit can be connected to one or more roadside units. In addition, the roadside multi-access edge units deployed with the roadside coordination unit can also be connected to each other.

[0095] In this embodiment, some of the roadside multi-access edge units may be deployed with the roadside coordination unit, or all of the roadside multi-access edge units may be deployed with the roadside coordination unit, which is not limited here.

[0096] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of another vehicle-road cooperative system provided in an embodiment of the present application. Figure 4 The vehicle-road cooperative system shown includes a roadside unit and a roadside multi-access edge unit. Part or all of the roadside multi-access edge units are deployed with a roadside coordination unit. Optionally, a roadside multi-access edge unit deployed with a roadside coordination unit and a roadside multi-access edge unit not deployed with a roadside coordination unit can also be connected.

[0097] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of another vehicle-road cooperative system provided in an embodiment of the present application. Figure 5 The vehicle-road cooperative system shown includes a roadside unit and a roadside multi-access edge unit. In this embodiment, the roadside unit is deployed with a roadside coordination unit. Specifically, it can be connected between roadside units deployed with roadside coordination units, or it can be connected between a roadside unit deployed with a roadside coordination unit and a roadside unit not deployed with a roadside coordination unit.

[0098] In the system architecture of the above example, specifically, during the driving process of the vehicle, if a certain purpose needs to be achieved, such as changing lanes, a service request message can be sent. At this time, a roadside unit equipped with a roadside coordination unit may receive the service request message and determine the target roadside unit that responds to the service request message based on the service request message, so that the determined target roadside unit can respond to the service request message.

[0099] In addition, a roadside unit that is not equipped with a roadside coordination unit may receive a service request message and then directly forward the service request message to the roadside coordination unit; or after receiving the service request message, the roadside unit may determine whether it can respond to the service request message. If not, the service request message is forwarded to the roadside coordination unit, so that the roadside coordination unit determines the target roadside unit that responds to the service request message.

[0100] It is understandable that the vehicle-mounted unit on the vehicle can be a device fixedly installed on the vehicle, or some mobile terminals on the vehicle can act as the vehicle-mounted unit. The mobile terminal includes but is not limited to one or more of a laptop computer, a smart phone, a tablet computer, an IoT device, or a portable wearable device. The IoT device can be one or more of a smart speaker or a smart vehicle-mounted unit. The portable wearable device can be one or more of a smart watch, a smart bracelet, or a head-mounted device.

[0101] Optionally, the embodiments of the present application may relate to the field of autonomous driving. For example, in the process of autonomous driving, the solution of the embodiments of the present application is used to respond to vehicle-road cooperative services, such as automatic lane change, automatic merging, and other target vehicle-road cooperative services.

[0102] Optionally, the embodiments of the present application may involve the field of transportation. For example, by responding to the vehicle-road collaborative service through the solution of the embodiments of the present application, some traffic functions can be optimized to solve road congestion. The intelligent transportation system, also known as the intelligent transportation system (Intelligent Transportation System), effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) in transportation, service control and vehicle manufacturing, strengthens the connection between vehicles, roads and users, and thus forms a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy.

[0103] Optionally, the embodiments of the present application may also involve cloud technology. For example, the solutions of the embodiments of the present application may be executed by a server or a user terminal, wherein the server may be a cloud server. The data processing involved in the implementation of the solution may be implemented based on cloud technology. For example, cloud computing may be used to determine whether a vehicle-mounted unit enters or moves away from the coverage area of ​​a roadside unit.

[0104] Among them, cloud technology is a general term for network technology, information technology, integration technology, management platform technology, application technology, etc. based on the cloud computing business model. It can form a resource pool, which is used on demand and is flexible and convenient. Cloud computing technology will become an important support. Cloud storage is a new concept extended and developed from the concept of cloud computing. Distributed cloud storage system (hereinafter referred to as storage system) refers to a storage system that uses cluster applications, grid technology, and distributed storage file systems to bring together a large number of different types of storage devices (storage devices are also called storage nodes) in the network through application software or application interfaces to work together and provide data storage and target business access functions to the outside world.

[0105] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0106] See also Figure 6 , Figure 6 A schematic diagram of an application scenario of a response method for a vehicle-road cooperative service provided in an embodiment of the present application. Figure 6 As shown, the roadside unit is set up beside the road. When a vehicle equipped with the vehicle-mounted unit drives on the road where the roadside unit is set up, the vehicle will pass through the coverage of the roadside unit during driving. During the driving process of the vehicle, if a certain vehicle-road collaborative task needs to be achieved, a service request message can be initiated. After receiving the service request message, if the roadside unit determines to respond to the service request message, it can feedback a driving guidance message to the vehicle-mounted unit.

[0107] In an example scenario, for a large overpass, due to the presence of multiple layers of roads, it is possible to use multiple RSUs to cover different layers of roads, and the overlapping area may be larger than Figure 6 More serious.

[0108] In the relevant technology, each RSU in the C-V2X system works independently (and has its own supporting MEC and roadside sensing facilities), and lacks the necessary coordination mechanism, making it impossible for OBU to initiate a request to RSU1 and obtain a response from RSU2.

[0109] Therefore, when the roadside unit requesting a response request message finds that the onboard unit is about to leave its coverage area, it will refuse to respond to the service request message. At this time, the service request message will fail to respond, which will lead to the failure of the vehicle-road cooperative service response.

[0110] In addition, in the related art, the maximum value of the request lifecycle (lifeTime) in the request message is fixed to 655.35 seconds. The coverage radius of an RSU is generally about 400 meters. In urban scenarios, under the condition of a vehicle speed of 60km / s (16.7m / s), the lifeTime setting value should generally not exceed 24 seconds; in high-speed scenarios, under the condition of a vehicle speed of 120km / s (33.3m / s), the lifeTime setting value should generally not exceed 12 seconds. Therefore, medium- and long-term request-response (theoretical lifeTime of 655.35 seconds) is difficult to implement in actual systems. If the application has a demand, it can only re-initiate another short-term request-response.

[0111] Therefore, in response to at least one of the above-mentioned technical problems or areas that need improvement in the relevant technology, the present application proposes a response method, device, electronic device and storage medium for a vehicle-road cooperative service. The scheme receives a service request message from a vehicle-mounted unit, and the service request message carries a vehicle-mounted unit identifier, a target service identifier, a driving intention and service requirement information. The target service identifier indicates the requested target vehicle-road cooperative service; if the request-response flow condition is met, the target roadside unit that responds to the service request message is determined from the first roadside unit based on the service requirement information, wherein the request-response flow condition includes whether the service request message is forwarded by a second roadside unit that meets the service coordination condition or based on the service requirement information Determine whether the roadside coordination unit satisfies at least one of the service coordination conditions, wherein the service coordination conditions include at least one of the conditions of being unable to continue to respond to the service request message or being unable to independently respond to the service request message; if the target roadside unit is successfully determined, then send a first response message carrying first indication information and a target roadside unit identifier to the vehicle-mounted unit or the second roadside unit, and forward the service request message to the target roadside unit, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message, thereby improving the success rate of the response of the vehicle-road cooperative service and realizing medium and long-term request-response in high-speed scenarios. In addition, it can also reduce the number of times the vehicle-mounted unit re-initiates the service request message.

[0112] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0113] The following embodiments first take the case where the roadside coordination unit is not deployed on the roadside unit as an example to illustrate the technical solution of the example of the present application.

[0114] like Figure 7 As shown, Figure 7A flowchart of a response method for a vehicle-road cooperative service provided in an embodiment of the present application. Figure 7 The methods shown include:

[0115] S710. The onboard unit sends a service request message to the second roadside unit. The service request message carries the onboard unit identifier and service requirement information. The service requirement information includes a target service identifier and a driving intention.

[0116] Among them, the on-board unit identifier refers to the identifier of the on-board unit, which is used to indicate the identity of the on-board unit. Optionally, the vehicle ID (vehicle ID) of the vehicle on which the on-board unit is installed can be used as the on-board unit identifier. The service demand information is used to indicate the demand of the on-board unit to implement the vehicle-road collaborative service. The target service identifier indicates the requested target vehicle-road collaborative service. The target vehicle-road collaborative service refers to the target service related to vehicle-road collaboration. Optionally, the target vehicle-road collaborative service can be a lane change service, a merging service, a traffic service at an intersection without signal lights, a signal priority service, a perception information sharing service, and a station entry service, etc., which are not limited here. The driving intention information indicates the driving intention corresponding to the target vehicle-road collaborative service. Optionally, the driving intention can be driving left, driving right, or going straight, and can also be accelerating, decelerating, or stopping, etc., which are not limited here.

[0117] It should be noted that, in this embodiment, the on-board unit can broadcast a service request message, and the road test device that receives the service request message can respond to the service request message. Specifically, the on-board unit can broadcast a service request message, and any roadside unit that receives the service request message can respond to the service request message. In addition, each roadside unit can broadcast its own roadside unit identifier. After receiving the roadside unit identifier, the on-board unit selects one of the roadside units as the second roadside unit that responds to the service request message, and broadcasts the service request message. At this time, the service request message also carries the second roadside unit identifier of the second roadside unit. After receiving the service request message, the second roadside unit can know that the on-board unit requests it to respond to the service request message. At this time, the second roadside unit can determine whether to respond to the service request message.

[0118] Specifically, the service request message may be a V2X service request message (VIR). Optionally, the service request message also carries a message identifier (reqID).

[0119] It should be noted that, in this embodiment, the coverage areas of different roadside units may partially overlap, or the coverage areas of different roadside units may not overlap, which is determined based on actual conditions and is not limited here.

[0120] See also Figure 8 and Fig. 9 . Figure 8 A schematic diagram of partial overlap of coverage areas between different roadside units provided in an embodiment of the present application. Fig. 9 A schematic diagram of non-overlapping coverage areas between different roadside units provided in an embodiment of the present application.

[0121] like Figure 8 In the schematic diagram shown, each roadside unit broadcasts its own roadside unit identifier. After receiving the roadside unit identifier, the onboard unit selects one of the roadside units as the second roadside unit that responds to the service request message and broadcasts the service request message.

[0122] like Figure 8 In the schematic diagram shown, when the OBU initiates a request near the overlapping coverage area, since it can receive signals from multiple RSUs, the OBU may select an RSU that is about to leave, resulting in a failure to receive a response. For example: in the figure below, if the vehicle is traveling in the direction of RSU2, then it initiates a request to RSU1 or RSU3, and it may have left the coverage area of ​​the RSU without receiving a response from the target RSU (i.e., RSU1 or RSU3) (even if the lifeTime is set to be relatively short), resulting in a request-response failure at the application layer, and the request-response needs to be re-initiated.

[0123] like Fig. 9 In the schematic diagram shown, the on-board unit may broadcast a service request message, and any roadside unit that receives the service request message may respond to the service request message.

[0124] It is understandable that the vehicle-mounted unit may also send the service request message in a directed manner.

[0125] S720: If it is determined based on the service demand information that the second roadside unit meets the condition of independently responding to the service request message, the second roadside unit responds to the service request message and feeds back a first driving guidance message corresponding to the driving intention.

[0126] Among them, the first driving guidance message is used to guide the driving of the vehicle. Optionally, the first driving guidance message includes driving guidance suggestions. The first driving guidance message can be an RSC message. Specifically, the first driving guidance message is one or more, which can be to guide the movement of the target vehicle installed by the on-board unit, or to guide the movement of other vehicles installed by other on-board units. This is related to the specific target driving service and the actual road conditions and is not limited here. Optionally, the first driving guidance message can carry a second roadside unit identifier. When the on-board unit receives the first driving guidance message, it can be known that the first driving guidance message is from the second roadside unit requesting a response service request message from the on-board unit, so that driving can be performed based on the driving guidance suggestions in the first driving guidance message. Optionally, the driving guidance message can be an RSC message.

[0127] For example, taking the target vehicle-road cooperative service as a lane change service, the first driving guidance message may be to guide other vehicles to avoid the target vehicle equipped with the on-board unit, and to guide the target vehicle to change lanes, etc.

[0128] S730: If it is determined based on the service demand information that the second roadside unit meets the service coordination condition, the second roadside unit forwards the service request message to the roadside coordination unit.

[0129] The service coordination condition refers to the condition for determining whether it is necessary to coordinate other roadside units to respond to the service request message. Optionally, the service coordination condition may include at least one of the condition of being unable to continue to respond to the service request message or the condition of being unable to independently respond to the service request message.

[0130] In this embodiment, the second roadside unit may forward the service request message to the roadside coordination unit connected thereto.

[0131] In a possible implementation manner, forwarding the service request message to the roadside coordination unit includes:

[0132] In response to the service request message carrying the roadside coordination unit identifier, the service request message is forwarded to the roadside coordination unit, and the roadside coordination unit identifier indicates that the on-board unit allows the roadside unit requesting a response to be different from the roadside unit that actually responds.

[0133] Among them, the roadside coordination unit identifier indicates that the on-board unit allows the on-board unit to request that the roadside unit that responds to the service request message is different from the roadside unit that actually responds to the service request message, thereby realizing the request-response flow. In this embodiment, it can be understood that the on-board unit allows the target roadside unit that actually responds to the service request message to be different from the second roadside unit that the on-board unit requests to respond to the service request message.

[0134] In this embodiment, the roadside coordination unit identifier can be used as a unique RSU identifier, which is not used by other actual RSUs, but identifies a universal roadside coordination unit. When the V2X service request message sent by the OBU carries this identifier, it indicates that the V2X service request of the OBU can accept the response given by other RSUs.

[0135] It can be understood that by forwarding the service request message only when the service request message carries the roadside coordination unit identifier, the on-board unit can determine whether it is necessary to coordinate the request-response flow between roadside units based on actual conditions, thereby improving the response flexibility of the vehicle-road collaborative service.

[0136] S740. The roadside coordination unit determines a target roadside unit that responds to the service request message from the first roadside units based on the service demand information.

[0137] In this embodiment, the roadside coordination unit may determine the target roadside unit from the first roadside units connected thereto. Optionally, the roadside coordination unit may be connected to at least two first roadside units that are sequentially adjacent. In this embodiment, if the determination is successful, step S750 is executed. Optionally, if the determination fails, step S760 is executed.

[0138] S750: If the target roadside unit is successfully determined, the roadside coordination unit sends a first response message carrying the first indication information and the target roadside unit identifier to the second roadside unit, and forwards the service request message to the target roadside unit.

[0139] The first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message. The target roadside unit identifier refers to the identifier of the target roadside unit, which is used to indicate the identity of the target roadside unit.

[0140] In this embodiment, if the determination is successful, the determined target roadside unit can respond to the service request message, and the roadside coordination unit can send a first response message carrying the first indication information and the target roadside unit identifier to the second roadside unit.

[0141] In another possible implementation, the roadside coordination unit may directly send a first response message carrying the first indication information and the target roadside unit identifier to the vehicle-mounted unit. In this embodiment, the roadside coordination unit may choose to broadcast the first response message, and the first response message carries the vehicle-mounted unit identifier; in addition, the roadside coordination unit may also send a second response message to the vehicle-mounted unit in a directional manner, which is not limited here.

[0142] It should be noted that, in this embodiment, an "accept-newrsu(9)" field) and a "newRSUid" field may be newly added to the first response message. The "newrsu" field indicates that a new RSU can respond to the service request message, and the "newrsu" field may be used as the first indication information. The "newRSUid" field may be filled with a specific target roadside unit identifier.

[0143] S760: If the target roadside unit fails to determine, the roadside coordination unit sends a first response message carrying the second indication information and the first roadside unit identifier to the second roadside unit.

[0144] The second indication information indicates that the roadside unit corresponding to the first roadside unit identifier cannot respond to the service request message. The first roadside unit identifier refers to an identifier of the first roadside unit, and is used to indicate the identity of the first roadside unit.

[0145] In this embodiment, if the determination fails, the first roadside unit cannot respond to the service request message, and the roadside coordination unit can send a first response message carrying the second indication information and the first roadside unit identifier to the second roadside unit.

[0146] It should be noted that, in this embodiment, a "reject-multipleRSU(10)" field and a "rejectRSUList" field may be added to the first response message. The "reject-multipleRSU(10)" field indicates that the target roadside unit fails to be determined, and the "reject-multipleRSU(10)" may be used as the second indication information, and the "rejectRSUList" field may be filled with a specific first roadside unit identifier.

[0147] In another possible implementation, the roadside coordination unit may directly send a first response message carrying the second indication information and the first roadside unit identifier to the onboard unit.

[0148] In another possible embodiment, the roadside coordination unit may not make any response.

[0149] It can be understood that by sending a first response message carrying second indication information and the first roadside unit identifier to the second roadside unit after determining failure, the second roadside unit can also feedback the result of the failure to determine to the vehicle-mounted unit, and the vehicle-mounted unit can no longer initiate a service request message within the coverage area of ​​the roadside unit that cannot respond to the service request message, thereby reducing the number of times the vehicle-mounted unit sends service request messages and reducing the ineffective occupation of broadband resources.

[0150] S770. The second roadside unit receives a first response message sent by the roadside coordination unit.

[0151] In this embodiment, the first response message carries the first indication information and the target roadside unit identifier, or carries the second indication information and the first roadside unit identifier, depending on the actual result of the roadside coordination unit determining the target roadside unit, and is not limited here.

[0152] S780. The second roadside unit sends a second response message to the onboard unit based on the first response message.

[0153] The second response message carries the second roadside unit identifier, the indication information in the first response message, and the roadside unit identifier in the first response message.

[0154] In this embodiment, the second roadside unit may choose to broadcast the second response message, and the second response message carries the onboard unit identifier; in addition, the second roadside unit may also send the second response message to the onboard unit in a directional manner, which is not limited here.

[0155] In a possible implementation, if the second roadside unit meets the condition that it cannot independently respond to the service request message and the indication information in the first response message is the first indication information, the second roadside unit responds to the service request message and feeds back the first driving guidance message.

[0156] Specifically, in this embodiment, if the second roadside unit meets the condition that it cannot respond to the service request message independently and the indication information in the first response message is the first indication information, it means that the roadside coordination unit has determined the target roadside unit that can respond to the service request message together with the second roadside unit. At this time, the second roadside unit responds to the service request message and feeds back the first driving guidance message, thereby ensuring the normal response of the service request message.

[0157] S790: The target roadside unit responds to the service request message and feeds back a second driving guidance message corresponding to the driving intention.

[0158] The second driving guidance message is used to guide the driving of the vehicle. Optionally, the second driving guidance message includes driving guidance suggestions. Specifically, the second driving guidance message is one or more, which can be to guide the movement of the target vehicle installed by the vehicle-mounted unit, or to guide the movement of other vehicles installed by other vehicle-mounted units. This is related to the specific target driving business and the actual road conditions, and is not limited here.

[0159] For example, taking the target vehicle-road cooperative service as a lane change service, the second driving guidance message may be to guide other vehicles to avoid the target vehicle equipped with the on-board unit, and to guide the target vehicle to change lanes, etc.

[0160] S800: The onboard unit receives a third response message.

[0161] Among them, the third response message can be the first response message, the second response message or the fourth response message, which is determined according to the response message actually received. The third response message carries indication information and a roadside unit identifier. The indication information is the first indication information or the second indication information. Specifically, the first indication information in the third response message indicates that the roadside unit identifier in the third response message responds to the service request message. The second indication information in the third response message indicates that the roadside unit corresponding to the roadside unit identifier in the third response message cannot respond to the service request message.

[0162] In this embodiment, optionally, if the third response message carries the first indication information, the onboard unit can know that the roadside unit corresponding to the target roadside unit identifier can respond to the vehicle-road cooperative service it requests, and can wait for the target roadside unit to respond to the service request message. If the third response message carries the second indication information, the onboard unit can know that the roadside unit corresponding to the first roadside unit identifier and the second roadside unit identifier in the third response message cannot respond to the service request message, and the onboard unit can not initiate the service request message within the coverage range of the roadside unit corresponding to the roadside unit identifier in the third response message, and the coverage range includes at least one of the communication range or the corresponding perception range.

[0163] It is understandable that when the third response message carries the second indication information, the onboard unit does not initiate a service request message within the coverage of the roadside unit corresponding to the roadside unit identifier in the third response message, thereby reducing ineffective occupation of broadband resources.

[0164] The technical solution of this embodiment is to send a service request message through the vehicle-mounted unit. The second roadside unit that receives the service request message can determine whether it can respond to the service request message. If it cannot continue to respond or cannot respond independently, the second roadside unit forwards the service request message to the roadside coordination unit, so that the roadside coordination unit determines the target roadside unit that can respond to the service request message. If the target roadside unit is successfully determined, a first response message carrying the first indication information and the target roadside unit identifier is sent, and the service request message is forwarded to the target roadside unit, thereby realizing the request-response flow between coordinated roadside units, that is, the OBU initiates a request at one RSU and obtains a response at another RSU, thereby avoiding the second roadside unit from immediately refusing to respond to the service request message when it determines that it cannot respond to the service request message, and improving the success rate of the response of the vehicle-road cooperative service. In addition, since the request-response flow between coordinated roadside units can be realized, the request life cycle in the service request message can also be set to be larger, thereby realizing the medium and long-term request-response in high-speed scenarios, and in addition, the number of times the vehicle-mounted unit re-initiates the service request message can be reduced.

[0165] In a possible implementation manner, if it is determined based on the service demand information that the second roadside unit meets the condition that it cannot respond to the service request message, the second roadside unit refuses to respond to the service request message.

[0166] In this embodiment, the second roadside unit refuses to respond to the service request message, which may be that the second roadside unit does not make any response, or that the second roadside unit sends a fourth response message, and the fourth response message may be an RSC message that rejects the service request message of the vehicle-mounted unit. Specifically, the fourth response message may include the second indication information and the second roadside unit identifier. In addition, the second roadside unit may also choose not to respond to the vehicle-mounted unit, which may be set as needed. Among them, the RSC message that rejects the service request message of the vehicle-mounted unit may be set in the reject field "reject(7)" in ReqStatus.

[0167] Optionally, the condition for failing to respond to the service request message may be failing to feed back the first driving guidance message.

[0168] In a possible implementation, sending a first response message carrying the first indication information and the target roadside unit identifier to the onboard unit or the second roadside unit may include:

[0169] In response to the confirmation message fed back by the target roadside unit, a first response message carrying the first indication information and the target roadside unit identifier is sent to the vehicle-mounted unit or the second roadside unit, and the confirmation message indicates that the target roadside unit confirms the response to the service request message.

[0170] In this embodiment, the confirmation message is a message sent to the roadside coordination unit by the target roadside unit to confirm whether to respond to the service request message; if it is confirmed to respond to the service request message.

[0171] Optionally, in this embodiment, the target roadside unit can determine whether it has received the service request message of other vehicle-mounted units. If it has not received the service request message of other vehicle-mounted units, it means that the target roadside unit can respond to the service request message of the vehicle-mounted unit.

[0172] In another possible implementation, confirming whether to respond to the service request message includes:

[0173] Detecting the position of the on-board unit corresponding to the on-board unit identifier;

[0174] If it is detected that the position of the vehicle-mounted unit enters the communication range of the target roadside unit and the corresponding perception range, the service request message is confirmed and responded to.

[0175] In this embodiment, the vehicle-mounted unit can confirm whether the vehicle-mounted unit has entered its coverage by receiving other periodic messages sent by the vehicle-mounted unit, such as BSM (Blind Spot Monitoring) messages. If it has entered its coverage, it responds to the service request message and feeds back the second driving guidance message.

[0176] Optionally, the target roadside unit identifier can be carried in this second driving guidance message. When the on-board unit receives the second driving guidance message, it can know that the second driving guidance message is sent in response to its service request message, and can drive according to the driving guidance suggestions in the second driving guidance message.

[0177] The technical solution of this embodiment is to confirm whether to respond to the service request message by the target roadside unit; if it confirms to respond to the service request message, then a message is sent to the roadside coordination unit, and the roadside coordination unit responds to the confirmation message fed back by the target roadside unit, and sends a first response message carrying first indication information and the target roadside unit identifier to the vehicle-mounted unit or the second roadside unit, which can avoid service response failures caused by service conflicts, further improve the response success rate of the vehicle-road cooperative service and reduce the ineffective occupation of broadband resources.

[0178] The following embodiments further illustrate how the roadside coordination unit determines the target roadside unit that responds to the service request message from the first roadside unit based on the service demand information, based on any of the above embodiments.

[0179] In a possible implementation, the service demand information includes a request time, a request location, a request lifecycle (lifetime), and driving path planning information of requesting a target vehicle-road cooperative service;

[0180] Determining a target roadside unit that responds to the service request message from the first roadside unit based on the service demand information includes:

[0181] If the time difference between the current time and the request time is less than the request life cycle, determining a target roadside unit that meets the response condition of the target vehicle-road cooperative service from the first roadside unit;

[0182] The response condition of the target vehicle-road cooperative service includes at least one of the following:

[0183] The communication range of the first roadside unit covers the area that the vehicle-mounted unit is about to enter;

[0184] The sensing range corresponding to the first roadside unit covers the area to be entered;

[0185] The area to be entered is determined by the current time, request time, request location and driving path planning information.

[0186] Specifically, in this embodiment, the target roadside unit can obtain the following information:

[0187] The locations of all RSUs connected to it; the communication coverage areas of all RSUs connected to it; the maps within the coverage areas of all RSUs connected to it; the service capability information of all RSUs connected to it, the service capability information including: the perception coverage area.

[0188] The roadside coordination unit can then determine the target roadside unit based on the above information.

[0189] Specifically, the roadside coordination unit can determine the area to be entered through the current time, request time, request location and driving path planning information. Then, the roadside coordination unit determines the location of each first roadside unit based on the location of all RSUs connected to it and the map of the coverage area of ​​all RSUs connected to it, and then, in combination with the communication coverage area of ​​the RSU, determines whether the communication range of the first roadside unit covers the area to be entered by the vehicle-mounted unit. And, based on the perception coverage area combined with the RSU, determines whether the perception range corresponding to the first roadside unit covers the area to be entered.

[0190] In some of the example scenarios, for various reasons, the second roadside unit may find that it needs other roadside units to jointly feedback driving guidance messages to the vehicle's onboard unit, such as: (1) The second roadside unit finds that the onboard unit is still within its coverage area, but the service request message of the onboard unit exceeds the service capacity of the second roadside unit, and more roadside units are required to respond (for example: requesting beyond-visual-range sensor sharing that exceeds the perception range of this RSU). (2) The second roadside unit finds that the onboard unit is still within its coverage area, but the service request message of the onboard unit is a medium-to-long-term request-response (the lifeTime is set relatively large), and continuous responses are required. In addition to the response of the second roadside unit, one or more other roadside units are also required to respond. (For example: for cooperative priority vehicle passage).

[0191] The following embodiments, based on any of the above embodiments, respectively describe the conditions for independently responding to a service request message, the conditions for failing to respond to a service request message, the conditions for failing to continue to respond to a service request message, and the conditions for failing to independently respond to a service request message.

[0192] In one possible implementation, the conditions for independently responding to the service request message include that the communication range of the second road side unit covers the complete communication range and the perception range corresponding to the second road side unit covers the complete perception range; wherein the complete communication range includes the communication range required to continuously respond to the service request message within the request life cycle; the complete perception range includes the perception range required to continuously respond to the service request message within the request life cycle.

[0193] In this embodiment, if the second roadside unit supports the target vehicle-road cooperative service, the communication range of the second roadside unit covers the complete communication range and the perception range corresponding to the second roadside unit covers the complete perception range, it means that the second roadside unit can independently respond to the service request message.

[0194] In one possible implementation, the condition for being unable to continue responding to the service request message includes that at least one of the communication range of the second roadside unit or the perception range corresponding to the second roadside unit does not cover the area that the vehicle-mounted unit is about to enter, wherein the area to be entered is determined by the current time, request time, request location and driving path planning information.

[0195] In this embodiment, if at least one of the communication range of the second roadside unit or the perception range corresponding to the second roadside unit does not cover the area that the vehicle-mounted unit is about to enter, it means that the vehicle-mounted unit is about to move away from the second roadside unit. At this time, if the response continues, the driving guidance message cannot be fed back to the vehicle-mounted unit.

[0196] In a possible implementation, the condition for being unable to independently respond to the service request message includes at least one of the following:

[0197] The communication range of the second roadside unit covers a partial range of the complete communication range;

[0198] The sensing range of the second roadside unit covers a partial range of the complete sensing range.

[0199] In this embodiment, regardless of whether the communication range of the second roadside unit covers part of the complete communication range, or the perception range of the second roadside unit covers part of the complete perception range, a complete response to the service request message cannot be guaranteed. Therefore, a request-response flow is required to ensure that the service request message can continue to respond within the request life cycle.

[0200] The above embodiments take the deployment of the roadside coordination unit in the roadside unit as an example to illustrate the technical solution of the embodiments of the present application. In the following embodiments, the roadside coordination unit and the second roadside unit can be equivalent to the same unit, which can be understood as the second roadside unit having the ability to request response flow, and can also be understood as the roadside coordination unit having the ability to respond to requests.

[0201] See also Fig.10 . Fig.10 A flowchart of another method for responding to a vehicle-road cooperative service provided in an embodiment of the present application. Fig.10 The response method of the vehicle-road cooperative service shown includes:

[0202] S1010: The on-board unit sends a service request message, where the service request message carries an on-board unit identifier and service requirement information, where the service requirement information includes a target service identifier and driving intention information.

[0203] S1020: If it is determined based on the service demand information that the roadside coordination unit meets the service coordination condition, the roadside coordination unit determines a target roadside unit that responds to the service request message from the first roadside units based on the service demand information.

[0204] In a possible implementation, determining a target roadside unit that responds to the service request message from the first roadside unit based on the service demand information includes:

[0205] In response to the service request message carrying the roadside coordination unit identifier, based on the service demand information, a target roadside unit that responds to the service request message is determined from the first roadside units.

[0206] In this embodiment, the response flexibility of the vehicle-road cooperative service can be improved by determining the target roadside unit that responds to the service request message from the first roadside unit only when the service request message carries the roadside coordination unit identifier.

[0207] S1030: If the target roadside unit is successfully determined, the roadside coordination unit sends a first response message carrying first indication information and the target roadside unit identifier to the onboard unit, and forwards the service request message to the target roadside unit.

[0208] S1040: The target roadside unit responds to the service request message and feeds back a second driving guidance message corresponding to the driving intention.

[0209] The technical solution of this embodiment is to send a service request message through the vehicle-mounted unit. If it is determined based on the service demand information that the roadside coordination unit meets the service coordination conditions, the roadside coordination unit determines the target roadside unit that responds to the service request message from the first roadside unit based on the service demand information. If the target roadside unit is successfully determined, the roadside coordination unit sends a first response message carrying the first indication information and the target roadside unit identifier to the vehicle-mounted unit, and forwards the service request message to the target roadside unit. The target roadside unit responds to the service request message and feeds back a second driving guidance message corresponding to the driving intention, which can improve the success rate of the response of the vehicle-road collaborative service. In addition, since the request-response flow between coordinated roadside units can be realized, the request life cycle in the service request message can also be set larger, thereby realizing medium and long-term request-response in high-speed scenarios. In addition, the number of times the vehicle-mounted unit re-initiates the service request message can also be reduced.

[0210] S1050: The target vehicle-mounted unit receives a third response message.

[0211] In a possible implementation, the method of this embodiment further includes:

[0212] S1060: If it is determined based on the service demand information that the roadside coordination unit meets the conditions for independently responding to the service request message, the roadside coordination unit responds to the service request message and feeds back a third driving guidance message corresponding to the driving intention.

[0213] For the relevant description of this embodiment, reference may be made to the description of any of the above embodiments, which will not be repeated here.

[0214] For ease of understanding, the following embodiments are based on any of the above embodiments, and take the service request message as a V2X service request message as an example for explanation. The subjects involved in this embodiment include OBU, original RSU (also called second roadside unit), new RUS (also called target roadside unit) and RSU coordination unit (also called roadside coordination unit).

[0215] Step 1: OBU - OBU sends a V2X service request message (VIR), carrying a unique RSU coordination unit identifier, the vehicle ID of the vehicle, reqID, the V2X service type requested (see ReqInfo), the request lifecycle lifeTime, the vehicle location, the vehicle's subsequent path planning (path-Planning), the vehicle's driving intention (currentBehavior), the current timestamp, etc.

[0216] Step 2: Original RSU - If the RSU finds that the OBU is about to leave its coverage area (calculated based on the vehicle position when the OBU sends the V2X service request, the elapsed time, the vehicle's path planning, etc.), go to step 5.

[0217] Step 3: Original RSU - If the RSU where the current OBU is located combines the information sent by the OBU and the information perceived by the roadside (calculated by the roadside perception unit and the roadside MEC) to determine that it can independently complete the guidance suggestions for the vehicle, it sends a guidance suggestion RSC message (1 or N) and carries the RSU ID in this message; if the requested RSU cannot feedback the guidance suggestions, it sends an RSC message rejecting the OBU request (by setting the rejection field "reject(7)" in ReqStatus), and the original RSU side process ends.

[0218] Step 4: Original RSU - If the RSU where the current OBU is located combines the information sent by the OBU and the information perceived by the roadside (calculated by the roadside perception unit and the roadside MEC) and finds that it needs to cooperate with other RSUs to complete the guidance suggestions for the vehicle, it sends a guidance suggestion RSC message (1 or N) and carries the RSU ID in this message; at the same time, it continuously monitors the position of the OBU within the coverage of this RSU. If the RSU finds that the OBU is about to leave its coverage (calculated based on the vehicle position when the OBU sends the V2X service request, the elapsed time, the vehicle's path planning, etc.), go to step 5.

[0219] For a variety of reasons, an RSU may find that it needs other RSUs to jointly feedback guidance suggestions to the vehicle OBU, including but not limited to the following:

[0220] (1) The RSU finds that the OBU is still within its coverage area, but the OBU's V2X service request exceeds the capability of this RSU and requires more RSUs to respond (for example, requesting sharing of beyond-line-of-sight sensors beyond the perception range of this RSU).

[0221] (2) The RSU finds that the OBU is still within its coverage area, but the OBU's V2X service request is a medium-long request-response (lifetime is set relatively large), which requires continuous response. In addition to the response of this RSU, multiple other RSUs are required to respond. For example: for cooperative priority vehicle passage.

[0222] Step 5: Original RSU - the current RSU (referred to as original RSU) forwards the V2X service request of OBU to the RSU coordination unit. The request information includes: vehicle ID of the requesting vehicle, reqID, requested V2X service type (see ReqInfo in Appendix 1), request lifecycle lifeTime, vehicle location, subsequent path planning of the vehicle (see path-Planning in Appendix 1), driving intention of the vehicle (see currentBehavior in Appendix 1), timestamp when requesting the service, etc.

[0223] Step 6: RSU coordination unit - The RSU coordination unit selects a suitable target RSU (called a new RSU) based on the request information and the service capability information of each RSU. If there is a suitable target RSU, go to step 7; if there is no suitable target RSU, it feeds back to the original RSU that there is no suitable target RSU, and feeds back the evaluated RSU ID list to the original RSU, and go to step 10.

[0224] Selection method example: Select the RSU that the vehicle is about to enter based on the communication coverage area of ​​all RSUs it is connected to, the map, the requested vehicle location, and the vehicle path planning, and check whether this RSU can meet the needs of the OBU. If so, it is a suitable target RSU.

[0225] Step 7: RSU coordination unit - the RSU coordination unit forwards the V2X service request of the OBU to the new RSU;

[0226] Step 8: New RSU - When the new RSU receives the V2X service request forwarded by the RSU coordination unit, it feeds back confirmation information to the RSU coordination unit.

[0227] Step 9: RSU coordination unit - After receiving the confirmation information, the RSU coordination unit feeds back the RSUID of the new RSU to the original RSU.

[0228] Step 10: Original RSU - After receiving the confirmation information fed back by the RSU coordination unit, the original RSU sends an RSC message to the OBU to feedback "Continuous Response - Switch RSU" (the corresponding field is set through ReqStatus in Appendix 1, and the present embodiment newly adds the "accept-newrsu(9)" field in ReqStatus) and "RSU ID of the new RSU" (the present embodiment newly adds the "newRSUid" field in the RSC message); after receiving the information "No suitable target RSU" fed back by the RSU coordination unit, the original RSU sends an RSC message to the OBU to feedback "Rejection response of the original RSU" and "Rejected RSU ID list" information (the present embodiment newly adds the "reject-multipleRSU(10)" field in ReqStatus, and newly adds the "rejectRSUList" field in the RSC message). The process on the original RSU side ends.

[0229] Step 11: OBU - If it receives a rejection response in step 3, it will no longer initiate V2X service requests within the coverage of this RSU. If it receives a rejection response in step 10, it will no longer initiate V2X service requests within the coverage of this RSU and the coverage of the "rejecting RSU". If it receives the "continued response - switch RSU" and "RSUID of the new RSU" in step 10, the OBU waits to receive the RSC message from the new RSU.

[0230] Step 12: New RSU - continuously monitors the location of the OBU (it can confirm whether the OBU has entered its coverage area by receiving other periodic messages sent by the OBU, such as BSM). If it enters its coverage area, it sends an RSC message (1 or N) and carries the ID of the new RSU in this message.

[0231] It should be noted that ReqStatus can be used to set the request status when the OBU sends a request to the RSU, and can also be used to set the response status when the RSU feeds back a response to the OBU.

[0232] The following embodiments further illustrate the vehicle request message (also called service request message) and the vehicle response message (also called response message).

[0233] First, the service request message is described.

[0234] The service request message is sent through VIR. The main message fields are as follows:

[0235] VIR→IARData→DriveRequest→ReqInfo.

[0236] VIR definition: Vehicle intention and request message. Used to transmit information such as vehicle driving intention, priority request, and collaboration request.

[0237] IARData definition: vehicle driving plan and request information, including the vehicle's current location on the map, planned driving route, related driving behaviors, request messages, etc.

[0238] DriveRequest definition: Request information sent by the vehicle. It includes the ID of the request message, the operation status of the request message, and optional fields including the priority of the request, the temporary identification of the target vehicle, the temporary identification of the target RSU, the content of the request, the validity period of the message, etc.

[0239] ReqInfo definition: Vehicle request message, including lane change request, merge request, intersection passage request without signal lights, road clearance request, signal priority request, perception information sharing request, station entry request, etc.

[0240] Next, the response message is explained.

[0241] The vehicle response message is sent via RSC. The main message fields are:

[0242] RSC includes VehicleCoordination or LaneCoordination.

[0243] VehicleCoordination is a response message sent to vehicles, and LaneCoordination is a response message to roads or lanes, which can connect to road control devices.

[0244] RSC definition: Messages used by roadside units for vehicle collaboration or guidance, usually broadcast, multicast or unicast, to provide guidance information and driving decision support to vehicles. Messages can be used to guide a single vehicle or to guide vehicles that meet the conditions on a specific road section or lane.

[0245] VehicleCoordination definition: RSU's coordination planning information for a single vehicle, including the vehicle's temporary ID, request ID, request status, rejection reason, and driving advice and path planning provided by the RSU.

[0246] LaneCoordination definition: Guidance information for roads or lanes. Including target lane or road section information, optional fields include associated path information, collaborative planning start and end time, recommended driving speed, recommended or allowed driving behavior, and additional supplementary information.

[0247] See also Fig.11 , Fig.11 The structure diagram of a response device for a vehicle-road cooperative service provided in an embodiment of the present application is shown in FIG. The response device for a vehicle-road cooperative service in this embodiment can be applied to a roadside coordination unit. Fig.11 The vehicle-road cooperative service response device 11 shown includes a first receiving module 1110, a roadside unit determination module 1120 and a first sending module 1130, wherein:

[0248] The first receiving module 1110 is used to receive a service request message from the vehicle-mounted unit, where the service request message carries the vehicle-mounted unit identifier, the target service identifier, the driving intention and the service requirement information, and the target service identifier indicates the requested target vehicle-road cooperative service;

[0249] The roadside unit determination module 1120 is used to determine, based on the business demand information, a target roadside unit that responds to the service request message from the first roadside unit if the request response flow condition is met, wherein the request response flow condition includes that the service request message is forwarded by the second roadside unit that meets the business coordination condition or that the roadside coordination unit meets at least one of the business coordination conditions based on the business demand information, and the business coordination condition includes at least one of the conditions that the service request message cannot be continued to be responded to or the conditions that the service request message cannot be independently responded to;

[0250] The first sending module 1130 is used to send a first response message carrying first indication information and a target roadside unit identifier to the vehicle-mounted unit or the second roadside unit if the target roadside unit is successfully determined, and to forward a service request message to the target roadside unit, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message.

[0251] In a possible implementation, the first sending module 1130 is further configured to:

[0252] If the target roadside unit fails to determine, sending a first response message carrying the second indication information and the first roadside unit identifier to the onboard unit or the second roadside unit;

[0253] The second indication information indicates that the roadside unit corresponding to the first roadside unit identifier cannot respond to the service request message.

[0254] In a possible implementation, when the first sending module 1130 sends the first response message carrying the first indication information and the target roadside unit identifier to the vehicle-mounted unit or the second roadside unit, it is specifically configured to:

[0255] In response to the confirmation message fed back by the target roadside unit, a first response message carrying the first indication information and the target roadside unit identifier is sent to the vehicle-mounted unit or the second roadside unit, and the confirmation message indicates that the target roadside unit confirms the response to the service request message.

[0256] In a possible implementation, when the roadside unit determination module 1120 determines the target roadside unit that responds to the service request message from the first roadside unit based on the service demand information, it is specifically configured to:

[0257] In response to the service request message carrying a roadside coordination unit identifier, based on the service demand information, a target roadside unit that responds to the service request message is determined from the first roadside unit, and the roadside coordination unit identifier indicates to the on-board unit that the roadside unit that allows the requested response is different from the roadside unit that actually responds.

[0258] In a possible implementation, the service demand information includes the request time, request location, request life cycle and driving path planning information of the target vehicle-road cooperative service;

[0259] When the roadside unit determination module 1120 determines the target roadside unit that responds to the service request message from the first roadside unit based on the service demand information, it is specifically configured to:

[0260] If the time difference between the current time and the request time is less than the request life cycle, determining a target roadside unit that meets the response condition of the target vehicle-road cooperative service from the first roadside unit;

[0261] The response condition of the target vehicle-road cooperative service includes at least one of the following:

[0262] The communication range of the first roadside unit covers the area that the vehicle-mounted unit is about to enter;

[0263] The sensing range corresponding to the first roadside unit covers the area to be entered;

[0264] The area to be entered is determined by the current time, request time, request location and driving path planning information.

[0265] See also Fig.12 , Fig.12 The structure diagram of a response device for a vehicle-road cooperative service provided in an embodiment of the present application is shown in FIG. The vehicle-road cooperative device of this embodiment can be applied to a second roadside unit, such as Fig.12 The vehicle-road cooperative service response device 12 shown includes a second receiving module 1210, a first responding module 1220 and a second sending module 1230, wherein:

[0266] The second receiving module 1210 is used to receive a service request message from the vehicle-mounted unit, where the service request message carries the vehicle-mounted unit identifier, the target service identifier, the driving intention and the service requirement information, and the target service identifier indicates the requested target vehicle-road cooperative service;

[0267] The first response module 1220 is configured to respond to the service request message and feed back a first driving guidance message corresponding to the driving intention if it is determined based on the service demand information that the second roadside unit meets the condition of independently responding to the service request message, where the first driving guidance message is used to guide the driving of the vehicle;

[0268] The second sending module 1230 is used to forward the service request message to the roadside coordination unit if it is determined based on the service demand information that the second roadside unit meets the service coordination condition. The service coordination condition includes at least one of the conditions of being unable to continue to respond to the service request message or being unable to independently respond to the service request message.

[0269] In a possible implementation, the second receiving module 1210 is further used to receive a first response message sent by the roadside coordination unit, where the first response message carries first indication information and a target roadside unit identifier, or carries second indication information and a first roadside unit identifier, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message, and the second indication information indicates that the roadside unit corresponding to the first roadside unit identifier cannot respond to the service request message;

[0270] In a possible implementation, the second sending module 1230 is also used to send a second response message to the vehicle-mounted unit based on the first response message, and the second response message carries the second roadside unit identifier, the indication information in the first response message, and the roadside unit identifier in the first response message.

[0271] In a possible implementation, the first response module 1220 is also used to respond to the service request message and feedback the first driving guidance message if the second roadside unit meets the condition that it cannot independently respond to the service request message and the indication information in the first response message is the first indication information.

[0272] In a possible implementation, when forwarding the service request message to the roadside coordination unit, the second sending module 1230 is specifically configured to:

[0273] In response to the service request message carrying the roadside coordination unit identifier, the service request message is forwarded to the roadside coordination unit, and the roadside coordination unit identifier indicates that the on-board unit allows the roadside unit requesting a response to be different from the roadside unit that actually responds.

[0274] In a possible implementation, the service demand information includes the request time, request location, request life cycle and driving path planning information of the target vehicle-road cooperative service;

[0275] The conditions for independently responding to the service request message include that the communication range of the second roadside unit covers the complete communication range and the perception range corresponding to the second roadside unit covers the complete perception range; wherein the complete communication range includes the communication range required for continuously responding to the service request message within the request life cycle; the complete perception range includes the perception range required for continuously responding to the service request message within the request life cycle;

[0276] The condition for being unable to continue to respond to the service request message includes that at least one of the communication range of the second roadside unit or the perception range corresponding to the second roadside unit does not cover the area that the vehicle-mounted unit is about to enter, wherein the area that is about to enter is determined by the current time, the request time, the request location, and the driving path planning information;

[0277] The conditions for being unable to independently respond to a service request message include at least one of the following:

[0278] The communication range of the second roadside unit covers a partial range of the complete communication range;

[0279] The sensing range of the second roadside unit covers a partial range of the complete sensing range.

[0280] See also Fig.13 , Fig.13 The structure diagram of a response device for a vehicle-road cooperative service provided in an embodiment of the present application is shown in FIG. The response device for a vehicle-road cooperative service in this embodiment can be applied to a target roadside unit. Fig.13 The vehicle-road cooperative service response device 13 shown includes a third receiving module 1310 and a second response module 1320, wherein:

[0281] The third receiving module 1310 is used to receive a service request message forwarded by the roadside coordination unit, where the service request message carries a vehicle-mounted unit identifier, a target service identifier, a driving intention, and service demand information, where the target service identifier indicates the requested target vehicle-road cooperative service;

[0282] The second response module 1320 is used to respond to the service request message and feed back a second driving guidance message corresponding to the driving intention, where the second driving guidance message is used to guide the driving of the vehicle.

[0283] In a possible implementation, when responding to the service request message, the second response module 1320 is specifically configured to:

[0284] Confirm whether to respond to the service request message;

[0285] If the service request message is confirmed, a confirmation message is sent to the roadside coordination unit.

[0286] In a possible implementation, when confirming whether to respond to the service request message, the second response module 1320 is specifically configured to:

[0287] Detecting the position of the on-board unit corresponding to the on-board unit identifier;

[0288] If it is detected that the position of the vehicle-mounted unit enters the communication range of the target roadside unit and the corresponding perception range, the service request message is confirmed and responded to.

[0289] See also Fig.14 , Fig.14 The structure diagram of a response device for a vehicle-road cooperative service provided in an embodiment of the present application is shown in FIG. The response device for a vehicle-road cooperative service in this embodiment can be applied to a vehicle-mounted unit. Fig.14 The response device of the vehicle-road cooperative service shown includes a fourth sending module 1410 and a fourth receiving module 1420, wherein:

[0290] The fourth sending module 1410 is used to send a service request message, where the service request message carries a vehicle unit identifier, a target service identifier, a driving intention, and service requirement information, where the target service identifier indicates the requested target vehicle-road cooperative service;

[0291] The fourth receiving module 1420 is used to receive a third response message;

[0292] The fourth sending module 1410 is also used to not initiate a service request message within the coverage range of the roadside unit corresponding to the roadside unit identifier in the third response message if the third response message carries second indication information, and the second indication information in the third response message indicates that the roadside unit corresponding to the roadside unit identifier in the third response message cannot respond to the service request message, and the coverage range includes at least one of the communication range or the corresponding perception range.

[0293] The device of the embodiments of the present application can execute the method provided by the embodiments of the present application, and the implementation principles are similar. The actions performed by each module in the device of each embodiment of the present application correspond to the steps in the method of each embodiment of the present application. For the detailed functional description of each module of the device, please refer to the description in the corresponding method shown in the previous text, which will not be repeated here.

[0294] An embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory, and the processor executes the above computer program to implement the steps of the method of any of the above embodiments.

[0295] In an alternative embodiment, an electronic device is provided, such as Fig.15As shown, Fig.15 The electronic device 1500 shown includes: a processor 1501 and a memory 1503. The processor 1501 and the memory 1503 are connected, such as through a bus 1502. Optionally, the electronic device 1500 may also include a transceiver 1504, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 1504 is not limited to one, and the structure of the electronic device 1500 does not constitute a limitation on the embodiments of the present application.

[0296] Processor 1501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 1501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0297] The bus 1502 may include a path to transmit information between the above components. The bus 1502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 1502 may be divided into an address bus, a data bus, a control bus, etc. For ease of indication, Fig.15 The fact that only one thick line is used in the diagram does not indicate that there is only one bus or only one type of bus.

[0298] The memory 1503 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation herein.

[0299] The memory 1503 is used to store the computer program for executing the embodiment of the present application, and the execution is controlled by the processor 1501. The processor 1501 is used to execute the computer program stored in the memory 1503 to implement the steps shown in the above method embodiment.

[0300] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0301] The embodiment of the present application also provides a computer program product, including a computer program, which can implement the steps and corresponding contents of the aforementioned method embodiment when executed by a processor.

[0302] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages may be executed at the same time, and each sub-step or stage in these sub-steps or stages may also be executed at different times respectively. In different scenarios of execution time, the execution order of these sub-steps or stages may be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0303] The above are only optional implementation methods for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the scheme of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A response method for a vehicle-road cooperative service, characterized in that: Applied to a roadside coordination unit, the method comprises: Receiving a service request message from a vehicle-mounted unit, the service request message carrying a vehicle-mounted unit identifier, a target service identifier, a driving intention, and service requirement information, the target service identifier indicating a requested target vehicle-road cooperative service; If the request response flow condition is met, then based on the business demand information, a target road side unit that responds to the business request message is determined from the first road side unit, wherein the request response flow condition includes that the business request message is forwarded by a second road side unit that meets the business coordination condition or that the road side coordination unit is determined to meet at least one of the business coordination conditions based on the business demand information, and the business coordination condition includes at least one of the conditions that the business request message cannot be continued to be responded to or the conditions that the business request message cannot be independently responded to; If the target roadside unit is determined successfully, a first response message carrying first indication information and a target roadside unit identifier is sent to the vehicle-mounted unit or the second roadside unit, and the service request message is forwarded to the target roadside unit, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message.

2. The method according to claim 1, characterized in that The method further comprises: If the target roadside unit fails to determine, sending a first response message carrying second indication information and a first roadside unit identifier to the onboard unit or the second roadside unit; The second indication information indicates that the roadside unit corresponding to the first roadside unit identifier cannot respond to the service request message.

3. The method according to claim 1, characterized in that The sending a first response message carrying the first indication information and the target roadside unit identifier to the onboard unit or the second roadside unit includes: In response to the confirmation message fed back by the target roadside unit, a first response message carrying first indication information and a target roadside unit identifier is sent to the onboard unit or the second roadside unit, wherein the confirmation message indicates that the target roadside unit confirms the response to the service request message.

4. The method according to claim 1, characterized in that: The step of determining, based on the service demand information, a target roadside unit that responds to the service request message from the first roadside unit comprises: In response to the service request message carrying a roadside coordination unit identifier, based on the service demand information, a target roadside unit that responds to the service request message is determined from the first roadside unit, and the roadside coordination unit identifier indicates that the on-board unit allows the roadside unit that requests a response to be different from the roadside unit that actually responds.

5. The method according to any one of claims 1 to 4, characterized in that: The service demand information includes the request time, request location, request life cycle and driving path planning information of the target vehicle-road cooperative service; The step of determining, based on the service demand information, a target roadside unit that responds to the service request message from the first roadside unit comprises: If the time difference between the current time and the request time is less than the request life cycle, determining a target roadside unit that meets the response condition of the target vehicle-road cooperative service from the first roadside unit; The response condition of the target vehicle-road cooperative service includes at least one of the following: The communication range of the first roadside unit covers the area that the vehicle-mounted unit is about to enter; The sensing range corresponding to the first roadside unit covers the area to be entered; The area to be entered is determined by the current time, the request time, the request location and the driving path planning information.

6. A response method for a vehicle-road cooperative service, characterized in that: Applied to a second roadside unit, the method comprises: Receiving a service request message from a vehicle-mounted unit, the service request message carrying a vehicle-mounted unit identifier, a target service identifier, a driving intention, and service requirement information, the target service identifier indicating a requested target vehicle-road cooperative service; If it is determined based on the service demand information that the second roadside unit meets the condition of independently responding to the service request message, responding to the service request message and feeding back a first driving guidance message corresponding to the driving intention, where the first driving guidance message is used to guide the driving of the vehicle; If it is determined based on the service demand information that the second road side unit meets the service coordination conditions, the service request message is forwarded to the road side coordination unit, and the service coordination conditions include at least one of the conditions of being unable to continue to respond to the service request message or being unable to independently respond to the service request message.

7. The method according to claim 6, characterized in that The method further comprises: Receive a first response message sent by the roadside coordination unit, the first response message carrying first indication information and a target roadside unit identifier, or carrying second indication information and a first roadside unit identifier, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message, and the second indication information indicates that the roadside unit corresponding to the first roadside unit identifier cannot respond to the service request message; Based on the first response message, a second response message is sent to the onboard unit, the second response message carrying a second roadside unit identifier, the indication information in the first response message, and the roadside unit identifier in the first response message.

8. The method according to claim 7, characterized in that The method further comprises: If the second roadside unit meets the condition that it cannot independently respond to the service request message and the indication information in the first response message is the first indication information, it responds to the service request message and feeds back the first driving guidance message.

9. The method according to claim 6, characterized in that The forwarding the service request message to the roadside coordination unit includes: In response to the service request message carrying a roadside coordination unit identifier, the service request message is forwarded to the roadside coordination unit, wherein the roadside coordination unit identifier indicates that the onboard unit allows the roadside unit that requests a response to be different from the roadside unit that actually responds.

10. The method according to any one of claims 6 to 9, characterized in that: The service demand information includes the request time, request location, request life cycle and driving path planning information of the target vehicle-road cooperative service; The condition for independently responding to the service request message includes that the communication range of the second roadside unit covers the complete communication range and the perception range corresponding to the second roadside unit covers the complete perception range; wherein the complete communication range includes the communication range required to continuously respond to the service request message within the request life cycle; the complete perception range includes the perception range required to continuously respond to the service request message within the request life cycle; The condition of being unable to continue to respond to the service request message includes that at least one of the communication range of the second roadside unit or the perception range corresponding to the second roadside unit does not cover the area that the vehicle-mounted unit is about to enter, wherein the area that is about to enter is determined by the current time, the request time, the request location and the driving path planning information; The condition of being unable to independently respond to the service request message includes at least one of the following: The communication range of the second roadside unit covers a partial range of the complete communication range; The sensing range of the second roadside unit covers a partial range of the complete sensing range.

11. A response method for a vehicle-road cooperative service, characterized in that: Applied to a target roadside unit, the method comprises: Receive a service request message forwarded by a roadside coordination unit, the service request message carrying an on-board unit identifier, a target service identifier, driving intention, and service requirement information, the target service identifier indicating the requested target vehicle-road cooperative service; The service request message is responded to, and a second driving guidance message corresponding to the driving intention is fed back, where the second driving guidance message is used to guide the driving of the vehicle.

12. The method according to claim 11, characterized in that The responding to the service request message includes: Confirm whether to respond to the service request message; If the service request message is confirmed to be responded to, a confirmation message is sent to the roadside coordination unit.

13. The method according to claim 12, characterized in that The confirming whether to respond to the service request message includes: Detecting a position of the on-board unit corresponding to the on-board unit identifier; If it is detected that the position of the vehicle-mounted unit enters the communication range of the target roadside unit and the corresponding perception range, then a confirmation response to the service request message is made.

14. A response device for a vehicle-road cooperative service, characterized in that: Applied to a roadside coordination unit, the device comprises: A first receiving module is used to receive a service request message from a vehicle-mounted unit, wherein the service request message carries a vehicle-mounted unit identifier, a target service identifier, a driving intention, and service requirement information, wherein the target service identifier indicates a requested target vehicle-road cooperative service; A roadside unit determination module, configured to determine, if a request response flow condition is met, a target roadside unit that responds to the service request message from the first roadside unit based on the service demand information, wherein the request response flow condition includes that the service request message is forwarded by a second roadside unit that meets the service coordination condition or that the roadside coordination unit meets at least one of the service coordination conditions based on the service demand information, and the service coordination condition includes at least one of a condition that the service request message cannot be continued to be responded to or a condition that the service request message cannot be independently responded to; The first sending module is used to send a first response message carrying first indication information and a target roadside unit identifier to the on-board unit or the second roadside unit if the target roadside unit is successfully determined, and forward the service request message to the target roadside unit, wherein the first indication information indicates that the roadside unit corresponding to the target roadside unit identifier responds to the service request message.

15. A response device for a vehicle-road cooperative service, characterized in that: Applied to a second roadside unit, the device comprises: A second receiving module is used to receive a service request message from the vehicle-mounted unit, wherein the service request message carries a vehicle-mounted unit identifier, a target service identifier, a driving intention, and service demand information, and the target service identifier indicates the requested target vehicle-road cooperative service; a first response module, configured to respond to the service request message and feed back a first driving guidance message corresponding to the driving intention if it is determined based on the service demand information that the second roadside unit meets a condition for independently responding to the service request message, wherein the first driving guidance message is used to guide the driving of the vehicle; The second sending module is used to forward the service request message to the roadside coordination unit if it is determined based on the service demand information that the second roadside unit meets the service coordination condition, and the service coordination condition includes at least one of the conditions of being unable to continue to respond to the service request message or being unable to respond independently to the service request message.

16. A response device for a vehicle-road cooperative service, characterized in that: Applied to a target roadside unit, the device comprises: A third receiving module is used to receive a service request message forwarded by the roadside coordination unit, wherein the service request message carries a vehicle-mounted unit identifier, a target service identifier, a driving intention, and service demand information, and the target service identifier indicates the requested target vehicle-road cooperative service; The second response module is used to respond to the service request message and feed back a second driving guidance message corresponding to the driving intention, where the second driving guidance message is used to guide the driving of the vehicle.

17. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the method according to any one of claims 1 to 13.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 13 is implemented.

Images