Perceptual sharing information interaction method and device, and storage medium

Abstract

The invention provides a perception sharing information interaction method and device and a storage medium, and the method applied to a first device comprises the steps: determining a target second device; and sending a perception sharing message to the target second equipment, wherein the perception sharing message carries a receiving identifier of the target second equipment. According to the method and the device, the target second equipment for receiving the perception sharing message is determined, and the perception sharing message is sent under the condition that at least one target second equipment exists, so that resource waste caused by sending the perception sharing message under the condition that a receiver does not exist is avoided; and the perception sharing message carries the receiving identifier of the target second equipment, so that the second equipment receiving the perception sharing message can judge whether the message is the required message or not according to the receiving identifier, thereby ensuring that the second equipment can accurately receive and analyze the perception sharing message, and reducing the waste of computing resources.

Description

Technical Field

[0001] This application relates to the technical field of perception sharing, and particularly relates to an information interaction method, device, and storage medium for perception sharing. Background Art

[0002] In the enhanced application scenario (second stage) of the vehicle networking, vehicles or roadside devices with networking capabilities detect information about other surrounding traffic participants (such as vehicles, pedestrians, etc.) or road abnormal conditions, such as traffic accidents, abnormal vehicles, road falling rocks, etc., through the perception devices (such as cameras, radars, etc.) mounted on themselves. After processing the detected target information, they send perception sharing messages (SensorSharing Message, SSM) to other surrounding vehicles through vehicle-to-everything (V2X) technology. Other vehicles that receive the perception sharing messages can perceive traffic participants or road abnormal conditions outside their own field of vision in advance, assist themselves in making correct driving decisions, and improve driving safety or traffic efficiency.

[0003] Currently, there are two interaction methods for networked vehicles or roadside devices to send perception sharing messages:

[0004] (1) When a networked vehicle or roadside device detects an obstacle, it actively broadcasts an SSM. However, there is no clear recipient in the existing fields of the SSM, and it is not known the specific sharing object of the message, which cannot meet the customized service requirements. Moreover, the vehicle that receives the SSM needs to parse all the data packets before it can determine whether it is relevant to itself, increasing the vehicle's computing burden.

[0005] (2) After a networked vehicle or roadside device receives a perception sharing request message (Vehicle Intention AndRequest, VIR), it then broadcasts an SSM. Currently, when a sharing vehicle or roadside device receives a sharing information request, if it agrees to share, it immediately broadcasts the existing SSM; if it refuses to share, it does not reply until the requesting vehicle actively gives up. However, in actual applications, there are many situations where the sharing vehicle or roadside device "does not reply", such as: not receiving the sharing request, or refusing to share, or not detecting the target object, or having too low data accuracy, or only wanting to share with a certain type of vehicle (customized service), etc. If a simple unified non-reply processing method is adopted, the requesting vehicle may mistakenly think that the other party has not received the request and continuously send VIRs, causing channel congestion or wasting radio resources. Summary of the Invention

[0006] The technical objective to be achieved by the embodiments of this application is to provide a method, device, and storage medium for information interaction in perception sharing, so as to solve problems such as resource waste caused by the inability to accurately receive and parse perception sharing messages in the current perception sharing scenario based on vehicle networking.

[0007] To solve the above technical problems, the embodiments of this application provide a method for information interaction in perception sharing, which is applied to a first device and includes:

[0008] Determine a target second device;

[0009] Send a perception sharing message to the target second device, where the perception sharing message carries the receiving identifier of the target second device.

[0010] Preferably, in the method as described above, the target second device is determined when the first condition is met. The first condition includes one or more of the following:

[0011] Receive a perception sharing request message sent by at least one second device with networking capabilities;

[0012] Detect a target object in the first perception sharing area corresponding to the first device.

[0013] Specifically, in the method as described above, the determination of the target second device includes one or more of the following:

[0014] Determine the second device whose request response corresponding to the perception sharing request message is consent to share as the target second device;

[0015] Determine the target second device from the second devices according to the position relationship between the first device and the second devices and / or the perception sharing message sending threshold of the first device.

[0016] Further, in the method as described above, the determination of the target second device from the second devices according to the position relationship between the first device and the second devices and / or the perception sharing message sending threshold of the first device includes:

[0017] Select preselected second devices that meet the second condition from the second devices according to the position relationship between the first device and the second devices;

[0018] When the number of the preselected second devices is less than or equal to the perception sharing message sending threshold, determine all the preselected second devices as the target second devices;

[0019] When the number of the preselected second devices is greater than the sensing sharing message sending threshold, sort the preselected second devices according to a third condition, and determine the preselected second devices in a preset sorting area as the target second devices, where the preset sorting area includes a plurality of consecutive sequence positions corresponding to the sensing sharing message sending threshold and includes a first sequence position.

[0020] Specifically, for the method as described above, the second condition includes at least one of the following:

[0021] The second device is already located in the first sensing sharing area;

[0022] The signal strength between the second device and the first device is greater than or equal to a preset strength threshold;

[0023] The message arrival time between the second device and the first device is less than or equal to a preset time threshold;

[0024] The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold;

[0025] The second device meets the customized service requirements;

[0026] Determine, according to the motion states of the second device and the first device, that the second device will enter the first sensing sharing area within a preset time;

[0027] Determine, according to the historical signal strength change relationship, that the signal strength will reach the preset strength threshold within the preset time;

[0028] Determine, according to the motion trajectories of the second device and the first device, that the message arrival time will reach the preset time threshold within the preset time, and / or determine that the direction angle will reach the preset angle threshold within the preset time.

[0029] Specifically, for the method as described above, the third condition includes at least one of the following:

[0030] The distance between the position of the second device and the first device;

[0031] The difference between the signal strength and the preset strength threshold;

[0032] The difference between the message arrival time and the preset time threshold;

[0033] The difference between the direction angle and the preset angle threshold;

[0034] The probability that the second device collides with the target object.

[0035] Preferably, in the method as described above, during the process of sending the perception sharing message, the method further includes:

[0036] When it is detected that any target second device no longer meets the second condition or is no longer in the preset sorting area, the received identifier corresponding to the target second device is no longer carried in the perception sharing message;

[0037] In the case where it is determined that a newly added second device meets the second condition, if the current number of preselected second devices is less than the perception sharing message sending threshold, or, according to the third condition, it is determined that the newly added second device is within the preset sorting area, then it is determined that the newly added second device is the target second device, and the received identifier corresponding to the newly added second device is carried in the perception sharing message.

[0038] Preferably, in the method as described above, the method further includes:

[0039] After receiving the perception sharing request messages sent by at least one second device with networking capabilities, according to preset judgment conditions, determine the request responses corresponding to the second devices; wherein, if the judgment conditions are met, determine that the request response corresponding to the second device is to agree to share, otherwise, determine that the request response corresponding to the second device is to refuse to share;

[0040] The judgment conditions include at least one of the following:

[0041] Whether the positional relationship between the second device and the first device meets the fourth condition;

[0042] Whether the positional relationship between the first perception sharing area corresponding to the first device and the second perception sharing area required by the second device meets the fifth condition;

[0043] Whether the working environment of the first device meets the sixth condition;

[0044] Whether the second device and / or the first device meets the customized service requirements.

[0045] Specifically, in the method as described above, the fourth condition includes at least one of the following:

[0046] The first device is already within the second perception sharing area required by the second device;

[0047] The signal strength between the second device and the first device is greater than or equal to a preset strength threshold;

[0048] The message arrival time between the second device and the first device is less than or equal to a preset time threshold;

[0049] The orientation angle of the second device relative to the first device is less than or equal to a preset angle threshold;

[0050] Based on the motion states of the second device and the first device, it is determined that the first device will enter the second sensing sharing area within a preset time;

[0051] Based on the historical signal strength change relationship, it is determined that the signal strength will reach the preset strength threshold within the preset time;

[0052] Based on the motion trajectories of the second device and the first device, it is determined that the message arrival time will reach the preset time threshold within the preset time, and / or it is determined that the orientation angle will reach the preset angle threshold within the preset time.

[0053] Specifically, for the method described above, the fifth condition includes at least one of the following:

[0054] There is an overlapping intersection between the first sensing sharing area provided by the first device and the second sensing sharing area required by the second device;

[0055] Based on the motion states of the second device and the first device, it is determined that the first sensing sharing area and the second sensing sharing area will generate an overlapping intersection within a preset time.

[0056] Specifically, for the method described above, the sixth condition includes at least one of the following:

[0057] The sensing device carried by the first device is normal;

[0058] The current channel resources of the first device are sufficient to support the transmission of the sensing sharing message;

[0059] The current channel congestion degree of the first device is sufficient to support the transmission of the sensing sharing message.

[0060] Further, for the method described above, when the request response is to agree to share, the request response carries the receiving identifier corresponding to the second device, or the request response carries the receiving identifier corresponding to the second device and the response result of agreeing to share;

[0061] When the request response is to refuse to share, the request response does not carry the receiving identifier corresponding to the second device, or the request response carries at least one of the response result of refusing to share, the reason for refusal, and the refusal duration, and carries the receiving identifier corresponding to the second device.

[0062] Optionally, in the method as described above, when receiving the perception sharing request message sent by the target second device, partial perception information in the perception sharing message is sent to the target second device according to the perception sharing requirements requested in the perception sharing request message.

[0063] Specifically, the method as described above further includes:

[0064] When receiving a cancellation perception sharing request sent by any target second device, a confirmation cancellation response is replied and the session with the target second device is ended;

[0065] Alternatively, when it is detected that the first device meets the seventh condition, a cancellation perception sharing request is sent to any target second device, and when receiving the confirmation cancellation response replied by the target second device, the session with the target second device is ended;

[0066] Wherein, the seventh condition includes at least one of the following:

[0067] The first perception sharing area corresponding to the first device changes;

[0068] The first device has left the second perception sharing area requested by any target second device;

[0069] The first device will leave the second perception sharing area requested by any target second device within a preset time;

[0070] There is no overlapping intersection between the first perception sharing area and the second perception sharing area;

[0071] The overlapping intersection between the first perception sharing area and the second perception sharing area disappears within the preset time;

[0072] The first device no longer meets the customization requirements;

[0073] The first device no longer supports the perception sharing scenario.

[0074] Another embodiment of the present application provides a perception sharing information interaction method, which is applied to a second device and includes:

[0075] Receiving a perception sharing message sent by a target first device, where the perception sharing message carries a receiving identifier of the second device.

[0076] Specifically, in the method as described above, the method further includes:

[0077] When it is determined that there is a visual blind area in the third perception area corresponding to the second device, determining the target first device that sends the perception sharing message;

[0078] When there is at least one of the target first devices, send a sensing sharing request to the target first device;

[0079] Receive a request response sent by the target first device, where the request response is sent separately or carried in the sensing sharing message, and the request response is used to indicate whether the target first device agrees to share the sensing sharing message.

[0080] Further, for the method as described above, determining the target first device for sending the sensing sharing message includes at least one of the following:

[0081] Select the target first device from at least one first device according to the positional relationship between the first device and the second device;

[0082] Select the target first device from at least one first device according to the positional relationship between the first sensing sharing area corresponding to the first device and the second sensing sharing area required by the second device;

[0083] Determine the first device that meets the customized service requirements as the target first device.

[0084] Specifically, for the method as described above, selecting the target first device from at least one first device according to the positional relationship between the first device and the second device includes:

[0085] Determine the first device that meets at least one of the following as the target first device:

[0086] The first device is already located in the second sensing sharing area;

[0087] The signal strength between the second device and the first device is greater than or equal to a preset strength threshold;

[0088] The message arrival time between the second device and the first device is less than or equal to a preset time threshold;

[0089] The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold;

[0090] According to the motion states of the second device and the first device, determine that the first device will enter the second sensing sharing area within a preset time;

[0091] According to the historical signal strength change relationship, determine that the signal strength will reach the preset strength threshold within the preset time;

[0092] Determine that the message arrival time will reach the preset time threshold within the preset time according to the movement trajectories of the second device and the first device, and / or determine that the direction angle will reach the preset angle threshold within the preset time.

[0093] Specifically, for the method described above, the selecting the target first device from at least one of the first devices according to the positional relationship between the first sensing sharing area corresponding to the first device and the second sensing sharing area required by the second device includes:

[0094] Determine that the first device satisfying at least one of the following is the target first device:

[0095] There is an overlapping intersection between the first sensing sharing area and the second sensing sharing area;

[0096] Determine that the first sensing sharing area and the second sensing sharing area will generate an overlapping intersection within a preset time according to the motion states of the second device and the first device.

[0097] Optionally, for the method described above, after receiving the request response and / or the sensing sharing message carrying the request response, at least one of the following is further included:

[0098] If the request response does not carry the target receiving identifier matching the receiving identifier corresponding to the second device, determine that the target first device refuses to share;

[0099] If the request response carries the target receiving identifier, determine that the target first device agrees to share;

[0100] If the request response carries the target receiving identifier and the response result of agreeing to share, determine that the target first device agrees to share;

[0101] If the request response carries the target receiving identifier and at least one of the response result of refusing to share, the reason for refusal, and the refusal duration, determine that the target first device refuses to share.

[0102] Specifically, for the method described above, it further includes:

[0103] When receiving a cancel sensing sharing request sent by any target first device, reply with a confirmation cancellation response and end the session with the target first device;

[0104] Or, when it is detected that the second device meets the eighth condition, send a cancel sensing sharing request to any target first device, and after receiving the confirmation cancellation response replied by the target first device, end the session with the target first device;

[0105] Among them, the eighth condition includes at least one of the following:

[0106] The second sensing sharing area required by the second device changes;

[0107] There is no overlapping intersection between the first sensing sharing area corresponding to any target first device and the second sensing sharing area;

[0108] The overlapping intersection between any of the first sensing sharing areas and the second sensing sharing area disappears within a preset time;

[0109] The second device no longer supports the sensing sharing scenario.

[0110] Another embodiment of the present application provides a first device, including:

[0111] A first processing module, configured to determine a target second device;

[0112] A second processing module, configured to send a sensing sharing message to the target second device, where the receiving identifier of the target second device is carried in the sensing sharing message.

[0113] Another embodiment of the present application provides a second device, including:

[0114] A third processing module, configured to receive a sensing sharing message sent by a target first device, where the receiving identifier of the second device is carried in the sensing sharing message.

[0115] Another embodiment of the present application provides an electronic device, including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the information interaction method for sensing sharing applied to the first device as described above, or implements the steps of the information interaction method for sensing sharing applied to the second device as described above.

[0116] Another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the information interaction method for sensing sharing applied to the first device as described above, or implements the steps of the information interaction method for sensing sharing applied to the second device as described above.

[0117] Another embodiment of the present application provides a computer program product, including computer instructions, where when the computer instructions are executed by a processor, they implement the steps of the information interaction method for sensing sharing applied to the first device as described above, or implement the steps of the information interaction method for sensing sharing applied to the second device as described above.

[0118] Compared with the prior art, an information interaction method, device, and storage medium for perception sharing provided by an embodiment of the present application have at least the following beneficial effects:

[0119] By determining a target second device for receiving the perception sharing message and sending the perception sharing message when there is at least one target second device, the present application helps avoid resource waste caused by sending the perception sharing message without a recipient. Moreover, the perception sharing message will carry the receiving identifier of the target second device, so that the second device that receives the perception sharing message can determine whether it is the message it needs based on this receiving identifier, thereby ensuring that the second device can accurately receive and parse the perception sharing message, thus reducing waste of computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0120] Figure 1 It is one of the schematic flowcharts of the information interaction method for perception sharing applied to the first device in the present application;

[0121] Figure 2 It is another schematic flowchart of the information interaction method for perception sharing applied to the first device in the present application;

[0122] Figure 3 It is one of the schematic flowcharts of the information interaction method for perception sharing applied to the second device in the present application;

[0123] Figure 4 It is another schematic flowchart of the information interaction method for perception sharing applied to the second device in the present application;

[0124] Figure 5 It is the schematic diagram of the device location in the first embodiment;

[0125] Figure 6 It is the schematic flowchart in the first embodiment;

[0126] Figure 7 It is the schematic diagram of the device location in the second embodiment;

[0127] Figure 8 It is the schematic flowchart in the second embodiment;

[0128] Figure 9 It is the schematic diagram of the device location in the third embodiment;

[0129] Figure 10 It is the schematic flowchart in the third embodiment;

[0130] Figure 11 It is the schematic diagram of the structure of the first device;

[0131] Figure 12 It is the schematic diagram of the structure of the second device. Detailed implementation manners

[0132] To make the technical problems, technical solutions, and advantages to be solved by this application clearer, the following will describe them in detail with reference to the accompanying drawings and specific embodiments. In the following description, providing specific details such as specific configurations and components is only to help a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should clearly understand that various changes and modifications can be made to the embodiments described here without departing from the scope and spirit of this application. Additionally, descriptions of known functions and structures are omitted for clarity and conciseness.

[0133] It should be understood that the phrase "in one embodiment" or "in an embodiment" mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in one or more embodiments in any suitable manner.

[0134] In various embodiments of this application, it should be understood that the magnitudes of the serial numbers of the following processes do not mean the order of execution is prior or subsequent. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0135] It should be understood that the term "and / or" in this text is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this text generally represents an "or" relationship between the associated objects before and after.

[0136] In the embodiments provided by this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0137] When explaining the embodiments of this application, some concepts and related prior arts used in the following description are first explained.

[0138] In the scenario of perception sharing, it includes a first device that provides a perception sharing message and a second device that receives the perception sharing message. Among them, the first device includes, but is not limited to, vehicles, roadside devices, mobile terminals, etc. that have the functions of perception sharing and networking, and the second device includes, but is not limited to, vehicles and mobile terminals that have the function of networking.

[0139] See Figure 1, an embodiment of the present application provides a method for information interaction of perception sharing, which is applied to a first device and includes:

[0140] Step S101, determine the target second device;

[0141] Step S102, send a perception sharing message to the target second device, where the perception sharing message carries the receiving identifier of the target second device.

[0142] In this embodiment, during operation, the first device uses perception devices such as cameras and radars to perceive the surrounding environment to obtain a perception sharing message. It will also determine the target second device for receiving the perception sharing message, and only send the perception sharing message when there is at least one target second device; otherwise, it will not send the perception sharing message, which helps to avoid wasting resources caused by sending the perception sharing message without a recipient. Further, the perception sharing message will carry the receiving identifier of the target second device, so that the second device that receives the perception sharing message can determine whether it is the message it needs based on this receiving identifier, thereby ensuring that the second device can accurately receive and parse the perception sharing message, thus reducing waste of computing resources.

[0143] It should be noted that the receiving identifier includes but is not limited to the unique identity number, type number, brand number, etc. of the target second device.

[0144] It should be noted that when sending the perception sharing message to the target second device, it can be sent periodically or non-periodically. When using non-periodic sending, it can be specifically changed according to the change of the target second device within a preset time period. For example, when there is no new addition of the target second device within the preset time period, the sending frequency can be reduced, such as extending the sending period; when there is a new addition of the target second device within the preset time period, the preset sending frequency or sending period can be restored.

[0145] Preferably, in the method as described above, the target second device is determined when the first condition is met, and the first condition includes one or more of the following:

[0146] Receive a perception sharing request message sent by at least one second device with networking capabilities;

[0147] Detect a target object in the first perception sharing area corresponding to the first device.

[0148] In this embodiment, the first condition for triggering the determination of the target second device is defined, that is, the first device does not determine the target second device in real time, but based on certain conditions, which helps to save the computing resources of the first device.

[0149] Specifically, the first case of the first condition is as follows: a perception sharing request message sent by at least one second device with networking capabilities is received. At this time, the step of determining the target second device is performed, and it can be determined whether the second device that sent the perception sharing request really needs the first device to provide perception sharing. Among them, the first device can identify the second device and its type, brand, etc. according to the sensors (such as video) installed on itself through the shape, special marks, etc.; it can also extract and identify the type, brand, etc. of the second device according to the basic security message sent by the second device itself.

[0150] The second case of the first condition is that a target object is detected in the first perception sharing area corresponding to the first device. Among them, the first perception sharing area corresponding to the first device is a two-dimensional graph (for example: circle, sector, quadrilateral, polygon, etc.) or three-dimensional graph (cube, cylinder, cone, etc.) derived outward with the first device as the reference point. The coverage range of the graph is related to factors such as the capabilities of the sensors installed on the first device itself, the installation positions of the sensors, channel resources, the number of target objects, and the driving intention. The target object in this embodiment is a pedestrian or an obstacle without networking capabilities. If a target object is detected in the first perception sharing area, it is determined that other vehicles need to be reminded at this time, so as to improve the driving safety of other vehicles.

[0151] The third case of the first condition can be a combination of the above two cases, that is, on the basis of receiving the perception sharing request, a target object is also detected in the corresponding first perception sharing area.

[0152] Specifically, for the method described above, the determination of the target second device includes one or more of the following:

[0153] Determining the second device whose request response corresponding to the perception sharing request message is consent to share as the target second device;

[0154] Determining the target second device from the second devices according to the position relationship between the first device and the second device and / or the perception sharing message sending threshold of the first device.

[0155] As can be seen from the above embodiments, since there is at least one type of first condition for triggering the determination of the second target device, when determining the target second device, corresponding measures can be selected according to different first conditions. Specifically, in a specific embodiment, when the first condition is the first case described above, the first measure is to determine the second device whose request response corresponding to the perception sharing request message is consent to share as the target second device, so that the target second device can be determined simply and quickly;

[0156] When the first condition is the second case described above, the second measure may be to determine a target second device from the second devices according to the positional relationship between the first device and the second device and / or the sensing sharing message sending threshold of the first device;

[0157] When the first condition is the third case described above, the corresponding target second devices may be determined by the above two measures respectively, and the intersection is taken.

[0158] See Figure 2 , further, for the method described above, the determining the target second device from the second devices according to the positional relationship between the first device and the second device and / or the sensing sharing message sending threshold of the first device includes:

[0159] Step S201, select a preselected second device that meets the second condition from the second devices according to the positional relationship between the first device and the second device;

[0160] Step S202, when the number of the preselected second devices is less than or equal to the sensing sharing message sending threshold, determine all the preselected second devices as the target second devices;

[0161] Step S203, when the number of the preselected second devices is greater than the sensing sharing message sending threshold, sort the preselected second devices according to the third condition, and determine the preselected second devices in the preset sorting area as the target second devices, where the preset sorting area includes a plurality of consecutive sequence positions corresponding to the sensing sharing message sending threshold and includes the first sequence position.

[0162] In this embodiment, an example is given of the step of determining a target second device from second devices according to the positional relationship between the first device and the second device and / or the sensing sharing message sending threshold of the first device. Among them, since the number of second devices on the road may be large, in order to ensure the timeliness of the sensing sharing message, the positional relationship between the first device and the second device will be judged, and some second devices will be selected from the second devices as preselected second devices based on a second condition. Further, since the first device has limited sending resources, there is a sensing sharing message sending threshold. In order to ensure that all the finally determined target second devices can receive the sensing sharing information, the quantitative relationship between the preselected second devices and the sensing sharing message sending threshold will be judged. If the number of preselected second devices is less than or equal to the sensing sharing message sending threshold, it is determined that the sensing sharing message can be sent to all the preselected second devices at this time, so all the preselected second devices are determined as target second devices; if the number of preselected second devices is greater than the sensing sharing message sending threshold, it is determined that only some of the preselected second devices can be sent the sensing sharing message at this time. Therefore, according to a preset third condition, all the preselected second devices are sorted, and the preselected second devices in the preset sorting area are determined as target second devices.

[0163] It should be noted that, in order to ensure that the determined target second devices are the second devices in urgent need of the sensing sharing message, the preset sorting area includes a plurality of consecutive sequence positions corresponding to the sensing sharing message sending threshold and includes the first sequence position. It is also possible to sort according to the priority of the second device and select the second device with a higher priority as the target second device.

[0164] For the convenience of those skilled in the art to understand, in this embodiment, a specific example of the second condition is given. Among them, the second condition includes at least one of the following:

[0165] The second device has already been located in the first sensing sharing area, that is, the second device can be sensed by the first device. At this time, it can be determined that the distance between the second device and the first device meets the first distance requirement, and the first device can provide the required sensing sharing information for the second device;

[0166] The signal strength between the second device and the first device is greater than or equal to a preset strength threshold. Since the signal strength is stronger when the distance between two devices is closer, it can be determined at this time that the distance between the second device and the first device meets the first distance requirement;

[0167] The message arrival time between the second device and the first device is less than or equal to a preset time threshold. Since the message arrival time is shorter when the distance between two devices is closer, it can be determined at this time that the distance between the second device and the first device meets the first distance requirement;

[0168] The orientation angle of the second device relative to the first device is less than or equal to a preset angle threshold. Since the closer the lateral distance between the two devices, the smaller the orientation angle of the second device relative to the first device, it can be determined at this time that the distance between the second device and the first device meets the first lateral distance requirement;

[0169] The second device meets the customized service requirements, that is, the second device can be customized. The requirements for customized services include but are not limited to preset device types, brands, sensor types, communication interaction modes, data accuracy levels, etc.;

[0170] According to the motion states of the second device and the first device, it is determined that the second device will enter the first perception sharing area within a preset time. At this time, the above requirements for the distance between the second device and the first device are relaxed, that is, the distance between the second device and the first device meets the second distance requirement, where the second distance requirement is greater than the first distance requirement;

[0171] According to the historical signal strength change relationship, it is determined that the signal strength will reach the preset strength threshold within the preset time, that is, the distance between the second device and the first device meets the second distance requirement;

[0172] According to the motion trajectories of the second device and the first device, it is determined that the message arrival time will reach the preset time threshold within the preset time, that is, the distance between the second device and the first device meets the second distance requirement;

[0173] And / or, according to the motion trajectories of the second device and the first device, it is determined that the orientation angle will reach the preset angle threshold within the preset time, that is, the distance between the second device and the first device meets the second lateral distance requirement.

[0174] For the convenience of those skilled in the art to understand, specific examples of the third condition are given in this embodiment. Among them, the third condition includes at least one of the following:

[0175] The distance between the position of the second device and the first device, that is, the second devices are sorted according to the distance. Among them, the shorter the distance, the higher the corresponding order;

[0176] The difference between the signal strength and the preset strength threshold, that is, the second devices are sorted according to the signal strength. Among them, the stronger the signal strength, the higher the corresponding order;

[0177] The difference between the message arrival time and the preset time threshold, that is, the second devices are sorted according to the message arrival time. Among them, the shorter the message arrival time, the higher the corresponding order;

[0178] The difference between the direction angle and the preset angle threshold, that is, the second devices are sorted according to the direction angle, where the smaller the direction angle, the higher the corresponding order;

[0179] The probability that the second device collides with the target, where the greater the probability, the higher the corresponding order.

[0180] Preferably, in the above method, during the process of sending the perception sharing message, the method further includes:

[0181] When it is detected that any target second device no longer meets the second condition or is no longer in the preset sorting area, the receiving identifier corresponding to the target second device is no longer carried in the perception sharing message;

[0182] When it is determined that a newly added second device meets the second condition, if the current number of preselected second devices is less than the perception sharing message sending threshold, or, according to the third condition, it is determined that the newly added second device is within the preset sorting area, then it is determined that the newly added second device is the target second device, and the receiving identifier corresponding to the newly added second device is carried in the perception sharing message.

[0183] In this embodiment, during the process of sending the perception sharing message, the above step of determining the target second device will continue to be executed. Among them, if it is detected that any target second device no longer meets the above second condition or is no longer in the preset sorting area, it can be determined that the target second device no longer serves as the second device receiving the perception sharing message. Therefore, when sending the perception sharing message, the perception message is no longer sent to the target second device, specifically, the receiving identifier corresponding to the target second device is no longer carried in the perception sharing message.

[0184] If it is detected that a newly added target second device meets the above second condition, and at this time, if the current number of preselected second devices is less than the perception sharing message sending threshold, or, according to the third condition, it is determined that the newly added second device is within the preset sorting area, then it is determined that the newly added second device is the target second device that needs to receive the perception sharing message. Therefore, it is necessary to send the perception sharing message to it, specifically, the receiving identifier corresponding to the newly added target second device is carried in the perception sharing message.

[0185] Preferably, in the above method, the method further includes:

[0186] After receiving the perception sharing request messages sent by at least one second device with networking capabilities, according to the preset judgment conditions, determine the request responses corresponding to each of the second devices; where if the judgment conditions are met, it is determined that the request response corresponding to the second device is to agree to share, otherwise, it is determined that the request response corresponding to the second device is to refuse to share;

[0187] The determination conditions include at least one of the following:

[0188] Whether the positional relationship between the second device and the first device meets the fourth condition;

[0189] Whether the positional relationship between the first sensing sharing area corresponding to the first device and the second sensing sharing area required by the second device meets the fifth condition;

[0190] Whether the working environment of the first device meets the sixth condition;

[0191] Whether the second device and / or the first device meets the customized service requirements.

[0192] In this embodiment, when the first device receives a sensing sharing request message sent by at least one second device with networking capabilities, in order to determine whether to send a sensing sharing message to the second device that sends the sensing sharing request message, the first device will determine the corresponding request response for each second device based on preset determination conditions; if the determination conditions are met, it is determined that the request response corresponding to the second device is to agree to share, otherwise, it is determined that the request response corresponding to the second device is to refuse to share;

[0193] It should be noted that after the first device determines the request response corresponding to a second device, it will send the request response to each second device by sending the request response separately or carrying the request response in the sensing sharing message, so that the second device can obtain this information, and then determine whether to parse the required sensing sharing message, so as to ensure that the second device accurately obtains the sensing information in the blind area, or no longer parse the non-required sensing sharing message, thus avoiding waste of computing resources. Among them, when the request response is carried in the sensing sharing message, the fields in the existing sensing sharing message can be extended to obtain a new response field; when the request response is sent separately, a new message can be defined, such as a sensing sharing response message.

[0194] Specifically, the determination conditions include at least one of the following:

[0195] Whether the positional relationship between the second device and the first device meets the fourth condition, that is, to determine whether the distance between the second device and the first device meets the above-mentioned first distance requirement or the second distance requirement;

[0196] Whether the positional relationship between the first sensing sharing area corresponding to the first device and the second sensing sharing area required by the second device meets the fifth condition, that is, to determine whether there is a sensing sharing requirement between the second device and the first device, that is, whether the sensing sharing message of the first device can supplement the sensing blind area of the second device;

[0197] Whether the working environment of the first device meets the sixth condition, that is, whether the first device can normally send the perception sharing message;

[0198] Whether the second device and / or the first device meet the customized service requirements, that is, under the premise of having customized service requirements, whether the first device and / or the second device meet the preset customized service requirements.

[0199] Furthermore, the following respectively gives examples of the above-mentioned fourth condition, fifth condition and sixth condition

[0200] In a specific embodiment, the fourth condition includes at least one of the following:

[0201] The first device has been located within the second perception sharing area required by the second device, that is, the distance between the second device and the first device meets the above-mentioned first distance requirement;

[0202] The signal strength between the second device and the first device is greater than or equal to the preset strength threshold, that is, the distance between the second device and the first device meets the above-mentioned first distance requirement;

[0203] The message arrival time between the second device and the first device is less than or equal to the preset time threshold, that is, the distance between the second device and the first device meets the above-mentioned first distance requirement;

[0204] The direction angle of the second device relative to the first device is less than or equal to the preset angle threshold, that is, the lateral distance between the second device and the first device meets the above-mentioned first lateral distance requirement;

[0205] According to the motion states of the second device and the first device, it is determined that the first device will enter the second perception sharing area within the preset time, that is, the distance between the second device and the first device meets the above-mentioned second distance requirement;

[0206] According to the historical signal strength change relationship, it is determined that the signal strength will reach the preset strength threshold within the preset time, that is, the distance between the second device and the first device meets the above-mentioned second distance requirement;

[0207] According to the motion trajectories of the second device and the first device, it is determined that the message arrival time will reach the preset time threshold within the preset time, that is, the distance between the second device and the first device meets the above-mentioned second distance requirement;

[0208] And / or, based on the movement trajectories of the second device and the first device, it is determined that the direction angle will reach the preset angle threshold within the preset time, that is, the lateral distance between the second device and the first device meets the above-mentioned second lateral distance requirement.

[0209] In another specific embodiment, the fifth condition includes at least one of the following:

[0210] There is an overlapping intersection between the first perception sharing area provided by the first device and the second perception sharing area required by the second device, that is, by defining the relationship between the second perception sharing area and the first perception sharing area, it is determined that the first device can be used to supplement the perception sharing area of the second device;

[0211] Based on the movement states of the second device and the first device, it is determined that there will be an overlapping intersection between the first perception sharing area and the second perception sharing area within the preset time. At this time, the above-mentioned relationship between the second perception sharing area and the first perception sharing area is relaxed, that is, it is determined that the first device can supplement the perception sharing area of the second device within the preset time.

[0212] In another specific embodiment, the sixth condition includes at least one of the following:

[0213] The perception device carried by the first device is normal, that is, the first device can perceive the surrounding environment and obtain perception sharing messages;

[0214] The current channel resources of the first device are sufficient to support sending the perception sharing messages, that is, the current channel resources of the first device are sufficient to support sending the above-obtained perception sharing messages, that is, the first device can normally send perception sharing messages;

[0215] The current channel congestion degree of the first device is sufficient to support sending the perception sharing messages, that is, the number of messages that the first device needs to send currently is small, which can support sending the above-obtained perception sharing messages, that is, the first device can normally send perception sharing messages.

[0216] Further, in the method as described above, when the request response is to agree to share, the request response carries the receiving identifier corresponding to the second device, or, the request response carries the receiving identifier corresponding to the second device and the response result of agreeing to share;

[0217] When the request response is to refuse to share, the request response does not carry the receiving identifier corresponding to the second device, or, the request response carries at least one of the response result of refusing to share, the reason for refusal, and the refusal duration, and carries the receiving identifier corresponding to the second device.

[0218] In this embodiment, after determining the request responses corresponding to the second devices, the corresponding request responses are fed back to the corresponding second devices, so that after receiving the request responses, the second devices can accurately know the response results of the first device. In this embodiment, examples of the specific content of the request responses are given. Among them,

[0219] When the request response is an agreement to share, the request response carries the receiving identifier corresponding to the second device, or the request response carries the receiving identifier corresponding to the second device and the response result of agreeing to share;

[0220] When the request response is a refusal to share, the request response does not carry the receiving identifier corresponding to the second device, or the request response carries at least one of the response result of refusing to share, the reason for refusal, and the refusal duration, and carries the receiving identifier corresponding to the second device. Among them, the specific reason for refusal can be related to the above fourth condition, fifth condition, and sixth condition. Among them, the representation method of the refusal duration includes but is not limited to refusing to share within a certain duration or agreeing to share within a certain duration.

[0221] In another embodiment of the present application, when the first device receives the perception sharing request message sent by the target second device, it can provide a differentiated perception sharing message to the target second device, that is, send partial perception information in the perception sharing message to the target second device according to the perception sharing requirements requested in the perception sharing request message.

[0222] Specifically, the method described above further includes:

[0223] When receiving a cancellation of perception sharing request sent by any target second device, reply with a confirmation of cancellation response and end the session with the target second device;

[0224] Or, when it is detected that the first device meets the seventh condition, send a cancellation of perception sharing request to any target second device, and when receiving the confirmation of cancellation response replied by the target second device, end the session with the target second device;

[0225] Among them, the seventh condition includes at least one of the following:

[0226] The first perception sharing area corresponding to the first device changes;

[0227] The first device has left the second perception sharing area requested by any target second device;

[0228] The first device will leave the second perception sharing area requested by any target second device within a preset time;

[0229] The first perception sharing area and the second perception sharing area no longer have an overlapping intersection;

[0230] The overlapping intersection of the first perception sharing area and the second perception sharing area disappears within the preset time;

[0231] The first device no longer meets the customization requirements;

[0232] The first device no longer supports the perception sharing scenario.

[0233] In this embodiment, an example of how to cancel the perception sharing between the first device and the second device is given.

[0234] In the first case, when the first device receives a cancellation perception sharing request sent by any target second device, it determines that the target second device no longer needs to perform perception sharing. At this time, the first device can reply with a confirmation cancellation response to the second device to notify the target second device to end the session, and then end the session with the target second device;

[0235] In the second case, when it is detected that the first device meets the seventh condition, it is determined that the first device can no longer meet the perception sharing requirements of any target second device. At this time, a cancellation perception sharing request will be sent to the target second device to request to end the session; if a confirmation cancellation response replied by the target second device is received, it is determined that the target second device agrees to end the session, and only then will the session with the target second device end, otherwise the session with the target second device will be maintained.

[0236] Among them, the seventh condition includes at least one of the following:

[0237] The first perception sharing area corresponding to the first device changes. For example, the perception device carried by itself fails, or the perception range is blocked by other vehicles, or the sharing party encounters a traffic accident and is forced to change the driving plan, etc.;

[0238] The first device has left the second perception sharing area requested by any target second device, that is, the first device can no longer provide the perception information within the perception sharing area required by the target second device;

[0239] The first device will leave the second perception sharing area requested by any target second device within the preset time, that is, the first device will no longer be able to provide the perception information within the perception sharing area required by the target second device;

[0240] The first perception sharing area and the second perception sharing area no longer have an overlapping intersection, that is, the first device can no longer provide the perception information within the blind area required by the target second device;

[0241] The overlapping intersection of the first sensing sharing area and the second sensing sharing area disappears within the preset time, that is, the first device will no longer be able to provide the sensing information in the blind area required by the target second device;

[0242] The first device no longer meets the customization requirements, that is, the preset sensors in the first device malfunction, the preset communication interaction mode changes, or the preset data accuracy level changes (for example: the accuracy decreases, the false detection rate increases, etc.);

[0243] The first device no longer supports the sensing sharing scenario, for example: the channel resources decrease, the channel congestion degree increases, the data packet loss rate is too large, the communication delay is too large, etc.

[0244] In another embodiment of the present application, before the first device receives the sensing sharing request message sent by the second device, it will also periodically broadcast its own service capability announcement message, which carries the range of the sensing sharing area that it can provide, including but not limited to: the number of sensing targets, the number and type of sensors, the message sending frequency range, the supported communication interaction modes (such as broadcast, request-response), the provided data accuracy level, etc.

[0245] See Figure 3 , another embodiment of the present application provides a method for information interaction of sensing sharing, which is applied to the second device and includes:

[0246] Step S301, receiving a sensing sharing message sent by a target first device, where the receiving identifier of the second device is carried in the sensing sharing message.

[0247] In this embodiment, during operation, the second device can receive the sensing sharing message sent by the target first device to expand or supplement its own sensing area. Among them, the second device will first determine whether the receiving identifier of this device is carried in the sensing sharing message, and only receive and / or parse the sensing sharing message carrying the corresponding receiving identifier, which helps to avoid the waste of computing resources caused by the second device incorrectly receiving and / or parsing the sensing sharing message.

[0248] See Figure 4 , specifically, for the method described above, the method further includes:

[0249] Step S401, when it is determined that there is a visual blind area in the third sensing area corresponding to the second device, determining the target first device that sends the sensing sharing message;

[0250] Step S402, when there is at least one target first device, sending a sensing sharing request to the target first device;

[0251] Step S403: Receive the request response sent by the target first device. The request response is sent separately or carried in the perception sharing message, and is used to indicate whether the target first device agrees to share the perception sharing message.

[0252] In this embodiment, before receiving the perception sharing message sent by the target first device, it is also necessary to determine whether there is a visual blind area in the third perception area obtained by its own perception device. If there is a visual blind area, it is determined that the second device needs to obtain the perception sharing message provided by the first device to supplement the third perception area. At this time, to avoid wasting computing resources caused by receiving or parsing perception sharing messages that are irrelevant to the third perception area (especially the visual blind area), the target first device that can send the required perception sharing message is determined from the first devices connected thereto. Among them, the second device can identify the first device and its type, brand, etc. according to the sensors (such as video) installed on itself, through the shape, special marks, etc.; it can also extract and identify the type, brand, etc. of the first device according to the basic security message sent by the first device itself.

[0253] If there is at least one such target first device, a perception sharing request will be sent to the target first device. The second perception sharing area required by the second device can be carried in the request, and the request response sent by the target first device is received. Whether each target first device agrees to share its corresponding perception sharing message is determined through the request response, so as to facilitate subsequent accurate reception and / or parsing of the perception sharing message, thereby reducing computing resource waste. At the same time, it can be judged based on the request response that the target first device has received the corresponding perception sharing request, which helps to avoid resource waste caused by repeated sending of perception sharing requests.

[0254] Optionally, the request response received by the second device is sent separately or carried in the perception sharing message.

[0255] Among them, the third perception area corresponding to the second device is a two-dimensional graph (such as: circle, sector, quadrilateral, polygon, etc.) or a three-dimensional graph (cube, cylinder, cone, etc.) derived outward with the second device as the reference point. Among them, the coverage range of the graph is related to factors such as the capabilities of the sensors installed on the second device itself, the installation position of the sensors, channel resources, the number of target objects, and the driving intention. The range of the second perception sharing area can be expressed as a 2D (circle, sector, quadrilateral, polygon, etc.) or 3D graph (cube, cylinder, cone) extending outward from a certain reference point, and it is related to the position and size of the visual blind area of the second device.

[0256] In another embodiment of the present application, before determining the target first device, the second device further obtains the service capabilities of each first device, and the service capabilities at least include the range of the perception sharing area that the first device can provide, including but not limited to: the number of perception targets, the number and types of sensors, the range of message sending frequencies, the supported communication interaction modes (such as broadcasting, request-response), the data accuracy level provided, and other contents. Among them, the methods for obtaining the service capabilities include at least one of directly obtaining by receiving the service capability announcement message periodically broadcast by the first device or inferring and obtaining from the perception sharing messages previously sent by the first device.

[0257] Further, in the method as described above, determining the target first device for sending the perception sharing message includes at least one of the following:

[0258] Selecting the target first device from at least one first device according to the positional relationship between the first device and the second device;

[0259] Selecting the target first device from at least one of the first devices according to the positional relationship between the first perception sharing area corresponding to the first device and the second perception sharing area required by the second device;

[0260] Determining the first device that meets the customized service requirements as the target first device.

[0261] In this embodiment, when determining the target first device, since the number of first devices on the road may be large, to ensure the timeliness of the perception sharing message, each first device will be judged according to some conditions. In the first embodiment, the target first device can be determined according to the positional relationship between the first device and the second device; in the second embodiment, the target first device can be determined according to the positional relationship between the first perception sharing area corresponding to the first device and the second perception sharing area required by the second device; in the third embodiment, the target first device can be determined according to whether the first device meets the customized service requirements, that is, the second device can be customized, and the requirements for the customized service include but are not limited to preset device types, brands, sensor types, communication interaction modes, data accuracy levels, etc.; in the fourth embodiment, the target first device can be determined according to the combination of at least two of the first embodiment, the second embodiment, and the third embodiment.

[0262] For ease of understanding, the following mainly gives examples of the specific conditions in the first embodiment and the second embodiment. Specifically, in the method as described above, selecting the target first device from at least one first device according to the positional relationship between the first device and the second device includes:

[0263] Determining the first device that meets at least one of the following as the target first device:

[0264] The first device is already located in the second perception sharing area, that is, the first device itself is in the visual blind area of the second device. At this time, it can be determined that the distance between the second device and the first device meets the first distance requirement, and the first device can provide the required perception sharing information for the second device;

[0265] The signal strength between the second device and the first device is greater than or equal to a preset strength threshold. Since the signal strength is stronger when the distance between the two devices is closer, it can be determined at this time that the distance between the second device and the first device meets the first distance requirement;

[0266] The message arrival time between the second device and the first device is less than or equal to a preset time threshold. Since the message arrival time is shorter when the distance between the two devices is closer, it can be determined at this time that the distance between the second device and the first device meets the first distance requirement;

[0267] The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold. Since the lateral distance between the two devices is closer, the direction angle of the second device relative to the first device is smaller. At this time, it can be determined that the distance between the second device and the first device meets the first lateral distance requirement;

[0268] According to the motion states of the second device and the first device, it is determined that the first device will enter the second perception sharing area within a preset time. At this time, the distance requirement between the second device and the first device described above is relaxed, that is, the distance between the second device and the first device meets the second distance requirement, where the second distance requirement is greater than the first distance requirement;

[0269] According to the historical signal strength change relationship, it is determined that the signal strength will reach the preset strength threshold within the preset time, that is, the distance between the second device and the first device meets the second distance requirement;

[0270] According to the motion trajectories of the second device and the first device, it is determined that the message arrival time will reach the preset time threshold within the preset time, that is, the distance between the second device and the first device meets the second distance requirement;

[0271] And / or, according to the motion trajectories of the second device and the first device, it is determined that the direction angle will reach the preset angle threshold within the preset time, that is, the lateral distance between the second device and the first device meets the second lateral distance requirement.

[0272] Specifically, for the method described above, the selecting the target first device from at least one of the first devices according to the positional relationship between the first perception sharing area corresponding to the first device and the second perception sharing area required by the second device includes:

[0273] Determine the first device that meets at least one of the following as the target first device:

[0274] There is an overlapping intersection between the first sensing sharing area and the second sensing sharing area, that is, by defining the relationship between the second sensing sharing area and the first sensing sharing area, it is determined that the first device can be used to supplement the sensing sharing area of the second device;

[0275] According to the motion states of the second device and the first device, it is determined that there will be an overlapping intersection between the first sensing sharing area and the second sensing sharing area within a preset time. At this time, the above requirements for the relationship between the second sensing sharing area and the first sensing sharing area are relaxed, that is, it is determined that the first device can supplement the sensing sharing area of the second device within the preset time.

[0276] Optionally, in the method as described above, after receiving the request response and / or the sensing sharing message carrying the request response, it further includes at least one of the following:

[0277] If the request response does not carry the target receiving identifier that matches the receiving identifier corresponding to the second device, it is determined that the target first device refuses to share;

[0278] If the request response carries the target receiving identifier, it is determined that the target first device agrees to share;

[0279] If the request response carries the target receiving identifier and the response result of agreeing to share, it is determined that the target first device agrees to share;

[0280] If the request response carries the target receiving identifier and at least one of the response result of refusing to share, the reason for refusal, and the refusal duration, it is determined that the target first device refuses to share.

[0281] In this embodiment, an example of how to determine whether the target first device agrees to share according to the request response is given. Among them, in the first case, only the receiving identifier is carried in the request response. At this time, it is judged whether the receiving identifier carried in the request response includes the target receiving identifier that matches the receiving identifier corresponding to the second device. If the target receiving identifier is carried in the request response, it is determined that the target first device agrees to share, otherwise, it is determined that the target first device refuses to share;

[0282] In the second case, the received identifier and other information are carried in the request response. At this time, the received identifier is only used to determine whether the corresponding request response of itself is received. Whether the first device is the target first device is mainly determined according to the other information carried in the request response. If the other information includes the response result of agreeing to share, it can be determined that the target first device agrees to share; if the other information includes at least one of the response result of refusing to share, the reason for refusal, or the refusal duration, it is determined that the target first device refuses to share.

[0283] Specifically, the method described above further includes:

[0284] When receiving a cancellation of perception sharing request sent by any target first device, reply with a confirmation cancellation response and end the session with the target first device;

[0285] Or, when it is detected that the second device meets the eighth condition, send a cancellation of perception sharing request to any target first device, and end the session with the target first device after receiving the confirmation cancellation response replied by the target first device;

[0286] Wherein, the eighth condition includes at least one of the following:

[0287] The second perception sharing area required by the second device changes;

[0288] There is no overlapping intersection between the first perception sharing area corresponding to any target first device and the second perception sharing area;

[0289] The overlapping intersection between any of the first perception sharing areas and the second perception sharing area disappears within a preset time;

[0290] The second device no longer supports the perception sharing scenario.

[0291] In this embodiment, an example of how to cancel the perception sharing between the first device and the second device is given.

[0292] In the first case, when the second device receives a cancellation of perception sharing request sent by any target first device, it is determined that the target second device no longer provides perception sharing messages. At this time, the second device can reply with a confirmation cancellation response to the first device to notify the target first device to end the session, and then end the session with the target first device;

[0293] In the second case, when it is detected that the second device meets the eighth condition, it is determined that the second device no longer needs the perception sharing messages provided by any target first device. At this time, a cancellation request for perception sharing is sent to the target first device to request the end of the session. If an acknowledgment cancellation response replied by the target first device is received, it is determined that the target first device agrees to end the session. Only then is the session with the target first device ended; otherwise, the session with the target first device is maintained.

[0294] Among them, the eighth condition includes at least one of the following:

[0295] The second perception sharing area required by the second device changes, such as the original visual blind area disappears due to the movement of the target object, or the second device is forced to change its driving plan due to a traffic accident, etc.;

[0296] There is no overlapping intersection between the first perception sharing area corresponding to any target first device and the second perception sharing area, that is, any target first device cannot provide the perception information within the perception sharing area required by the second device;

[0297] The overlapping intersection between any of the first perception sharing areas and the second perception sharing area disappears within a preset time, that is, any target first device will be unable to provide the perception information within the perception sharing area required by the second device;

[0298] The second device no longer supports the perception sharing scenario, such as a reduction in channel resources, an increase in channel congestion, a too large data packet loss rate, a too large communication delay, etc.

[0299] For the convenience of those skilled in the art to understand the above information interaction method for perception sharing based on the first device and the second device, the following embodiments are used for illustration.

[0300] The first embodiment: As Figure 5 and Figure 6 shown, the first device (vehicle A) perceives the surrounding environment state in real time, determines the range of the perception sharing area according to factors such as the capabilities of its own sensors, the installation positions of the sensors, and the driving intention, and represents it by a 2D fan-shaped graph extending outward with itself as the reference point.

[0301] 1. The first device can regard all second devices (Vehicle B and Vehicle C) located within the fan-shaped area as target second devices; 2. Alternatively, the first device can further perform customized screening on all second devices within the fan-shaped area. For example, only Vehicle B of a specific brand can be regarded as a target second device; 3. Alternatively, when the first device receives a basic safety message sent by a second device (Vehicle D), and calculates and determines based on the current speed, acceleration, historical trajectory, driving behavior, etc. of Vehicle D that Vehicle D will enter the sensing and sharing area of the first device within t time (such as 8 seconds), then Vehicle D is also regarded as a target second device.

[0302] The first device sends information on surrounding traffic participants or road abnormal conditions detected by its own sensing devices (such as video, radar, etc.) to the selected target second devices. At this time, the specific content of the sensing and sharing message SSM is as follows:

[0303]

[0304]

[0305] Vehicles B - D judge whether the temporary ID list of the second device contains their own temporary receiving identifier according to the ReceiveIDList field in the received SSM message: If it contains their own temporary receiving identifier, it means that they are the designated second devices of the SSM message and can further parse the sensing and sharing message for decision-making; If it does not contain their own temporary receiving identifier, it means that they are not the designated second devices of the SSM message and can discard the message without further parsing.

[0306] After Vehicles B - D accelerate and drive out of the sensing and sharing area of the first device, the ReceiveIDList field in the SSM message sent by the first device deletes the temporary receiving identifiers of Vehicles B - D.

[0307] After new target second devices (Vehicles E - F) drive into the sensing and sharing area of the first device, the ReceiveIDList field in the SSM message sent by the first device should add the temporary receiving identifiers of Vehicles E - F.

[0308] The first device can send SSM messages periodically until there are no target second devices, and then stop sending SSM messages; Or the first device sends SSM messages non-periodically. When the number of target second devices within the sensing and sharing area of the first device does not increase, the sending frequency of the SSM message is reduced. When the number of target second devices within the sensing and sharing area increases, the sending frequency of the SSM message is increased until there are no target second devices, and then stop sending SSM messages.

[0309] Second Embodiment: Such as Figure 7 andFigure 8 As shown in Figure 8 , during the driving of the second device (Vehicle A), it is found that there is a visual blind area ahead due to the occlusion of large vehicles. According to factors such as the capabilities of the sensors carried by itself, the installation positions of the sensors, and the driving intentions, the range of the perception sharing area required by the second device is determined and represented by a 2D fan-shaped diagram extending outward with itself as the reference point.

[0310] 1. The second device can regard all the first devices (Vehicle B and Vehicle C) located within the perception sharing area as target first devices; 2. Or the second device further customizes and filters all the first devices within the perception sharing area. For example, only Vehicle B of a specific brand can be regarded as a target first device; 3. Or the second device receives the basic safety message sent by the first device (Vehicle D). According to the current motion state of Vehicle D, it is calculated and judged that Vehicle D will enter the perception sharing area required by the second device within t time (such as 8 seconds), then Vehicle D is also regarded as a target first device.

[0311] The second device sends a perception sharing request VIR message to the selected target first devices. The specific content is as follows:

[0312]

[0313] Vehicles B - D receive the VIR message sent by the second device. 1. If Vehicle B and C are within the range of the perception sharing area required by the second device and have the perception sharing ability, they agree to share; 2. If Vehicle B and C are within the range of the perception sharing area required by the second device, have the perception sharing ability, and meet the customization requirements. For example, if Vehicle B and Vehicle A are of the same brand, they agree to share, and if Vehicle C and Vehicle A are of different brands, they refuse to share; 3. If Vehicle D calculates and judges that it will enter the perception sharing area required by the second device within t time (such as 8 seconds), it agrees to share.

[0314] Vehicles B - D use a preset response method to send a request response to the second device. When "agree to share", the temporary reception identifier of the second device is carried in the request response; when "refuse to share", the identifier of the second device is not carried in the request response. The preset response method here is to carry the request response in the perception sharing message. At this time, the perception sharing message with the request response has the following specific content:

[0315]

[0316]

[0317] The second device receives the request responses of vehicles B to D, and determines whether the first device agrees or refuses according to the ResponseIDList field in the SSM message: If the temporary reception identifier of the second device is included in ResponseIDList, it indicates that the first device agrees to share, and the data packet content can be further parsed; If the temporary reception identifier of the second device is not included in ResponseIDList, it indicates that the first device refuses to share, and the parsing of the data packet content can be stopped.

[0318] After the target first device agrees to share, the second device can periodically receive SSM messages. However, if the second device encounters the following situations, it can send a request to cancel the perception sharing and end the current session between the two parties.

[0319] 1. The perception sharing area required by the second device changes, such as the visual blind area disappearing due to the departure of the blocking vehicle, or the second device being forced to change its driving plan due to a traffic accident; 2. The second device determines that the communication environment cannot support this application scenario, such as a reduction in channel resources, an increase in channel congestion, a too large data packet loss rate, a too large communication delay, etc.

[0320] The second device sends a request to cancel the perception sharing, and the specific content is as follows:

[0321]

[0322]

[0323] After the target first device receives the request to cancel the perception sharing sent by the second device, it can reply with a confirmation cancellation response and end the current session between the two parties.

[0324] After the second device and the original target first device end the perception sharing, the communication link between the two parties is closed. The second device can re-locate a new first device that provides perception sharing services for itself, and re-send a perception sharing request to re-establish a new session.

[0325] Third Embodiment: As Figure 9 and Figure 10 shown, during the driving process of the second device (vehicle A), it is found that there is a visual blind area in front due to the occlusion of a large vehicle. The perception sharing area A required by the second device is determined according to factors such as the sensor capabilities, sensor installation positions, and driving intentions of the second device itself, and is represented by a 2D sector diagram extending outward with itself as the reference point.

[0326] The first device (Vehicle B) determines the perception sharing area B it can provide based on factors such as its own sensor capabilities, sensor installation locations, target types and quantities, driving intentions, etc., and carries it in the Service Announcement Message (SAM). The SAM message may include: the range of the perception sharing area, the number of perceived targets, the number and types of sensors, the range of message sending frequencies, the supported communication interaction modes, etc. The specific message content is as follows:

[0327]

[0328]

[0329] 1. If the second device determines that there is an overlapping intersection between the perception area A and the perception area B, then it regards Vehicle B as the first device; 2. Or if the second device determines that there is an overlapping intersection between the perception area A and the perception area B, and Vehicle B further meets the customized requirements, such as Vehicle B and Vehicle A are of the same brand, or Vehicle B supports the communication interaction mode of request response, etc., then it regards Vehicle B as the target first device; 3. Or if the second device calculates and determines that there is an overlapping intersection between the perception area A and the perception area B within t time (such as 8 seconds) based on the basic safety message sent by Vehicle B, then it regards Vehicle B as the target first device.

[0330] The second device sends a perception sharing request VIR message to the selected target first device, and the specific content is the same as that in the second embodiment.

[0331] The target first device receives the VIR message sent by the second device. 1. If the target first device determines that there is an overlapping intersection between the perception area A and the perception area B, it agrees to share; 2. If the target first device determines that there is an overlapping intersection between the perception area A and the perception area B, and it meets the customized requirements, such as the second device and itself are of the same brand, or it can support a specific sensor type, etc., it agrees to share; 3. If the target first device calculates and determines that there is an overlapping intersection between the perception area A and the perception area B within t time (such as 8 seconds) based on the motion states of the second device and itself, it agrees to share. In addition, the target first device can further consider external environmental factors, such as determining that the perception device status is normal, or the current channel resources are sufficient, or there is no channel congestion, etc., and then agrees to share.

[0332] The target first device uses a preset response method to send a request response to the second device. The preset response method is to carry the request response in the perception sharing message, that is, a Response field is added to the existing SSM message. The specific content is as follows:

[0333]

[0334] If the target first device agrees to share the perception data after comprehensively considering various factors such as its own service requirements, geographical location, status of perception devices, channel resources, network congestion, etc., the content of the SSM message sent is as follows:

[0335]

[0336] If the target first device refuses to share the perception data after comprehensively considering various factors such as its own service requirements, geographical location, status of perception devices, channel resources, network congestion, etc., the content of the SSM message sent is as follows:

[0337]

[0338] The second device receives the request response from the target first device. If the first device refuses to share, it stops sending the perception sharing request; if the request response clearly carries the reason for refusal and the refusal duration, it can resend the perception sharing request outside the reason for refusal and the refusal duration.

[0339] If the target first device has provided the perception sharing service for the second device and then receives a perception sharing request sent by another new second device, the target first device can provide differentiated perception sharing messages according to the perception sharing requirements of different second devices. For example, the perception sharing messages for different second devices contain perception information of different sub-regions, or different types of perception targets, or only contain perception information of specific sensors, etc.

[0340] If the target first device agrees to share, the second device can receive the SSM message periodically. However, if the target first device encounters the following situations, it can send a request to cancel the perception sharing and end the current session between the two parties.

[0341] 1. The perception sharing area that the target first device can provide changes, such as a malfunction of the perception device it carries, or the perception range is blocked by other vehicles, or the target first device is forced to change its driving plan due to a traffic accident, etc.; 2. The target first device judges that there is no overlapping intersection between the perception sharing area B that it can provide and the perception sharing area A required by the second device, or the overlapping intersection area will disappear within t time; 3. The target first device judges that it no longer meets the customized requirements, such as a malfunction of a specific sensor, a change in a specific communication interaction mode, a change in a specific data accuracy level (a decrease in accuracy, an increase in the false detection rate, etc.). 4. The target first device judges that the communication environment cannot support this application scenario, such as a reduction in channel resources, an increase in channel congestion, a too large data packet loss rate, a too large communication delay, etc.

[0342] The target first device sends a request to cancel the perception sharing, and the specific content is as follows: [[ID=2']]

[0343]

[0344]

[0345] After the second device receives the cancellation of the awareness sharing request sent by the target first device, it can reply with a confirmation cancellation response and end the current session between the two parties.

[0346] When the target first device ends the awareness sharing with the original second device, the communication link between the two parties is closed. The target first device can respond to a new awareness sharing request and establish a new session again.

[0347] See Figure 11 , Another embodiment of the present application provides a first device, including:

[0348] A first processing module 1101, configured to determine a target second device;

[0349] A second processing module 1102, configured to send an awareness sharing message to the target second device, where the awareness sharing message carries a receiving identifier of the target second device.

[0350] Preferably, the first device as described above further includes:

[0351] A fourth processing module, configured to determine the target second device when a first condition is met, where the first condition includes one or more of the following:

[0352] Receiving an awareness sharing request message sent by at least one second device with networking capabilities;

[0353] Detecting a target object in a first awareness sharing area corresponding to the first device.

[0354] Specifically, for the first device as described above, the first processing module specifically includes one or more of the following:

[0355] A first processing unit, configured to determine that the second device corresponding to the request response to the awareness sharing request message as agreeing to share is the target second device;

[0356] A second processing unit, configured to determine the target second device from the second devices according to the positional relationship between the first device and the second device and / or a threshold for sending the awareness sharing message of the first device.

[0357] Further, for the first device as described above, the second processing unit includes:

[0358] A first sub - processing unit, configured to select a pre - selected second device that meets a second condition from the second devices according to the positional relationship between the first device and the second device;

[0359] A second sub - processing unit, when the number of the pre - selected second devices is less than or equal to the perception sharing message sending threshold, determines all the pre - selected second devices as the target second devices;

[0360] A third sub - processing unit, when the number of the pre - selected second devices is greater than the perception sharing message sending threshold, sorts the pre - selected second devices according to a third condition, and determines the pre - selected second devices in a preset sorting area as the target second devices, where the preset sorting area includes a plurality of consecutive sequence positions corresponding to the perception sharing message sending threshold and includes a first sequence position.

[0361] Specifically, for the first device as described above, the second condition includes at least one of the following:

[0362] The second device is already located in the first perception sharing area;

[0363] The signal strength between the second device and the first device is greater than or equal to a preset strength threshold;

[0364] The message arrival time between the second device and the first device is less than or equal to a preset time threshold;

[0365] The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold;

[0366] The second device meets the customized service requirements;

[0367] According to the motion states of the second device and the first device, it is determined that the second device will enter the first perception sharing area within a preset time;

[0368] According to the historical signal strength change relationship, it is determined that the signal strength will reach the preset strength threshold within the preset time;

[0369] According to the motion trajectories of the second device and the first device, it is determined that the message arrival time will reach the preset time threshold within the preset time, and / or it is determined that the direction angle will reach the preset angle threshold within the preset time.

[0370] Specifically, for the first device as described above, the third condition includes at least one of the following:

[0371] The distance between the position of the second device and the first device;

[0372] The difference between the signal strength and the preset strength threshold;

[0373] The difference between the message arrival time and the preset time threshold;

[0374] the difference between the direction angle and the preset angle threshold;

[0375] the probability that the second device collides with the target object.

[0376] Preferably, the first device as described above further includes:

[0377] A fifth processing module, configured to, when it is detected that any target second device no longer meets the second condition or is no longer in the preset sorting area, not carry the reception identifier corresponding to the target second device in the perception sharing message;

[0378] A sixth processing module, configured to, when it is determined that a newly added second device meets the second condition, if the current number of preselected second devices is less than the perception sharing message sending threshold, or, according to the third condition, it is determined that the newly added second device is within the preset sorting area, then determine the newly added second device as the target second device, and carry the reception identifier corresponding to the newly added second device in the perception sharing message.

[0379] Preferably, the first device as described above further includes:

[0380] A seventh processing module, configured to, after receiving a perception sharing request message sent by at least one second device with networking capabilities, determine the request response corresponding to each second device according to a preset judgment condition; wherein, if the judgment condition is met, determine that the request response corresponding to the second device is to agree to share, otherwise, determine that the request response corresponding to the second device is to refuse to share;

[0381] The judgment condition includes at least one of the following:

[0382] whether the positional relationship between the second device and the first device meets the fourth condition;

[0383] whether the positional relationship between the first perception sharing area corresponding to the first device and the second perception sharing area required by the second device meets the fifth condition;

[0384] whether the working environment of the first device meets the sixth condition;

[0385] whether the second device and / or the first device meets the customized service requirements.

[0386] Specifically, for the first device as described above, the fourth condition includes at least one of the following:

[0387] the first device is already within the second perception sharing area required by the second device;

[0388] The signal strength between the second device and the first device is greater than or equal to a preset strength threshold;

[0389] The message arrival time between the second device and the first device is less than or equal to a preset time threshold;

[0390] The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold;

[0391] According to the motion states of the second device and the first device, it is determined that the first device will enter the second perception sharing area within a preset time;

[0392] According to the historical signal strength change relationship, it is determined that the signal strength will reach the preset strength threshold within the preset time;

[0393] According to the motion trajectories of the second device and the first device, it is determined that the message arrival time will reach the preset time threshold within the preset time, and / or it is determined that the direction angle will reach the preset angle threshold within the preset time.

[0394] Specifically, for the first device as described above, the fifth condition includes at least one of the following:

[0395] There is an overlapping intersection between the first perception sharing area provided by the first device and the second perception sharing area required by the second device;

[0396] According to the motion states of the second device and the first device, it is determined that the first perception sharing area and the second perception sharing area will generate an overlapping intersection within a preset time.

[0397] Specifically, for the first device as described above, the sixth condition includes at least one of the following:

[0398] The perception device carried by the first device is normal;

[0399] The current channel resources of the first device are sufficient to support sending the perception sharing message;

[0400] The current channel congestion degree of the first device is sufficient to support sending the perception sharing message.

[0401] Further, for the first device as described above, it further includes:

[0402] An eighth processing module, configured to when the request response is to agree to share, the request response carries the receiving identifier corresponding to the second device, or, the request response carries the receiving identifier corresponding to the second device and the response result of agreeing to share;

[0403] A ninth processing module, configured to, when the request response is a refusal to share, not carry the receiving identifier corresponding to the second device in the request response, or, the request response carries at least one of a response result of refusal to share, a reason for refusal, and a refusal duration, and carries the receiving identifier corresponding to the second device.

[0404] Optionally, the first device as described above further includes:

[0405] A tenth processing module, configured to, when receiving a perception sharing request message sent by the target second device, send partial perception information in the perception sharing message to the target second device according to the perception sharing requirement requested in the perception sharing request message.

[0406] Specifically, the first device as described above further includes:

[0407] An eleventh processing module, configured to, when receiving a cancellation perception sharing request sent by any target second device, reply with a confirmation cancellation response and end the session with the target second device;

[0408] Alternatively, a twelfth processing module, configured to, when detecting that the first device meets the seventh condition, send a cancellation perception sharing request to any target second device, and end the session with the target second device when receiving a confirmation cancellation response replied by the target second device;

[0409] Wherein, the seventh condition includes at least one of the following:

[0410] The first perception sharing area corresponding to the first device changes;

[0411] The first device has left the second perception sharing area requested by any target second device;

[0412] The first device will leave the second perception sharing area requested by any target second device within a preset time;

[0413] There is no overlapping intersection between the first perception sharing area and the second perception sharing area;

[0414] The overlapping intersection between the first perception sharing area and the second perception sharing area disappears within the preset time;

[0415] The first device no longer meets the customization requirements;

[0416] The first device no longer supports the perception sharing scenario.

[0417] An embodiment of the first device of the present application is a device corresponding to the embodiment of the information interaction method for perception sharing applied to the first device above. All the implementation means in the above method embodiment are applicable to the embodiment of this device and can achieve the same technical effects. The above first device provided by the embodiment of the present application can implement all the method steps implemented by the above method embodiment and can achieve the same technical effects. Here, the same parts and beneficial effects as those in the method embodiment will not be specifically described again.

[0418] See Figure 12 , another embodiment of the present application provides a second device, including:

[0419] A third processing module 1201, configured to receive a perception sharing message sent by a target first device, where a receiving identifier of the second device is carried in the perception sharing message.

[0420] Specifically, the second device as described above further includes:

[0421] A thirteenth processing module, configured to determine a target first device that sends a perception sharing message when it is determined that there is a visual blind area in a third perception area corresponding to the second device;

[0422] A fourteenth processing module, configured to send a perception sharing request to the target first device when there is at least one target first device;

[0423] A fifteenth processing module, configured to receive a request response sent by the target first device, where the request response is sent alone or carried in the perception sharing message, and the request response is used to indicate whether the target first device agrees to share the perception sharing message.

[0424] Further, for the second device as described above, the thirteenth processing module includes at least one of the following:

[0425] A third processing unit, configured to select the target first device from at least one first device according to the positional relationship between the first device and the second device;

[0426] A fourth processing unit, configured to select the target first device from at least one first device according to the positional relationship between a first perception sharing area corresponding to the first device and a second perception sharing area required by the second device;

[0427] A fifth processing unit, configured to determine that the first device that meets the customized service requirement is the target first device.

[0428] Specifically, for the second device as described above, the third processing unit specifically includes:

[0429] Determine the first device that meets at least one of the following as the target first device:

[0430] The first device is already located in the second sensing sharing area;

[0431] The signal strength between the second device and the first device is greater than or equal to a preset strength threshold;

[0432] The message arrival time between the second device and the first device is less than or equal to a preset time threshold;

[0433] The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold;

[0434] According to the motion states of the second device and the first device, determine that the first device will enter the second sensing sharing area within a preset time;

[0435] According to the historical signal strength change relationship, determine that the signal strength will reach the preset strength threshold within the preset time;

[0436] According to the motion trajectories of the second device and the first device, determine that the message arrival time will reach the preset time threshold within the preset time, and / or determine that the direction angle will reach the preset angle threshold within the preset time.

[0437] Specifically, for the second device as described above, the third processing unit specifically includes:

[0438] Determine the first device that meets at least one of the following as the target first device:

[0439] There is an overlapping intersection between the first sensing sharing area and the second sensing sharing area;

[0440] According to the motion states of the second device and the first device, determine that the first sensing sharing area and the second sensing sharing area will generate an overlapping intersection within a preset time.

[0441] Optionally, the second device as described above further includes at least one of the following:

[0442] A sixth processing unit, configured to determine that the target first device refuses to share if the target receiving identifier matching the receiving identifier corresponding to the second device is not carried in the request response;

[0443] A seventh processing unit, configured to determine that the target first device agrees to share if the target receiving identifier is carried in the request response;

[0444] An eighth processing unit, configured to determine that the target first device agrees to share if the request response carries the target receiving identifier and a response result of agreeing to share;

[0445] A ninth processing unit, configured to determine that the target first device refuses to share if the request response carries the target receiving identifier and at least one of a response result of refusing to share, a reason for refusal, and a refusal duration;

[0446] Specifically, the second device as described above further includes:

[0447] A sixteenth processing module, configured to, when receiving a cancellation of sensing sharing request sent by any target first device, reply with a confirmation cancellation response and end the session with the target first device;

[0448] Alternatively, a seventeenth processing module, configured to, when detecting that the second device meets the eighth condition, send a cancellation of sensing sharing request to any target first device, and end the session with the target first device after receiving a confirmation cancellation response replied by the target first device;

[0449] Wherein, the eighth condition includes at least one of the following:

[0450] The second sensing sharing area required by the second device changes;

[0451] There is no overlapping intersection between the first sensing sharing area corresponding to any target first device and the second sensing sharing area;

[0452] The overlapping intersection between any of the first sensing sharing areas and the second sensing sharing area disappears within a preset time;

[0453] The second device no longer supports the sensing sharing scenario.

[0454] The embodiment of the second device in this application is a device corresponding to the embodiment of the information interaction method for sensing sharing applied to the second device. All implementation means in the above method embodiment are applicable to the embodiment of this second device and can also achieve the same technical effect. The above second device provided in the embodiment of this application can implement all method steps implemented by the above method embodiment and can achieve the same technical effect. The same parts and beneficial effects as those in the method embodiment will not be specifically described in this embodiment.

[0455] Another embodiment of the present application provides an electronic device, including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the information interaction method for perception sharing applied to the first device as described above, or implements the steps of the information interaction method for perception sharing applied to the second device as described above, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0456] Another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the information interaction method for perception sharing applied to the first device as described above, or implements the steps of the information interaction method for perception sharing applied to the second device as described above, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0457] Another embodiment of the present application provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, they implement the steps of the information interaction method for perception sharing applied to the first device as described above, or implement the steps of the information interaction method for perception sharing applied to the second device as described above, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0458] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not in itself indicate the relationship between the various embodiments and / or arrangements discussed.

[0459] It should also 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", "including" or any other variation thereof is intended to cover a non-exclusive inclusion.

[0460] The above is the preferred embodiment of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for information interaction of perception sharing, applied to a first device, characterized in that Including: Determine a target second device; Send a perception sharing message to the target second device, where the perception sharing message carries a receiving identifier of the target second device.

2. The method according to claim 1, characterized in that, When a first condition is satisfied, determine the target second device, where the first condition includes one or more of the following: Receive a perception sharing request message sent by at least one second device with networking capabilities; Detect a target object in a first perception sharing area corresponding to the first device.

3. The method according to claim 2, characterized in that The determining of the target second device includes one or more of the following: Determine the second device whose request response corresponding to the perception sharing request message is consent to share as the target second device; Determine the target second device from the second devices according to the positional relationship between the first device and the second device and / or a perception sharing message sending threshold of the first device.

4. The method according to claim 3, wherein The determining of the target second device from the second devices according to the positional relationship between the first device and the second device and / or a perception sharing message sending threshold of the first device includes: Select a preselected second device that meets a second condition from the second devices according to the positional relationship between the first device and the second device; When the number of the preselected second devices is less than or equal to the perception sharing message sending threshold, determine all the preselected second devices as the target second devices; When the number of the preselected second devices is greater than the perception sharing message sending threshold, sort the preselected second devices according to a third condition, and determine the preselected second devices in a preset sorting area as the target second devices, where the preset sorting area includes a plurality of consecutive sequence positions corresponding to the perception sharing message sending threshold and includes a first sequence position.

5. The method according to claim 4, characterized in that, The second condition includes at least one of the following: The second device is already located in the first perception sharing area; The signal strength between the second device and the first device is greater than or equal to a preset strength threshold; The message arrival time between the second device and the first device is less than or equal to a preset time threshold; The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold; The second device meets customized service requirements; Determine that the second device will enter the first perception sharing area within a preset time according to the motion states of the second device and the first device; Determine that the signal strength will reach the preset strength threshold within the preset time according to the historical signal strength change relationship; Determine that the message arrival time will reach the preset time threshold within the preset time according to the motion trajectories of the second device and the first device, and / or determine that the direction angle will reach the preset angle threshold within the preset time.

6. The method according to claim 5, characterized in that, The third condition includes at least one of the following: The distance between the position of the second device and the first device; The difference between the signal strength and the preset strength threshold; The difference between the message arrival time and the preset time threshold; The difference between the direction angle and the preset angle threshold; The probability that the second device collides with the target object.

7. The method according to claim 4, characterized in that, During the process of sending the perception sharing message, the method further includes: When it is detected that any target second device no longer meets the second condition or is no longer in the preset sorting area, the receiving identifier corresponding to the target second device is no longer carried in the perception sharing message; When it is determined that a newly added second device meets the second condition, if the current number of preselected second devices is less than the perception sharing message sending threshold, or, according to the third condition, it is determined that the newly added second device is within the preset sorting area, then it is determined that the newly added second device is the target second device, and the receiving identifier corresponding to the newly added second device is carried in the perception sharing message.

8. The method according to claim 2, wherein The method further includes: After receiving the perception sharing request messages sent by at least one second device with networking capabilities, according to preset judgment conditions, determine the request responses corresponding to each of the second devices; wherein, if the judgment conditions are met, it is determined that the request response corresponding to the second device is to agree to share, otherwise, it is determined that the request response corresponding to the second device is to refuse to share; The judgment conditions include at least one of the following: Whether the positional relationship between the second device and the first device meets the fourth condition; Whether the positional relationship between the first perception sharing area corresponding to the first device and the second perception sharing area required by the second device meets the fifth condition; Whether the working environment of the first device meets the sixth condition; Whether the second device and / or the first device meets the customized service requirements.

9. The method according to claim 8, characterized in that, The fourth condition includes at least one of the following: The first device is already within the second perception sharing area required by the second device; The signal strength between the second device and the first device is greater than or equal to a preset strength threshold; The message arrival time between the second device and the first device is less than or equal to a preset time threshold; The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold; According to the motion states of the second device and the first device, it is determined that the first device will enter the second perception sharing area within a preset time; According to the historical signal strength change relationship, it is determined that the signal strength will reach the preset strength threshold within the preset time; According to the motion trajectories of the second device and the first device, it is determined that the message arrival time will reach the preset time threshold within the preset time, and / or, it is determined that the direction angle will reach the preset angle threshold within the preset time.

10. The method according to claim 8, characterized in that, The fifth condition includes at least one of the following: There is an overlapping intersection between the first perception sharing area provided by the first device and the second perception sharing area required by the second device; According to the motion states of the second device and the first device, it is determined that the first perception sharing area and the second perception sharing area will generate an overlapping intersection within a preset time.

11. The method according to claim 8, wherein The sixth condition includes at least one of the following: The perception device carried by the first device is normal; The current channel resources of the first device are sufficient to support sending the perception sharing message; The current channel congestion level of the first device is sufficient to support the transmission of the sensed sharing message.

12. The method according to claim 8, characterized in that, When the request response is an agreement to share, the request response carries the receiving identifier corresponding to the second device, or the request response carries the receiving identifier corresponding to the second device and the response result of agreeing to share; When the request response is a refusal to share, the request response does not carry the receiving identifier corresponding to the second device, or the request response carries at least one of the response result of refusing to share, the reason for refusal, and the refusal duration, and carries the receiving identifier corresponding to the second device.

13. The method according to claim 1, wherein Further included are: When receiving a cancellation of sensed sharing request sent by any target second device, reply with a confirmation cancellation response and end the session with the target second device; Alternatively, when it is detected that the first device meets the seventh condition, send a cancellation of sensed sharing request to any target second device, and when receiving the confirmation cancellation response replied by the target second device, end the session with the target second device; Among them, the seventh condition includes at least one of the following: The first sensed sharing area corresponding to the first device has changed; The first device has left the second sensed sharing area requested by any target second device; The first device will leave the second sensed sharing area requested by any target second device within a preset time; There is no overlapping intersection between the first sensed sharing area and the second sensed sharing area; The overlapping intersection between the first sensed sharing area and the second sensed sharing area disappears within the preset time; The first device no longer meets the customized requirements; The first device no longer supports the sensed sharing scenario.

14. A method for information interaction of perception sharing, applied to a second device, characterized in that, Included are: Receive a sensed sharing message sent by a target first device, where the sensed sharing message carries the receiving identifier of the second device.

15. The method according to claim 14, characterized in that, The method further includes: When it is determined that there is a visual blind area in the third sensed area corresponding to the second device, determine the target first device that sends the sensed sharing message; When there is at least one such target first device, send a sensed sharing request to the target first device; Receive the request response sent by the target first device, where the request response is sent separately or carried in the sensed sharing message, and the request response is used to indicate whether the target first device agrees to share the sensed sharing message.

16. The method according to claim 15, wherein The determination of the target first device that sends the sensed sharing message includes at least one of the following: Select the target first device from at least one first device according to the positional relationship between the first device and the second device; Select the target first device from at least one of the first devices according to the positional relationship between the first sensed sharing area corresponding to the first device and the second sensed sharing area required by the second device; Determine the first device that meets the customized service requirements as the target first device.

17. The method according to claim 16, wherein The selection of the target first device from at least one first device according to the positional relationship between the first device and the second device includes: Determine the first device that meets at least one of the following as the target first device: The first device is already located in the second sensing sharing area; The signal strength between the second device and the first device is greater than or equal to a preset strength threshold; The message arrival time between the second device and the first device is less than or equal to a preset time threshold; The direction angle of the second device relative to the first device is less than or equal to a preset angle threshold; Based on the motion states of the second device and the first device, it is determined that the first device will enter the second sensing sharing area within a preset time; Based on the historical signal strength change relationship, it is determined that the signal strength will reach the preset strength threshold within the preset time; Based on the motion trajectories of the second device and the first device, it is determined that the message arrival time will reach the preset time threshold within the preset time, and / or it is determined that the direction angle will reach the preset angle threshold within the preset time.

18. The method according to claim 16, wherein The selecting the target first device from at least one of the first devices according to the positional relationship between the first sensing sharing area corresponding to the first device and the second sensing sharing area required by the second device includes: Determining the first device that satisfies at least one of the following as the target first device: There is an overlapping intersection between the first sensing sharing area and the second sensing sharing area; Based on the motion states of the second device and the first device, it is determined that the first sensing sharing area and the second sensing sharing area will have an overlapping intersection within a preset time.

19. The method according to claim 15, wherein After receiving the request response and / or the sensing sharing message carrying the request response, it further includes at least one of the following: If the request response does not carry the target receiving identifier that matches the receiving identifier corresponding to the second device, it is determined that the target first device refuses to share; If the request response carries the target receiving identifier, it is determined that the target first device agrees to share; If the request response carries the target receiving identifier and the response result of agreeing to share, it is determined that the target first device agrees to share; If the request response carries the target receiving identifier and at least one of the response result of refusing to share, the reason for refusal, and the refusal duration, it is determined that the target first device refuses to share.

20. The method according to claim 14, wherein It further includes: When receiving a cancellation sensing sharing request sent by any target first device, reply with a confirmation cancellation response and end the session with the target first device; Or, when it is detected that the second device meets the eighth condition, send a cancellation sensing sharing request to any target first device, and after receiving the confirmation cancellation response replied by the target first device, end the session with the target first device; Wherein, the eighth condition includes at least one of the following: The second sensing sharing area required by the second device has changed; There is no longer an overlapping intersection between the first sensing sharing area corresponding to any target first device and the second sensing sharing area; The overlapping intersection between any of the first sensing sharing areas and the second sensing sharing area disappears within a preset time; The second device no longer supports the sensing sharing scenario.

21. A first device, characterized in that, It includes: A first processing module for determining a target second device; A second processing module, configured to send a perception sharing message to the target second device, where the perception sharing message carries a receiving identifier of the target second device.

22. A second device, characterized in that, Comprising: A third processing module, configured to receive a perception sharing message sent by a target first device, where the perception sharing message carries a receiving identifier of the second device.

23. An electronic device, characterized in that, Comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, where when the computer program is executed by the processor, it implements the steps of the information interaction method for perception sharing applied to a first device according to any one of claims 1 to 13, or implements the steps of the information interaction method for perception sharing applied to a second device according to any one of claims 14 to 20.

24. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the steps of the information interaction method for perception sharing applied to a first device according to any one of claims 1 to 13, or implements the steps of the information interaction method for perception sharing applied to a second device according to any one of claims 14 to 20.

25. A computer program product, characterized in that, Comprising computer instructions, where when the computer instructions are executed by a processor, they implement the steps of the information interaction method for perception sharing applied to a first device according to any one of claims 1 to 13, or implement the steps of the information interaction method for perception sharing applied to a second device according to any one of claims 14 to 20.

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