Vehicle communication method, first vehicle, device and storage medium

Abstract

The invention provides a vehicle communication method, and relates to the technical field of communication. According to the specific implementation scheme, after a first message sent by a second vehicle is received through the Internet of Vehicles, the type of the first message is determined; under the condition that the first message is a ring message and the first vehicle joins the vehicle formation, acquiring a first target node identifier contained in the first message; and under the condition that the first target node identifier is the same as the first node identifier corresponding to the first vehicle, determining a second message to be sent, and sending the second message after the ring message sending period is reached. Therefore, the vehicle communication interconnection in the vehicle formation is realized based on the ring messages sent among the vehicles and the node identifiers corresponding to the vehicles, so that the reliability of the vehicle communication is improved, and the cost of the vehicle communication is reduced.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a vehicle communication method, a first vehicle, a device and a storage medium. Background Art

[0002] With the continuous development of Internet of Vehicles technology, the degree of vehicle networking and intelligence is constantly improving. Among them, the communication and management between multiple vehicles is the basis for realizing the local networking and intelligence of vehicles. At present, communication and management between vehicles can be achieved through a server platform-client-based approach to realize workshop information interaction and driving management. However, this communication method relies on the mobile communication network in the area where the vehicle is located, with low reliability and high cost. Summary of the invention

[0003] A first aspect of the present application provides a vehicle communication method, characterized in that the method is executed by a first vehicle and includes:

[0004] After receiving a first message sent by a second vehicle through the Internet of Vehicles, determining a type of the first message;

[0005] When the first message is a ring message and the first vehicle has joined the vehicle formation, obtaining a first target node identifier included in the first message;

[0006] In a case where the first target node identifier is the same as the first node identifier corresponding to the first vehicle, determining a second message to be sent, wherein the second message includes a second target node identifier;

[0007] After the ring message sending period is reached, the second message is sent.

[0008] Optionally, after determining the type of the first message, the method further includes:

[0009] When the first message is a ring message and the first vehicle has not joined the vehicle formation, obtaining the second node identifier of the second vehicle and the first target node identifier contained in the first message;

[0010] Determine a second target node identifier of the first vehicle according to the relationship between the second node identifier, the first target node identifier and the first node identifier respectively;

[0011] Send a third message, wherein the third message is used to request to join the vehicle formation, and the third message includes the first node identifier and the second target node identifier.

[0012] Optionally, after determining the type of the first message, the method further includes:

[0013] When the first message is a ring message and the first vehicle has joined a vehicle formation, obtaining a first vehicle formation table included in the first message;

[0014] In the case where the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, determining the identification of the vehicle that has fallen behind or joined the formation according to the difference between the first vehicle formation table and the second vehicle formation table;

[0015] The identification of the vehicle falling behind or joining the team is displayed in the human-machine interface.

[0016] Optionally, after obtaining the first message, the method further includes:

[0017] Acquire first location information and interaction information in the first message;

[0018] Based on the first position information, updating the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle;

[0019] The interactive information is played.

[0020] Optionally, after determining the type of the first message, the method further includes:

[0021] When the first message is a survival message, obtaining a second identifier of the second vehicle contained in the first message;

[0022] When a first relationship is satisfied between the second identifier and the first identifier of the first vehicle, and a second relationship is satisfied between the second identifier and the second target node identifier of the first vehicle, the second target node identifier of the first vehicle is changed to the second identifier.

[0023] Optionally, after obtaining the second identifier of the second vehicle included in the first message, the method further includes:

[0024] The second identifier is recorded in the vehicle formation list.

[0025] Optionally, it also includes:

[0026] When no ring message sent by any vehicle is received within a preset time period, obtaining the second position information of the first vehicle;

[0027] Send a fourth message, wherein the fourth message is used to request to join the vehicle formation, and the fourth message includes the first node identifier and the second location information.

[0028] Optionally, it also includes:

[0029] When the number of failed information transmissions is greater than a threshold number and no ring message is received from any vehicle within a preset time period, the network communication system is controlled to be initialized.

[0030] The second aspect of the present application provides a first vehicle, characterized in that the first vehicle includes a memory, a transceiver, and a processor; the memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0031] After receiving a first message sent by a second vehicle through the Internet of Vehicles, determining a type of the first message;

[0032] When the first message is a ring message and the first vehicle has joined the vehicle formation, obtaining a first target node identifier included in the first message;

[0033] In a case where the first target node identifier is the same as the first node identifier corresponding to the first vehicle, determining a second message to be sent, wherein the second message includes a second target node identifier;

[0034] After the ring message sending period is reached, the second message is sent.

[0035] Optionally, after the processor determines the type of the first message, the process further includes:

[0036] When the first message is a ring message and the first vehicle has not joined the vehicle formation, obtaining the second node identifier of the second vehicle and the first target node identifier contained in the first message;

[0037] Determine a second target node identifier of the first vehicle according to the relationship between the second node identifier, the first target node identifier and the first node identifier respectively;

[0038] Send a third message, wherein the third message is used to request to join the vehicle formation, and the third message includes the first node identifier and the second target node identifier.

[0039] Optionally, after the processor determines the type of the first message, the process further includes:

[0040] When the first message is a ring message and the first vehicle has joined a vehicle formation, obtaining a first vehicle formation table included in the first message;

[0041] In the case where the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, determining the identification of the vehicle that has fallen behind or joined the formation according to the difference between the first vehicle formation table and the second vehicle formation table;

[0042] The identification of the vehicle falling behind or joining the team is displayed in the human-machine interface.

[0043] Optionally, after the processor executes obtaining the first message, the process further includes:

[0044] Acquire first location information and interaction information in the first message;

[0045] Based on the first position information, updating the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle;

[0046] The interactive information is played.

[0047] Optionally, after the processor determines the type of the first message, the process further includes:

[0048] When the first message is a survival message, obtaining a second identifier of the second vehicle contained in the first message;

[0049] When a first relationship is satisfied between the second identifier and the first identifier of the first vehicle, and a second relationship is satisfied between the second identifier and the second target node identifier of the first vehicle, the second target node identifier of the first vehicle is changed to the second identifier.

[0050] Optionally, after the processor executes acquiring the second identifier of the second vehicle included in the first message, the process further includes:

[0051] The second identifier is recorded in the vehicle formation list.

[0052] Optionally, the processor is further configured to perform the following operations:

[0053] When no ring message sent by any vehicle is received within a preset time period, obtaining the second position information of the first vehicle;

[0054] Send a fourth message, wherein the fourth message is used to request to join the vehicle formation, and the fourth message includes the first node identifier and the second location information.

[0055] Optionally, the processor is further configured to perform the following operations:

[0056] When the number of failed information transmissions is greater than a threshold number and no ring message is received from any vehicle within a preset time period, the network communication system is controlled to be initialized.

[0057] A third aspect of the present application provides a vehicle communication device, characterized in that the device is configured in a first vehicle, and includes:

[0058] A first determination module, configured to determine a type of a first message after receiving the first message sent by the second vehicle through the Internet of Vehicles;

[0059] A first acquisition module, configured to acquire a first target node identifier included in the first message when the first message is a ring message and the first vehicle has joined a vehicle formation;

[0060] A second determination module, configured to determine a second message to be sent when the first target node identifier is the same as the first node identifier corresponding to the first vehicle, wherein the second message includes a second target node identifier;

[0061] The first sending module is used to send the second message after the ring message sending period is reached.

[0062] Optionally, after determining the type of the first message, the first determining module is further configured to:

[0063] When the first message is a ring message and the first vehicle has not joined the vehicle formation, obtaining the second node identifier of the second vehicle and the first target node identifier contained in the first message;

[0064] Determine a second target node identifier of the first vehicle according to the relationship between the second node identifier, the first target node identifier and the first node identifier respectively;

[0065] Send a third message, wherein the third message is used to request to join the vehicle formation, and the third message includes the first node identifier and the second target node identifier.

[0066] Optionally, after determining the type of the first message, the first determining module is further configured to:

[0067] When the first message is a ring message and the first vehicle has joined a vehicle formation, obtaining a first vehicle formation table included in the first message;

[0068] In the case where the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, determining the identification of the vehicle that has fallen behind or joined the formation according to the difference between the first vehicle formation table and the second vehicle formation table;

[0069] The identification of the vehicle falling behind or joining the team is displayed in the human-machine interface.

[0070] Optionally, after acquiring the first message, the first acquiring module is further configured to:

[0071] Acquire first location information and interaction information in the first message;

[0072] Based on the first position information, updating the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle;

[0073] The interactive information is played.

[0074] Optionally, after determining the type of the first message, the first determining module is further configured to:

[0075] When the first message is a survival message, obtaining a second identifier of the second vehicle contained in the first message;

[0076] When a first relationship is satisfied between the second identifier and the first identifier of the first vehicle, and a second relationship is satisfied between the second identifier and the second target node identifier of the first vehicle, the second target node identifier of the first vehicle is changed to the second identifier.

[0077] Optionally, after acquiring the second identifier of the second vehicle included in the first message, the first determining module is further configured to:

[0078] The second identifier is recorded in the vehicle formation list.

[0079] Optionally, it also includes:

[0080] A second acquisition module, configured to acquire the second position information of the first vehicle when no ring message sent by any vehicle is received within a preset time period;

[0081] The second sending module is used to send a fourth message, wherein the fourth message is used to request to join the vehicle formation, and the fourth message includes the first node identifier and the second location information.

[0082] Optionally, it also includes:

[0083] The control module is used to control the network communication system to initialize when the number of failed information transmission is greater than the number threshold and no ring message sent by any vehicle is received within a preset time period.

[0084] The fourth aspect of the present application provides a processor-readable storage medium, which stores a computer program, and the computer program is used to enable the processor to execute the vehicle communication method described in the above embodiment.

[0085] The present application has the following technical effects:

[0086] In an embodiment of the present application, after receiving a first message sent by a second vehicle through a vehicle-to-everything (V2X) network, the type of the first message is determined. When the first message is a ring message and the first vehicle has joined a vehicle formation, the first target node identifier included in the first message is obtained. When the first target node identifier is the same as the first node identifier corresponding to the first vehicle, a second message to be sent is determined, and after the ring message sending period is reached, the second message is sent. Thus, through the ring messages sent between vehicles and the node identifiers corresponding to each vehicle, vehicle communication interconnection in the vehicle formation is achieved, thereby improving the reliability of vehicle communication and reducing the cost of vehicle communication.

[0087] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understandable through the following description. Description of the Drawings

[0088] The above and / or additional aspects and advantages of the present application will become apparent and easier to understand from the following description of the embodiments in conjunction with the drawings, where:

[0089] Figure 1 is a schematic structural diagram of a vehicle communication system provided by an embodiment of the present application;

[0090] Figure 2 is a schematic flowchart of a communication method for a vehicle provided by an embodiment of the present application;

[0091] Figure 3 is a schematic structural diagram of a network communication management server provided by an embodiment of the present application;

[0092] Figure 4 is a schematic flowchart of a communication method for a vehicle provided by an embodiment of the present application;

[0093] Figure 5 is a schematic flowchart of a communication method for a vehicle provided by an embodiment of the present application;

[0094] Figure 6 is a schematic diagram of a human-machine interface provided by an embodiment of the present application;

[0095] Figure 7 is a schematic flowchart of a communication method for a vehicle provided by an embodiment of the present application;

[0096] Figure 8 is a schematic flowchart of a communication method for a vehicle provided by an embodiment of the present application;

[0097] Fig. 9A schematic diagram of a process flow for updating a vehicle formation provided in an embodiment of the present application;

[0098] Fig.10 A schematic diagram of a vehicle communication method provided in an embodiment of the present application;

[0099] Fig.11 A schematic diagram of a vehicle communication method provided in an embodiment of the present application;

[0100] Fig.12 A schematic diagram of a vehicle communication method provided in an embodiment of the present application;

[0101] Fig.13 A schematic diagram of the conversion relationship between various states of vehicle communication provided in an embodiment of the present application;

[0102] Fig.14 A schematic diagram of the structure of a first vehicle provided in an embodiment of the present application;

[0103] Fig.15 A schematic diagram of the structure of a vehicle communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0104] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0105] The following describes the vehicle communication method, the first vehicle, the device and the storage medium of the embodiments of the present application with reference to the accompanying drawings.

[0106] The vehicle communication method provided in the embodiment of the present application can be applied to a vehicle communication system composed of a network communication management service end and a platoon driving human-machine interface (HMI) interaction end deployed on the vehicle end, such as Figure 1 As shown, Figure 1 A schematic diagram of the structure of a vehicle communication system provided in an embodiment of the present application.

[0107] Among them, V2X is the abbreviation of vehicle to Everything (V2X); OSEK is the abbreviation of open systems and the corresponding interfaces for automotive electronics; APPDU is the abbreviation of Application Distributed Unit (APPDU); VNPDU is the abbreviation of Virtual Network Protocol Data Unit (VNPDU); NMPDU is the abbreviation of Network Management Protocol Data Unit (NMPDU).

[0108] In the network communication management server, vehicle formation data encapsulation and self-organizing network functions are realized based on the OSEK network management function, and the sending and receiving of formation information between vehicles in the area are realized based on 5G-V2X network transmission, thereby realizing autonomous formation driving and communication of multiple vehicles in the area. The function is not restricted by the area where the vehicle is located.

[0109] In the human-machine interface interaction terminal, the formation information received by the network communication management server can be graphically displayed, and the specific time during the formation's driving process can be reported in voice or text. At the same time, it supports the sending and receiving of non-formation information through the human-machine interface interaction terminal to realize information interaction between vehicles and workshops.

[0110] It should be noted that the network communication management server and the human-machine interface interaction terminal can be connected via a mobile hotspot WIFI, or can also be connected via Bluetooth, or can also be connected via a data cable, etc. This application does not limit this.

[0111] Combine the following Figure 2 Taking the vehicle communication method being executed by the first vehicle as an example, the vehicle communication method provided in the present application is described in detail. Figure 2 A flow chart of a vehicle communication method provided in an embodiment of the present application.

[0112] like Figure 2 As shown, the vehicle communication method includes:

[0113] Step 201, after receiving a first message sent by a second vehicle through the Internet of Vehicles, determine the type of the first message.

[0114] The second vehicle is a vehicle other than the first vehicle.

[0115] The first message is a message sent by the second vehicle to other vehicles through the Internet of Vehicles. For example, the first message can be any message such as a ring message (Ring_message), an alive message (Alive_message), a fault status message (limphome_message), etc., and this application does not limit this.

[0116] The type of the first message is the type of the first message, which is used to characterize what kind of message the first message is. For example, the type of the first message can be any type such as a notification message, a request message, etc., and this application does not limit this.

[0117] It should be noted that when the first vehicle receives the first message sent by the second vehicle through the Internet of Vehicles, it can be implemented through the network communication management server provided by this application, such as Figure 3 As shown, Figure 3 A schematic diagram of the structure of the network communication management server provided in an embodiment of the present application.

[0118] Step 202: When the first message is a ring message and the first vehicle has joined the vehicle formation, obtain a first target node identifier included in the first message.

[0119] The first target node identifier is the identifier of the node to which the first message needs to arrive. For example, the first target node identifier may be the identifier of the target vehicle included in the first message, which is not limited in the present application.

[0120] It should be noted that the vehicle formation is a vehicle formation logical ring composed of the node identification corresponding to each vehicle.

[0121] In this application, when the first vehicle is traveling in a vehicle formation, the following information can be pre-configured: the node identifier corresponding to the vehicle, the next node vehicle identifier Successor_id, the period T_type for the vehicle to send ring messages, the maximum allowed interval T_max for the vehicle to send ring messages, the period T_error for the vehicle to send fault messages, and the waiting time T_waitsleep before the vehicle is released from the formation, etc. Among them, the vehicle identifier is a digital string, and each vehicle is different. The period for the vehicle to send ring messages, the maximum allowed interval for the vehicle to send ring messages, the period for the vehicle to send fault messages, and the waiting time before the vehicle is released from the formation are all pre-set fixed values, and this application does not limit this.

[0122] Step 203, when the first target node identifier is the same as the first node identifier corresponding to the first vehicle, determine a second message to be sent, wherein the second message includes the second target node identifier.

[0123] The first node identifier is an identifier for representing the first vehicle, and it can be implemented in any form to identify the first vehicle. For example, the first node identifier can be a digital string, etc., which is not limited in this application.

[0124] Among them, the second message is a ring message sent by the first vehicle to other vehicles, which may include any information such as the first node identifier corresponding to the first vehicle, the second target node identifier, the location information of the first vehicle, etc., and this application does not limit this.

[0125] The second target node information is the identifier of the target node to which the second message needs to reach.

[0126] In the present application, after the first vehicle obtains the first target node identifier in the first message, if the first target node identifier is the same as the first node identifier, it can be considered that the target node of the first message sent by the second vehicle is the first vehicle. At this time, the first vehicle can determine the second message to be sent.

[0127] Step 204: After the ring message sending period is reached, send a second message.

[0128] Among them, the ring message sending period is the period for the vehicle to send the ring message, which is pre-set and this application does not limit it.

[0129] In the present application, after receiving the first message sent by the second vehicle, if the first target node identifier is the same as the first node identifier corresponding to the first vehicle, the first vehicle can wait for the ring message sending cycle time and then send a second message to the vehicle corresponding to the second target node identifier.

[0130] It should be noted that when the first vehicle is waiting to send the second message within the ring message sending cycle, it can write its own location information and interactive messages (voice or text data) from the sending buffer to the message area of ​​the application distributed unit APPDU. Among them, the data structure definition of the Message area is shown in Table 1, which is a table of the Message area data structure provided in the embodiment of the present application.

[0131] Table 1

[0132]

[0133] In Table 1, Msg_Type is an identifier used to indicate a data type; Longitude is longitude; GNSS is the Global Navigation Satellite System (GNSS); Latitude is latitude; App_Data_Len is an identifier used to indicate the length of user data; and App_Data is an identifier used to indicate user data.

[0134] In the embodiment of the present application, after receiving the first message sent by the second vehicle through the Internet of Vehicles, the type of the first message is first determined, and then, if the first message is a ring message and the first vehicle has joined the vehicle formation, the first target node identifier contained in the first message is obtained, and then, if the first target node identifier is the same as the first node identifier corresponding to the first vehicle, the second message to be sent is determined, and finally, after the ring message sending cycle is reached, the second message is sent. Thus, based on the ring messages sent between each vehicle and the node identifiers corresponding to each vehicle, the vehicle communication interconnection in the vehicle formation is realized, thereby improving the reliability of vehicle communication and reducing the cost of vehicle communication.

[0135] Combine the following Figure 4 Taking the vehicle communication method executed by the first vehicle as an example, the vehicle communication method provided in the present application is further described in detail. Figure 4 A flow chart of a vehicle communication method provided in an embodiment of the present application.

[0136] like Figure 4 As shown, the vehicle communication method includes:

[0137] Step 401, after receiving a first message sent by a second vehicle through the Internet of Vehicles, determine the type of the first message.

[0138] The specific implementation form of step 401 can refer to the detailed description of other embodiments of the present application and will not be repeated here.

[0139] Step 402, when the first message is a ring message and the first vehicle has not joined the vehicle formation, obtain the second node identifier and the first target node identifier of the second vehicle included in the first message.

[0140] The second node identifier is an identifier for representing the second vehicle, and can be implemented in any form to identify the second vehicle. For example, the second node identifier can be a digital string, etc., which is not limited in this application.

[0141] In the present application, without joining a vehicle formation, after receiving a first message, the first vehicle can obtain the second node identifier and the first target node identifier corresponding to the second vehicle from the first message.

[0142] Step 403: Determine the second target node identifier of the first vehicle according to the relationship between the second node identifier, the first target node identifier and the first node identifier respectively.

[0143] In the present application, after receiving the first message, the first vehicle can determine the second target node identifier of the first vehicle based on the size relationship between the second node identifier and the first node identifier, and the size relationship between the first target node identifier and the first node identifier. For example, when the second node identifier is smaller than the first node identifier, and the first target node identifier is larger than the first node identifier, the second target node identifier of the first vehicle can be determined to be the first target node identifier, and so on, which is not limited in the present application.

[0144] Step 404: Send a third message, wherein the third message is used to request to join the vehicle formation, and the third message includes a first node identifier and a second target node identifier.

[0145] The third message is a message sent by the first vehicle to request to join the vehicle formation. For example, the third message may be a survival message, etc., which is not limited in this application.

[0146] In the present application, when the first vehicle has not joined the vehicle formation, the first vehicle can request to join the vehicle formation by sending a third message after determining the second target node identifier.

[0147] In the embodiment of the present application, after receiving the first message sent by the second vehicle through the Internet of Vehicles, the type of the first message is first determined. When the first message is a ring message and the first vehicle has not joined the vehicle formation, the second node identifier and the first target node identifier of the second vehicle contained in the first message are obtained, and then the second target node identifier of the first vehicle is determined based on the relationship between the second node identifier, the first target node identifier and the first node identifier, and finally the third message is sent. Thus, by determining the position of the first vehicle in the vehicle formation based on the relationship between the node identifiers corresponding to each vehicle, and joining the vehicle formation, dynamic real-time management of the vehicle formation is achieved, and the efficiency of vehicle communication management is improved.

[0148] Combine the following Figure 5 Taking the vehicle communication method executed by the first vehicle as an example, the vehicle communication method provided in the present application is further described in detail. Figure 5 A flow chart of a vehicle communication method provided in an embodiment of the present application.

[0149] like Figure 5 As shown, the vehicle communication method includes:

[0150] Step 501, after receiving a first message sent by a second vehicle through the Internet of Vehicles, determine the type of the first message.

[0151] The specific implementation form of step 501 can refer to the detailed description of other embodiments of the present application and will not be repeated here.

[0152] Step 502: When the first message is a ring message and the first vehicle has joined the vehicle formation, obtain a first vehicle formation table included in the first message.

[0153] Among them, the first vehicle formation table is an array used to record vehicle information in the vehicle formation, which may include information such as the node identification corresponding to the vehicle, and this application does not limit this.

[0154] Step 503, when the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, the identification of the vehicle falling behind or joining the formation is determined according to the difference between the first vehicle formation table and the second vehicle formation table.

[0155] The second vehicle formation table is an array containing vehicle information in the vehicle formation saved by the first vehicle.

[0156] In the present application, when the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, it can be considered that the vehicle information in the vehicle formation has changed. At this time, the identification of the vehicle falling behind or joining the formation can be determined based on the difference between the first vehicle formation table and the second vehicle formation table.

[0157] Step 504, displaying the identification of the vehicle that has fallen behind or joined the team in the human-machine interface.

[0158] In the present application, after determining the identification of the vehicle that has fallen behind or joined the team, the first vehicle can issue an alarm by displaying the corresponding identification on the human-machine interface. Figure 6 As shown, Figure 6 A schematic diagram of a human-machine interface provided in an embodiment of the present application, wherein CRC is the abbreviation of Cyclic Redundancy Check (CRC).

[0159] In an embodiment of the present application, after receiving a first message sent by a second vehicle through the Internet of Vehicles, the type of the first message is first determined. If the first message is a ring message and the first vehicle has joined a vehicle formation, the first vehicle formation table contained in the first message is obtained. If the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, the identification of the vehicle that has fallen behind or joined the formation is determined based on the difference between the first vehicle formation table and the second vehicle formation table, and finally the identification of the vehicle that has fallen behind or joined the formation is displayed in the human-machine interface. Thus, by determining the vehicle that has fallen behind or joined the formation in the vehicle formation based on the difference between the vehicle formation table contained in the first message and the vehicle formation table stored locally by the first vehicle, the efficiency and reliability of vehicle communication management are improved.

[0160] Combine the following Figure 7 Taking the vehicle communication method executed by the first vehicle as an example, the vehicle communication method provided in the present application is further described in detail. Figure 7 A flow chart of a vehicle communication method provided in an embodiment of the present application.

[0161] like Figure 7 As shown, in the vehicle communication method, after the first vehicle obtains the first message, the method includes:

[0162] Step 701: Acquire first location information and interaction information in a first message.

[0163] The first position information is the current position information of the second vehicle. For example, the first position information may include the longitude information and latitude information of the current position of the second vehicle, etc., which is not limited in this application.

[0164] The interactive information is information recording vehicle changes in the vehicle formation, which may be textual interactive information, or voice interactive information, etc. For example, the interactive information may be textual information such as "vehicle No. 2 joins the vehicle formation", etc., which is not limited in this application.

[0165] Step 702: Based on the first position information, update the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle.

[0166] In the present application, after the first vehicle obtains the first position information of the second vehicle from the first message, the first vehicle can update the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle based on the first position information.

[0167] Step 703: play the interactive information.

[0168] In the present application, after the first vehicle obtains the first position information of the second vehicle from the first message, it can play interactive information in the message window of the human-computer interaction interface of the first vehicle, such as "Vehicle No. 2 joins the vehicle formation."

[0169] In the embodiment of the present application, after obtaining the first message, the first vehicle first obtains the first position information and interaction information in the first message, then updates the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle based on the first position information, and finally plays the interaction information. Thus, by displaying the information of vehicle formation changes in real time on the human-computer interaction interface, the efficiency of vehicle communication management is improved and the user experience is enhanced.

[0170] Combine the following Figure 8 Taking the vehicle communication method executed by the first vehicle as an example, the vehicle communication method provided in the present application is further described in detail. Figure 8 A flow chart of a vehicle communication method provided in an embodiment of the present application.

[0171] like Figure 8 As shown, the vehicle communication method includes:

[0172] Step 801, after receiving a first message sent by a second vehicle through the Internet of Vehicles, determine the type of the first message.

[0173] Among them, the specific implementation form of step 801 can refer to the detailed description of other embodiments of the present application, and will not be repeated here.

[0174] Step 802: When the first message is a survival message, obtain a second identifier of the second vehicle included in the first message.

[0175] The survival message is a message sent by the second vehicle to apply for joining or establishing a vehicle formation.

[0176] Among them, the second identification is an identification used to indicate the second vehicle, and it can be any implementation form to identify the second vehicle, and this application does not limit this.

[0177] In the present application, when the first message is a survival message, when the first vehicle has joined the vehicle formation, it can be considered that the second vehicle applies to join the vehicle formation by sending the first message; when the first vehicle has not joined the vehicle formation, it can be considered that the second vehicle applies to establish a vehicle formation by sending the first message.

[0178] Step 803, when the second identifier and the first identifier of the first vehicle satisfy a first relationship, and the second identifier and the second target node identifier of the first vehicle satisfy a second relationship, the second target node identifier of the first vehicle is changed to the second identifier.

[0179] Among them, the first relationship is that the second identifier is greater than the first identifier.

[0180] Among them, the second relationship is that the second identifier is less than the second target node identifier.

[0181] In the present application, when the second identifier is larger than the first identifier and smaller than the second target node identifier, the second target node identifier of the first vehicle may be changed to the second identifier. Fig. 9 For example, Fig. 9 A schematic diagram of the process of updating a vehicle formation provided in an embodiment of the present application. In which, vehicle A is the second vehicle, vehicle B is the first vehicle; A_id is the second identifier; B_id is the first identifier; B_suc_id is the second target node identifier. Fig. 9 As shown, the first relationship and the second relationship are Fig. 9 As shown in the branch marked with "①".

[0182] In some possible implementation forms, when the second identifier is smaller than the first identifier and the second identifier is smaller than the second target node identifier, the second target node identifier of the first vehicle may also be changed to the second identifier, such as Fig. 9 The branch marked with "②" is shown.

[0183] In some possible implementation forms, when the first identifier is greater than the second target node identifier and the first identifier is less than the second identifier, the second target node identifier of the first vehicle can be directly changed to the second identifier, such as Fig. 9 The branch marked with "③" is shown.

[0184] In the embodiment of the present application, after receiving the first message sent by the second vehicle through the Internet of Vehicles, the type of the first message is first determined. If the first message is a survival message, the second identifier of the second vehicle contained in the first message is obtained. Then, if the second identifier satisfies the first relationship with the first identifier of the first vehicle and the second identifier satisfies the second relationship with the second target node identifier of the first vehicle, the second target node identifier of the first vehicle is changed to the second identifier. Thus, the vehicle formation is updated based on the relationship between the vehicle identifiers and the relationship with the next node identifier of the vehicle, thereby realizing the formation and maintenance of the vehicle formation logical ring and improving the efficiency of vehicle communication management.

[0185] Combine the following Fig.10 Taking the vehicle communication method executed by the first vehicle as an example, the vehicle communication method provided in the present application is further described in detail. Fig.10 A flow chart of a vehicle communication method provided in an embodiment of the present application.

[0186] like Fig.10 As shown, the vehicle communication method includes:

[0187] Step 1001, after receiving a first message sent by a second vehicle through the Internet of Vehicles, determine the type of the first message.

[0188] Step 1002: When the first message is a survival message, obtain a second identifier of a second vehicle included in the first message.

[0189] Among them, the specific implementation forms of steps 1001 to 1002 can refer to the detailed description of other embodiments of the present application and will not be repeated here.

[0190] Step 1003, recording the second identifier into the vehicle formation list.

[0191] In the present application, after obtaining the second identifier corresponding to the second vehicle, the first vehicle can record the second identifier in the vehicle formation list.

[0192] In the embodiment of the present application, after receiving the first message sent by the second vehicle through the Internet of Vehicles, the type of the first message is first determined. If the first message is a survival message, the second identifier of the second vehicle contained in the first message is obtained, and then the second identifier is recorded in the vehicle formation list. Thus, by determining the identifier corresponding to the second vehicle based on the first message and recording it in the vehicle formation list, the reliability of vehicle communication management is ensured.

[0193] Combine the following Fig.11 Taking the vehicle communication method executed by the first vehicle as an example, the vehicle communication method provided in the present application is further described in detail. Fig.11 A flow chart of a vehicle communication method provided in an embodiment of the present application.

[0194] like Fig.11 As shown, the vehicle communication method includes:

[0195] Step 1101: when no ring message sent by any vehicle is received within a preset time period, second position information of the first vehicle is obtained.

[0196] Among them, the preset time period is the time period for the vehicle to send or receive a ring message, which is pre-set and is not limited in this application.

[0197] The second position information is the current position information of the first vehicle. For example, the second position information may include longitude information and latitude information of the current position of the first vehicle, etc., which is not limited in this application.

[0198] In the present application, if a ring message sent by any vehicle is not received within a preset time period, it can be considered that the first vehicle has fallen behind from the vehicle formation. At this time, in order to rejoin the vehicle formation, the current second position information of the first vehicle can be first obtained.

[0199] Step 1102: Send a fourth message, where the fourth message is used to request to join the vehicle formation, and the fourth message includes the first node identifier and the second location information.

[0200] The fourth message is a message sent by the first vehicle to request to join the vehicle formation. For example, the fourth message may be a survival message, which is not limited in this application.

[0201] In the present application, the first vehicle may send a fourth message via V2X to request to join the vehicle formation.

[0202] In the embodiment of the present application, when no ring message is received from any vehicle within a preset time period, the second position information of the first vehicle is obtained, and then the fourth message is sent. Thus, when the vehicle falls behind, the fourth message is sent to rejoin the vehicle formation, thereby improving the security and reliability of vehicle communication management.

[0203] Combine the following Fig.12 Taking the vehicle communication method executed by the first vehicle as an example, the vehicle communication method provided in the present application is further described in detail. Fig.12 A flow chart of a vehicle communication method provided in an embodiment of the present application.

[0204] like Fig.12 As shown, the vehicle communication method includes:

[0205] Step 1201, when the number of failed information transmissions is greater than a threshold number and no ring message is received from any vehicle within a preset time period, the network communication system is controlled to be initialized.

[0206] The number threshold is the maximum critical value of the number of times the vehicle fails to send information, which is pre-set and is not limited in this application.

[0207] It should be noted that the network communication system can be implemented through the network communication management server provided in the embodiment of the present application, and the present application does not limit this.

[0208] In the present application, when the number of failed information sending is greater than the number threshold and no ring message is received from any vehicle within a preset time period, the first vehicle can be considered to be in a fault state. At this time, the network communication system can be controlled to initialize the communication status of the first vehicle.

[0209] In this application, in addition to being able to control the network communication system to initialize when in a fault state, the first vehicle can also control the network communication system to initialize after the first vehicle completes the global navigation satellite system GNSS lock and the V2X network is ready, or can also control the network communication system to enter initialization when the first vehicle detects that it is skipped by the ring message in a normal communication state, etc. For example, the first vehicle is identified as 3, and the ring message received by the first vehicle through V2X is sent from vehicle No. 2 to vehicle No. 4. At this time, it can be considered that the first vehicle is skipped by the ring message, and the network communication system can be controlled to enter initialization, and this application does not limit this.

[0210] It should be noted that after the first vehicle initializes the control network communication system, it can be considered that the network situation of the first vehicle has returned to normal and has V2X communication capability. At this time, the first vehicle can act as a new node, send a survival message through V2X, and join the vehicle formation.

[0211] It should be noted that the initialization state is a prerequisite for the normal communication state of the vehicle. Any other vehicle state (such as communication stop state, fault state) needs to be converted to the initialization state before it can be further converted to the normal communication state.

[0212] Below Fig.13 Taking as an example, the initialization state, normal communication state, communication stop state and fault state of vehicle communication are described in detail. Fig.13 A schematic diagram of the conversion relationship between various states of vehicle communication provided in an embodiment of the present application. Among them, Rx_count is the number of message reception failures; rx_limit is the maximum critical value of the number of message reception failures; Tx_count is the number of message transmission failures; tx_limit is the maximum critical value of the number of message transmission failures.

[0213] like Fig.13 As shown in a, it is a schematic diagram of the conversion relationship between the initialization state and the normal communication state, where T_max is the maximum allowed interval for the vehicle to send or receive ring messages through V2X.

[0214] In the initialization state, the vehicle sends an Alive_message through V2X, and enters the normal communication state after the message is sent successfully, and then starts to send a Ring_message to participate in the establishment and maintenance of the vehicle formation. When the vehicle exceeds T_max and does not receive a Ring_message with the destination identifier as the vehicle identifier, it enters the initialization state and re-executes the above operations.

[0215] like Fig.13b is a schematic diagram of the conversion relationship between the normal communication state and the communication stop state. The communication stop state is the state when the vehicle does not need to travel in a platoon. In this state, the vehicle no longer participates in the maintenance of the vehicle platoon and no longer sends Alive_message and Ring_message. sleep.ind is the abbreviation of the sleep indication bit (SleepIndication).

[0216] When a vehicle does not need to travel in a platoon, it applies to enter a communication stop state, and sets the sleep.ind flag of the sent Ring_message message to 1, and applies to other vehicles in its vehicle formation to stop communication. The Ring_message passes through the vehicles in the vehicle formation in turn, and if other vehicles allow communication to stop, the sleep.ind flag of the Ring_message is kept set to 1. When the Ring_message passes one circle on the message ring and returns to the vehicle that issued the application, if the sleep.ind flag is still 1, the vehicle enters a communication stop state.

[0217] A vehicle that enters the communication stop state can still receive messages through V2X. When the sleep.ind flag of the received message is 0, it exits the current state and enters the initialization state, and joins the vehicle formation by sending Alive_message.

[0218] like Fig.13 c is a schematic diagram of the conversion relationship between the normal communication state and the fault state.

[0219] For vehicles in normal communication state, when the V2X transmission function is abnormal or the network is abnormal, the vehicle will be unable to send or receive messages. After the number of message sending failures exceeds the limit value tx_limit, the vehicle will enter the fault state. In the fault state, the vehicle will send fault messages according to the preset time period for sending fault messages, and the application layer will handle and solve the network abnormality problem. When the fault problem is solved, the vehicle can receive ring messages sent by other vehicles through V2X, and then enter the initialization state, send Alive_message, join the vehicle formation, and enter the normal communication state.

[0220] In the embodiment of the present application, when the number of failed information transmissions is greater than the number threshold and no ring message is received from any vehicle within a preset time period, the network communication system is controlled to be initialized. Thus, the faulty vehicle is initialized based on the network communication system, thereby improving the efficiency of vehicle communication management.

[0221] In order to implement the above embodiment, the present application embodiment further proposes a first vehicle, Fig.14A schematic structural diagram of a first vehicle provided in an embodiment of the present application.

[0222] like Fig.14 As shown, the first vehicle 1400 includes: a transceiver 1401, a processor 1402, and a memory 1403;

[0223] The transceiver 1401 is used to send and receive data under the control of the processor 1402.

[0224] Among them, Fig.14 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1402 and various circuits of memory represented by memory 1403 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1401 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and other transmission media. The processor 1402 is responsible for managing the bus architecture and general processing, and the memory 1403 may store data used by the processor 1402 when performing operations.

[0225] The processor 1402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0226] The processor 1402 is used to call the computer program stored in the memory and perform the following operations:

[0227] After receiving a first message sent by a second vehicle through the Internet of Vehicles, determining a type of the first message;

[0228] When the first message is a ring message and the first vehicle has joined the vehicle formation, obtaining a first target node identifier included in the first message;

[0229] When the first target node identifier is the same as the first node identifier corresponding to the first vehicle, determining a second message to be sent, wherein the second message includes the second target node identifier;

[0230] After the ring message sending period is reached, the second message is sent.

[0231] Optionally, after the processor 1402 determines the type of the first message, the process further includes:

[0232] When the first message is a ring message and the first vehicle has not joined the vehicle formation, obtaining the second node identifier and the first target node identifier of the second vehicle included in the first message;

[0233] Determine the second target node identifier of the first vehicle according to the relationship between the second node identifier, the first target node identifier and the first node identifier respectively;

[0234] A third message is sent, wherein the third message is used to request to join the vehicle formation, and the third message includes a first node identifier and a second target node identifier.

[0235] Optionally, after the processor 1402 determines the type of the first message, the process further includes:

[0236] When the first message is a ring message and the first vehicle has joined the vehicle formation, obtaining a first vehicle formation table included in the first message;

[0237] In the case where the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, determining the identification of the vehicle that has fallen behind or joined the formation according to the difference between the first vehicle formation table and the second vehicle formation table;

[0238] The identification of the vehicle that has fallen behind or joined the team is displayed on the human-machine interface.

[0239] Optionally, after the processor 1402 executes acquiring the first message, the process further includes:

[0240] Obtaining first location information and interaction information in the first message;

[0241] Based on the first position information, updating the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle;

[0242] Play interactive information.

[0243] Optionally, after the processor 1402 determines the type of the first message, the process further includes:

[0244] When the first message is a survival message, obtaining a second identifier of a second vehicle included in the first message;

[0245] When the second identifier and the first identifier of the first vehicle satisfy a first relationship, and the second identifier and the second target node identifier of the first vehicle satisfy a second relationship, the second target node identifier of the first vehicle is changed to the second identifier.

[0246] Optionally, after the processor 1402 executes acquiring the second identifier of the second vehicle included in the first message, the process further includes:

[0247] The second identifier is recorded in the vehicle formation list.

[0248] Optionally, the processor 1402 is further configured to perform the following operations:

[0249] When no ring message sent by any vehicle is received within a preset time period, obtaining the second position information of the first vehicle;

[0250] A fourth message is sent, where the fourth message is used to request to join the vehicle formation, and the fourth message includes the first node identifier and the second location information.

[0251] Optionally, the processor 1402 is further configured to perform the following operations:

[0252] When the number of failed information transmissions is greater than a threshold number and no ring message is received from any vehicle within a preset time period, the network communication system is controlled to be initialized.

[0253] It should be noted that the first vehicle provided in the embodiment of the present application can achieve the above Figure 2 , Figure 4 , Figure 5 , Figure 7 , Figure 8 , Figures 10 to 12 All the method steps implemented in the method embodiment can achieve the same technical effect, and the parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0254] In order to implement the above embodiments, the present application also proposes a vehicle communication device. Fig.15 A schematic diagram of the structure of a vehicle communication device provided in an embodiment of the present application.

[0255] like Fig.15 As shown, the communication device 1500 of the vehicle includes:

[0256] A first determination module 1501 is used to determine the type of the first message after receiving the first message sent by the second vehicle through the Internet of Vehicles;

[0257] A first acquisition module 1502 is used to acquire a first target node identifier included in the first message when the first message is a ring message and the first vehicle has joined the vehicle formation;

[0258] A second determination module 1503 is used to determine a second message to be sent when the first target node identifier is the same as the first node identifier corresponding to the first vehicle, wherein the second message includes the second target node identifier;

[0259] The first sending module 1504 is configured to send a second message after the ring message sending period is reached.

[0260] Optionally, after determining the type of the first message, the first determining module 1501 is further configured to:

[0261] When the first message is a ring message and the first vehicle has not joined the vehicle formation, obtaining the second node identifier and the first target node identifier of the second vehicle included in the first message;

[0262] Determine the second target node identifier of the first vehicle according to the relationship between the second node identifier, the first target node identifier and the first node identifier respectively;

[0263] A third message is sent, wherein the third message is used to request to join the vehicle formation, and the third message includes a first node identifier and a second target node identifier.

[0264] Optionally, after determining the type of the first message, the first determining module 1501 is further configured to:

[0265] When the first message is a ring message and the first vehicle has joined the vehicle formation, obtaining a first vehicle formation table included in the first message;

[0266] In the case where the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, determining the identification of the vehicle that has fallen behind or joined the formation according to the difference between the first vehicle formation table and the second vehicle formation table;

[0267] The identification of the vehicle that has fallen behind or joined the team is displayed on the human-machine interface.

[0268] Optionally, after obtaining the first message, the first obtaining module 1502 is further configured to:

[0269] Obtaining first location information and interaction information in the first message;

[0270] Based on the first position information, updating the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle;

[0271] Play interactive information.

[0272] Optionally, after determining the type of the first message, the first determining module 1501 is further configured to:

[0273] When the first message is a survival message, obtaining a second identifier of a second vehicle included in the first message;

[0274] When the second identifier and the first identifier of the first vehicle satisfy a first relationship, and the second identifier and the second target node identifier of the first vehicle satisfy a second relationship, the second target node identifier of the first vehicle is changed to the second identifier.

[0275] Optionally, after acquiring the second identifier of the second vehicle included in the first message, the first determining module 1501 is further configured to:

[0276] The second identifier is recorded in the vehicle formation list.

[0277] Optionally, it also includes:

[0278] A second acquisition module (not shown in the figure), configured to acquire the second position information of the first vehicle when no ring message sent by any vehicle is received within a preset time period;

[0279] The second sending module (not shown in the figure) is used to send a fourth message, wherein the fourth message is used to request to join the vehicle formation, and the fourth message includes the first node identifier and the second location information.

[0280] Optionally, it also includes:

[0281] The control module (not shown in the figure) is used to control the network communication system to initialize when the number of failed information transmission is greater than the number threshold and no ring message sent by any vehicle is received within a preset time period.

[0282] It should be noted that the vehicle communication device provided in the embodiment of the present application can achieve the above Figure 2 , Figure 4 , Figure 5 , Figure 7 , Figure 8 , Figures 10 to 12 All the method steps implemented in the method embodiment can achieve the same technical effect, and the parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0283] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0284] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network side device, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0285] It should be noted here that the above-mentioned device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0286] On the other hand, an embodiment of the present application further provides a processor-readable storage medium, which stores a computer program, and the computer program is used to enable the processor to execute the steps of all method embodiments of the present application.

[0287] Among them, the above-mentioned processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0288] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0289] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle communication method, It is characterized in that The method is performed by a first vehicle, and includes: After receiving a first message sent by a second vehicle through the Internet of Vehicles, determining a type of the first message; When the first message is a ring message and the first vehicle has joined the vehicle formation, obtaining a first target node identifier included in the first message; In a case where the first target node identifier is the same as the first node identifier corresponding to the first vehicle, determining a second message to be sent, wherein the second message includes a second target node identifier; After the ring message sending period is reached, the second message is sent.

2. The method according to claim 1, It is characterized in that After determining the type of the first message, the method further includes: When the first message is a ring message and the first vehicle has not joined the vehicle formation, obtaining the second node identifier of the second vehicle and the first target node identifier contained in the first message; Determine a second target node identifier of the first vehicle according to the relationship between the second node identifier, the first target node identifier and the first node identifier respectively; Send a third message, wherein the third message is used to request to join the vehicle formation, and the third message includes the first node identifier and the second target node identifier.

3. The method according to claim 1, It is characterized in that After determining the type of the first message, the method further includes: When the first message is a ring message and the first vehicle has joined a vehicle formation, obtaining a first vehicle formation table included in the first message; In the case where the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, determining the identification of the vehicle that has fallen behind or joined the formation according to the difference between the first vehicle formation table and the second vehicle formation table; The identification of the vehicle falling behind or joining the team is displayed in the human-machine interface.

4. The method according to claim 1, It is characterized in that After obtaining the first message, the method further includes: Acquire first location information and interaction information in the first message; Based on the first position information, updating the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle; The interactive information is played.

5. The method according to any one of claims 1 to 4, It is characterized in that After determining the type of the first message, the method further includes: When the first message is a survival message, obtaining a second identifier of the second vehicle contained in the first message; When a first relationship is satisfied between the second identifier and the first identifier of the first vehicle, and a second relationship is satisfied between the second identifier and the second target node identifier of the first vehicle, the second target node identifier of the first vehicle is changed to the second identifier.

6. The method according to claim 5, It is characterized in that After acquiring the second identifier of the second vehicle included in the first message, the method further includes: The second identifier is recorded in the vehicle formation list.

7. The method according to any one of claims 1 to 4, It is characterized in that Also includes: When no ring message sent by any vehicle is received within a preset time period, obtaining the second position information of the first vehicle; Send a fourth message, wherein the fourth message is used to request to join the vehicle formation, and the fourth message includes the first node identifier and the second location information.

8. The method according to any one of claims 1 to 4, It is characterized in that Also includes: When the number of failed information transmissions is greater than a threshold number and no ring message is received from any vehicle within a preset time period, the network communication system is controlled to be initialized.

9. A first vehicle, It is characterized in that The first vehicle includes a memory, a transceiver, and a processor; Memory for storing computer programs; a transceiver, for transmitting and receiving data under the control of the processor; A processor is configured to read the computer program in the memory and perform the following operations: After receiving a first message sent by a second vehicle through the Internet of Vehicles, determining a type of the first message; When the first message is a ring message and the first vehicle has joined the vehicle formation, obtaining a first target node identifier included in the first message; In a case where the first target node identifier is the same as the first node identifier corresponding to the first vehicle, determining a second message to be sent, wherein the second message includes a second target node identifier; After the ring message sending period is reached, the second message is sent.

10. The first vehicle according to claim 9, It is characterized in that After the processor determines the type of the first message, the further step further includes: When the first message is a ring message and the first vehicle has not joined the vehicle formation, obtaining the second node identifier of the second vehicle and the first target node identifier contained in the first message; Determine a second target node identifier of the first vehicle according to the relationship between the second node identifier, the first target node identifier and the first node identifier respectively; Send a third message, wherein the third message is used to request to join the vehicle formation, and the third message includes the first node identifier and the second target node identifier.

11. The first vehicle according to claim 9, It is characterized in that After the processor determines the type of the first message, the further step further includes: When the first message is a ring message and the first vehicle has joined a vehicle formation, obtaining a first vehicle formation table included in the first message; In the case where the first vehicle formation table is different from the second vehicle formation table stored locally by the first vehicle, determining the identification of the vehicle that has fallen behind or joined the formation according to the difference between the first vehicle formation table and the second vehicle formation table; The identification of the vehicle falling behind or joining the team is displayed in the human-machine interface.

12. The first vehicle according to claim 9, It is characterized in that After the processor executes acquiring the first message, the process further includes: Acquire first location information and interaction information in the first message; Based on the first position information, updating the position of the second vehicle displayed in the human-computer interaction interface of the first vehicle; The interactive information is played.

13. The first vehicle according to any one of claims 9 to 12, It is characterized in that After the processor determines the type of the first message, the further step further includes: When the first message is a survival message, obtaining a second identifier of the second vehicle contained in the first message; When a first relationship is satisfied between the second identifier and the first identifier of the first vehicle, and a second relationship is satisfied between the second identifier and the second target node identifier of the first vehicle, the second target node identifier of the first vehicle is changed to the second identifier.

14. The first vehicle according to claim 13, It is characterized in that After the processor executes the process of acquiring the second identifier of the second vehicle included in the first message, the process further includes: The second identifier is recorded in the vehicle formation list.

15. The first vehicle according to any one of claims 9 to 12, It is characterized in that The processor is further configured to perform the following operations: When no ring message sent by any vehicle is received within a preset time period, obtaining the second position information of the first vehicle; Send a fourth message, wherein the fourth message is used to request to join the vehicle formation, and the fourth message includes the first node identifier and the second location information.

16. The first vehicle according to any one of claims 9 to 12, It is characterized in that The processor is further configured to perform the following operations: When the number of failed information transmissions is greater than a threshold number and no ring message is received from any vehicle within a preset time period, the network communication system is controlled to be initialized.

17. A communication device for a vehicle, It is characterized in that The device is configured in a first vehicle, and comprises: A first determination module, configured to determine a type of a first message after receiving the first message sent by the second vehicle through the Internet of Vehicles; A first acquisition module, configured to acquire a first target node identifier included in the first message when the first message is a ring message and the first vehicle has joined a vehicle formation; A second determination module, configured to determine a second message to be sent when the first target node identifier is the same as the first node identifier corresponding to the first vehicle, wherein the second message includes a second target node identifier; The first sending module is used to send the second message after the ring message sending period is reached.

18. A processor-readable storage medium, It is characterized in that The processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the method according to any one of claims 1 to 8.

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