Message transmission method and device, equipment and storage medium

Abstract

The invention discloses a message transmission method and device, electronic equipment and a storage medium, and is applied to a vehicle-mounted computing unit, and the method comprises the steps that a vehicle wireless communication technology V2X communication protocol stack receives to-be-processed data and transmits the to-be-processed data to a basic software environment module, and the to-be-processed data is from a vehicle side and / or a road side; the basic software environment module transmits to-be-processed data to the message communication middleware, and the message communication middleware is compatible with communication interaction with the V2X communication protocol stack; and the message communication middleware forwards the to-be-processed data to the at least one collaborative algorithm module. The V2X communication protocol stack is fused into the vehicle-mounted computing unit and is used for receiving to-be-processed data from a vehicle side and / or a road side and providing a basic wireless data transmission function; and the message communication middleware compatible with the V2X communication protocol stack receives to-be-processed data from the V2X communication protocol stack and forwards the to-be-processed data to the collaborative algorithm module, so that an efficient and safe communication basis is provided for intelligent driving and vehicle-road collaboration.

Description

Technical Field

[0001] The present application belongs to the field of communication technology, and specifically relates to a message transmission method, device, equipment and storage medium. Background Art

[0002] With the development of vehicle intelligence and the rise of the "vehicle-road-cloud integration" technology system, the on-board computing unit no longer exists in isolation, but instead forms a closely connected intelligent transportation network with the roadside computing unit, cloud computing center, etc., enabling vehicles to obtain traffic information in real time, thereby making more accurate and timely driving decisions.

[0003] In the prior art, the vehicle-side message transmission architecture includes an on-board OBU (On-Board Unit) unit and an on-board computing unit. Take the downlink transmission process from the roadside to the vehicle side as an example: the roadside unit transmits the message to the on-board OBU unit through the V2X (Vehicle to Everything) communication protocol stack, and the on-board OBU unit parses the message via the V2X communication protocol stack, and then transmits it to the on-board computing unit, which is then distributed to different algorithm application nodes by the on-board computing unit via the message communication middleware to support vehicle-road collaborative autonomous driving applications. Among them, the message communication middleware includes mainstream solutions such as DDS (Data Distribution Service), MQTT (Message Queuing Telemetry Transport), and SOME / IP (Scalable service-Oriented MiddlewarEover IP, Scalable service-oriented middleware based on IP).

[0004] However, the current architecture has many links, requiring the V2X communication protocol stack and message communication middleware to perform multiple message parsing, resulting in message transmission delays. In addition, the hardware equipment and software functional modules in each link have different product performance and stability, which are prone to failure in complex environments and long-term operation, resulting in a decrease in the overall stability of the system. Therefore, the information processing capability and communication performance of the current vehicle-side message transmission architecture are difficult to meet the requirements, resulting in poor functions and performance related to vehicle-road collaboration and intelligent driving. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a message transmission method, apparatus, device and storage medium, which can solve the problem that the information processing capability and communication performance of the current vehicle-side message transmission architecture are difficult to meet the requirements, resulting in poor functions and performance related to vehicle-road collaboration and intelligent driving.

[0006] In a first aspect, an embodiment of the present application provides a message transmission method, which is applied to an on-board computing unit, and the method includes:

[0007] The vehicle wireless communication technology V2X communication protocol stack receives the data to be processed and transmits the data to be processed to the basic software environment module, wherein the data to be processed comes from the vehicle side and / or the road side;

[0008] The basic software environment module transmits the data to be processed to a message communication middleware, and the message communication middleware is compatible with the communication interaction with the V2X communication protocol stack;

[0009] The message communication middleware forwards the data to be processed to at least one collaborative algorithm module.

[0010] Optionally, the V2X communication protocol stack includes an access layer, an adaptation layer, and a network layer, and the V2X communication protocol stack receives data to be processed, including:

[0011] The access layer receives a baseband signal of a wireless channel;

[0012] The adaptation layer performs protocol analysis on the baseband signal to extract the V2X message;

[0013] The network layer encapsulates the V2X message into an IP protocol data packet based on the Internet interconnection IP protocol as data to be processed.

[0014] Optionally, the transmitting the to-be-processed data to a basic software environment module comprises:

[0015] Based on the IP protocol, the data to be processed is transmitted to the basic software environment module.

[0016] Optionally, the basic software environment module transmits the to-be-processed data to the message communication middleware, including:

[0017] The basic software environment module transmits the to-be-processed data to the message communication middleware based on the user datagram UDP protocol, the transmission control TCP protocol and / or the shared memory SHM mechanism.

[0018] Optionally, the message communication middleware forwards the data to be processed to at least one collaborative algorithm module, including:

[0019] The message communication middleware transmits the data to be processed to the service-oriented architecture SOA communication service layer;

[0020] The SOA communication service layer forwards the data to be processed to at least one collaborative algorithm module.

[0021] Optionally, the message communication middleware transmits the to-be-processed data to a service-oriented architecture (SOA) communication service layer, including:

[0022] The message communication middleware transmits the to-be-processed data to the SOA communication service layer based on the data distribution service DDS protocol and / or the message queue telemetry transmission MQTT protocol.

[0023] Optionally, the method further comprises:

[0024] The message communication middleware receives the data to be transmitted sent by the collaborative algorithm module, and transmits the data to be transmitted to the basic software environment module;

[0025] The basic software environment module transmits the data to be transmitted to the V2X communication protocol stack;

[0026] The V2X communication protocol stack transmits the data to be transmitted through a wireless channel.

[0027] In a second aspect, an embodiment of the present application provides a message transmission device, which is applied to a vehicle-mounted computing unit, and the device includes:

[0028] A V2X communication protocol stack module, configured to receive data to be processed and transmit the data to be processed to a basic software environment module, wherein the data to be processed comes from a vehicle side and / or a road side;

[0029] The basic software environment module is used to transmit the to-be-processed data to a message communication middleware module, wherein the message communication middleware module is compatible with the communication interaction with the V2X communication protocol stack module;

[0030] The message communication middleware module is used to forward the data to be processed to at least one collaborative algorithm module.

[0031] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the first aspect are implemented.

[0032] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0033] In a fifth aspect, an embodiment of the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the method described in the first aspect.

[0034] In a sixth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the method described in the first aspect.

[0035] As can be seen from the above, in the technical solution provided by this application, the on-board computing unit includes a V2X communication protocol stack, a basic software environment module and a message communication middleware compatible with the V2X communication protocol stack. Among them, after the V2X communication protocol stack is integrated into the on-board computing unit, it can be used to receive the data to be processed from the vehicle side and / or the road side, provide basic wireless data transmission functions, and the V2X communication protocol stack can interact with the basic software environment module to transmit the data to be processed to the basic software environment module; the message communication middleware compatible with the V2X communication protocol stack can receive the data to be processed from the V2X communication protocol stack from the basic software environment module, and forward the data to be processed to at least one collaborative algorithm module, so that the collaborative algorithm module performs corresponding vehicle-road collaborative calculations based on the data to be processed, providing an efficient and safe communication foundation for intelligent driving and vehicle-road collaboration of vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is an architectural diagram of a message transmission method in the prior art according to an exemplary embodiment;

[0037] Figure 2 is a flowchart of a message transmission method according to an exemplary embodiment

[0038] Figure 3 is an architectural diagram of a message transmission method according to an exemplary embodiment;

[0039] Figure 4 is a block diagram of a message transmission device according to an exemplary embodiment;

[0040] Figure 5 is a block diagram of an electronic device according to an exemplary embodiment;

[0041] Figure 6 The figure is a schematic diagram showing the hardware structure of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0043] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0044] With the development of vehicle intelligence and the rise of the "vehicle-road-cloud integration" technology system, the on-board computing unit no longer exists in isolation, but instead forms a closely connected intelligent transportation network with the roadside computing unit, cloud computing center, etc., enabling vehicles to obtain traffic information in real time, thereby making more accurate and timely driving decisions.

[0045] Figure 1 It is an architecture diagram of a message transmission method in the prior art according to an exemplary embodiment, which includes a roadside MEC (Multi-access Edge Computing) unit, a roadside RSU (RoadSide Unit) unit, an on-board OBU unit and an on-board computing unit. Among them, the roadside MEC unit includes a message communication middleware based on DDS / MQTT and a UDP / IP protocol, the roadside RSU unit includes a UDP / IP protocol and a V2X communication protocol stack, the on-board OBU unit includes a V2X communication protocol stack and a UDP / IP protocol, and the on-board computing unit includes a UDP / IP protocol and a message communication middleware based on DDS / MQTT.

[0046] Take the downlink data transmission process from the roadside to the vehicle side as an example: the roadside data is obtained through a certain algorithm of the roadside MEC unit, and is transmitted to the roadside RSU unit through Ethernet protocol links such as UDP (User Datagram Protocol) / IP (Internet Protocol) protocols, and then transmitted to the on-board OBU unit through the V2X communication protocol stack via a wireless environment. After that, the roadside data is parsed through the V2X communication protocol stack, transmitted to the on-board computing unit based on the UDP / IP protocol, and distributed by the on-board computing unit to the vehicle-road cooperative vehicle-side application via the message communication middleware. Among them, the message communication middleware includes mainstream solutions such as DDS, MQTT, and SOME / IP.

[0047] Correspondingly, the uplink data transmission process from the vehicle side to the road side is similar to the above-mentioned downlink data transmission process. The vehicle side data can be transmitted from the on-board computing unit to the vehicle-road collaborative roadside application to support vehicle-road collaborative and intelligent driving functions, which will not be repeated here.

[0048] However, the current architecture has many links, requiring the V2X communication protocol stack and message communication middleware to perform multiple message parsing, resulting in message transmission delays. In addition, the hardware equipment and software functional modules in each link have different product performance and stability, which are prone to failure in complex environments and long-term operation, resulting in a decrease in the overall stability of the system. Therefore, the information processing capability and communication performance of the current vehicle-side message transmission architecture are difficult to meet the requirements, resulting in poor functions and performance related to vehicle-road collaboration and intelligent driving.

[0049] Based on this, a message transmission method applied to a vehicle-mounted computing unit in the present application is proposed to solve the above problem. The message transmission method provided in the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0050] Figure 2 It is a flowchart of a message transmission method according to an exemplary embodiment. The message transmission method is applied to a vehicle-mounted computing unit and includes the following steps.

[0051] In step S11, the vehicle wireless communication technology V2X communication protocol stack receives the data to be processed and transmits the data to be processed to the basic software environment module, and the data to be processed comes from the vehicle side and / or the road side.

[0052] V2X technology can realize communication between vehicles, vehicles and infrastructure, vehicles and pedestrians, and vehicles and networks. The V2X communication protocol stack is the core component of V2X technology, responsible for handling these complex communication processes. In this application, the vehicle-mounted V2X communication protocol stack in the related technology and the vehicle-mounted intelligent driving application computing chip are integrated in the same hardware unit to provide a dedicated hardware path as an on-board computing unit to provide a dedicated data channel for "communication" and "computing".

[0053] When the vehicle computing unit receives relevant information generated by the vehicle or road, this information is considered as data to be processed. The data to be processed may include basic information such as the vehicle's location, speed, and direction of travel, or more complex traffic conditions, road conditions, or emergency alerts, which are essential for achieving intelligent traffic management, improving road safety, and optimizing the driving experience.

[0054] The V2X communication protocol stack is responsible for receiving the data to be processed through wireless communication technology. Specifically, the V2X communication protocol stack can first receive data that may exist in various forms, such as original signals, encoded data packets, or messages that have been preliminarily processed. Once the data is received, the V2X communication protocol stack will begin to process it, including but not limited to decoding, verification, parsing and other steps to ensure the accuracy and integrity of the data. In addition, during this process, the V2X communication protocol stack can also use a series of protocols and algorithms to ensure the correct transmission and processing of data. Finally, the obtained data can be used as data to be processed.

[0055] After receiving the data to be processed, the V2X communication protocol stack transmits the data to be processed to the basic software environment module. The basic software environment module refers to the Linux operating system kernel and driver of the vehicle computing unit. The operating system kernel is used to manage and control the hardware and software resources of the computer system. The driver is used to complete the data transmission and reception based on the Ethernet protocol stack. It is a key component in the vehicle computing unit and is responsible for providing necessary services and support for upper-level applications.

[0056] It is worth noting that the source of the data to be processed can be either the vehicle side or the road side. The vehicle side data may be generated by the vehicle's own sensors or control system, while the road side data may be provided by the traffic management system, road side unit or other infrastructure. The combination of these two data sources enables V2X technology to provide more comprehensive and accurate traffic information.

[0057] Therefore, the V2X communication protocol stack plays a key role in receiving, processing and transmitting the data to be processed. It can realize the information exchange between vehicles and the surrounding environment in an efficient and reliable manner, laying a solid foundation for the development of intelligent transportation systems.

[0058] In one implementation, the V2X communication protocol stack includes an access layer, an adaptation layer, and a network layer. The V2X communication protocol stack receives data to be processed, including:

[0059] The access layer receives the baseband signal of the wireless channel;

[0060] The adaptation layer performs protocol analysis on the baseband signal and extracts the V2X message;

[0061] The network layer encapsulates V2X messages into IP protocol packets based on the Internet interconnection IP protocol as data to be processed.

[0062] In other words, the V2X communication protocol stack includes the access layer, the adaptation layer, and the network layer. These three layers work together to complete the process from receiving baseband signals from the wireless channel to extracting V2X messages, and then encapsulating them into IP protocol data packets as data to be processed.

[0063] The access layer is the interface between the V2X communication protocol stack and the wireless channel, and is used to receive baseband signals from the wireless channel. These baseband signals are original physical signals that carry information that needs to be interacted between the vehicle and other entities. The access layer receives the baseband signals through specific wireless communication technologies and passes them to the adaptation layer for processing.

[0064] The adaptation layer is located between the access layer and the network layer, and is used to perform protocol analysis on the baseband signals passed from the access layer. This step involves decoding, verifying, and parsing the baseband signals to extract useful V2X messages. V2X messages may contain basic information such as the vehicle's location, speed, and direction of travel, or they may contain more complex traffic conditions, road conditions, or emergency alerts. The adaptation layer extracts this V2X information by parsing the baseband signals and passes it to the network layer for further processing.

[0065] The network layer is the highest level in the V2X communication protocol stack, which is used to encapsulate the V2X messages extracted by the adaptation layer into IP protocol packets. In an embodiment of the present application, the network layer of the V2X communication protocol stack implements the network layer IP protocol based on the original DSMP (Digital Subscriber Message Protocol) protocol above the V2X adaptation layer. The IP protocol is a widely used communication protocol on the Internet, which provides a standardized way to encapsulate and transmit data. At the network layer, V2X messages are encapsulated into data packets that comply with the IP protocol specification. These data packets contain necessary information such as the content of the message, source address, destination address, etc. After encapsulation, these data packets are subsequently processed as pending data.

[0066] Furthermore, on top of the network layer IP protocol, UDP / TCP protocol and RTPS (Real-Time Publish-Subscribe), DSCP (Differentiated Services Code Point), DDS and other protocols can be accessed, so that the V2X communication protocol stack can access the message communication middleware through a shorter path.

[0067] Therefore, message transmission in the V2X communication protocol stack is a complex and sophisticated process involving collaboration at three levels: access layer, adaptation layer, and network layer, so that vehicles can communicate with other entities efficiently and reliably through wireless communications, thereby achieving goals such as intelligent traffic management, improving road safety, and optimizing driving experience, providing a more solid foundation for future intelligent transportation systems.

[0068] In one implementation, the data to be processed is transmitted to the basic software environment module, including:

[0069] Based on the IP protocol, the data to be processed is transmitted to the basic software environment module.

[0070] It is understood that the IP protocol is the core protocol for data packet transmission in the Internet, which defines how data packets are routed and transmitted in the network. In some cases, the data to be processed may be IP protocol data packets obtained after encapsulation and processing at the network layer of the V2X communication protocol stack. In addition, these data packets need to be transmitted to the basic software environment module.

[0071] In this case, the data to be processed can be transmitted to the basic software environment module based on the IP protocol, which means that the data to be processed will be transmitted in accordance with the format and rules specified by the IP protocol. Moreover, the basic software environment module needs to be able to receive and process IP protocol data packets, that is, the basic software environment module implements interfaces and logic compatible with the IP protocol. In this way, once the data to be processed is received, the basic software environment module can further process or distribute it as needed, such as passing it to the message communication middleware or other application layer services.

[0072] Therefore, transmitting the data to be processed to the basic software environment module based on the IP protocol can ensure the compatibility and efficient transmission of the data to be processed within the vehicle computing unit and between other Internet services. The realization of this feature requires close cooperation and coordination between the V2X communication protocol stack, the basic software environment module, and possibly other vehicle network components.

[0073] In step S12, the basic software environment module transmits the data to be processed to the message communication middleware, and the message communication middleware is compatible with the communication interaction with the V2X communication protocol stack.

[0074] The basic software environment module plays a vital role in the vehicle computing unit. It is a bridge between the underlying hardware and the upper-level applications, providing the necessary services, interfaces and protocol support. In the scenario of this application, the basic software environment module is responsible for receiving the data to be processed from the V2X communication protocol stack and further transmitting this data to the message communication middleware.

[0075] Message communication middleware is a software component widely used in distributed systems. It is responsible for transmitting messages between different software applications and systems. In vehicle computing units, the role of message communication middleware is particularly important because it needs to process data to be processed from different sources and transmit these data to the required applications or services in a unified and standardized format.

[0076] The compatibility between the message communication middleware and the V2X communication protocol stack is the key to achieving efficient and reliable data transmission. To ensure this, the message communication middleware needs to support the communication protocols and data formats used by the V2X communication protocol stack.

[0077] Specifically, the communication interaction between the message communication middleware and the V2X communication protocol stack includes but is not limited to:

[0078] Protocol support: The message communication middleware needs to understand and be able to process the structure and content of the data to be processed sent by the V2X communication protocol stack, which usually involves in-depth understanding and support of specific protocols;

[0079] Data format conversion: If the V2X communication protocol stack and the message communication middleware use different data formats, the middleware needs to be able to perform the necessary data format conversion, which ensures that the data to be processed maintains its integrity and accuracy during transmission;

[0080] Error handling and retry mechanism: In wireless communication environments, packet loss or damage is a common problem. Therefore, message communication middleware needs to implement effective error handling and retry mechanisms to ensure reliable transmission of data to be processed.

[0081] Scalability and flexibility: As the functions of on-board computing units continue to increase and change, the message communication middleware needs to be sufficiently scalable and flexible to adapt to new communication protocols and data formats.

[0082] In one implementation, the basic software environment module transmits the data to be processed to the message communication middleware, including:

[0083] The basic software environment module transmits the data to be processed to the message communication middleware based on the user datagram UDP protocol, the transmission control TCP protocol and / or the shared memory SHM mechanism.

[0084] That is to say, the basic software environment module adopts a variety of transmission protocols and mechanisms, including UDP protocol, TCP (Transmission Control Protocol) protocol and SHM (Shared Memory) mechanism, etc., to achieve efficient and reliable data transmission.

[0085] Among them, the UDP protocol is a connectionless, unreliable transmission protocol, but it has low latency and high throughput. In vehicle communication systems with high real-time requirements, the UDP protocol is often used to transmit time-sensitive data that allows a certain loss rate.

[0086] The TCP protocol is a connection-oriented, reliable transmission protocol that provides mechanisms such as data confirmation, retransmission, and error detection. When data integrity and reliability need to be ensured, the TCP protocol is a better choice.

[0087] The SHM mechanism is a mechanism for implementing inter-process communication within the same physical memory space. In the vehicle computing unit, shared memory can be used to implement fast and low-latency data exchange between the basic software environment module and the message communication middleware.

[0088] In other words, the basic software environment module can select an appropriate transmission protocol or mechanism to transmit the data to be processed to the message communication middleware according to the characteristics and transmission requirements of the data to be processed. For example, the basic software environment can encapsulate the data to be processed into a UDP data packet through the UDP protocol and send it to the message communication middleware. After receiving the UDP data packet, the message communication middleware can parse and process it to obtain the required information. Alternatively, the basic software environment can store the received data to be processed in a shared memory, and the message communication middleware can obtain the required information by accessing the shared memory without transmitting it over the network.

[0089] In this way, efficient and reliable data transmission can be achieved between the basic software environment module and the message communication middleware. Through reasonable protocol selection and transmission operations, the basic software environment module can ensure the correct transmission and processing of data within the on-board computing unit and between other systems.

[0090] In step S13, the message communication middleware forwards the data to be processed to at least one collaborative algorithm module.

[0091] In this step, after receiving the data to be processed from the basic software environment module, the message communication middleware can forward the data to be processed to at least one collaborative algorithm module. This function ensures the liquidity and availability of the data to be processed, so that each collaborative algorithm module can obtain and process data as needed.

[0092] Among them, the collaborative algorithm module is a component in the on-board computing unit used to process and analyze data. It is used to process the received data to be processed according to specific algorithms and logic to extract useful information or generate decisions. The collaborative algorithm module may include path planning algorithms, collision detection algorithms, traffic flow prediction algorithms, etc. By forwarding the data to be processed to these modules, the message communication middleware provides powerful data processing and analysis capabilities for the on-board computing unit.

[0093] For example, in self-driving cars, message communication middleware can forward real-time data from sensors to path planning algorithms and collision detection algorithms to support the vehicle's autonomous navigation and obstacle avoidance functions. In intelligent transportation systems, message communication middleware can forward video data from traffic monitoring cameras to traffic flow prediction algorithms to optimize traffic signal control and alleviate traffic congestion.

[0094] Therefore, the reliable transmission of the data to be processed achieved through the message communication middleware can improve the availability and fluidity of the data to be processed in the on-board computing unit, and promote collaboration and information sharing between collaborative algorithm modules.

[0095] In one implementation, the message communication middleware forwards the data to be processed to at least one collaborative algorithm module, including:

[0096] The message communication middleware transmits the data to be processed to the service-oriented architecture SOA communication service layer;

[0097] The SOA communication service layer forwards the data to be processed to at least one collaborative algorithm module.

[0098] It can be understood that the message communication middleware, as a key node for data transmission, undertakes the important task of forwarding the data to be processed to the collaborative algorithm module. This process not only involves the flow of data, but also may involve the application of the SOA (Service-Oriented Architecture) communication service layer.

[0099] That is to say, after receiving the data to be processed, the message communication middleware does not directly forward it to the collaborative algorithm module, but first transmits the data to the SOA communication service layer. The SOA communication service layer is a software design paradigm that splits the different functional units of the application (called services) and enables these services to interact independently of other services through well-defined interfaces and protocols. In the on-board computing unit, the application of the SOA communication service layer makes the communication between components more flexible and efficient.

[0100] In the embodiment of the present application, the SOA communication service layer acts as an intermediary between the message communication middleware and the collaborative algorithm module. It is responsible for receiving the data to be processed from the message communication middleware, and forwarding the data to be processed to the corresponding collaborative algorithm module according to the service interface and protocol. It is not aware of whether the data to be processed comes from its own "vehicle side" or the external "road side". The components composed of V2X-compatible message communication middleware components, basic software environment modules, and V2X communication protocol stack shield the source of the data to be processed, thereby ensuring the correct routing and efficient transmission of the data to be processed, and providing strong support for the intelligent decision-making and autonomous driving functions of the on-board computing unit.

[0101] In one implementation, the message communication middleware transmits the data to be processed to the service-oriented architecture SOA communication service layer, including:

[0102] The message communication middleware transmits the data to be processed to the SOA communication service layer based on the data distribution service DDS protocol and / or the message queue telemetry transmission MQTT protocol.

[0103] In other words, the message communication middleware can use the DDS protocol and / or the MQTT protocol to transmit the data to be processed to the SOA communication service layer. This process not only reflects the flexibility of the message communication middleware in data transmission, but also demonstrates the advantages of the SOA architecture in improving the maintainability, scalability and reusability of the system, ensuring the efficient transmission of the data to be processed and the stability of the system.

[0104] Among them, the DDS protocol is a middleware specification that provides data exchange capabilities for real-time, distributed systems. It defines a complete set of APIs (Application Programming Interface) and communication mechanisms, allowing each component in the system to efficiently exchange data in a publish / subscribe manner. In the on-board computing unit, the application of the DDS protocol enables the message communication middleware to publish the data to be processed to the subscribers in the SOA communication service layer in real time, thereby achieving efficient data transmission and real-time response of the system.

[0105] The MQTT protocol is a lightweight, publish / subscribe-based message transmission protocol. It is suitable for small devices or low-bandwidth, unreliable or high-latency network environments. In the vehicle computing unit, the vehicle network usually has high bandwidth and reliability. The MQTT protocol may not be the preferred communication protocol, but in certain specific scenarios such as remote monitoring or data backup, the MQTT protocol can still be used as a supplement to the DDS protocol to provide additional communication capabilities for the message communication middleware.

[0106] After the message communication middleware transmits the data to be processed to the SOA communication service layer through the DDS and / or MQTT protocol, the services in these service layers can process and analyze the data according to the preset business logic and algorithms, thereby providing valuable information and decision support for the upper-level applications.

[0107] In this application, the message transmission method also includes:

[0108] The message communication middleware receives the data to be transmitted sent by the collaborative algorithm module, and transmits the data to be transmitted to the basic software environment module;

[0109] The basic software environment module transmits the data to be transmitted to the V2X communication protocol stack;

[0110] The V2X communication protocol stack transmits the data to be transmitted through the wireless channel.

[0111] It can be understood that in the vehicle computing unit or intelligent transportation system, message transmission not only involves the data flow of receiving the data to be processed from other vehicle-side or road-side devices and forwarding it to the upper-layer collaborative algorithm module, but also includes the data return from the collaborative algorithm module to the bottom layer or other vehicle-side or road-side devices. For the convenience of description, the data returned from the collaborative algorithm module to the bottom layer or other vehicle-side or road-side devices is called data to be transmitted, which is distinguished from data to be processed.

[0112] First, the collaborative algorithm module may generate some new data or results as data to be transmitted, which needs to be transmitted back to the underlying system or external device for further processing or display. Therefore, the collaborative algorithm module will send these data to be transmitted to the message communication middleware.

[0113] As the core component of data transmission, the message communication middleware is responsible for receiving the data to be transmitted from each collaborative algorithm module, and forwarding the data to be transmitted to the basic software environment module according to preset rules and protocols.

[0114] The basic software environment module is a bridge between the underlying hardware and the upper-level applications. After receiving the data to be transmitted forwarded by the message communication middleware, it will further transmit it to the V2X communication protocol stack.

[0115] The V2X communication protocol stack is a key component in the vehicle computing unit for realizing communication between the vehicle and the outside world. It is responsible for encapsulating the data to be transmitted into messages that comply with the V2X communication standard and transmitting them to other vehicle-side or road-side devices through wireless channels.

[0116] In this way, not only is the two-way flow of data achieved, but the vehicle-road collaboration and intelligent driving functions can also be dynamically adjusted and optimized according to actual conditions. For example, the collaborative algorithm module can generate control instructions based on the processing results, and transmit these instructions to the underlying actuators through the data feedback process to realize the automatic driving function; or, the processed data can be returned to the user interface for display and interaction. In addition, the data feedback process can also be applied to a variety of scenarios, such as remote monitoring, fault diagnosis, data backup, etc. In these scenarios, the system needs to transmit key data or status information to the remote server or maintenance personnel in real time for further analysis and processing.

[0117] Figure 3 It is an architecture diagram of a message transmission method according to an exemplary embodiment, including an SOA communication service module, a V2X-compatible message communication middleware component, a basic software environment module, and a V2X communication protocol stack.

[0118] Among them, the SOA communication service module supports various applications of vehicle-road collaboration and intelligent driving, such as collaborative algorithm modules such as collaborative perception, collaborative decision-making and collaborative control. The bottom layer of the SOA communication service module is supported by the DDS / MQTT protocol, providing an efficient and reliable message transmission mechanism, and the specific source of the data is shielded and processed by components such as V2X-compatible message communication middleware components. The SOA communication service module does not perceive the specific source of the data.

[0119] The V2X-compatible message communication middleware component is responsible for making device and computing abstract structure calls with the basic software environment, including the DDS / MQTT protocol and the RTPS protocol. RTPS is an interoperability protocol of the DDS protocol, which defines the interoperability specifications of the DDS protocol to ensure that applications implemented based on the DDS protocol of different vendors can interoperate.

[0120] The basic software environment module is deployed in the operating system environment with Linux system as the kernel in the intelligent driving system, and interacts with the V2X-compatible message communication middleware component through UDP / TCP protocol. Furthermore, in one way, data can be sent and received with the V2X communication protocol stack through the network layer IP protocol, transmitting information on the road side or external vehicle side and the vehicle itself. In another way, Ethernet frames can be formed through the network layer IP protocol, ETH MAC (Ethernet Media Access Control) and ETH PHY (Ethernet Physical Layer).

[0121] The V2X communication protocol stack includes the network layer IP protocol, V2X adaptation layer and LTE-V2X access layer. It can access external wireless channels, perform baseband processing and analysis of wireless information, and interact with the basic software environment.

[0122] In this way, the message transmission architecture provided by this application is technically intensive and integrated, which will optimize the cost of the overall system in the automotive field; it only relies on the POSIX (Portable Operating System Interface) standard interface and can run on different operating systems or hardware platforms without the need for separate development or modification for each platform, thereby improving the versatility and usability of the software, allowing users to use the same software or system on different devices. The overall design is lightweight, easy to form a unified standard, and promote cross-platform and cross-enterprise deployment.

[0123] As can be seen from the above, the technical solution provided by the embodiment of the present application, the vehicle-mounted computing unit includes a V2X communication protocol stack, a basic software environment module and a message communication middleware compatible with the V2X communication protocol stack. Among them, after the V2X communication protocol stack is integrated into the vehicle-mounted computing unit, it can be used to receive the data to be processed from the vehicle side and / or the road side, and provide basic wireless data transmission functions, and the V2X communication protocol stack can interact with the basic software environment module to transmit the data to be processed to the basic software environment module; the message communication middleware compatible with the V2X communication protocol stack can receive the data to be processed from the V2X communication protocol stack from the basic software environment module, and forward the data to be processed to at least one collaborative algorithm module, so that the collaborative algorithm module performs corresponding vehicle-road collaborative calculations based on the data to be processed, providing an efficient and safe communication foundation for intelligent driving and vehicle-road collaboration of vehicles.

[0124] The message transmission method provided in the embodiment of the present application can be executed by a message transmission device. In the embodiment of the present application, a method in which a message transmission device executes terminal access is taken as an example to illustrate the device of the message transmission method provided in the embodiment of the present application.

[0125] Figure 4 The present invention is a block diagram of a message transmission device according to an exemplary embodiment, which is applied to a vehicle-mounted computing unit and includes:

[0126] The V2X communication protocol stack module 201 is used to receive data to be processed and transmit the data to be processed to the basic software environment module 202, wherein the data to be processed comes from the vehicle side and / or the road side;

[0127] The basic software environment module 202 is used to transmit the to-be-processed data to the message communication middleware module 203, and the message communication middleware module 203 is compatible with the communication interaction with the V2X communication protocol stack module 201;

[0128] The message communication middleware module 203 is used to forward the data to be processed to at least one collaborative algorithm module.

[0129] As can be seen from the above, the technical solution provided by the embodiment of the present application, the vehicle-mounted computing unit includes a V2X communication protocol stack, a basic software environment module and a message communication middleware compatible with the V2X communication protocol stack. Among them, after the V2X communication protocol stack is integrated into the vehicle-mounted computing unit, it can be used to receive the data to be processed from the vehicle side and / or the road side, and provide basic wireless data transmission functions, and the V2X communication protocol stack can interact with the basic software environment module to transmit the data to be processed to the basic software environment module; the message communication middleware compatible with the V2X communication protocol stack can receive the data to be processed from the V2X communication protocol stack from the basic software environment module, and forward the data to be processed to at least one collaborative algorithm module, so that the collaborative algorithm module performs corresponding vehicle-road collaborative calculations based on the data to be processed, providing an efficient and safe communication foundation for intelligent driving and vehicle-road collaboration of vehicles.

[0130] The message transmission method provided in the embodiment of the present application can be executed by a terminal access terminal. The method of executing terminal access by a terminal access terminal is taken as an example to illustrate the device of the message transmission method provided in the embodiment of the present application.

[0131] The message transmission device in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc., and can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0132] The message transmission device provided in the embodiment of the present application can achieve Figures 1 to 3 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0133] Alternatively, if Figure 5As shown, an embodiment of the present application also provides an electronic device 500, including a processor 501 and a memory 502, wherein the memory 502 stores programs or instructions that can be executed on the processor 501, and when the program or instructions are executed by the processor 501, the various steps of the above-mentioned message transmission method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0134] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0135] Figure 6 A schematic diagram of the hardware structure of an electronic device to implement an embodiment of the present application.

[0136] The electronic device 1000 includes but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, and a processor 1010 and other components.

[0137] Those skilled in the art will appreciate that the electronic device 1000 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 1010 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Figure 6 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0138] As can be seen from the above, in the technical solution provided by the embodiment of the present application, the on-board computing unit includes a V2X communication protocol stack, a basic software environment module and a message communication middleware compatible with the V2X communication protocol stack. Among them, after the V2X communication protocol stack is integrated into the on-board computing unit, it can be used to receive the data to be processed from the vehicle side and / or the road side, provide basic wireless data transmission functions, and the V2X communication protocol stack can interact with the basic software environment module to transmit the data to be processed to the basic software environment module; the message communication middleware compatible with the V2X communication protocol stack can receive the data to be processed from the V2X communication protocol stack from the basic software environment module, and forward the data to be processed to at least one collaborative algorithm module, so that the collaborative algorithm module performs corresponding vehicle-road collaborative calculations based on the data to be processed, providing an efficient and safe communication foundation for intelligent driving and vehicle-road collaboration of vehicles.

[0139] It should be understood that in the embodiment of the present application, the input unit 1004 may include a graphics processor (Graphics Processing Unit, GPU) 10041 and a microphone 10042, and the graphics processor 10041 processes the image data of the static picture or video obtained by the image capture device (such as a camera) in the video capture mode or the image capture mode. The display unit 1006 may include a display panel 10061, and the display panel 10061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1007 includes a touch panel 10071 and at least one of other input devices 10072. The touch panel 10071 is also called a touch screen. The touch panel 10071 may include two parts: a touch detection device and a touch controller. Other input devices 10072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0140] The memory 1009 can be used to store software programs and various data. The memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 1009 may include a volatile memory or a non-volatile memory, or the memory 1009 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 109 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0141] The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 1010.

[0142] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned message transmission method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0143] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0144] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned message transmission method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0145] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0146] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned message transmission method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0147] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0148] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0149] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A message transmission method, characterized in that: Applied to an on-board computing unit, the method comprises: The vehicle wireless communication technology V2X communication protocol stack receives the data to be processed and transmits the data to be processed to the basic software environment module, wherein the data to be processed comes from the vehicle side and / or the road side; The basic software environment module transmits the data to be processed to a message communication middleware, and the message communication middleware is compatible with the communication interaction with the V2X communication protocol stack; The message communication middleware forwards the data to be processed to at least one collaborative algorithm module.

2. The message transmission method according to claim 1, characterized in that: The V2X communication protocol stack includes an access layer, an adaptation layer, and a network layer. The V2X communication protocol stack receives data to be processed, including: The access layer receives a baseband signal of a wireless channel; The adaptation layer performs protocol analysis on the baseband signal to extract the V2X message; The network layer encapsulates the V2X message into an IP protocol data packet based on the Internet interconnection IP protocol as data to be processed.

3. The message transmission method according to claim 2, characterized in that: The step of transmitting the data to be processed to a basic software environment module comprises: Based on the IP protocol, the data to be processed is transmitted to the basic software environment module.

4. The message transmission method according to claim 1, characterized in that: The basic software environment module transmits the data to be processed to the message communication middleware, including: The basic software environment module transmits the to-be-processed data to the message communication middleware based on the user datagram UDP protocol, the transmission control TCP protocol and / or the shared memory SHM mechanism.

5. The message transmission method according to claim 1, characterized in that: The message communication middleware forwards the data to be processed to at least one collaborative algorithm module, including: The message communication middleware transmits the data to be processed to the service-oriented architecture SOA communication service layer; The SOA communication service layer forwards the data to be processed to at least one collaborative algorithm module.

6. The message transmission method according to claim 5, characterized in that: The message communication middleware transmits the data to be processed to the service-oriented architecture SOA communication service layer, including: The message communication middleware transmits the to-be-processed data to the SOA communication service layer based on the data distribution service DDS protocol and / or the message queue telemetry transmission MQTT protocol.

7. The message transmission method according to claim 1, characterized in that: The method further comprises: The message communication middleware receives the data to be transmitted sent by the collaborative algorithm module, and transmits the data to be transmitted to the basic software environment module; The basic software environment module transmits the data to be transmitted to the V2X communication protocol stack; The V2X communication protocol stack transmits the data to be transmitted through a wireless channel.

8. A message transmission device, characterized in that: Applied to a vehicle-mounted computing unit, the device comprises: A V2X communication protocol stack module, configured to receive data to be processed and transmit the data to be processed to a basic software environment module, wherein the data to be processed comes from a vehicle side and / or a road side; The basic software environment module is used to transmit the to-be-processed data to a message communication middleware module, wherein the message communication middleware module is compatible with the communication interaction with the V2X communication protocol stack module; The message communication middleware module is used to forward the data to be processed to at least one collaborative algorithm module.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the message transmission method according to any one of claims 1 to 7.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the message transmission method according to any one of claims 1 to 7 are implemented.

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