V2X communication capability enhancement device and method

Abstract

The invention discloses a V2X communication capability enhancing device and method, and relates to the technical field of Internet of Vehicles. The device comprises an AP application processor, a V2X NAD integration module, an MCU micro-control unit, an STM stepping motor and an antenna pedestal for bearing a V2X directional antenna. The AP application processor is respectively connected with the V2X NAD integration module, the MCU micro-control unit and the STM stepping motor, and the V2X NAD integration module is also connected with the MCU micro-control unit; the AP application processor is used for executing a V2X application scene and a V2X antenna steering algorithm, the V2X NAD integration module is used for realizing V2X communication and positioning functions, the MCU is used for executing complete machine power management and CAN communication functions, and the STM stepping motor is used for executing a steering instruction and controlling an antenna pedestal to drive a V2X directional antenna to steer. According to the invention, the V2X communication capability can be effectively enhanced, reliable, safe, efficient and service scene triggering is realized, and a foundation is laid for the next application of V2X to an automatic driving vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle networking, and more particularly, to a V2X communication capability enhancement device and method. Background Art

[0002] V2X refers to the information exchange between vehicles and the outside world. Vehicle networking has laid a new development direction for automotive technologies by integrating global positioning system (GPS) navigation technology, vehicle-to-vehicle communication technology, wireless communication, and remote sensing technology, achieving the compatibility of manual driving and autonomous driving. In the implementation of V2X applications, two key factors directly affect the V2X application effect or scenario trigger effect. One is its own high-precision positioning ability, and the other is the reliable visible long communication distance. Its own high-precision positioning determines the effectiveness of scenario triggering. For example, in a forward collision scenario, if the positioning of one of the associated vehicles deviates beyond a certain limit (such as half a lane width), it may lead to false scenario triggering or non-triggering of the scenario. The visible communication distance directly affects the safety or effective threshold of the scenario. For applications that require long-distance warning or reminder, the earlier the communication is established at a longer distance, the earlier the warning or reminder is triggered, which means more sufficient safety margin. Based on this, the present invention proposes a V2X communication capability enhancement device and method. Summary of the Invention

[0003] In order to overcome the above problems or at least partially solve the above problems, the present invention provides a V2X communication capability enhancement device and method, which can effectively enhance the V2X communication capability, achieve reliable safety, efficiency, and service scenario triggering, and lay a foundation for the next application of V2X on autonomous vehicles.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a V2X communication capability enhancement device, including an AP application processor, a V2X NAD integration module, an MCU microcontroller unit, an STM stepper motor, and an antenna pedestal carrying a V2X directional antenna; the above AP application processor is respectively connected to the above V2X NAD integration module, the MCU microcontroller unit, and the STM stepper motor, and the above V2X NAD integration module is also connected to the above MCU microcontroller unit;

[0006] The above AP application processor is used to execute V2X application scenarios and V2X antenna orientation algorithms, the above V2X NAD integration module is used to implement V2X communication and positioning functions, the above MCU microcontroller unit is used to execute the overall machine power management and CAN communication functions, and the above STM stepper motor is used to execute steering instructions to control the antenna pedestal to drive the V2X directional antenna to turn.

[0007] Based on the hardware of the general 5G V2X OBU platform, a stepper motor drive chip and a directional antenna with a stepper motor are added. The AP application processor executes V2X application scenarios and V2X antenna orientation algorithms; the V2X NAD integrates V2X communication and positioning functions; the MCU executes the overall power management and CAN communication functions; the STM stepper motor executes steering commands; the antenna mount carries the V2X directional antenna and is controlled by the STM. The present invention is mainly used in scenarios where the communication ability is interfered due to too long communication distance or partial occlusion by leaves, vehicles, etc., including V2V and V2I scenarios, so as to realize reliable safety, efficiency, and service - type scenario triggering, laying a foundation for the next - step application of V2X on autonomous vehicles.

[0008] This device mainly optimizes the design of the V2X antenna on the basis of the general V2X OBU device, that is, while adopting the V2X directional antenna, a micro - motion motor is added to dynamically adjust the V2X direction, enhancing the V2X communication ability.

[0009] Based on the first aspect, further, the above - mentioned AP application processor communicates with the STM stepper motor through SPI for controlling instruction issuance and status feedback.

[0010] Based on the first aspect, further, a stepper motor for driving the directional antenna to rotate is arranged on the above - mentioned antenna mount, and a two - phase drive signal is adopted between the stepper motor and the STM stepper motor.

[0011] Based on the first aspect, further, the above - mentioned V2X antenna orientation algorithm includes calculating the direction angle of the remote vehicle relative to the host vehicle based on the remote vehicle position information and the real - time position information of the host vehicle in the BSM message; calculating and adjusting the orientation of the directional antenna according to the direction and angle that the host vehicle's directional antenna needs to rotate based on the driving direction of the host vehicle and the direction angle.

[0012] In a second aspect, the present invention provides a V2X communication ability enhancement method applying the V2X communication ability enhancement device as described in any item of the first aspect, including the following steps:

[0013] After the V2X device is started, the V2X communication function is automatically turned on, and omnidirectional + directional V2X communication is started to send and receive V2X messages in real - time;

[0014] Parse the BSM message of the V2X message to obtain the corresponding position information, speed, and heading information of the remote vehicle and the host vehicle;

[0015] Calculate the expected direction angle according to the corresponding position information, speed, and heading information of the remote vehicle and the host vehicle;

[0016] Obtain and calculate the direction and angle that the host vehicle's directional antenna needs to rotate according to the current orientation of the directional antenna and the expected direction angle;

[0017] The AP application processor dynamically controls the working mode of the STM stepper motor in real time according to the direction and angle that the directional antenna needs to rotate, adjusts the orientation of the main vehicle's directional antenna, and controls the main vehicle's directional antenna to align with the remote vehicle.

[0018] This method is implemented based on the above device. After the V2X device is started, the V2X communication function is automatically turned on, and the omni-directional + directional V2X communication is started to send and receive V2X messages in real time; when a frame of BSM message is received, based on the RV position information and the HV real-time position information in the BSM message, the direction angle of the RV relative to the HV is calculated; based on the HV driving direction and the direction angle, the direction and angle that the HV directional antenna needs to rotate are calculated; the AP dynamically controls the working mode of the STM in real time, and then controls the directional antenna to align with the RV. Among them, RV represents the remote vehicle, and HV represents the main vehicle. The present invention is mainly used in scenarios where the communication ability is interfered due to too long communication distance or partial occlusion by leaves, vehicles, etc., including V2V and V2I scenarios, so as to realize reliable safety, efficiency, and service scenario triggering, and lay a foundation for the next application of V2X on autonomous vehicles.

[0019] Based on the second aspect, further, the method for calculating the expected direction angle according to the position information, speed, and heading information of the corresponding remote vehicle and the main vehicle includes the following steps:

[0020] Extract and calculate the direction angle of the remote vehicle relative to the main vehicle according to the remote vehicle position information and the main vehicle real-time position information;

[0021] Based on the direction angle of the remote vehicle relative to the main vehicle and the driving direction in the main vehicle heading information, calculate the direction and angle that the main vehicle directional antenna needs to rotate.

[0022] Based on the second aspect, further, the method for calculating the direction angle of the remote vehicle relative to the main vehicle according to the remote vehicle position information and the main vehicle real-time position information includes the following steps:

[0023] Calculate the direction angle of the remote vehicle relative to the main vehicle according to the following formula:

[0024] AX = arctan((Longitude(RV) - Longitude(HV)) / (Latitude(RV) - Latitude(HV))); where, Longitude(RV) represents the longitude of the remote vehicle, Longitude(HV) represents the longitude of the main vehicle, Latitude(RV) represents the latitude of the remote vehicle, and Latitude(HV)) represents the latitude of the main vehicle.

[0025] Based on the second aspect, further, the method for calculating the direction and angle pair that the main vehicle's directional antenna needs to rotate based on the direction angle of the remote vehicle relative to the main vehicle and the driving direction in the main vehicle's heading information includes the following steps:

[0026] Calculate the expected direction angle of the main vehicle's directional antenna according to the formula AP = AY - (AX - 90); where: AP represents the expected direction angle of the main vehicle's directional antenna, AY represents the main vehicle's heading information, and AX represents the direction angle of the remote vehicle relative to the main vehicle.

[0027] Based on the second aspect, further, the method for enhancing V2X communication capabilities further includes the following steps:

[0028] Calculate the collision risk between the remote vehicle and the main vehicle according to the speed and heading information of the remote vehicle and the main vehicle.

[0029] The present invention has at least the following advantages or beneficial effects:

[0030] The present invention provides a V2X communication capability enhancement device and method for scenarios where communication capabilities are interfered due to overly long communication distances or partial occlusion environments such as leaves and vehicles, including V2V and V2I scenarios, thereby enabling reliable triggering of safety, efficiency, and service scenarios, and laying a foundation for the next-step application of V2X in autonomous vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a schematic architecture diagram of a V2X communication capability enhancement device according to an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the communication distance range using a general V2X omnidirectional antenna according to an embodiment of the present invention;

[0034] Figure 3 It is a schematic diagram of the communication distance range using a combination of an omnidirectional antenna and a directional antenna according to an embodiment of the present invention;

[0035] Figure 4 It is a schematic flowchart of a V2X communication capability enhancement method according to an embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of the expected direction angles of two vehicles according to an embodiment of the present invention. Detailed Implementation Modes

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings herein can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0039] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0040] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0041] Embodiment:

[0042] As Figure 1 shown, in a first aspect, an embodiment of the present invention provides a V2X communication capability enhancement device, including an AP application processor, a V2X NAD integration module, an MCU microcontroller unit, an STM stepper motor, and an antenna pedestal carrying a V2X directional antenna; the above AP application processor is respectively connected to the above V2X NAD integration module, MCU microcontroller unit, and STM stepper motor, and the above V2X NAD integration module is also connected to the above MCU microcontroller unit;

[0043] The above AP application processor is used to execute V2X application scenarios and V2X antenna orientation algorithms. The above V2X NAD integration module is used to implement V2X communication and positioning functions. The above MCU micro-control unit is used to execute the overall machine power management and CAN communication functions. The above STM stepper motor is used to execute steering instructions to control the antenna pedestal to drive the V2X directional antenna to turn.

[0044] The present invention is based on the hardware of a general 5G V2X OBU platform, and adds a stepper motor driver chip and a directional antenna with a stepper motor. The AP application processor executes V2X application scenarios and V2X antenna orientation algorithms; the V2X NAD integrates V2X communication and positioning functions; the MCU executes the overall machine power management and CAN communication functions; the STM stepper motor executes steering instructions; the antenna pedestal carries the V2X directional antenna and is controlled by the STM. Based on the frequency of BSM messages, the interval between two BSM messages is 100 ms, so it is required that the delay of the device from capturing BSM messages to the stepper motor completing the orientation operation does not exceed 100 ms to ensure that the directional antenna is dynamically aligned with the RV in real time.

[0045] The present invention is mainly used in scenarios where the communication ability is interfered due to too long communication distance or partial occlusion by leaves, vehicles, etc., including V2V and V2I scenarios, so as to realize reliable safety, efficiency, and service scenario triggering, laying a foundation for the next application of V2X on autonomous vehicles.

[0046] This device mainly optimizes the design of the V2X antenna on the basis of a general V2X OBU device, that is, while adopting a V2X directional antenna, a micro-motor is added to dynamically adjust the V2X direction to enhance the V2X communication ability. To better demonstrate the effect of this device, as Figure 2 and Figure 3 shown, it respectively shows the communication distance range of adopting a general V2X omnidirectional antenna and the communication distance range of adopting a combination of an omnidirectional antenna and a directional antenna. From Figure 2 and Figure 3 it can be seen that under the condition of the same output power, the farthest communication distance of the present invention is significantly greater than the communication distance range of only adopting a V2X omnidirectional antenna in the prior art.

[0047] Based on the first aspect, further, the above AP application processor communicates with the above STM stepper motor through SPI for controlling instruction issuance and status feedback.

[0048] Based on the first aspect, further, a stepper motor for driving the directional antenna to rotate is provided on the above antenna pedestal, and a two-phase drive signal is adopted between the stepper motor and the above STM stepper motor.

[0049] In some embodiments of the present invention, a two-phase drive signal is adopted between the stepping motor and the STM stepping motor to better and more accurately control the operation of the motor.

[0050] Based on the first aspect, further, the above V2X antenna orientation algorithm includes calculating the direction angle of the remote vehicle relative to the host vehicle based on the remote vehicle position information and the real-time position information of the host vehicle in the BSM message; calculating and adjusting the orientation of the directional antenna based on the driving direction of the host vehicle and the direction angle, and the direction and angle by which the directional antenna of the host vehicle needs to rotate.

[0051] As Figure 4 shown, in the second aspect, an embodiment of the present invention provides a V2X communication capability enhancement method applying the V2X communication capability enhancement device as described in any one of the first aspect, including the following steps:

[0052] After the V2X device is started, the V2X communication function is automatically turned on, and the omnidirectional + directional V2X communication is started to send and receive V2X messages in real time; selecting the BSM message as the RV information source is considered that the BSM is the most basic V2V communication message set, and the sending frequency is not less than 10Hz. Obtain the ASN.1 code of the BSM message set from the standard file, and parse the position, speed, and heading information from this message set for the next step.

[0053] Parse the BSM message of the V2X message to obtain the corresponding position information, speed, and heading information of the remote vehicle and the host vehicle;

[0054] Calculate the expected direction angle according to the corresponding position information, speed, and heading information of the remote vehicle and the host vehicle;

[0055] Obtain and calculate the direction and angle by which the directional antenna of the host vehicle needs to rotate according to the current orientation of the directional antenna and the expected direction angle;

[0056] The AP application processor dynamically controls the working mode of the STM stepping motor in real time according to the direction and angle by which the directional antenna needs to rotate, adjusts the orientation of the directional antenna of the host vehicle, and controls the directional antenna of the host vehicle to align with the remote vehicle. Based on the calculated expected direction angle and the current orientation of the directional antenna, determine the direction and specific angle by which the antenna needs to rotate, and send the instruction to the STEPPER DRIVER through the SPI bus to drive the motor to rotate the appropriate angle within the required time.

[0057] This method is implemented based on the above device, as Figure 4As shown, after the V2X device is started, the V2X communication function is automatically turned on, and the omnidirectional + directional V2X communication is started to send and receive V2X messages in real time; when a frame of BSM message is received, based on the RV position information and the HV real-time position information in the BSM message, the direction angle of the RV relative to the HV is calculated; based on the driving direction of the HV and the direction angle, the direction and angle that the HV directional antenna needs to rotate are calculated; the AP dynamically controls the STM working mode in real time, adjusts the orientation of the directional antenna, and then controls the directional antenna to align with the RV; and dynamic feedback is performed to ensure the real-time adjustment effect. Among them, RV represents the remote vehicle, and HV represents the host vehicle.

[0058] The present invention is mainly used in scenarios where the communication ability is interfered due to too far communication distance or partial occlusion by leaves, vehicles, etc., including V2V and V2I scenarios, so as to realize reliable triggering of safety, efficiency, and service scenarios, and lay a foundation for the next application of V2X on autonomous vehicles.

[0059] Based on the second aspect, further, the method for calculating the expected direction angle according to the position information, speed, and heading information of the corresponding remote vehicle and host vehicle includes the following steps:

[0060] Extract and calculate the direction angle of the remote vehicle relative to the host vehicle according to the remote vehicle position information and the host vehicle real-time position information;

[0061] Based on the direction angle of the remote vehicle relative to the host vehicle and the driving direction in the host vehicle heading information, calculate the direction and angle that the host vehicle directional antenna needs to rotate.

[0062] Based on the second aspect, further, the method for calculating the direction angle of the remote vehicle relative to the host vehicle according to the remote vehicle position information and the host vehicle real-time position information includes the following steps:

[0063] Calculate the direction angle of the remote vehicle relative to the host vehicle according to the following formula:

[0064] AX = arctan((Longitude(RV) - Longitude(HV)) / (Latitude(RV) - Latitude(HV))); where, Longitude(RV) represents the longitude of the remote vehicle, Longitude(HV) represents the longitude of the host vehicle, Latitude(RV) represents the latitude of the remote vehicle, and Latitude(HV)) represents the latitude of the host vehicle.

[0065] Based on the second aspect, further, the method for calculating the pair of the direction and angle that the host vehicle directional antenna needs to rotate based on the direction angle of the remote vehicle relative to the host vehicle and the driving direction in the host vehicle heading information includes the following steps:

[0066] Calculate the expected direction angle of the master vehicle's directional antenna according to the formula AP = AY - (AX - 90); where: AP represents the expected direction angle of the master vehicle's directional antenna, AY represents the master vehicle's heading information, and AX represents the direction angle of the remote vehicle relative to the master vehicle.

[0067] Obtain the HV position information through HV GNSS GPRMC, and the absolute angle can be calculated:

[0068] AX = arctan((Longitude(RV) - Longitude(HV)) / (Latitude(RV) - Latitude(HV));

[0069] Obtain the HV (master vehicle) heading information AY (with the due north direction as the reference benchmark) through HV GNSS GPRMC, and thus the expected direction angle AP of the directional antenna relative to the vehicle heading can be calculated, as Figure 5 shown.

[0070] Based on the second aspect, further, the V2X communication capability enhancement method further includes the following steps:

[0071] Calculate the collision risk between the remote vehicle and the master vehicle according to the speed and heading information of the remote vehicle and the master vehicle.

[0072] In the embodiments provided in the present application, it should be understood that the disclosed methods and systems can also be implemented in other ways. The method and system embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the methods, systems, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0073] In addition, in each embodiment of the present application, the various functional modules can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0074] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0075] For those skilled in the art, it is obvious that this application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of this application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of this application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in this application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A V2X communication capability enhancement device, characterized in that: It includes an AP application processor, a V2X NAD integrated module, an MCU micro control unit, an STM stepper motor, and an antenna base carrying a V2X directional antenna; the AP application processor is connected to the V2X NAD integrated module, the MCU micro control unit, and the STM stepper motor respectively, and the V2X NAD integrated module is also connected to the MCU micro control unit; The AP application processor is used to execute V2X application scenarios and V2X antenna steering algorithms, the V2X NAD integrated module is used to realize V2X communication and positioning functions, the MCU microcontroller unit is used to perform whole machine power management and CAN communication functions, and the STM stepper motor is used to execute steering instructions and control the antenna base to drive the V2X directional antenna to steer.

2. A V2X communication capability enhancement device according to claim 1, characterized in that: The AP application processor communicates with the STM stepper motor via SPI for control instruction issuance and status feedback.

3. A V2X communication capability enhancement device according to claim 1, characterized in that: The antenna seat is provided with a stepping motor for driving the directional antenna to rotate, and a two-phase driving signal is adopted between the stepping motor and the STM stepping motor.

4. A V2X communication capability enhancement device according to claim 1, characterized in that: The V2X antenna steering algorithm includes calculating the direction angle of the remote vehicle relative to the host vehicle based on the remote vehicle position information and the host vehicle real-time position information in the BSM message; Based on the driving direction and direction angle of the main vehicle, the direction of the directional antenna is calculated and adjusted according to the direction and angle that the directional antenna of the main vehicle needs to rotate.

5. A method for enhancing V2X communication capability using the V2X communication capability enhancing device according to any one of claims 1 to 4, characterized in that: The following steps are involved: After the V2X device is started, the V2X communication function is automatically turned on, omnidirectional + directional V2X communication is started, and V2X messages are sent and received in real time; Parse the BSM message of the V2X message to obtain the corresponding remote vehicle and host vehicle position information, speed and heading information; Calculate the expected direction angle based on the position information, speed and heading information of the corresponding remote vehicle and the host vehicle; Obtain and calculate the direction and angle that the directional antenna of the main vehicle needs to rotate according to the current direction and expected direction angle of the directional antenna; The AP application processor dynamically controls the working mode of the STM stepper motor in real time according to the direction and angle that the directional antenna needs to rotate, adjusts the direction of the main vehicle's directional antenna, and controls the main vehicle's directional antenna to align with the remote vehicle.

6. A V2X communication capability enhancement method according to claim 5, characterized in that: The method for calculating the expected direction angle according to the position information, speed and heading information of the corresponding remote vehicle and the host vehicle comprises the following steps: Extract and calculate the direction angle of the remote vehicle relative to the host vehicle based on the remote vehicle position information and the host vehicle real-time position information; Based on the direction angle of the remote vehicle relative to the host vehicle and the driving direction in the host vehicle's heading information, the direction and angle that the host vehicle's directional antenna needs to rotate are calculated.

7. A V2X communication capability enhancement method according to claim 6, characterized in that: The method for calculating the direction angle of the remote vehicle relative to the host vehicle based on the remote vehicle position information and the host vehicle real-time position information comprises the following steps: The direction angle of the remote vehicle relative to the host vehicle is calculated according to the following formula: AX=arctan((Longitude(RV)-Longitude(HV)) / (Latitude(RV)-Latitu de(HV)); wherein Longitude(RV) represents the longitude of the remote vehicle, Longitude(HV) represents the longitude of the host vehicle, Latitude(RV) represents the latitude of the remote vehicle, and Latitude(HV) represents the latitude of the host vehicle.

8. A V2X communication capability enhancement method according to claim 7, characterized in that: The method for calculating the direction and angle that the host vehicle's directional antenna needs to rotate based on the direction angle of the remote vehicle relative to the host vehicle and the driving direction in the host vehicle's heading information comprises the following steps: According to the formula AP=AY-(AX-90), the expected direction angle of the host vehicle's directional antenna is calculated; wherein: AP represents the expected direction angle of the host vehicle's directional antenna, AY represents the host vehicle's heading information, and AX represents the direction angle of the remote vehicle relative to the host vehicle.

9. A V2X communication capability enhancement method according to claim 5, characterized in that: The following steps are also included: The collision risk between the remote vehicle and the host vehicle is calculated based on the speed and heading information of the remote vehicle and the host vehicle.

Images