Cooperative driving information interaction method and system based on V2X communication, medium and equipment

Abstract

The invention discloses a cooperative driving information interaction method and system based on V2X communication, a medium and equipment. The method comprises the following steps: acquiring a plurality of information levels participating in collaborative driving information interaction, constructing a communication architecture based on the plurality of information levels, and determining information interaction requirements among the information levels; according to the communication architecture, determining a standardized communication protocol meeting information interaction requirements; determining a data structure of a message layer of the interaction information according to the standardized communication protocol; designing a format of a message frame based on an ASN.1 abstract syntax rule, and defining a data frame format conforming to a 3GPP standard according to the format of the message frame; determining the priority of each type of message body contained in the message frame, and determining the priority of data elements in each type of message body; and constructing a communication resource scheduling system according to the priority of the message body and the priority of the data element, and realizing driving information interaction by using the communication resource scheduling system. Through the scheme, the interaction of the networked cooperative driving information can be efficiently and reliably realized.

Description

Technical Field

[0001] The present invention relates to the technical field of cooperative driving of intelligent connected vehicles, and particularly to a method, system, medium and device for cooperative driving information interaction based on V2X communication. Background Art

[0002] With the large-scale commercialization of 5G-V2X (Vehicle-to-Everything) technology, the penetration rate of intelligent connected vehicles has exceeded the 15% critical point, and the annual growth rate of the global deployment volume of V2X roadside units reaches 67%, marking that the cooperative driving technology has officially entered the stage of group intelligence evolution. In this paradigm, intelligent connected vehicles can achieve sub-second (<500ms) cooperative decision-making responses through collaborative work with other vehicles and traffic infrastructure, greatly improving the traffic efficiency of urban arterial roads.

[0003] However, the existing driving information interaction technologies have the following problems: 1. The application layer protocols of Onboard Unit (OBU) devices of current mainstream manufacturers are not unified, the control instruction mismatch rate reaches 15%, and the lateral control deviation exceeds the limit value of the International Organization for Standardization (ISO) 11270 standard, seriously affecting the accuracy of the vehicle fleet maintenance; 2. The fixed-cycle broadcast (100ms) and the 10% fixed code rate (Constant BitRate, CBR) reservation mechanism result in a sharp drop in channel utilization rate in the scenario of multiple vehicles concurrent at intersections, and a high burst traffic packet loss rate, making it difficult to meet the requirements of high-priority tasks such as emergency braking; 3. The existing technology adopts a star topology (single vehicle - infrastructure) structure, and the communication overhead shows an O(n 2 ) growth in the scenario of a hundred-vehicle scale, resulting in a local conflict detection delay exceeding the safety threshold.

[0004] In summary, the existing driving information interaction technologies have low adaptability in complex cooperative driving scenarios and cannot efficiently and reliably implement the interaction of networked cooperative driving information in a high-traffic environment. Summary of the Invention

[0005] Based on this, it is necessary to provide a method, system, medium and device for cooperative driving information interaction based on V2X communication to solve the technical problem that the existing technology cannot efficiently and reliably implement the interaction of networked cooperative driving information in a high-traffic environment.

[0006] The present invention adopts the following technical solutions:

[0007] In the first aspect, the present invention provides a method for cooperative driving information interaction based on V2X communication, and the method includes:

[0008] Obtain multiple information levels participating in cooperative driving information interaction, construct a communication architecture based on the multiple information levels, and determine the information interaction requirements between each information level in the multiple information levels;

[0009] According to the communication architecture, determine a standardized communication protocol that meets the information interaction requirements; according to the standardized communication protocol, determine the data structure of the message layer for the interaction information between the multiple information levels; according to the data structure, design the format of the message frame in the message layer based on the ASN.1 abstract syntax rules, and define the format of the data frame that conforms to the 3GPP standard according to the format of the message frame;

[0010] Divide the message body included in the message frame into multiple types of message bodies, determine the priority of each type of message body, and determine the priority of the data elements in each type of message body;

[0011] According to the priority of each type of message body and the priority of the data elements, construct a connected cooperative driving information interaction network, and use the connected cooperative driving information interaction network to implement cooperative driving information interaction.

[0012] Further, the multiple types of message bodies include safety type message bodies, efficiency type message bodies, and service type message bodies. The determining the priority of each type of message body specifically includes:

[0013] Determine the priority of the safety type message body as the first priority, determine the priority of the efficiency type message body as the second priority, and determine the priority of the service type message body as the third priority;

[0014] Wherein, the first priority, the second priority, and the third priority decrease in sequence.

[0015] Further, according to the priority of each type of message body and the priority of the data elements, constructing a connected cooperative driving information interaction network specifically includes:

[0016] Obtain the bandwidth resources of the multiple information levels;

[0017] According to the bandwidth resources of the multiple information levels, the priority of each type of message body, the priority of the data elements, and in combination with the multi-stage characteristics of the connected cooperative driving information interaction task, construct a connected cooperative driving information interaction network.

[0018] Further, the connected cooperative driving information interaction network includes a system parameter matrix, a task parameter matrix, a task allocation scheme, and a resource scheduling scheme;

[0019] Among them, the system parameter matrix specifically includes the data type, data volume, and transmission status of the message body; the task parameter matrix includes the task type, task priority, and required resources; the task allocation scheme includes the task allocation sub-schemes for the connected co-driving information interaction task in each stage; the resource scheduling scheme includes the resource scheduling sub-schemes for the connected co-driving information interaction task in each stage.

[0020] In a second aspect, the present invention provides a co-driving information interaction system based on V2X communication, including:

[0021] An acquisition module, configured to acquire multiple information levels participating in co-driving information interaction, construct a communication architecture based on the multiple information levels, and determine the information interaction requirements between each information level in the multiple information levels;

[0022] A first determination module, configured to determine a standardized communication protocol that meets the information interaction requirements according to the communication architecture; determine the data structure of the message layer for the interaction information between the multiple information levels according to the standardized communication protocol; design the format of the message frame in the message layer based on the ASN.1 abstract syntax rules according to the data structure, and define the format of the data frame that conforms to the 3GPP standard according to the format of the message frame;

[0023] A second determination module, configured to divide the message body included in the message frame into multiple types of message bodies, determine the priority of each type of message body, and determine the priority of the data elements in each type of message body;

[0024] An information interaction module, configured to construct a connected co-driving information interaction network according to the priority of each type of message body and the priority of the data elements, and implement co-driving information interaction by using the connected co-driving information interaction network.

[0025] The present invention provides a computer-readable storage medium, where the storage medium stores a computer program, and when the computer program is executed by a processor, the co-driving information interaction method based on V2X communication is implemented.

[0026] The present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the co-driving information interaction method based on V2X communication is implemented.

[0027] At least one technical solution adopted by the present invention can achieve the following beneficial effects: The present invention obtains multiple information levels participating in collaborative driving information interaction, constructs a communication architecture based on the multiple information levels, and determines the information interaction requirements between each information level in the multiple information levels; according to the communication architecture, determines a standardized communication protocol that meets the information interaction requirements; determines the data structure of the message layer of the interaction information between the multiple information levels according to the standardized communication protocol; designs the format of the message frame in the message layer based on the ASN.1 abstract syntax rules, and defines the format of the data frame that conforms to the 3GPP standard according to the format of the message frame; divides the message body included in the message frame into multiple types of message bodies, determines the priority of each type of message body, and determines the priority of the data elements in each type of message body; constructs a networked collaborative driving information interaction network according to the priority of each type of message body and the priority of the data elements, and uses the networked collaborative driving information interaction network to implement collaborative driving information interaction. The above solution can ensure the accuracy and consistency of the interaction information by establishing a protocol adaptation layer based on the ASN.1 abstract syntax rules and a communication data frame format that conforms to the 3GPP standard, avoid potential safety hazards caused by data errors, can take into account the optimization of communication resources in complex traffic scenarios, and provide a solid communication foundation for multi-vehicle collaborative decision-making. By adopting international standard protocols and open interface designs, seamless compatibility with existing V2X devices is ensured, and the message body hierarchical structure supports dynamic expansion, which can adapt to newly added types of traffic participants or functional requirements in the future (such as new scenarios of autonomous driving); constructs a networked collaborative driving information interaction network according to the priority of each type of message body and the priority of the data elements, avoids network congestion, flexibly adapts to the communication requirements of different scenarios, ensures the real-time nature of emergency safety information, and improves the bandwidth utilization rate, enabling efficient and reliable implementation of the interaction of networked collaborative driving information. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings:

[0029] Figure 1 It is a flowchart of a collaborative driving information interaction method based on V2X communication provided by the present invention;

[0030] Figure 2 It is a schematic diagram of the complete communication structure of the networked collaborative driving information level provided by the present invention;

[0031] Figure 3 It is a data structure diagram of the interaction information message layer that follows the standardized communication protocol provided by the present invention;

[0032] Figure 4Schematic diagram of the data frame format based on V2X communication provided by the present invention;

[0033] Figure 5 Schematic diagram of the multi-stage information interaction process provided by the present invention;

[0034] Figure 6 The phased information interaction process in the collaborative lane merging and collaborative lane changing scenarios provided by the present invention;

[0035] Figure 7 Schematic diagram of the cooperative driving information interaction system based on V2X communication provided by the present invention;

[0036] Figure 8 Schematic diagram of a computer device for implementing the method for cooperative driving information interaction based on V2X communication provided by the present invention. Detailed implementation manners

[0037] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] At present, the server mentioned in the present invention may be a server set up on a service platform, or a device such as a desktop computer or a notebook computer that can execute the solution of the present invention. For the convenience of description, only the server is used as the execution subject for description below. The technical solutions provided by each embodiment of the present invention are described in detail below with reference to the drawings.

[0039] Refer to Figure 1 , the method for cooperative driving information interaction based on V2X communication in the present invention specifically includes the following steps:

[0040] S10: Obtain multiple information levels participating in the cooperative driving information interaction, construct a communication architecture based on the multiple information levels, and determine the information interaction requirements between each information level in the multiple information levels.

[0041] In this embodiment, the information level refers to the device category participating in the cooperative driving information interaction. For example, multiple in-vehicle systems can be classified into the same information level, and multiple roadside units can be classified into the same information level. The communication architecture refers to an information transmission framework constructed according to the information interaction objects between different information levels.

[0042] Specifically, refer to Figure 2, the communication architecture is based on a hierarchical design, including roadside perception devices, roadside computing devices, Road Side Units (RSUs), and multiple in-vehicle systems.

[0043] S20: According to the communication architecture, determine the standardized communication protocol that meets the information interaction requirements; determine the data structure of the message layer for the interaction information between multiple information levels according to the standardized communication protocol; based on the ASN.1 abstract syntax rules, design the format of the message frames in the message layer according to the data structure, and define the format of the data frames that conform to the 3GPP standard according to the format of the message frames.

[0044] In this embodiment, the standardized communication protocol refers to a general protocol internationally recognized for information transmission between different information levels. The standardized communication protocol includes, but is not limited to: the PC5 protocol for real-time data interaction between vehicles and the Uu protocol for efficient communication between vehicles and RSUs, etc. Refer to Figure 2 , direct communication is achieved between in-vehicle systems through the V2V (Vehicle-to-Vehicle) PC5 protocol via the A1 interface, and vehicle status (such as vehicle speed, vehicle position), environmental perception data (such as obstacles, lane lines), and collaborative decision-making instructions (such as platooning, emergency collision avoidance) are transmitted bidirectionally; direct communication is achieved between the in-vehicle system and the RSU through the V2I (Vehicle-to-Infrastructure) Uu protocol via the A2 interface. The RSU issues global roadside perception data (traffic flow, signal status) and decision-making instructions (route planning, speed limit suggestions) through the A2 interface, and the in-vehicle system uploads vehicle status and local perception data to the RSU through the A2 interface; direct communication is achieved between the roadside perception device and the Road Side Unit (RSU) through the A3 interface, and the roadside perception device (radar, camera) unidirectionally transmits the collected original environmental data (vehicle position, pedestrian detection) to the RSU; direct communication is achieved between the roadside perception device and the roadside computing device through the A4 interface, and the roadside perception device unidirectionally sends the original data (such as video stream, point cloud) to the roadside computing device for real-time fusion and decision analysis; direct communication is achieved between the RSU and the roadside computing device through the A5 interface, the RSU uploads the aggregated data (vehicle end + roadside perception) to the roadside computing device, and the roadside computing device issues global decision-making instructions (such as emergency avoidance) to the in-vehicle system for execution through the RSU.

[0045] Among them, interface A1 supports NR-V2X PC5 SL with a 20MHz bandwidth, and interface A2 supports Uu 5G NSA networking.

[0046] In this embodiment, refer to Figure 3, the data structure of the message layer of the interaction information adopts the logic of nested layer by layer from large to small: "message frame - message body - data frame - data element". Among them, based on the ASN.1 abstract syntax rules, the format of the message frame in the message layer is mainly designed in two types:

[0047] 1), Cooperative perception information message frame (SenMsgFrame): Focus on real-time collection and transmission of perception data of vehicles, road conditions and other traffic elements. The message bodies included are: Basic Safety Msg (BSM), Roadside SafetyMsg (RSM), Sensor Sharing Msg (SSM), Map Msg (MAP), Roadside Information (RSI), Signal Phase And Timing (SPAT).

[0048] 2), Cooperative decision-making information message frame (DcsMsgFrame): Based on perception data for decision-making analysis, transmit decision-making information such as path planning and speed adjustment. The message bodies included are: RoadSide Coordination Msg (RSC), Vehicle Intention And Request (VIR), Intention Sharing Msg (ISM), Emergency Service Msg (ESM).

[0049] In this embodiment, referring to Figure 4 , according to the format definition of the message frame, the format of the data frame that conforms to the 3GPP standard includes but is not limited to: frame header, data field, frame tail. Among them, the frame header is composed of a preamble (6 bytes), a destination address (6 bytes), a source address (6 bytes) and a sequence number (2 bytes). The data field is composed of a V2X header (2 bytes), a reserved bit (1 bit), a message type (1 bit), the number of sub-packets (4 bits) and V2X data (44 - 1498 bytes). The frame tail is composed of a 4-byte frame check sequence.

[0050] Specifically, the V2X header includes an 8-bit security identifier, a 4-bit Quality of Service (QoS) priority and a 4-bit message type; the V2X data includes multiple sub-packets, and each sub-packet is composed of a sub-packet header, an address area, a length, an R / M (flag bit), a status bit, data and a Working Counter (WKC). The sub-packet header is composed of a 4-bit command and a 4-bit index.

[0051] Specifically, the frame header structure of the data frame and the functions of each structure are shown in Table 1, the data field structure and the functions of each structure are shown in Table 2, and the data field sub-message structure and the functions of each structure are shown in Table 3.

[0052] Table 1 Data Frame Frame Header Structure

[0053]

[0054]

[0055] Table 2 Data Frame Data Field Structure

[0056]

[0057] Table 3 Data Field Sub-Message Structure

[0058]

[0059] S30: Divide the message body included in the message frame into multiple types of message bodies, determine the priorities of each type of message body, and determine the priorities of the data elements in each type of message body.

[0060] In this embodiment, the multiple types of message bodies include security type message bodies, efficiency type message bodies, and service type message bodies. Determining the priorities of each type of message body specifically includes:

[0061] Determine the priority of the security type message body as the first priority, the priority of the efficiency type message body as the second priority, and the priority of the service type message body as the third priority;

[0062] Among them, the first priority, the second priority, and the third priority decrease in sequence.

[0063] In this embodiment, the first priority is the highest priority, that is, the security type message body has the highest priority; the second priority is the second highest priority, that is, the efficiency type message body has the second highest priority; the third priority has the lowest rank, that is, the service type message body has the lowest priority.

[0064] Specifically, a data transmission mode of hybrid transmission is adopted to transmit the interactive information message layer data. Among them, the transmission mode of the security type message body is event trigger + periodic broadcast. When a major event related to security (such as a vehicle emergency brake, collision warning, etc.) is detected, the transmission of security type message bodies such as BSM is immediately triggered. In addition, security type message bodies such as MAP and RSI will be broadcast according to a preset period.

[0065] The transmission mode of the efficiency type message body is event-triggered unicast. When the vehicle end / road end initiates a collaborative task, the information of the efficiency type message body will be sent to a specific recipient who needs the information in the form of unicast.

[0066] The service type message body is sent in the form of unicast when needed according to the subscription situation of the recipient.

[0067] Adopting a hybrid transmission method can ensure the real-time perception and rapid response to emergency events (such as obstacles, sudden braking), and reduce the accident risk.

[0068] Reference Figure 3 , there are a total of ten message bodies. According to the evaluation criteria of "safety - efficiency - service", the 10 message bodies are divided into 3 priorities, which are specifically set according to Table 4:

[0069] Table 4 Priority categories of different message bodies

[0070]

[0071] In the embodiment of the present invention, the units, precision requirements, and priority classifications of some new data elements in each type of message body are listed, as shown in Table 5:

[0072] Table 5 Precision requirements and priority classifications of data elements

[0073]

[0074]

[0075] Among them, the priorities are divided into three categories: "00" means that this data element must be selected every time within the communication cycle, and these data elements are usually key numbers or safety information. "01" means that for the same information, it only needs to be selected for the first time and is required within the same communication cycle, and these data elements usually provide necessary information initially. "02" means that this data element is an optional item throughout the communication cycle, and these data elements are usually used to provide additional information or services.

[0076] S40: Construct an information interaction network for connected collaborative driving according to the priorities of each type of message body and the priorities of data elements, and use the information interaction network for connected collaborative driving to realize collaborative driving information interaction.

[0077] In this embodiment, an information interaction network for connected collaborative driving is constructed according to the priorities of each type of message body and the priorities of data elements, specifically including:

[0078] Obtain bandwidth resources at multiple information levels.

[0079] Construct a connected and cooperative driving information interaction network based on the bandwidth resources of multiple information levels, the priorities of various types of message bodies, and the priorities of data elements, in combination with the multi-stage characteristics of the connected and cooperative driving information interaction task.

[0080] In this embodiment, the connected and cooperative driving information interaction network includes a system parameter matrix, a task parameter matrix, a task allocation scheme, and a resource scheduling scheme.

[0081] Among them, the system parameter matrix specifically includes the data type, data volume, and transmission status of the message body; the task parameter matrix includes the task type, task priority, and required resources; the task allocation scheme includes the task allocation sub-schemes of the connected and cooperative driving information interaction task in each stage; the resource scheduling scheme includes the resource scheduling sub-schemes of the connected and cooperative driving information interaction task in each stage.

[0082] Specifically, assume that the information interaction task lasts for a total of T stages, the connected and cooperative driving information interaction network consists of N intelligent connected vehicles and M RSU devices, there are a total of U different message bodies to be transmitted, each message body contains a certain number of data elements, the number of message bodies sent by each intelligent connected vehicle in the entire information interaction task is n, the number of message bodies sent by each RSU is m, and each message body has a fixed interaction object. If a message body or some data elements in the message body are not successfully transmitted, they may need to be regenerated and resent due to loss of timeliness, or they may be resent in the next stage.

[0083] The duration of each stage is η t , and the time constraint is

[0084] The parameters included in the system are divided into four parts: the system parameter matrix, the task parameter matrix, the task allocation scheme, and the resource scheduling scheme.

[0085] The system parameter matrix (Φ (M+N)×max{m,n} ) is used to describe the state of the message body in the connected and cooperative driving information interaction network, where represents the set of system state parameters in the t-th stage, represents the state parameters (including data type, data volume, transmission status, etc.) of the j-th message body of the i-th device in the t-th stage.

[0086] In particular, the data type, data volume, and transmission status are all represented by hexadecimal encoding. The data volume represents the number of data elements contained in the message body. In the state parameters, 00 indicates not ready, and 01 indicates ready.

[0087] For example: It indicates that the first message body of the first device is a security-level message. In the first stage, there are 11 data elements in this message body and it is ready.

[0088] Among them, in the entire transmission task, the arrangement order of each device and the transmission message body of each device in the system parameter matrix should remain unchanged.

[0089] The task parameter matrix (Ψ (M+N) ) is used to describe the status of tasks in each stage, where represents the set of task status parameters in the t-th stage, represents the task parameters (including task type, priority, required resources, etc.) of the i-th device in the t-th stage.

[0090] Among them, the task type, priority, and required resources are all represented by hexadecimal encoding. In the task type, 00 indicates the interaction between the vehicle end and the road end. The priority is determined by the task. 01 indicates the first level, 02 indicates the second level, and so on. The required resources represent the total number of message bodies to be transmitted under this task.

[0091] For example: It indicates that the transmission task of the first device in the first stage is the interaction between the vehicle end and the road end, the transmission priority is the first level, and 3 message bodies need to be transmitted.

[0092] Among them, the arrangement order of devices in the system parameter matrix and the task parameter matrix should correspond to each other.

[0093] The task allocation plan includes the task allocation plans for all stages, and its mathematical definition is expressed as:

[0094]

[0095] Among them, represents the set of system task allocation sub-plans for the t-th stage, indicating the allocation plan of the j-th task in the t-th stage for the i-th data.

[0096] The resource scheduling plan includes the resource scheduling plans for all stages, and its mathematical definition is expressed as:

[0097]

[0098] Among them, represents the system resource scheduling sub-plan for the t-th stage, indicating the available situation of the k-th channel in the t-th stage.

[0099] Refine the interaction process within each stage into the following closed-loop control links: task-data dynamic matching, scheduling optimization under resource constraints, cross-layer information interaction, and performance feedback and status update.

[0100] First, perform task-data dynamic matching. Based on and spatiotemporal correlation, generate a task allocation sub-scheme (i.e., ).

[0101] Optionally, generate the allocation sub-scheme according to the priority and data volume matching of tasks. Its expression is:

[0102]

[0103] where f(·) is a decision function that determines task allocation based on factors such as priority, data volume, and transmission status; is the task priority of the i-th device at the t-th stage extracted from the task parameter matrix; is the data volume of the j-th message body of the i-th device at the t-th stage extracted from the system parameter matrix; is the transmission status of the j-th message body of the i-th device at the t-th stage extracted from the system parameter matrix.

[0104] Then, construct a resource allocation scheme according to the available situation of the channel (i.e., ), with the goal of minimizing the task completion delay:

[0105]

[0106] where is the allocated bandwidth (unit: MHz), and B max is the total bandwidth constraint, which is solved by mixed-integer programming

[0107] Finally, generate a transmission strategy based on and . The data is encapsulated according to the task type, and the channel binding maps high-priority tasks to low-interference channels.

[0108] Optionally, after the information is sent, the system state changes (such as the information that fails to be sent successfully). According to the difference between the system state in the previous stage and the system state in this stage, evaluate the interaction performance.

[0109] The information interaction performance evaluation index for each stage can be defined in the following general form (taking the t-th stage as an example): C t (α t , β t ).

[0110] where α t refers to the transmission success rate: β tRefers to resource utilization rate:

[0111] Dynamic update Priority of unfinished tasks in:

[0112] where Δp is the priority gain.

[0113] The information interaction performance of multiple stages is determined by the information interaction performance of all stages. Define the information interaction performance index after the completion of multi-stage tasks as:

[0114] F(C 1 ,C 2 ,…,C t ,…);

[0115] where C 1 represents the information interaction performance of the first stage, C 2 represents the information interaction performance of the second stage,..., C t represents the information interaction performance of the t-th stage.

[0116] For the establishment of a generalized model of the information interaction problem, optional:

[0117] If the transmission success rate is selected as the index to evaluate the size of the information interaction performance, and this index is positively correlated with the information interaction performance, then the generalized model of the information interaction problem can be established as a maximum problem in the following form:

[0118] maxE{F(C 1 ,C 2 ,…,C t ,…)};

[0119] s.t.H(θ);

[0120] where H(θ) represents the resource constraint condition.

[0121] Optionally, assume that the networked collaborative driving information interaction network consists of 5 intelligent networked vehicles and 1 RSU device, there are 9 different message bodies to be transmitted, each message body has a certain number of data elements, and each message body has a fixed interaction object. If a message body or some elements in the message body are not successfully transmitted, it may need to be regenerated and resent due to loss of timeliness, and may enter the next stage for retransmission; the duration of each stage is η t , and the time constraint is

[0122] According to the above assumptions, determine the system parameter matrix as: Φ 6×6 ; the task parameter matrix is: Ψ6.

[0123] As shown Figure 5 in the figure, the entire information interaction process consists of T consecutive stages, and the information interaction steps within each stage are the same. Taking the t-th stage as an example, at the beginning of the stage, based on the spatio-temporal correlation between and , a task-data dynamic matching is performed to generate a task allocation sub-scheme (i.e.,

[0124] Generate an allocation sub-scheme according to the priority and data volume matching of tasks:

[0125]

[0126] wherein, is the task priority of the i-th device in the t-th stage extracted from the task parameter matrix; is the data volume of the j-th message body of the i-th device in the t-th stage extracted from the system parameter matrix; is the transmission status of the j-th message body of the i-th device in the t-th stage extracted from the system parameter matrix;

[0127] After the task scheme allocation is completed, a resource allocation scheme (i.e., ) is constructed according to the available situation of the channel, and the goal is to minimize the task completion delay:

[0128]

[0129] wherein, is the allocated bandwidth (unit: MHz), and B max is the total bandwidth constraint.

[0130] Solve through mixed integer programming The information to be sent within the t-th stage is described by , the task situation is described by , and the communication resources required for each task are described by . The interactive information is transmitted according to the allocated channel. Finally, after the information interaction of the current stage is completed, a part of the data is successfully transmitted, and the messages that fail to be successfully transmitted may need to be regenerated and resent due to loss of timeliness, and may enter the next stage for retransmission. The successfully transmitted data within this stage can be calculated by the following formula:

[0131]

[0132] The calculation result of the above formula is a matrix of U A×B . The value of the u ij -th element in the matrix represents the data element in the j-th of the i-th message body that fails to be successfully sent in the t-th stage.

[0133] The maximum purpose of information interaction is to make the final average transmission success rate and resource utilization rate as high as possible. Therefore, F(C 1 ,C 2 ,…,C t ,…) can be specifically defined as the following mathematical expression:

[0134]

[0135] Finally, since the durations of different stages are the same, the optimization adjustment of the transmission success rate and resource utilization rate under the information interaction task can establish the following optimization problem:

[0136]

[0137] where η t is the duration of each stage, and C t represents the information interaction performance of the t-th stage, is the allocated broadband (unit: MHz), and B max is the total bandwidth constraint.

[0138] The following is a specific introduction to this embodiment with reference to Figure 6 :

[0139] As Figure 6 shown, vehicles A and B perform collaborative lane merging, and vehicles D and E perform collaborative lane changing. Vehicle C is the background vehicle. Under this task, the cooperative driving information interaction lasts for a total of eight stages. In the first stage, vehicles A and D broadcast BSM, SSM (vehicle-end perception), and VIR (collaboration request) information to the RSU, and the RSU broadcasts MAP, RSI, SPAR, and RSM information to vehicles B, C, and E; in the second stage, the RSU broadcasts MAP, RSI, SPAT, and RSM information to vehicles A and D, and the RSU and roadside perception devices unicast SSM (vehicle-road perception) and RSM information to the roadside computing device; in the third stage, vehicles A and D unicast ISM (vehicle driving intention) information to the RSU; in the fourth stage, the RSU unicasts SSM (vehicle-road perception) information to the roadside computing device; in the fifth stage, the roadside computing device unicasts RSC information to the RSU; in the sixth stage, the RSU unicasts RSC information to vehicles B, C, and E, and the RSU broadcasts MAP, RSI, and SPAT information to vehicles A, B, C, D, and E; in the seventh stage, vehicles B, C, and E unicast VIR (collaboration response) information to the RSU; in the eighth stage, the RSU unicasts RSC information to vehicles A and B.

[0140] Based on Figure 1The collaborative driving information interaction method based on V2X communication as shown, by obtaining multiple information levels participating in the collaborative driving information interaction, constructing a communication architecture based on the multiple information levels, and determining the information interaction requirements between each information level in the multiple information levels; according to the communication architecture, determining a standardized communication protocol that meets the information interaction requirements; according to the standardized communication protocol, determining the data structure of the message layer for the interaction information between the multiple information levels; designing the format of the message frame in the message layer based on the ASN.1 abstract syntax rules, and defining the format of the data frame that conforms to the 3GPP standard according to the format of the message frame; dividing the message body included in the message frame into multiple types of message bodies, determining the priority of each type of message body, and determining the priority of the data elements in each type of message body; according to the priority of each type of message body and the priority of the data elements, constructing a networked collaborative driving information interaction network, and using the networked collaborative driving information interaction network to implement collaborative driving information interaction. The above solution ensures the accuracy and consistency of information by establishing a protocol adaptation layer based on the ASN.1 abstract syntax rules and a communication data frame format that conforms to the 3GPP standard, avoiding potential safety hazards caused by data errors, being able to take into account the optimization of communication resources in complex traffic scenarios, and providing a solid communication foundation for multi-vehicle collaborative decision-making; by adopting international standard protocols and open interface designs, ensuring seamless compatibility with existing V2X devices, the hierarchical structure of the message body supports dynamic expansion, and can adapt to newly added types of traffic participants or functional requirements in the future (such as new scenarios of autonomous driving); according to the differential transmission strategy of information priorities, it can avoid network congestion, flexibly adapt to the communication requirements of different scenarios, ensure the real-time nature of emergency safety information, improve bandwidth utilization, and be able to efficiently and reliably implement the interaction of networked collaborative driving information.

[0141] When applying the collaborative driving information interaction method based on V2X communication provided by the present invention, it is not necessary to execute according to Figure 1 the order of the steps shown. The specific execution order of each step can be determined as needed, and the present invention does not limit this.

[0142] The above is the collaborative driving information interaction method based on V2X communication provided by one or more embodiments of the present invention. Based on the same idea, the present invention also provides a corresponding collaborative driving information interaction system based on V2X communication, as Figure 7 shown, including:

[0143] An acquisition module, configured to obtain multiple information levels participating in the collaborative driving information interaction, construct a communication architecture based on the multiple information levels, and determine the information interaction requirements between each information level in the multiple information levels.

[0144] The first determination module is configured to determine a standardized communication protocol that meets the information interaction requirements according to the communication architecture; determine the data structure of the message layer for the interaction information between multiple information levels according to the standardized communication protocol; design the format of the message frame in the message layer based on the ASN.1 abstract syntax rules according to the data structure, and define the format of the data frame that conforms to the 3GPP standard according to the format of the message frame.

[0145] The second determination module is configured to divide the message body included in the message frame into multiple types of message bodies, determine the priority of each type of message body, and determine the priority of the data elements in each type of message body.

[0146] The information interaction module is configured to construct a networked cooperative driving information interaction network according to the priorities of each type of message body and the priorities of the data elements, and implement cooperative driving information interaction by using the networked cooperative driving information interaction network.

[0147] For the specific limitations of the cooperative driving information interaction system based on V2X communication, reference can be made to the limitations of the cooperative driving information interaction method based on V2X communication in the above text, which will not be elaborated here. Each module in the cooperative driving information interaction system based on V2X communication can be implemented in whole or in part by software, hardware, and their combination. Each module can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0148] The present invention also provides a computer-readable storage medium, which stores a computer program, and the computer program can be used to execute the Figure 1 provided cooperative driving information interaction method based on V2X communication.

[0149] The present invention also provides Figure 8 the structural schematic diagram of the computer device shown in Figure 8 As shown, at the hardware level, the computer device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, there may also be other hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the Figure 1 provided cooperative driving information interaction method based on V2X communication.

[0150] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the described embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the various methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided by the present invention can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0151] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope recorded by the present invention.

Claims

1. A collaborative driving information interaction method based on V2X communication, characterized in that Including: Obtain multiple information levels participating in cooperative driving information interaction, construct a communication architecture based on the multiple information levels, and determine the information interaction requirements between each information level in the multiple information levels; According to the communication architecture, determine a standardized communication protocol that meets the information interaction requirements; according to the standardized communication protocol, determine the data structure of the message layer for the interaction information between the multiple information levels; according to the data structure, design the format of the message frame in the message layer based on the ASN.1 abstract syntax rules, and define the format of the data frame that conforms to the 3GPP standard according to the format of the message frame; Divide the message body included in the message frame into multiple types of message bodies, determine the priority of each type of message body, and determine the priority of the data elements in each type of message body; According to the priority of each type of message body and the priority of the data elements, construct an information interaction network for connected cooperative driving, and use the information interaction network for connected cooperative driving to implement cooperative driving information interaction.

2. The collaborative driving information interaction method based on V2X communication according to claim 1, wherein The multiple types of message bodies include safety type message bodies, efficiency type message bodies, and service type message bodies. The determining the priority of each type of message body specifically includes: Determine the priority of the safety type message body as the first priority, determine the priority of the efficiency type message body as the second priority, and determine the priority of the service type message body as the third priority; Among them, the first priority, the second priority, and the third priority decrease in sequence.

3. The collaborative driving information interaction method based on V2X communication according to claim 1, wherein According to the priority of each type of message body and the priority of the data elements, constructing an information interaction network for connected cooperative driving specifically includes: Obtain the bandwidth resources of the multiple information levels; According to the bandwidth resources of the multiple information levels, the priority of each type of message body, the priority of the data elements, and in combination with the multi-stage characteristics of the information interaction task for connected cooperative driving, construct an information interaction network for connected cooperative driving.

4. The collaborative driving information interaction method based on V2X communication according to claim 3, wherein, The information interaction network for connected cooperative driving includes a system parameter matrix, a task parameter matrix, a task allocation plan, and a resource scheduling plan; Among them, the system parameter matrix specifically includes the data type, data volume, and transmission status of the message body; the task parameter matrix includes task type, task priority, and required resources; the task allocation plan includes the task allocation sub-plan for each stage of the information interaction task for connected cooperative driving; the resource scheduling plan includes the resource scheduling sub-plan for each stage of the information interaction task for connected cooperative driving.

5. A cooperative driving information interaction system based on V2X communication, characterized in that, Including: An obtaining module, configured to obtain multiple information levels participating in cooperative driving information interaction, construct a communication architecture based on the multiple information levels, and determine the information interaction requirements between each information level in the multiple information levels; The first determination module is configured to determine a standardized communication protocol that meets the information interaction requirements according to the communication architecture; determine the data structure of the message layer for the interaction information between the multiple information levels according to the standardized communication protocol; design the format of the message frame in the message layer based on the ASN.1 abstract syntax rules according to the data structure, and define the format of the data frame that conforms to the 3GPP standard according to the format of the message frame; The second determination module is configured to divide the message body included in the message frame into multiple types of message bodies, determine the priorities of the respective types of message bodies, and determine the priorities of the data elements in the respective types of message bodies; The information interaction module is configured to construct a networked cooperative driving information interaction network according to the priorities of the respective types of message bodies and the priorities of the data elements, and use the networked cooperative driving information interaction network to implement cooperative driving information interaction.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the cooperative driving information interaction method based on V2X communication according to any one of claims 1 to 4.

7. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the cooperative driving information interaction method based on V2X communication according to any one of claims 1 to 4.

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