Vehicle broadcast message frequency adjustment method and device, medium and product

Abstract

The embodiment of the invention relates to the technical field of communication, and discloses a broadcast message frequency adjustment method and device of a vehicle, a medium and a product. The method is applied to a local communication network of PC5 direct communication of V2X, and comprises the following steps: determining a target vehicle in the local communication network according to the position of a fault vehicle; determining obstructed vehicles and unobstructed vehicles according to the target vehicle; wherein the obstructed vehicles are used for representing the vehicles influenced by the faulty vehicle, and the unobstructed vehicles are used for representing the vehicles not influenced by the faulty vehicle; and adjusting the direct communication broadcast message frequency of the obstructed vehicle and / or the unobstructed vehicle so as to improve the bandwidth resource allocation efficiency of the local area communication network. The technical problem that an existing frequency adjustment strategy depends on a fixed static rule and cannot be adaptively and flexibly adjusted according to a real-time traffic scene can be solved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method, device, medium and product for adjusting the frequency of broadcast messages of a vehicle. Background Art

[0002] The Internet of Vehicles technology uses sensor technology, communication technology, data processing technology, etc. to connect and communicate between vehicles and vehicles (V2V), vehicles and infrastructure (V2I), vehicles and pedestrians (V2P), and vehicles and networks (V2N), realize real-time information interaction and sharing, thereby improving traffic efficiency, enhancing driving safety, improving driving experience, and promoting the development of the automotive industry towards intelligence and networking.

[0003] With the popularization of 5G networks, V2X technology is transforming into the 5G era. The high bandwidth and low latency characteristics of 5G networks have greatly improved the real-time and reliability of V2X communications. Among them, PC5 direct communication technology, as an important supplementary component of 5G-V2X, supports direct communication between vehicles without the need for base station relays, reduces communication delays, and reduces network burdens, enabling vehicles to quickly and safely exchange real-time information with traffic lights, pedestrians, and other vehicles, improving the response speed and accuracy of autonomous driving and traffic management systems.

[0004] However, the inventors have found that there are at least the following technical problems in the relevant technology: V2X's PC5 direct communication technology often faces the problem of limited spectrum resources in actual application. Since vehicles regularly broadcast basic safety messages (BSM), these messages contain information such as the location and speed of the vehicle, which are used for vehicle collaboration and warning of danger. When an emergency occurs in a traffic-dense area (such as intersections and highways), a large amount of data that needs to be transmitted will be generated in a short period of time, the vehicle's broadcast frequency will increase, and the bandwidth demand will also rise sharply. At this time, the bandwidth resources of the existing V2X PC5 become tight, thereby increasing the network burden, causing network congestion, and affecting the real-time and reliability of BSM transmission. What's more serious is that if all vehicles broadcast frequently at the same time, it is easy for the rear vehicles to be unable to obtain the warning information of the faulty vehicle in front in time, increasing the risk of secondary accidents.

[0005] The frequency adjustment strategies in existing related technologies are mainly based on time or event type, and cannot be flexibly adjusted according to real-time traffic scenarios. Although some solutions use dynamic bandwidth allocation to optimize bandwidth utilization, these methods still rely on fixed static rules and cannot flexibly respond to different complex traffic application situations. Summary of the invention

[0006] One purpose of the present application is to provide a method, device, medium and product for adjusting the frequency of broadcast messages of a vehicle, at least to solve the technical problem that the frequency adjustment strategy in the related art cannot flexibly cope with different traffic conditions.

[0007] To achieve the above objectives, some embodiments of the present application provide the following aspects: In the first aspect, some embodiments of the present application also provide a method for adjusting the frequency of vehicle broadcast messages, which is applied to a local area communication network of PC5 direct communication of V2X, and the method includes: determining a target vehicle in the local area communication network according to the location of the faulty vehicle; determining an obstructing vehicle and an unobstructed vehicle according to the target vehicle; wherein the obstructing vehicle is used to characterize vehicles affected by the faulty vehicle, and the unobstructed vehicle is used to characterize vehicles not affected by the faulty vehicle; adjusting the direct communication broadcast message frequency of the obstructing vehicle and / or the unobstructed vehicle to improve the bandwidth resource allocation efficiency of the local area communication network.

[0008] In a second aspect, some embodiments of the present application further provide an electronic device, comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0009] In a third aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the steps of the method described above.

[0010] In a fourth aspect, some embodiments of the present application further provide a computer program product, comprising a computer program / instruction, which implements the steps of the method described above when executed by a processor.

[0011] Compared with the related art, the solution provided in the embodiment of the present application is applied to the local communication network of the PC5 direct communication of V2X. By determining the target vehicle in the local communication network according to the location of the faulty vehicle, the target vehicle in the local communication network is cleverly and fully utilized. The regionality and small coverage of V2X and PC5, and the characteristics of no need to exchange information through base stations, can accurately identify the target vehicles in the area; then the concept of classification is proposed, and the obstructing vehicles and non-obstructing vehicles are screened out according to the target vehicles; wherein the obstructing vehicles are used to characterize the vehicles affected by the faulty vehicles, and the non-obstructing vehicles are used to characterize the vehicles not affected by the faulty vehicles, and then the direct communication broadcast message frequency of the obstructing vehicles and / or the non-obstructing vehicles is adjusted to improve the bandwidth resource allocation efficiency of the local communication network, which can avoid network congestion and secondary traffic accidents to a certain extent. In this way, a flexible adjustment mechanism for the sending frequency of broadcast messages related to distance is provided, which is highly dynamic. When faced with complex and potentially abnormal situations, frequency adjustment decisions can be made quickly and accurately, thereby achieving more efficient allocation of Internet of Vehicles resources, improving safety response capabilities and emergency response capabilities, and providing more reliable communication guarantees for application scenarios such as smart transportation and autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0013] Figure 1 An exemplary flow chart of a method for adjusting the frequency of broadcast messages of a vehicle provided according to some embodiments of the present application; Figure 2 This is an exemplary schematic diagram of a faulty vehicle and a non-faulty vehicle in a method for adjusting the frequency of broadcast messages of a vehicle provided according to some embodiments of the present application; Figure 3 An exemplary schematic diagram of a method for adjusting the frequency of broadcast messages of a vehicle provided according to some embodiments of the present application; Figure 4 This is an exemplary schematic diagram of a specific application example in a method for adjusting the frequency of broadcast messages of a vehicle provided in some embodiments of the present application; Figure 5 In a method for adjusting the frequency of a broadcast message of a vehicle provided in some embodiments of the present application, as follows Figure 4 An exemplary schematic diagram of the specific application example changing over time; Figure 6An exemplary schematic diagram of broadcast message transmission by an on-board unit provided according to some embodiments of the present application; Figure 7 A logic diagram of a method for adjusting the broadcast message frequency of a vehicle provided according to some embodiments of the present application; Figure 8 This is an exemplary structural diagram of an electronic device provided according to some embodiments of the present application. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0015] The following terms are used in this article.

[0016] Vehicle-to-Everything, or V2X for short, is a technology that uses wireless communication to enable real-time information exchange between vehicles and their surroundings.

[0017] Vehicle-to-Vehicle communication, the full English name is Vehicle-to-Vehicle, abbreviated as V2V.

[0018] Vehicle-to-Infrastructure communication, the full English name is Vehicle-to-Infrastructure, abbreviated as V2I.

[0019] Vehicle-to-Pedestrian Communication, the full English name is Vehicle-to-Pedestrian, abbreviated as V2P.

[0020] Vehicle-to-Network communication, the full English name is Vehicle-to-Network, abbreviated as V2N.

[0021] The on-board unit, also known as On-Board Unit, or OBU for short, is an intelligent device installed on the vehicle. It enables the vehicle to communicate and interact with the outside world and is the core device for realizing communication between V2V and V2I.

[0022] Basic Safety Message, or BSM for short, is a type of message that is periodically broadcast by the vehicle's OBU. It is mainly used in V2V and V2I communications to share the vehicle's basic operating status and safety-related information in real time.

[0023] First embodiment

[0024] The first embodiment of the present application relates to a method for adjusting the frequency of a broadcast message of a vehicle. Figure 1 As shown, the method is applied to a local area communication network of PC5 direct communication of V2X, and the method may include the following steps: Step S101, determining a target vehicle within the local area communication network according to the location of the faulty vehicle; Step S102, determining an obstructing vehicle and a non-obstructing vehicle according to the target vehicle; wherein the obstructing vehicle is used to represent a vehicle affected by the faulty vehicle, and the non-obstructing vehicle is used to represent a vehicle not affected by the faulty vehicle; Step S103, adjusting the direct communication broadcast message frequency of the obstructing vehicle and / or the non-obstructing vehicle to improve the bandwidth resource allocation efficiency of the local area communication network.

[0025] First of all, it should be noted that the method supports deep integration with the V2X communication module based on the PC5 direct communication of the national authorized frequency band, and can adapt to the real-time communication needs of autonomous driving and intelligent transportation systems. In some embodiments, V2X communication can use the 5.9GHz frequency band (5850MHz-5925MHz), which is also a frequency band specially allocated for the Internet of Vehicles and intelligent transportation systems. Exemplarily, the vehicle-mounted (portable) device for direct communication of the Internet of Vehicles can use 5905-5915MHz (10MHz bandwidth) or 5905-5925MHz (20MHz bandwidth), and the roadside equipment can use 5915-5925MHz (10MHz bandwidth) or 5905-5925MHz (20MHz bandwidth). The PC5 interface is a device direct communication interface, which directly communicates between OBUs and between OBUs and RSUs without relying on core network devices such as base stations. Exemplarily, the local communication network coverage range of the PC5 direct communication of V2X can be between 100 meters and 1000 meters, and this embodiment does not specifically limit this.

[0026] The following is a detailed description of each of the above steps.

[0027] For step S101, specifically, the target vehicle can be obtained by taking the faulty vehicle as the center of the circle and determining the vehicles within the coverage of the local area communication network. The number of the target vehicles is generally multiple. For example, assuming that the coverage radius of the local area communication network is 1000 meters, the target vehicle can be determined by taking the faulty vehicle as the center of the circle and 1000 meters as the radius.

[0028] In some examples, the target vehicle is also referred to as an associated vehicle; and vehicles other than the target vehicle (non-target vehicles) are also referred to as non-associated vehicles.

[0029] For step S102, specifically, the target vehicles determined in step S101 are classified into two types: obstructing vehicles and non-obstructing vehicles, wherein vehicles affected by the faulty vehicle are obstructing vehicles, and vehicles not affected by the faulty vehicle are non-obstructing vehicles.

[0030] For example, on a two-way four-lane highway, a broken-down vehicle appears in the second lane on the right. At this time, vehicles traveling in the same direction behind the broken-down vehicle may need to slow down, stop and wait, or change lanes to the first lane on the right. This may cause traffic congestion and affect the normal passage of a series of vehicles traveling in the same direction behind the broken-down vehicle. Therefore, vehicles traveling in the same direction behind the broken-down vehicle will be affected, and it can be determined that the affected vehicles are obstructing vehicles; and for vehicles in the same direction in front of the broken-down vehicle, they have passed the location of the broken-down vehicle, so they will not be directly affected; similarly, for vehicles in the opposite lane, since they are traveling in the opposite direction of the broken-down vehicle, they will not be directly affected and can drive normally, so it can be determined that these vehicles that will not be directly affected are non-obstructive vehicles.

[0031] For step S103, specifically, the broadcast message frequency of the unobstructed vehicle can be reduced while the broadcast message frequency of the obstructed vehicle remains unchanged, thereby releasing more bandwidth to ensure that the obstructed vehicle can receive the broadcast message of the faulty vehicle in a timely manner. In some other examples, the broadcast message frequency of the unobstructed vehicle can be reduced while the broadcast message frequency of the obstructed vehicle can be appropriately increased. As long as the bandwidth resource allocation efficiency of the local area communication network can be improved. This embodiment does not impose any limitation on the specific adjustment method.

[0032] It is worth mentioning that the application scenarios of this application focus on PC5 direct communication, such as direct interaction between vehicles (V2V) and vehicles and infrastructure (V2I), without the need for transit through base stations. For example, the rapid exchange of position and speed information between vehicles at intersections, low latency, and fast response are suitable for scenarios with high real-time requirements such as emergency collision avoidance. This is quite different from the application scenarios of non-direct communications such as 4G / 5G in related technologies. It can be understood that in related technologies, non-direct communications such as 4G / 5G rely on the operator's cellular network (base station) to transmit data, such as vehicles connecting to the cloud through 5G networks to obtain traffic big data and remotely upgrade the system. It has a wide coverage area and can handle complex data transmission, but it relies on network base station deployment, and the latency is slightly higher than direct connection.

[0033] It is not difficult to find that, compared with the related art, the solution provided in the embodiment of the present application is applied to the local communication network of the PC5 direct communication of V2X. By determining the target vehicle in the local communication network according to the location of the faulty vehicle, the target vehicle in the local communication network is cleverly and fully utilized. The regionality and small coverage of V2X and PC5, and the characteristics of no need to exchange information through the base station, accurately identify the target vehicle in the area; then the concept of classification is proposed, and the obstructing vehicles and non-obstructing vehicles are screened out according to the target vehicles; wherein the obstructing vehicles are used to characterize the vehicles affected by the faulty vehicles, and the non-obstructing vehicles are used to characterize the vehicles not affected by the faulty vehicles, and then the direct communication broadcast message frequency of the obstructing vehicles and / or the non-obstructing vehicles is adjusted to improve the bandwidth resource allocation efficiency of the local communication network, which can avoid network congestion and secondary traffic accidents to a certain extent. In this way, a flexible adjustment mechanism for the sending frequency of broadcast messages related to distance is provided, which is highly dynamic. When faced with complex and potentially abnormal situations, frequency adjustment decisions can be made quickly and accurately, thereby achieving more efficient allocation of Internet of Vehicles resources, improving safety response capabilities and emergency response capabilities, and providing more reliable communication guarantees for application scenarios such as smart transportation and autonomous driving.

[0034] Second embodiment

[0035] The second embodiment of the present application relates to a method for adjusting the frequency of broadcast messages of a vehicle. The second embodiment is an improvement made on the basis of the first embodiment, and the specific improvement is that: in this embodiment, a specific implementation method for determining a target vehicle in the local area communication network according to the location of a faulty vehicle is provided.

[0036] Optionally, in some embodiments, determining the target vehicle in the local area communication network according to the location of the faulty vehicle, that is, step S101 may include: Step S1011, determining the distance value between the faulty vehicle and a receiving vehicle; the receiving vehicle is a vehicle that can receive the broadcast message of the faulty vehicle; Step S1012: determining a target vehicle within the local area communication network according to the distance value and the distance threshold.

[0037] Optionally, in some embodiments, determining the target vehicle in the local area communication network according to the distance value and the distance threshold, i.e., step S1012, may include: Determine a vehicle whose distance value is greater than the target threshold as a non-target vehicle; A vehicle whose distance value is less than or equal to the target threshold is determined as a target vehicle.

[0038] It is not difficult to find that the steps of determining non-target vehicles and target vehicles also utilize the concept of classification, which is conducive to saving certain emergency resources and communication resources and providing underlying support for decision-making.

[0039] like Figure 2 and Figure 3 As shown, taking the execution subject of the method as a vehicle-mounted system as an example, each of the above steps is described in detail. In the figure, the faulty vehicle is the faulty vehicle, the non-faulty parking space is the vehicle other than the faulty vehicle, and the non-associated vehicle is the non-target vehicle.

[0040] For step S1011, specifically, when an emergency occurs on the road, a faulty vehicle appears, and the distance value can be the straight-line distance value between the receiving vehicle and the faulty vehicle. In this embodiment, a simplified earth surface plane distance model can be used to determine the distance value between the faulty vehicle and the receiving vehicle.

[0041] Assuming that the longitude and latitude differences between vehicles can be approximated as the difference in plane coordinates, the distance value calculation steps are as follows: 1) Calculate the latitude difference between the receiving vehicle and the faulty vehicle and longitude difference :

[0042] in is the scaling factor used to convert degrees to meters. To receive the vehicle latitude value, To receive the vehicle longitude value. is the latitude of the faulty vehicle, is the longitude of the faulty vehicle.

[0043] 2) Calculate the distance value distance, and use the Pythagorean theorem to calculate the distance between the receiving vehicle and the faulty vehicle. The formula is as follows:

[0044] For step S1012, specifically, the distance value can be calculated Finally, the distance value is compared with the distance threshold R meters: when ≤R meters, the receiving vehicle is determined as the target vehicle; when >R meters, the receiving vehicle is determined to be a non-target vehicle.

[0045] It is worth mentioning that the distance threshold R can be a pre-set adjustable value (100 meters ≤ R ≤ 1000 meters), and the distance threshold can be determined according to factors such as the impact range of the faulty vehicle, the vehicle's communication capability, and the local area network coverage requirements.

[0046] When the distance between the receiving vehicle and the faulty vehicle is less than R meters, the receiving vehicle is interfered by the faulty vehicle, and the broadcast frequency of the receiving vehicle's on-board system message is adjusted to reduce bandwidth occupancy and ensure reasonable distribution of the local area network load.

[0047] It is not difficult to find that in the embodiment of the present application, a specific implementation method for determining the target vehicle in the local communication network according to the location of the faulty vehicle is provided. By calculating the distance value and comparing the distance value with the distance threshold, the target vehicle in the area can be determined more accurately through quantitative analysis.

[0048] Third embodiment

[0049] The third embodiment of the present application relates to a method for adjusting the frequency of broadcast messages of a vehicle. The third embodiment is an improvement on the first embodiment, and the specific improvement is that it provides a specific implementation method for determining obstructing vehicles and non-obstructing vehicles according to target vehicles, thereby facilitating the adjustment of the direct communication broadcast message frequency of obstructing vehicles and / or non-obstructing vehicles.

[0050] Optionally, in some embodiments, determining the obstructing vehicle and the non-obstructing vehicle according to the target vehicle, that is, step S102 may include: Step S1021, determining an impact result according to the impact factor; the impact result is used to characterize whether the target vehicle is affected by the faulty vehicle; the impact factor at least includes: the relative position of the target vehicle and the faulty vehicle, and the relative driving direction of the target vehicle and the faulty vehicle; Step S1022, determining obstructing vehicles and non-obstructing vehicles according to the impact result.

[0051] Optionally, in some embodiments, determining the impact result according to the impact factor, that is, step S1021, may further include: Step S10211, determining a first condition and a second condition according to the relative position and the relative driving direction in the influencing factor; wherein: the first condition is: the target vehicle is located in front of the driving direction of the faulty vehicle, and / or the driving direction of the target vehicle is opposite to the driving direction of the faulty vehicle; the second condition is: the target vehicle is located behind the driving direction of the faulty vehicle, and the driving direction of the target vehicle is the same as the driving direction of the faulty vehicle; Step S10212, determining an impact result according to the first condition and the second condition; Correspondingly, determining the obstructing vehicle and the non-obstructing vehicle based on the impact result, that is, step S1022 may include: determining the target vehicle that meets the first condition in the impact result as the non-obstructing vehicle, and determining the target vehicle that meets the second condition as the obstructing vehicle.

[0052] like Figure 3 As shown, the above steps are described in detail by taking the vehicle-mounted system as an example in which the execution subject of the method is an in-vehicle system. In the figure, the obstructing vehicle is an obstructing vehicle, and the non-obstructing vehicle is a non-obstructing vehicle.

[0053] For step S1021, specifically, firstly, the relative position relationship and the angle difference between the target vehicle and the faulty vehicle are calculated. The specific calculation steps are as follows: 1) Calculate relative position relationship: azimuth It refers to the direction angle from the target vehicle to the faulty vehicle.

[0054]

[0055] The function returns - arrive The angle between the final azimuth Converted to 0-360 degrees, the calculation formula is as follows:

[0056] 2) The difference in azimuth angle is used to determine whether the target vehicle is in front of the faulty vehicle. The calculation formula is as follows:

[0057] in It is the direction angle of the vehicle's front obtained by the sensor. Used to calculate the modulus of two floating point numbers. To ensure the difference In the range [-180,180]:

[0058] If the angle difference is less than 90 degrees, the target vehicle is in front of the faulty vehicle, otherwise the target vehicle is behind the faulty vehicle.

[0059] Specifically for step S1022, according to the calculation result in step S1021, it is determined whether the target vehicle meets the first condition or the second condition, and then the obstructive vehicle and the unobstructive vehicle are determined. When the target vehicle is in front of the faulty vehicle in the driving direction, and / or the driving direction of the target vehicle is opposite to that of the faulty vehicle, the first condition is met at this time, and the target vehicle is automatically determined to be an unobstructive vehicle; when the target vehicle is behind the faulty vehicle in the driving direction, and the driving direction of the target vehicle is the same as that of the faulty vehicle, the second condition is met at this time, and the target vehicle is automatically determined to be an obstructive vehicle.

[0060] Optionally, in some embodiments, adjusting the direct communication broadcast message frequency of the obstructive vehicle and / or the unobstructive vehicle to improve the bandwidth resource allocation efficiency of the local communication network, that is, step S103 may include: Lower the direct communication broadcast message frequency of the unobstructive vehicle to a preset low frequency state, and keep the direct communication broadcast message frequency of the obstructive vehicle at the current frequency state.

[0061] Specifically, the default transmission frequency of the broadcast message is N Hz, and the value of N can be set according to the local network communication requirements and the vehicle-mounted system load conditions. In this embodiment, 0.1Hz ≤ N ≤ 50Hz, and this predetermined range is applicable to normal communication requirements in most cases.

[0062] For the unobstructive vehicle, the system can automatically determine that the emergency of the current situation is relatively low. Therefore, the in-vehicle system of the faulty vehicle automatically adjusts the broadcast message transmission frequency to the unobstructive vehicle and reduces its frequency to a lower frequency K Hz (0.1Hz ≤ K ≤ 50Hz and K < N) within this predetermined range. Among them, the K frequency value can be determined according to the real-time network load, the emergency requirements of the receiving vehicle, or other system-set standards. For the obstructive vehicle, the system can not adjust the broadcast message frequency, but maintain the broadcast message transmission frequency to this vehicle at the normal frequency N Hz.

[0063] In some examples, such as Figure 4 and Figure 5 shown, the default transmission frequency of the broadcast message is 10Hz. By calculating the relative position relationship and the angle difference between the target vehicle and the faulty vehicle, the broadcast message transmission frequency of the target vehicle (unobstructive vehicle) that meets the first condition is reduced from 10Hz to 5Hz, and the broadcast message transmission frequency of the target vehicle (obstructive vehicle) that meets the second condition remains 10Hz.

[0064] Exemplarily, the in-vehicle system broadcast message can be, but is not limited to, the BSM message. The BSM message may include, but is not limited to: time stamp, brake system status, acceleration set, and emergency extension information.

[0065] Optionally, in some embodiments, after adjusting the direct communication broadcast message frequency of the obstructing vehicle and / or the non-obstructing vehicle to improve the bandwidth resource allocation efficiency of the local area communication network, the method further includes the following steps: Step S201, calculating the difference between the time when the emergency message sent by the faulty vehicle is received and the current time; Step S202: Automatically restore the direct communication broadcast message frequency of the obstructing vehicle and / or the non-obstructing vehicle according to the difference and a preset time threshold.

[0066] Specifically, the preset time threshold can be set to T seconds, and the value can be within an adjustable range (1 second ≤ T ≤ 3600 seconds). Exemplarily, the preset time threshold can be determined based on the nature of the emergency, the timeliness requirements of communication in the Internet of Vehicles, and the network load. It can be understood that when the difference exceeds the preset time threshold T seconds, the system can automatically determine that the event is no longer real-time or urgent, and therefore, the default broadcast message frequency (N Hz) of the target vehicle can be restored.

[0067] That is to say, in this embodiment, after reducing the frequency of broadcast message transmission, the frequency of broadcast message transmission can be restored to the default transmission frequency N through frequency conversion operation. The frequency conversion operation can be handled by the control program. After receiving the emergency event message of the faulty vehicle, it is determined whether the frequency conversion condition is met and the change of the frequency of broadcast message transmission of the vehicle is controlled. This mechanism can ensure that after the emergency event is handled, the network bandwidth is quickly restored to a normal state, thereby ensuring the efficient operation of the Internet of Vehicles system in different scenarios.

[0068] It should be noted that this embodiment may also be an improvement based on the second embodiment.

[0069] It is not difficult to find that in the embodiment of the present application, a specific implementation method for determining obstructing vehicles and non-obstructing vehicles based on the target vehicle is provided. Through this implementation method, obstructing vehicles and non-obstructing vehicles can be dynamically determined, and then the frequency of direct communication broadcast messages of obstructing vehicles and / or non-obstructing vehicles in the local communication network can be dynamically adjusted. In this way, it is beneficial to further reduce the bandwidth occupation of non-obstructing vehicles on the local network, release bandwidth resources, ensure that obstructing vehicles can continue to receive emergency information sent by faulty vehicles, avoid occupying too much bandwidth resources of the local network when the actual impact is small, ensure that the communication load is at the lowest level, and improve the overall utilization efficiency of the local network communication bandwidth resources. Thereby optimizing the response capability of the Internet of Vehicles to emergency events.

[0070] Fourth embodiment

[0071] The fourth embodiment of the present application relates to an application example of a method for adjusting the frequency of broadcast messages of a vehicle. The execution subject of the application example is a vehicle-mounted unit, and the method provided by any one or more of the first to third embodiments can be used to implement the application example.

[0072] like Figure 6 As shown, a schematic diagram of information interaction between emergency vehicles and related vehicles in V2X communication is shown. The on-board unit of the emergency vehicle sends V2X information through the sending module. After the on-board unit receiving module of the related vehicle receives the information, it is forwarded to the frequency adjustment module for processing, and then the sending module sends the V2X information. Among them, the frequency adjustment module is used to execute the vehicle broadcast message frequency adjustment method provided in this application.

[0073] (1) Initialization settings: When the system starts, the vehicle-mounted unit loads the frequency adjustment algorithm in the V2X communication module and the frequency adjustment module. The receiving module, the sending module, and the frequency adjustment module are initialized. The initial broadcast frequency of the vehicle's BSM message is set to 10Hz, and the location information, speed and other data of the relevant vehicles are synchronized to the data processing module.

[0074] (2) Message reception and parsing: The onboard unit regularly receives V2X messages from other vehicles or road infrastructure, including vehicle messages and emergency messages from faulty vehicles. These messages are decoded and formatted by ASN.1 and stored in the data processing module (not shown in the figure).

[0075] (3) Frequency adjustment judgment: After the data processing module analyzes the received emergency event message, if Figure 7 As shown, follow the steps to determine whether to adjust the frequency. First, calculate the relative distance between the receiving vehicle and the faulty vehicle. Then make a judgment based on the relative position relationship (whether the target vehicle is in front of, behind, or in the opposite direction of the faulty vehicle) and the comparison between the message timestamp and the current time.

[0076] When the distance between the receiving vehicle and the faulty vehicle exceeds the preset threshold of 500 meters, the system will determine that the receiving vehicle is a non-target vehicle (non-associated vehicle). At this time, the broadcast message frequency will not be adjusted and the normal frequency of 10 Hz will be maintained.

[0077] If the distance between the receiving vehicle and the faulty vehicle is less than or equal to the threshold of 500 meters, the system will determine that the receiving vehicle is the target vehicle (associated vehicle). If the target vehicle is in front of the faulty vehicle or in the opposite direction of the faulty vehicle, the target vehicle is a non-obstructive vehicle. In this case, the vehicle system of the non-obstructive vehicle will reduce the frequency of its broadcast message transmission to a low frequency state of 5 Hz.

[0078] If the distance between the receiving vehicle and the faulty vehicle is less than or equal to the threshold of 500 meters, the system will determine that the receiving vehicle is the target vehicle. If the target vehicle is located behind the faulty vehicle and is traveling in the same direction as the faulty vehicle, the target vehicle is an obstructing vehicle and receives emergency information sent by the faulty vehicle at a normal frequency of 10 Hz.

[0079] When the difference between the timestamp of the received emergency message and the current system time exceeds the set time threshold of 5 seconds, the system will automatically restore the default message frequency of 10 Hz for the receiving vehicle.

[0080] (4) Frequency adjustment decision execution: The system sends an adjustment instruction to the vehicle's broadcast module (not shown) via the TCP / IP protocol. The instruction content is "5Hz" or "10Hz".

[0081] (5) Broadcast frequency control: After receiving the frequency adjustment command, the broadcast module adjusts the vehicle's broadcast frequency. If it is adjusted to 5Hz, the broadcast frequency is reduced to reduce bandwidth usage; if it is restored to 10Hz, the normal broadcast frequency is restored. Figure 2 and Figure 4 As shown in the figure, when the faulty vehicle has not sent an emergency message, the initial frequency of each vehicle node in the V2X network is 10Hz; after the faulty vehicle sends an emergency message, the frequency of unrelated vehicle nodes in the V2X network changes to 5Hz; after the faulty vehicle sends emergency messages continuously for a period of time, the category of each vehicle node in the V2X network changes due to changes in judgment conditions such as relative position. The frequency of some vehicles is restored from 5Hz to 10Hz, and the frequency of some vehicles is reduced from 10Hz to 5Hz.

[0082] (6) Real-time monitoring and feedback: The system monitors the communication status through the real-time monitoring module, checks whether the frequency adjustment is successful, evaluates the system's response time, bandwidth utilization efficiency, etc., and optimizes them. Based on real-time feedback, the frequency adjustment strategy and bandwidth allocation strategy are adjusted to adapt to different traffic and network environments.

[0083] The step division of the above methods is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this application; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this application.

[0084] Fifth embodiment

[0085] Some embodiments of the present application also provide an electronic device. The electronic device may be a digital computer in various forms, such as a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, etc. The electronic device may also be a mobile device in various forms, such as a personal digital processing, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0086] The electronic device includes: one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the method provided in any one or more of the above embodiments. Figure 8 An exemplary structural diagram of the electronic device is disclosed. Figure 8 As shown, the electronic device includes: one or more processors 1101, a memory 1102, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if necessary, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Among them, the components shown in this article, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0087] The electronic device may further include: an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103 and the output device 1104 may be connected via a bus or other means. Figure 8 The example of connecting through bus is taken in the following.

[0088] The input device 1103 can receive input digital or character information, and generate key signal input related to the user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 1104 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0089] In order to provide interaction with the user, the electronic device may be a computer. The computer has: a display device (e.g., a cathode ray tube (CRT) or an LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0090] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium, and when the computer program / instruction is executed by a processor, the steps of the method provided by any one or more of the above embodiments are implemented. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0091] The memory 1102 can be used as a non-transient computer-readable storage medium, which can be used to store non-transient software programs, non-transient computer executable programs and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 1102, so as to implement the program instructions / modules corresponding to the method provided by any one or more embodiments in the embodiments of the present application.

[0092] The memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory remotely arranged relative to the processor 1101, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0093] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM, Erasable Programmable Read - Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM, Compact Disc Read - Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0094] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0095] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0096] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. For example, an application-specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device may be used for implementation. In some embodiments, the software program of the present application may be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) may be stored in a computer-readable recording medium, such as a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present application may be implemented by hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0097] The computer program product provided in the embodiment of the present application includes one or more computer programs / instructions, which, when executed by the processor, generate in whole or in part the process or function described in the embodiment of the present application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL, Digital Subscriber Line)) or wireless (e.g., infrared, wireless, microwave, etc.) means to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive, SSD, solid statedisk), etc.

[0098] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0099] The scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words "first", "second", etc. are only used to distinguish the description, and do not indicate any particular order, nor can they be understood as indicating or implying relative importance.

[0100] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A method for adjusting the frequency of a broadcast message of a vehicle, characterized in that: The method is applied to a local area communication network of PC5 direct communication of V2X, and the method comprises: Determining a target vehicle within the local area communication network according to the location of the faulty vehicle; According to the target vehicle, determining an obstructing vehicle and a non-obstructing vehicle; wherein the obstructing vehicle is used to characterize the vehicle affected by the faulty vehicle, and the non-obstructing vehicle is used to characterize the vehicle not affected by the faulty vehicle; The frequency of the direct communication broadcast messages of the obstructing vehicle and / or the non-obstructing vehicle is adjusted to improve the bandwidth resource allocation efficiency of the local area communication network.

2. The method according to claim 1, characterized in that Determining the target vehicle in the local area communication network according to the position of the faulty vehicle comprises: Determine the distance value between the faulty vehicle and a receiving vehicle; the receiving vehicle is a vehicle that can receive the broadcast message of the faulty vehicle; A target vehicle within the local area communication network is determined according to the distance value and the distance threshold.

3. The method according to claim 2, characterized in that The determining, according to the distance value and the distance threshold, a target vehicle in the local area communication network comprises: Determine the vehicle whose distance value is greater than the target threshold as a non-target vehicle; A vehicle whose distance value is less than or equal to the target threshold is determined as a target vehicle.

4. The method according to claim 1, characterized in that: Determining the obstructing vehicle and the non-obstructing vehicle according to the target vehicle comprises: Determine an impact result according to the impact factor; the impact result is used to characterize whether the target vehicle is affected by the faulty vehicle; the impact factor at least includes: the relative position of the target vehicle and the faulty vehicle, and the relative driving direction of the target vehicle and the faulty vehicle; According to the impact results, obstructing vehicles and non-obstructing vehicles are determined.

5. The method according to claim 4, characterized in that Determining the impact result according to the impact factor includes: According to the relative position and the relative driving direction in the influencing factor, the first condition and the second condition are determined; wherein: The first condition is that: the target vehicle is located in front of the travel direction of the faulty vehicle, and / or the travel direction of the target vehicle is opposite to the travel direction of the faulty vehicle; The second condition is that: the target vehicle is located behind the travel direction of the faulty vehicle, and the travel direction of the target vehicle is the same as the travel direction of the faulty vehicle; Determine the impact result according to the first condition and the second condition; Correspondingly, determining the obstructing vehicles and the non-obstructing vehicles according to the impact result includes: The target vehicle that meets the first condition in the impact result is determined as the non-obstructive vehicle, and the target vehicle that meets the second condition is determined as the obstructive vehicle.

6. The method according to claim 1, characterized in that The adjusting the direct communication broadcast message frequency of the obstructing vehicle and / or the non-obstructing vehicle to improve the bandwidth resource allocation efficiency of the local area communication network includes: The frequency of the direct communication broadcast message of the non-obstructive vehicle is reduced to a preset low frequency state, and the frequency of the direct communication broadcast message of the obstructive vehicle is maintained at the current frequency state.

7. The method according to claim 1, characterized in that After adjusting the direct communication broadcast message frequency of the obstructing vehicle and / or the non-obstructing vehicle to improve the bandwidth resource allocation efficiency of the local area communication network, the method further includes: Calculate the difference between the time when the emergency message sent by the faulty vehicle is received and the current time; The direct communication broadcast message frequency of the obstructing vehicle and / or the non-obstructing vehicle is automatically restored according to the difference and a preset time threshold.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 7.

9. A computer readable medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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