Communication method, device and system for automatic driving fleet

Abstract

The invention provides a communication method, device and system of an automatic driving motorcade, the automatic driving motorcade comprises a leading vehicle and a following vehicle, the communication method of the automatic driving motorcade is applied to the leading vehicle, and the method comprises the following steps: under the condition that target type data sent by the following vehicle is received, detecting whether a main communication mode of the target type data is valid; under the condition that the main communication mode is invalid, redundant communication modes corresponding to the target type data are determined, and under the condition that the number of the redundant communication modes is multiple, the priority of each redundant communication mode is determined; and detecting whether the plurality of redundant communication modes are valid or not according to the priority from high to low, stopping detection until the valid redundant communication mode is detected, determining the valid redundant communication mode as a target communication mode, and communicating with the following vehicle through the target communication mode. According to the method and the device, the problem that communication cannot be continued when the communication link of the data of the automatic driving fleet fails in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of fleet communication technology, and more specifically, to a communication method, device, computer-readable storage medium, and communication system for an autonomous driving fleet. Background Art

[0002] Truck platooning has become an important research area for improving road transport efficiency, reducing energy consumption and improving safety. Real-time communication between vehicles in a truck platoon is a core element for achieving precise platoon control, accident prevention and overall platoon optimization. Among them, the transmission of heartbeat messages, video data and high-precision positioning data (RTK data) is particularly critical. When dealing with autonomous driving truck platoon communications, existing technologies usually have a fixed communication method for each type of data. For example, heartbeat messages are generally communicated using V2X (Vehicle to Everything, referred to as V2X). However, once the communication link fails, it will affect the operational efficiency of the fleet and pose a potential threat to driving safety. Summary of the Invention

[0003] The main purpose of this application is to provide a communication method, device, computer-readable storage medium and communication system for an autonomous driving fleet, so as to at least solve the problem in the prior art that communication cannot continue when the communication link of the autonomous driving fleet data fails.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a communication method for an autonomous driving fleet is provided, wherein the autonomous driving fleet includes a lead vehicle and a follower vehicle, and the communication method for the autonomous driving fleet is applied to the lead vehicle, including: upon receiving target type data sent by the follower vehicle, detecting whether a main communication mode of the target type data is valid; when the main communication mode is invalid, determining a redundant communication mode corresponding to the target type data, and when there are multiple redundant communication modes, determining a priority of each redundant communication mode, wherein the priority indicates the order in which the redundant communication modes are adopted; detecting whether multiple redundant communication modes are valid from high to low according to the priority until a valid redundant communication mode is detected, stopping the detection, and determining the valid redundant communication mode as the target communication mode, and communicating with the follower vehicle through the target communication mode.

[0005] Optionally, before detecting whether the main communication mode of the target type data is valid, the method further includes: when the target type data received from the following vehicle is connection status data, determining that the main communication mode is a vehicle communication mode, wherein the connection status data is data indicating whether the communication between vehicles is connected, and the vehicle communication mode is a mode for vehicles to communicate with traffic participants, and the traffic participants include at least vehicles and traffic facilities; when the target type data received from the following vehicle is video data, determining that the main communication mode is a wireless local area network communication mode; when the target type data received from the following vehicle is positioning data, determining that the main communication mode is a mobile communication mode, wherein the positioning data is data indicating the position of the vehicle.

[0006] Optionally, detecting whether the main communication mode of the target type data is valid includes: when the main communication mode is the vehicle communication mode, detecting the reception time of the connection status data, and determining that the main communication mode is invalid when at least the absolute value of the difference between two adjacent reception times is greater than a preset difference threshold; when the main communication mode is the wireless local area network communication mode or the mobile communication mode, detecting the signal strength of the wireless local area network communication mode or the mobile communication mode, and determining that the main communication mode is invalid when the signal strength is less than a preset strength threshold.

[0007] Optionally, determining the redundant communication mode corresponding to the target type data includes: obtaining a one-to-one mapping relationship between the target type data and the redundant communication mode to obtain a first mapping relationship; determining, through the first mapping relationship, that the redundant communication mode of the connection status data is the wireless local area network communication mode and the mobile communication mode; determining, through the first mapping relationship, that the redundant communication mode of the video data is the mobile communication mode; and determining, through the first mapping relationship, that the redundant communication mode of the positioning data is a satellite communication mode.

[0008] Optionally, in the case where there are multiple redundant communication modes, determining the priority of each redundant communication mode includes: obtaining a one-to-one mapping relationship between the redundant communication modes and priorities of the connection status data to obtain a second mapping relationship; determining through the second mapping relationship that the priority of the wireless local area network communication mode is level one, and the priority of the mobile communication mode is level two, wherein the priority of the level one is higher than the priority of the level two.

[0009] Optionally, the method further includes: when the redundant communication mode is one, determining the redundant communication mode as the target communication mode, and communicating with the following vehicle through the target communication mode.

[0010] Optionally, the method further includes: communicating with the following vehicle via the primary communication mode when the primary communication mode is valid; and stopping driving when both the primary communication mode and the redundant communication mode are invalid.

[0011] According to another aspect of the present application, a communication device for an autonomous driving fleet is provided, wherein the autonomous driving fleet includes a lead vehicle and a follower vehicle, and the communication method for the autonomous driving fleet is applied to the lead vehicle, including: a detection unit, for detecting whether a main communication mode of the target type data is valid when the target type data sent by the follower vehicle is received; a first determination unit, for determining a redundant communication mode corresponding to the target type data when the main communication mode is invalid, and determining a priority of each redundant communication mode when there are multiple redundant communication modes, wherein the priority indicates the order in which the redundant communication modes are adopted; a first communication unit, for detecting whether multiple redundant communication modes are valid in descending order according to the priority until a valid redundant communication mode is detected, stopping the detection, and determining the valid redundant communication mode as the target communication mode, and communicating with the follower vehicle through the target communication mode.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute any one of the communication methods for the autonomous driving fleet.

[0013] According to another aspect of the present application, a communication system for an autonomous driving fleet is provided, comprising: a lead vehicle and a follower vehicle; the lead vehicle comprises one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the communication methods for the autonomous driving fleet.

[0014] By applying the technical solution of the present application, when receiving target type data sent by a following vehicle, it is detected whether the primary communication mode of the target type data is valid; when the primary communication mode is invalid, the redundant communication mode corresponding to the target type data is determined, and when there are multiple redundant communication modes, the priority of each redundant communication mode is determined; the multiple redundant communication modes are detected in descending order of priority to see whether they are valid, until a valid redundant communication mode is detected, the detection is stopped, and the valid redundant communication mode is determined as the target communication mode, and communication is performed with the following vehicle via the target communication mode. Compared with the prior art, in which the communication link of the data of the autonomous driving fleet fails during the transmission process, the communication cannot be continued. In contrast, the present application detects whether the primary communication mode of the target type data is valid, and when the primary communication mode of the target type data is invalid, the valid redundant communication mode is used as the target communication mode to communicate with the following vehicle, thereby avoiding the problem that the leading vehicle and the following vehicle cannot continue to communicate. Therefore, it can solve the problem in the prior art that the communication link of the autonomous driving fleet data cannot continue to communicate when the communication link fails, and achieve the effect of maintaining communication of the autonomous driving fleet. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a communication method for an autonomous driving fleet provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic diagram illustrating a flow chart of a communication method for an autonomous driving fleet provided in an embodiment of the present application is shown;

[0018] Figure 3 A communication network structure diagram of a specific autonomous driving fleet provided by an embodiment of the present application is shown;

[0019] Figure 4 A structural block diagram of a communication device for an autonomous driving fleet provided in an embodiment of the present application is shown.

[0020] The above drawings include the following reference numerals:

[0021] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] As introduced in the background technology, in the prior art, communication cannot continue when a communication link for autonomous driving fleet data fails. To solve the problem of communication cannot continue when a communication link for autonomous driving fleet data fails, the embodiments of the present application provide a communication method, device, computer-readable storage medium, and communication system for an autonomous driving fleet.

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0027] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal of a communication method for an autonomous driving fleet according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1Only one is shown) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0028] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the communication method for the autonomous driving fleet in the embodiment of the present invention. The processor 102 executes the computer program stored in the memory 104 to execute various functional applications and data processing, thereby implementing the above-mentioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of such networks may include a wireless network provided by the mobile terminal's telecommunications provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0029] In this embodiment, a communication method for a fleet of autonomous driving vehicles running on a mobile terminal, a computer terminal, or a similar computing device is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] Figure 2 FIG. 1 is a flow chart of a communication method for an autonomous driving fleet according to an embodiment of the present application. Figure 2As shown, the autonomous driving fleet includes a pilot vehicle and a following vehicle. The communication method for the autonomous driving fleet is applied to the pilot vehicle. The method includes the following steps:

[0031] Step S201: upon receiving target type data sent by the following vehicle, detecting whether the primary communication mode of the target type data is valid;

[0032] Specifically, an autonomous platoon typically consists of a pilot vehicle and one or more follower vehicles. As the name suggests, the pilot vehicle is the leading vehicle in the platoon, responsible for determining the platoon's route, speed, and formation strategy, and also serves as the central communication node within the platoon. Follower vehicles are autonomous trucks traveling behind the pilot vehicle, relying primarily on the pilot vehicle's guidance and information sharing to reduce the burden of independent perception and decision-making. In this embodiment, upon receiving different types of data from follower vehicles, the pilot vehicle can proactively detect and determine the validity of the primary communication method used for these data. "Target type data" refers to various critical information that needs to be exchanged in real time during platooning, such as formation heartbeat messages, video data, or RTK (Real-Time Kinematic) positioning data. These data correspond to different communication bandwidth, latency, and distance requirements, and the communication method most suitable for the target type of data is used as the primary communication method. For formation heartbeat messages, the primary communication method is V2X (Vehicle-to-Everything, V2X). For follow-up vehicle video data, the primary communication method is WiFi. For RTK positioning data, the primary communication method is cellular network communication. However, in remote mountainous areas with less developed networks, the stability of each communication method cannot be guaranteed. Therefore, this embodiment monitors the effectiveness of the primary communication method in real time. If it fails, it immediately switches to another communication method to ensure the safety of the convoy, thereby supporting unmanned operation of automated truck platooning in remote areas.

[0033] Step S202: if the primary communication mode is invalid, determining a redundant communication mode corresponding to the target type data, and if there are multiple redundant communication modes, determining a priority of each redundant communication mode, wherein the priority indicates the order in which the redundant communication modes are adopted;

[0034] Specifically, when the lead vehicle detects that the primary communication method for a target type of data (such as V2X, WiFi, or cellular network) has become ineffective, it automatically matches a redundant communication method for that target type of data. For example, formation heartbeat messages can use both WiFi and cellular networks as redundant communication methods. Because each data type has its own bandwidth, latency, and distance requirements, some target types may have only one redundant communication method, while others may have multiple. When multiple redundant communication methods are available, each is prioritized based on the communication quality and the data transmission characteristics that best match that type of data. The highest-priority communication method is prioritized to restore normal data transmission as quickly as possible. For example, for formation heartbeat messages, WiFi (if available) will be prioritized over cellular networks due to its sensitivity to latency, as it typically offers lower communication latency. Once the primary communication method is determined to be ineffective, the redundant communication methods are tested sequentially based on their pre-set priorities until a valid communication link is found. For example, in the redundant communication scheme of the formation heartbeat message, if the V2X communication fails, it will first check whether the WiFi communication is valid. If it is valid, WiFi will be used. If WiFi also fails, the cellular network communication will be further checked.

[0035] Step S203 , detecting whether the plurality of redundant communication modes are valid according to the priority from high to low until a valid redundant communication mode is detected, stopping the detection, determining the valid redundant communication mode as the target communication mode, and communicating with the following vehicle through the target communication mode.

[0036] Specifically, the priority order of the redundant communication methods previously determined is followed, starting with the communication method with the highest priority. In order of priority, the lead vehicle checks whether the redundant communication methods are valid one by one. The validity test usually includes multiple indicators such as signal strength, connectivity, data transmission rate and latency, with the aim of ensuring that the selected communication method can meet the requirements for the transmission of specific data types. If a redundant communication method is detected to be valid, it is considered that it can be used as the target communication method to restore data transmission. At this point, the system will stop checking subsequent redundant communication methods and directly use the communication method that has been verified to be valid. The lead vehicle re-establishes the communication link with the follower vehicle through the selected target communication method. The follower vehicle follows the lead vehicle's selection and uses the target communication method to continue data transmission, such as formation heartbeat messages, video data or RTK positioning data.

[0037] Through this embodiment, when receiving target type data sent by a following vehicle, it is detected whether the primary communication mode of the target type data is valid; if the primary communication mode is invalid, the redundant communication mode corresponding to the target type data is determined. If there are multiple redundant communication modes, the priority of each redundant communication mode is determined; the multiple redundant communication modes are detected in descending order of priority to see if they are valid until a valid redundant communication mode is detected, the detection is stopped, and the valid redundant communication mode is determined as the target communication mode, and communication is performed with the following vehicle via the target communication mode. Compared with the prior art, in which communication is no longer possible when the communication link of the data fails during the transmission of the data of the autonomous driving fleet, the present application detects whether the primary communication mode of the target type data is valid, and when the primary communication mode of the target type data is invalid, the valid redundant communication mode is used as the target communication mode to communicate with the following vehicle, thereby avoiding the problem of the leading vehicle and the following vehicle being unable to continue communicating. Therefore, it can solve the problem of the prior art that communication is no longer possible when the communication link of the autonomous driving fleet data fails, and achieve the effect of maintaining communication of the autonomous driving fleet.

[0038] In a specific implementation process, before detecting whether the primary communication mode of the target type data is valid, the method further includes step S204: when the target type data received from the following vehicle is connection status data, determining that the primary communication mode is a vehicle communication mode, wherein the connection status data is data indicating whether the communication between vehicles is connected, and the vehicle communication mode is a mode of communication between vehicles and traffic participants, wherein the traffic participants include at least vehicles and traffic facilities; step S205: when the target type data received from the following vehicle is video data, determining that the primary communication mode is a wireless local area network communication mode; and step S206: when the target type data received from the following vehicle is positioning data, determining that the primary communication mode is a mobile communication mode, wherein the positioning data is data indicating the location of the vehicle. Through the above steps, the leading vehicle can intelligently select the most appropriate primary communication mode based on the characteristics of different data types, thereby enhancing the communication system design of the autonomous truck platoon to achieve more efficient platoon operation.

[0039] Specifically, regarding connection status data, this is typically a platoon heartbeat message, which indicates the connection status between vehicles. This message contains critical information describing obstacles and the ego vehicle's motion, influencing vehicle decision-making, planning, and control behavior. It places high latency requirements and is crucial for maintaining a cohesive platoon. This data requires a bandwidth of 100-300 Kbps, a high latency of milliseconds, and a range of 200-500 meters. Therefore, V2X is used as the primary communication method. If the target data type is video data, typically video data sent by a following vehicle, video data has high bandwidth requirements and moderate latency requirements. Wireless LAN (Wi-Fi) communication offers more stable bandwidth support and relatively low latency than V2X, making it suitable for transmitting video streams from a following vehicle to a lead vehicle for environmental monitoring and obstacle identification. Therefore, Wi-Fi is selected as the primary communication method. When the target data type is RTK positioning data, the transmission latency requirements for positioning data are lower, but a certain degree of continuity may be required over long distances and in various environments. Mobile communication methods provide wider coverage and relatively stable connections, making them suitable for receiving RTK positioning data from base stations (differential correction data sources). This ensures that the fleet can obtain high-precision positioning information over a large area. Therefore, mobile communication methods (such as 4G / 5G cellular networks) are determined to be the primary communication method.

[0040] In other optional embodiments, step S201 can be implemented by the following steps: Step S2011: When the primary communication mode is the vehicle communication mode, detecting the reception time of the connection status data, and determining that the primary communication mode is invalid if the absolute value of the difference between at least two adjacent reception times is greater than a preset difference threshold; Step S2012: When the primary communication mode is the wireless local area network communication mode or the mobile communication mode, detecting the signal strength of the wireless local area network communication mode or the mobile communication mode, and determining that the primary communication mode is invalid if the signal strength is less than a preset strength threshold. The method determines whether the primary communication mode is valid and whether it can support continued communication of the target type of data through the above steps, thereby timely detecting communication failures and enhancing the robustness of the communication system.

[0041] In specific implementations, failure detection for V2X (vehicle-to-everything) communication utilizes a heartbeat / keep-alive mechanism. Following vehicles transmit time-stamped heartbeat packets to the lead vehicle at a fixed frequency. The lead vehicle determines whether the packet is valid based on the time of receipt. V2X communication is considered failed if any of the following conditions occurs: 1) Heartbeat packets are lost N1 times in a row, meaning the absolute value of the difference between the two reception times is infinite; or 2) The heartbeat packet delay exceeds a threshold T1 (the absolute value of the difference between the two reception times is greater than a preset difference threshold) for N2 consecutive times. Failure detection for wireless local area network (WiFi) or mobile communication (cellular) is performed based on signal strength. Specifically, WiFi communication is considered failed when the signal strength falls below a preset strength threshold S1 within a time period T2. Cellular network failure detection also utilizes signal strength. Cellular network communication is considered failed when the signal strength falls below a preset strength threshold S2 within a time period T3.

[0042] In other optional implementations, step S202 can be implemented by the following steps: step S2021: obtaining a one-to-one mapping relationship between the target type data and the redundant communication mode to obtain a first mapping relationship; step S2022: determining, through the first mapping relationship, that the redundant communication mode of the connection status data is the wireless local area network communication mode and the mobile communication mode; step S2023: determining, through the first mapping relationship, that the redundant communication mode of the video data is the mobile communication mode; step S2024: determining, through the first mapping relationship, that the redundant communication mode of the positioning data is the satellite communication mode. This method implements intelligent management of redundant communication modes through the mapping relationship between target type data and redundant communication modes, provides an alternative communication mode for the autonomous driving fleet, avoids communication disconnection of the intelligent driving fleet, and improves the stability of the fleet communication.

[0043] During implementation, the pilot vehicle system must predefine and store mappings between target data types (connection status data, video data, positioning data) and their respective potential redundant communication methods (wireless LAN communication, mobile communication, satellite communication). This mapping is carefully designed based on data characteristics and communication technology features to ensure rapid switching to the most suitable redundant communication method if the primary communication method becomes unavailable. Based on the first mapping established in the first step, redundant communication methods for connection status data are determined to include wireless LAN communication (such as Wi-Fi) and mobile communication (such as 4G / 5G cellular networks). This means that if V2X (vehicle-to-everything) communication fails, backup communication using Wi-Fi or cellular networks will be attempted to continue transmitting fleet member status information. For video data, the only redundant communication method is mobile communication. For positioning data, the redundant communication method is satellite communication (such as L-Band). Since differential correction data can only come from fixed stations (base stations), the L-Band satellite communication link is the only redundant communication link for RTK positioning data.

[0044] In some optional embodiments, step S202 can also be implemented by the following steps: step S2025: obtaining a one-to-one mapping relationship between the redundant communication modes and priorities of the connection status data to obtain a second mapping relationship; step S2026: determining, through the second mapping relationship, that the priority of the wireless local area network communication mode is level one and the priority of the mobile communication mode is level two, wherein the priority of level one is higher than the priority of level two. This method automatically switches the communication mode by mapping the connection status data with the priorities of its multiple redundant communication modes, effectively improving the adaptability and overall operational stability of the autonomous driving truck formation in the face of complex communication environments.

[0045] Specifically, the priority mapping relationship between the connection status data and its redundant communication modes (here, wireless LAN communication mode and mobile communication mode) is defined and stored in the pilot vehicle system. The priority of the wireless LAN communication mode is set to level 1 P1, and the priority of the mobile communication mode is set to level 2 P2. Since the formation heartbeat message contains key information describing obstacles and the movement of the vehicle, it affects the decision-making, planning and control behavior of the vehicle, and has a high requirement for communication delay. Therefore, when switching redundant communication links, WiFi with a relatively low theoretical delay is preferred. Specifically: 1) Set the WiFi communication priority to level 1 P1 and the cellular network communication priority to level 2 P2. 1) Establish and maintain a local WiFi network with the lead vehicle as the STA (referring to the "workstation" or "terminal device" in the wireless local area network) and the follower vehicle as the AP ("access point", which is the device in the wireless local area network used to connect wireless devices to the wired network); 2) If the V2X failure detection result is yes and the WiFi failure detection result is no, use WiFi to perform the task of transmitting the formation heartbeat message; 3) If the failure detection results of V2X and WiFi are both yes, and the failure detection result of the cellular network is no, use the cellular network to perform the task of transmitting the formation heartbeat message in a cloud-based transit manner; 4) If the failure detection results of V2X, WiFi, and cellular networks are all yes, trigger the vehicle to pull over and execute a minimum risk strategy.

[0046] In other optional embodiments, the method further includes step S207: when there is only one redundant communication mode, determining the redundant communication mode as the target communication mode, and communicating with the following vehicle via the target communication mode. When there is only one redundant communication mode, this method avoids a complex priority determination process, simplifies the communication switching logic, and improves the system's response speed and efficiency during the communication mode switching process.

[0047] Specifically, the system first checks whether there is only one redundant communication method for the target type data (such as positioning data). In the case of this application, the redundant communication method for positioning data is L-Band satellite communication, so when the cellular network is unavailable, L-Band satellite communication is considered to be the only optional redundant communication method. When it is confirmed that there is only one redundant communication method, the system directly determines this communication method as the target communication method without additional priority judgment. Taking positioning data as an example, L-Band satellite communication will be directly selected as the target communication method. Once the target communication method is determined, the system activates the method and starts to transmit data with the following vehicle through it. For example, when the cellular network communication between the lead vehicle and the following vehicle is interrupted due to geographical factors, the system will automatically switch to L-Band satellite communication and continue to transmit positioning data to ensure that the fleet can still maintain accurate positioning and platoon driving in remote areas or network blind spots.

[0048] In other optional embodiments, the method further includes step S208: communicating with the following vehicle via the primary communication mode if the primary communication mode is valid; and step S209: stopping driving if both the primary communication mode and the redundant communication mode are invalid. This method determines the communication status of the convoy by monitoring the communication mode and the redundant communication mode, further ensuring driving safety.

[0049] During implementation, if the primary communication method (e.g., V2X vehicle-to-vehicle communication) is confirmed to be valid, communication with the following vehicle will be conducted via this primary communication method. Heartbeat messages, vehicle status updates, and emergency obstacle avoidance instructions will all be prioritized over this communication link. V2X technology, with its low latency and high bandwidth, is ideal for maintaining real-time communication within a fleet. If the target data type is connection status data, if the failure detection results for V2X, WiFi, and cellular networks are all positive, a minimum risk strategy, such as pulling over, will be triggered. If the target data type is video data, if the failure detection results for WiFi and cellular networks are both positive, a notification will be sent to the lead vehicle's safety officer via the human-machine interface device indicating a temporary interruption in the following vehicle's video data. If the target data type is positioning data, if the failure detection result for the redundant communication method, L-Band satellite communication, is also positive, a minimum risk strategy, such as speed reduction, will be triggered. Relative positioning methods, such as visual positioning and LiDAR point cloud positioning, will be used to complete the vehicle's positioning task.

[0050] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the communication method for the autonomous driving fleet of the present application will be described in detail below with reference to specific embodiments.

[0051] This embodiment relates to a specific communication network structure diagram of an autonomous driving fleet, such as Figure 3 As shown, it includes a pilot vehicle and two follower vehicles. The communication satellite provides satellite communication mode (L-Band), the cellular network base station provides cellular network communication mode (Cellular), and also includes V2X and Wi-Fi communication modes.

[0052] This embodiment also relates to a one-to-one mapping relationship table between target data types and corresponding primary communication schemes and redundant communication schemes, as shown in Table 1:

[0053]

[0054] This embodiment relates to a specific communication method for an autonomous driving fleet, including the following steps:

[0055] Step S1: Transmission scheme for formation heartbeat messages: V2X is used as the primary communication link;

[0056] Step S2: When V2X communication fails due to obstruction, excessive distance, interference, or other reasons, V2X failure detection is performed, using the heartbeat / keepalive mechanism to detect V2X communication failure. Specifically, heartbeat message packets carrying timestamps are sent at a fixed frequency. V2X communication failure is determined when any of the following conditions occurs: 1) Heartbeat message packets are lost N1 times in a row; 2) The delay of heartbeat message packets exceeds the threshold T1 and persists for N2 consecutive times;

[0057] Step S3: Redundant communication link switching, 1) Set the WiFi communication priority to P1 and the cellular network communication priority to P2, establish and maintain a local WiFi network with the lead vehicle as the STA and the follower vehicle as the AP; 2) If the V2X failure detection result is yes and the WiFi failure detection result is no, use WiFi to perform the task of transmitting the formation heartbeat message; 3) If the failure detection results of both V2X and WiFi are yes, and the failure detection result of the cellular network is no, use the cellular network to perform the task of transmitting the formation heartbeat message in a cloud-based transfer manner; 4) If the failure detection results of V2X, WiFi, and cellular networks are all yes, trigger the vehicle to pull over and execute a minimum risk strategy such as parking.

[0058] Step S4: For the transmission scheme of the video data of the following vehicle: WiFi is used as the main communication link;

[0059] Step S5: When WiFi fails due to obstruction, excessive distance, interference, etc., WiFi failure detection is performed by evaluating the signal strength. Specifically, when the WiFi signal strength is lower than the threshold S1 within the past time period T2, WiFi communication is determined to be failed;

[0060] Step S6: Redundant communication link switching: 1) If the WiFi failure detection result is yes and the cellular network failure detection result is no, the cellular network is used to forward the following vehicle's video data to the pilot vehicle via the cloud; 2) If the WiFi and cellular network failure detection results are both yes, a prompt is sent to the pilot vehicle's safety officer through the pilot vehicle's human-computer interaction device that the following vehicle's video data is temporarily interrupted.

[0061] Step S7: Transmission scheme for RTK positioning data: using the cellular network as the primary communication link;

[0062] Step S8: When driving to an area not covered by a cellular network base station, cellular network failure detection is performed. Cellular network communication failure detection is performed by signal strength evaluation. Specifically, when the cellular network signal strength is lower than a threshold value S2 within a time period T3, the cellular network communication is determined to be failed.

[0063] Step S9: Redundant communication link switching. Since differential correction data can only come from fixed stations (reference stations), the L-Band satellite communication link is the only redundant communication link for RTK positioning data. When a cellular network failure occurs, if: 1) the failure detection result of the L-Band satellite communication is negative, RTK positioning data is received via L-Band satellite communication; 2) the failure detection result of the L-Band satellite communication is also positive, a minimum risk strategy such as speed reduction is triggered, and relative positioning methods such as visual positioning and lidar point cloud positioning are used to complete the vehicle positioning task.

[0064] The embodiments of the present application also provide a communication device for an autonomous driving fleet. It should be noted that the communication device for an autonomous driving fleet in the embodiments of the present application can be used to execute the communication method for an autonomous driving fleet provided in the embodiments of the present application. The device is used to implement the above-mentioned embodiments and preferred implementations, and those that have been explained will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceived.

[0065] The following introduces the communication device for the autonomous driving fleet provided in the embodiments of the present application.

[0066] Figure 4 Schematic diagram of a communication device for an autonomous driving fleet according to an embodiment of the present application. Figure 4 As shown, the autonomous driving fleet includes a pilot vehicle and a following vehicle. The communication device of the autonomous driving fleet is applied to the pilot vehicle, and the device includes:

[0067] The detection unit 10 is configured to detect whether the primary communication mode of the target type data is valid upon receiving the target type data sent by the following vehicle;

[0068] Specifically, an autonomous platoon typically consists of a pilot vehicle and one or more follower vehicles. As the name suggests, the pilot vehicle is the leading vehicle in the platoon, responsible for determining the platoon's route, speed, and formation strategy, and also serves as the central communication node within the platoon. Follower vehicles are autonomous trucks traveling behind the pilot vehicle, relying primarily on the pilot vehicle's guidance and information sharing to reduce the burden of independent perception and decision-making. In this embodiment, upon receiving different types of data from follower vehicles, the pilot vehicle can proactively detect and determine the validity of the primary communication method used for these data. "Target type data" refers to various critical information that needs to be exchanged in real time during platooning, such as formation heartbeat messages, video data, or RTK (Real-Time Kinematic) positioning data. These data correspond to different communication bandwidth, latency, and distance requirements, and the communication method most suitable for the target type of data is used as the primary communication method. For formation heartbeat messages, the primary communication method is V2X (Vehicle-to-Everything, V2X). For follow-up vehicle video data, the primary communication method is WiFi. For RTK positioning data, the primary communication method is cellular network communication. However, in remote mountainous areas with less developed networks, the stability of each communication method cannot be guaranteed. Therefore, this embodiment monitors the effectiveness of the primary communication method in real time. If it fails, it immediately switches to another communication method to ensure the safety of the convoy, thereby supporting unmanned operation of automated truck platooning in remote areas.

[0069] a first determining unit 20, configured to determine, when the primary communication mode is invalid, a redundant communication mode corresponding to the target type data, and, when there are multiple redundant communication modes, determine a priority of each redundant communication mode, wherein the priority indicates the order in which the redundant communication modes are adopted;

[0070] Specifically, when the lead vehicle detects that the primary communication method for a target type of data (such as V2X, WiFi, or cellular network) has become ineffective, it automatically matches a redundant communication method for that target type of data. For example, formation heartbeat messages can use both WiFi and cellular networks as redundant communication methods. Because each data type has its own bandwidth, latency, and distance requirements, some target types may have only one redundant communication method, while others may have multiple. When multiple redundant communication methods are available, each is prioritized based on the communication quality and the data transmission characteristics that best match that type of data. The highest-priority communication method is prioritized to restore normal data transmission as quickly as possible. For example, for formation heartbeat messages, WiFi (if available) will be prioritized over cellular networks due to its sensitivity to latency, as it typically offers lower communication latency. Once the primary communication method is determined to be ineffective, the redundant communication methods are tested sequentially based on their pre-set priorities until a valid communication link is found. For example, in the redundant communication scheme of the formation heartbeat message, if the V2X communication fails, it will first check whether the WiFi communication is valid. If it is valid, WiFi will be used. If WiFi also fails, the cellular network communication will be further checked.

[0071] The first communication unit 30 is configured to detect whether the plurality of redundant communication modes are valid according to the priority from high to low, and stop detecting until a valid redundant communication mode is detected, and determine the valid redundant communication mode as a target communication mode, and communicate with the following vehicle through the target communication mode.

[0072] Specifically, the priority order of the redundant communication methods previously determined is followed, starting with the communication method with the highest priority. In order of priority, the lead vehicle checks whether the redundant communication methods are valid one by one. The validity test usually includes multiple indicators such as signal strength, connectivity, data transmission rate and latency, with the aim of ensuring that the selected communication method can meet the requirements for the transmission of specific data types. If a redundant communication method is detected to be valid, it is considered that it can be used as the target communication method to restore data transmission. At this point, the system will stop checking subsequent redundant communication methods and directly use the communication method that has been verified to be valid. The lead vehicle re-establishes the communication link with the follower vehicle through the selected target communication method. The follower vehicle follows the lead vehicle's selection and uses the target communication method to continue data transmission, such as formation heartbeat messages, video data or RTK positioning data.

[0073] Through this embodiment, when receiving target type data sent by a following vehicle, it is detected whether the primary communication mode of the target type data is valid; if the primary communication mode is invalid, the redundant communication mode corresponding to the target type data is determined. If there are multiple redundant communication modes, the priority of each redundant communication mode is determined; the multiple redundant communication modes are detected in descending order of priority to see if they are valid until a valid redundant communication mode is detected, the detection is stopped, and the valid redundant communication mode is determined as the target communication mode, and communication is performed with the following vehicle via the target communication mode. Compared with the prior art, in which communication is no longer possible when the communication link of the data fails during the transmission of the data of the autonomous driving fleet, the present application detects whether the primary communication mode of the target type data is valid, and when the primary communication mode of the target type data is invalid, the valid redundant communication mode is used as the target communication mode to communicate with the following vehicle, thereby avoiding the problem of the leading vehicle and the following vehicle being unable to continue communicating. Therefore, it can solve the problem of the prior art that communication is no longer possible when the communication link of the autonomous driving fleet data fails, and achieve the effect of maintaining communication of the autonomous driving fleet.

[0074] In a specific implementation process, the device further includes a second determining unit, a third determining unit, and a fourth determining unit. The second determining unit is configured to, before detecting whether the primary communication mode of the target type data is valid, determine that the primary communication mode is a vehicle communication mode when the target type data received from the following vehicle is connection status data, wherein the connection status data is data indicating whether communication between vehicles is connected, and the vehicle communication mode is a mode of communication between a vehicle and traffic participants, wherein the traffic participants include at least vehicles and traffic facilities. The third determining unit is configured to determine that the primary communication mode is a wireless local area network communication mode when the target type data received from the following vehicle is video data. The fourth determining unit is configured to determine that the primary communication mode is a mobile communication mode when the target type data received from the following vehicle is positioning data, wherein the positioning data is data indicating the location of the vehicle. Through the above steps, the leading vehicle of the device can intelligently select the most appropriate primary communication mode based on the characteristics of different data types, thereby enhancing the communication system design of the autonomous truck platoon to achieve more efficient platoon operation.

[0075] Specifically, regarding connection status data, this is typically a platoon heartbeat message, which indicates the connection status between vehicles. This message contains critical information describing obstacles and the ego vehicle's motion, influencing vehicle decision-making, planning, and control behavior. It places high latency requirements and is crucial for maintaining a cohesive platoon. This data requires a bandwidth of 100-300 Kbps, a high latency of milliseconds, and a range of 200-500 meters. Therefore, V2X is used as the primary communication method. If the target data type is video data, typically video data sent by a following vehicle, video data has high bandwidth requirements and moderate latency requirements. Wireless LAN (Wi-Fi) communication offers more stable bandwidth support and relatively low latency than V2X, making it suitable for transmitting video streams from a following vehicle to a lead vehicle for environmental monitoring and obstacle identification. Therefore, Wi-Fi is selected as the primary communication method. When the target data type is RTK positioning data, the transmission latency requirements for positioning data are lower, but a certain degree of continuity may be required over long distances and in various environments. Mobile communication methods provide wider coverage and relatively stable connections, making them suitable for receiving RTK positioning data from base stations (differential correction data sources). This ensures that the fleet can obtain high-precision positioning information over a large area. Therefore, mobile communication methods (such as 4G / 5G cellular networks) are determined to be the primary communication method.

[0076] In other optional embodiments, the detection unit includes a first determination module and a second determination module. The first determination module is used to detect the reception time of the connection status data when the primary communication mode is the vehicle communication mode, and determine that the primary communication mode is invalid when the absolute value of the difference between at least two adjacent reception times is greater than a preset difference threshold. The second determination module is used to detect the signal strength of the wireless local area network communication mode or the mobile communication mode when the primary communication mode is the wireless local area network communication mode or the mobile communication mode, and determine that the primary communication mode is invalid when the signal strength is less than a preset strength threshold. The device determines whether the primary communication mode is valid and whether it can support the continued communication of the target type of data through the above steps. In this way, communication failures can be discovered in a timely manner and the robustness of the communication system can be enhanced.

[0077] In specific implementations, failure detection for V2X (vehicle-to-everything) communication utilizes a heartbeat / keep-alive mechanism. Following vehicles transmit time-stamped heartbeat packets to the lead vehicle at a fixed frequency. The lead vehicle determines whether the packet is valid based on the time of receipt. V2X communication is considered failed if any of the following conditions occurs: 1) Heartbeat packets are lost N1 times in a row, meaning the absolute value of the difference between the two reception times is infinite; or 2) The heartbeat packet delay exceeds a threshold T1 (the absolute value of the difference between the two reception times is greater than a preset difference threshold) for N2 consecutive times. Failure detection for wireless local area network (WiFi) or mobile communication (cellular) is performed based on signal strength. Specifically, WiFi communication is considered failed when the signal strength falls below a preset strength threshold S1 within a time period T2. Cellular network failure detection also utilizes signal strength. Cellular network communication is considered failed when the signal strength falls below a preset strength threshold S2 within a time period T3.

[0078] In other optional embodiments, the first determination unit includes a first acquisition module, a third determination module, a fourth determination module, and a fifth determination module. The first acquisition module is configured to obtain a one-to-one mapping relationship between the target type data and the redundant communication mode to obtain a first mapping relationship. The third determination module is configured to determine, based on the first mapping relationship, that the redundant communication mode for the connection status data is the wireless local area network communication mode and the mobile communication mode. The fourth determination module is configured to determine, based on the first mapping relationship, that the redundant communication mode for the video data is the mobile communication mode. The fifth determination module is configured to determine, based on the first mapping relationship, that the redundant communication mode for the positioning data is the satellite communication mode. This device implements intelligent management of redundant communication modes through the mapping relationship between target type data and redundant communication modes, providing an alternative communication mode for the autonomous driving fleet, avoiding communication disconnections for the intelligent driving fleet, and improving the stability of fleet communication.

[0079] During implementation, the pilot vehicle system must predefine and store mappings between target data types (connection status data, video data, positioning data) and their respective potential redundant communication methods (wireless LAN communication, mobile communication, satellite communication). This mapping is carefully designed based on data characteristics and communication technology features to ensure rapid switching to the most suitable redundant communication method if the primary communication method becomes unavailable. Based on the first mapping established in the first step, redundant communication methods for connection status data are determined to include wireless LAN communication (such as Wi-Fi) and mobile communication (such as 4G / 5G cellular networks). This means that if V2X (vehicle-to-everything) communication fails, backup communication using Wi-Fi or cellular networks will be attempted to continue transmitting fleet member status information. For video data, the only redundant communication method is mobile communication. For positioning data, the redundant communication method is satellite communication (such as L-Band). Since differential correction data can only come from fixed stations (base stations), the L-Band satellite communication link is the only redundant communication link for RTK positioning data.

[0080] In some optional embodiments, the first determination module further includes a second acquisition module and a sixth determination module. The second acquisition module is configured to obtain a one-to-one mapping relationship between the redundant communication modes and priorities of the connection status data to obtain a second mapping relationship. The sixth determination module is configured to determine, based on the second mapping relationship, that the wireless local area network communication mode has a priority of level one and the mobile communication mode has a priority of level two, wherein the level one priority is higher than the level two priority. This device automatically switches communication modes by mapping the connection status data to the priorities of its multiple redundant communication modes, effectively improving the adaptability and overall operational stability of the autonomous truck platoon in complex communication environments.

[0081] Specifically, the priority mapping relationship between the connection status data and its redundant communication modes (here, wireless LAN communication mode and mobile communication mode) is defined and stored in the pilot vehicle system. The priority of the wireless LAN communication mode is set to level 1 P1, and the priority of the mobile communication mode is set to level 2 P2. Since the formation heartbeat message contains key information describing obstacles and the movement of the vehicle, it affects the decision-making, planning and control behavior of the vehicle, and has a high requirement for communication delay. Therefore, when switching redundant communication links, WiFi with a relatively low theoretical delay is preferred. Specifically: 1) Set the WiFi communication priority to level 1 P1 and the cellular network communication priority to level 2 P2. 1) Establish and maintain a local WiFi network with the lead vehicle as the STA (referring to the "workstation" or "terminal device" in the wireless local area network) and the follower vehicle as the AP ("access point", which is the device in the wireless local area network used to connect wireless devices to the wired network); 2) If the V2X failure detection result is yes and the WiFi failure detection result is no, use WiFi to perform the task of transmitting the formation heartbeat message; 3) If the failure detection results of V2X and WiFi are both yes, and the failure detection result of the cellular network is no, use the cellular network to perform the task of transmitting the formation heartbeat message in a cloud-based transit manner; 4) If the failure detection results of V2X, WiFi, and cellular networks are all yes, trigger the vehicle to pull over and execute a minimum risk strategy.

[0082] In other optional embodiments, the device further includes a second communication unit configured to, when only one redundant communication mode is available, determine the redundant communication mode as the target communication mode and communicate with the following vehicle via the target communication mode. When only one redundant communication mode is available, this device avoids a complex priority determination process, simplifies communication switching logic, and improves the system's response speed and efficiency during communication mode switching.

[0083] Specifically, the system first checks whether there is only one redundant communication method for the target type data (such as positioning data). In the case of this application, the redundant communication method for positioning data is L-Band satellite communication, so when the cellular network is unavailable, L-Band satellite communication is considered to be the only optional redundant communication method. When it is confirmed that there is only one redundant communication method, the system directly determines this communication method as the target communication method without additional priority judgment. Taking positioning data as an example, L-Band satellite communication will be directly selected as the target communication method. Once the target communication method is determined, the system activates the method and starts to transmit data with the following vehicle through it. For example, when the cellular network communication between the lead vehicle and the following vehicle is interrupted due to geographical factors, the system will automatically switch to L-Band satellite communication and continue to transmit positioning data to ensure that the fleet can still maintain accurate positioning and platoon driving in remote areas or network blind spots.

[0084] In other optional embodiments, the device further includes a third communication unit and a stop unit. The third communication unit is configured to communicate with the following vehicle via the primary communication mode when the primary communication mode is valid, and the stop unit is configured to stop driving when both the primary communication mode and the redundant communication mode are invalid. This device determines the communication status of the convoy by monitoring the communication mode and the redundant communication mode, further ensuring driving safety.

[0085] During implementation, if the primary communication method (e.g., V2X vehicle-to-vehicle communication) is confirmed to be valid, communication with the following vehicle will be conducted via this primary communication method. Heartbeat messages, vehicle status updates, and emergency obstacle avoidance instructions will all be prioritized over this communication link. V2X technology, with its low latency and high bandwidth, is ideal for maintaining real-time communication within a fleet. If the target data type is connection status data, if the failure detection results for V2X, WiFi, and cellular networks are all positive, a minimum risk strategy, such as pulling over, will be triggered. If the target data type is video data, if the failure detection results for WiFi and cellular networks are both positive, a notification will be sent to the lead vehicle's safety officer via the human-machine interface device indicating a temporary interruption in the following vehicle's video data. If the target data type is positioning data, if the failure detection result for the redundant communication method, L-Band satellite communication, is also positive, a minimum risk strategy, such as speed reduction, will be triggered. Relative positioning methods, such as visual positioning and LiDAR point cloud positioning, will be used to complete the vehicle's positioning task.

[0086] The communication device for the autonomous driving fleet includes a processor and memory. The detection unit, first determination unit, and first communication unit are stored as program units in the memory. The processor executes the program units stored in the memory to implement the corresponding functions. All of the above modules are located in the same processor; alternatively, the above modules can be located in different processors in any combination.

[0087] The processor contains a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to ensure smooth communication between the fleet.

[0088] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0089] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is running, the device where the computer-readable storage medium is located is controlled to execute the communication method of the autonomous driving fleet.

[0090] Specifically, the communication methods for autonomous driving fleets include:

[0091] Step S201, upon receiving target type data sent by the following vehicle, detecting whether the primary communication mode of the target type data is valid;

[0092] Specifically, an autonomous platoon typically consists of a pilot vehicle and one or more follower vehicles. As the name suggests, the pilot vehicle is the leading vehicle in the platoon, responsible for determining the platoon's route, speed, and formation strategy, and also serves as the central communication node within the platoon. Follower vehicles are autonomous trucks traveling behind the pilot vehicle, relying primarily on the pilot vehicle's guidance and information sharing to reduce the burden of independent perception and decision-making. In this embodiment, upon receiving different types of data from follower vehicles, the pilot vehicle can proactively detect and determine the validity of the primary communication method used for these data. "Target type data" refers to various critical information that needs to be exchanged in real time during platooning, such as formation heartbeat messages, video data, or RTK (Real-Time Kinematic) positioning data. These data correspond to different communication bandwidth, latency, and distance requirements, and the communication method most suitable for the target type of data is used as the primary communication method. For formation heartbeat messages, the primary communication method is V2X (Vehicle-to-Everything, V2X). For follow-up vehicle video data, the primary communication method is WiFi. For RTK positioning data, the primary communication method is cellular network communication. However, in remote mountainous areas with less developed networks, the stability of each communication method cannot be guaranteed. Therefore, this embodiment monitors the effectiveness of the primary communication method in real time. If it fails, it immediately switches to another communication method to ensure the safety of the convoy, thereby supporting unmanned operation of automated truck platooning in remote areas.

[0093] Step S202: if the primary communication mode is invalid, determining a redundant communication mode corresponding to the target type data, and if there are multiple redundant communication modes, determining a priority of each redundant communication mode, wherein the priority indicates the order in which the redundant communication modes are adopted;

[0094] Specifically, when the lead vehicle detects that the primary communication method for a target type of data (such as V2X, WiFi, or cellular network) has become ineffective, it automatically matches a redundant communication method for that target type of data. For example, formation heartbeat messages can use both WiFi and cellular networks as redundant communication methods. Because each data type has its own bandwidth, latency, and distance requirements, some target types may have only one redundant communication method, while others may have multiple. When multiple redundant communication methods are available, each is prioritized based on the communication quality and the data transmission characteristics that best match that type of data. The highest-priority communication method is prioritized to restore normal data transmission as quickly as possible. For example, for formation heartbeat messages, WiFi (if available) will be prioritized over cellular networks due to its sensitivity to latency, as it typically offers lower communication latency. Once the primary communication method is determined to be ineffective, the redundant communication methods are tested sequentially based on their pre-set priorities until a valid communication link is found. For example, in the redundant communication scheme of the formation heartbeat message, if the V2X communication fails, it will first check whether the WiFi communication is valid. If it is valid, WiFi will be used. If WiFi also fails, the cellular network communication will be further checked.

[0095] Step S203 , detecting whether the plurality of redundant communication modes are valid according to the priority from high to low until a valid redundant communication mode is detected, stopping the detection, determining the valid redundant communication mode as the target communication mode, and communicating with the following vehicle through the target communication mode.

[0096] Specifically, the priority order of the redundant communication methods previously determined is followed, starting with the communication method with the highest priority. In order of priority, the lead vehicle checks whether the redundant communication methods are valid one by one. The validity test usually includes multiple indicators such as signal strength, connectivity, data transmission rate and latency, with the aim of ensuring that the selected communication method can meet the requirements for the transmission of specific data types. If a redundant communication method is detected to be valid, it is considered that it can be used as the target communication method to restore data transmission. At this point, the system will stop checking subsequent redundant communication methods and directly use the communication method that has been verified to be valid. The lead vehicle re-establishes the communication link with the follower vehicle through the selected target communication method. The follower vehicle follows the lead vehicle's selection and uses the target communication method to continue data transmission, such as formation heartbeat messages, video data or RTK positioning data.

[0097] An embodiment of the present invention provides an electronic device, including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are performed:

[0098] Step S201: upon receiving target type data sent by the following vehicle, detecting whether the primary communication mode of the target type data is valid;

[0099] Specifically, an autonomous platoon typically consists of a pilot vehicle and one or more follower vehicles. As the name suggests, the pilot vehicle is the leading vehicle in the platoon, responsible for determining the platoon's route, speed, and formation strategy, and also serves as the central communication node within the platoon. Follower vehicles are autonomous trucks traveling behind the pilot vehicle, relying primarily on the pilot vehicle's guidance and information sharing to reduce the burden of independent perception and decision-making. In this embodiment, upon receiving different types of data from follower vehicles, the pilot vehicle can proactively detect and determine the validity of the primary communication method used for these data. "Target type data" refers to various critical information that needs to be exchanged in real time during platooning, such as formation heartbeat messages, video data, or RTK (Real-Time Kinematic) positioning data. These data correspond to different communication bandwidth, latency, and distance requirements, and the communication method most suitable for the target type of data is used as the primary communication method. For formation heartbeat messages, the primary communication method is V2X (Vehicle-to-Everything, V2X). For follow-up vehicle video data, the primary communication method is WiFi. For RTK positioning data, the primary communication method is cellular network communication. However, in remote mountainous areas with less developed networks, the stability of each communication method cannot be guaranteed. Therefore, this embodiment monitors the effectiveness of the primary communication method in real time. If it fails, it immediately switches to another communication method to ensure the safety of the convoy, thereby supporting unmanned operation of automated truck platooning in remote areas.

[0100] Step S202: if the primary communication mode is invalid, determining a redundant communication mode corresponding to the target type data, and if there are multiple redundant communication modes, determining a priority of each redundant communication mode, wherein the priority indicates the order in which the redundant communication modes are adopted;

[0101] Specifically, when the lead vehicle detects that the primary communication method for a target type of data (such as V2X, WiFi, or cellular network) has become ineffective, it automatically matches a redundant communication method for that target type of data. For example, formation heartbeat messages can use both WiFi and cellular networks as redundant communication methods. Because each data type has its own bandwidth, latency, and distance requirements, some target types may have only one redundant communication method, while others may have multiple. When multiple redundant communication methods are available, each is prioritized based on the communication quality and the data transmission characteristics that best match that type of data. The highest-priority communication method is prioritized to restore normal data transmission as quickly as possible. For example, for formation heartbeat messages, WiFi (if available) will be prioritized over cellular networks due to its sensitivity to latency, as it typically offers lower communication latency. Once the primary communication method is determined to be ineffective, the redundant communication methods are tested sequentially based on their pre-set priorities until a valid communication link is found. For example, in the redundant communication scheme of the formation heartbeat message, if the V2X communication fails, it will first check whether the WiFi communication is valid. If it is valid, WiFi will be used. If WiFi also fails, the cellular network communication will be further checked.

[0102] Step S203 , detecting whether the plurality of redundant communication modes are valid according to the priority from high to low until a valid redundant communication mode is detected, stopping the detection, determining the valid redundant communication mode as the target communication mode, and communicating with the following vehicle through the target communication mode.

[0103] Specifically, the priority order of the redundant communication methods previously determined is followed, starting with the communication method with the highest priority. In order of priority, the lead vehicle checks whether the redundant communication methods are valid one by one. The validity test usually includes multiple indicators such as signal strength, connectivity, data transmission rate and latency, with the aim of ensuring that the selected communication method can meet the requirements for the transmission of specific data types. If a redundant communication method is detected to be valid, it is considered that it can be used as the target communication method to restore data transmission. At this point, the system will stop checking subsequent redundant communication methods and directly use the communication method that has been verified to be valid. The lead vehicle re-establishes the communication link with the follower vehicle through the selected target communication method. The follower vehicle follows the lead vehicle's selection and uses the target communication method to continue data transmission, such as formation heartbeat messages, video data or RTK positioning data.

[0104] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0105] The present application also provides a communication system for an autonomous driving fleet, including a lead vehicle and a follower vehicle, wherein the lead vehicle includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include a method for executing the communication method of the autonomous driving fleet:

[0106] Step S201, upon receiving target type data sent by the following vehicle, detecting whether the primary communication mode of the target type data is valid;

[0107] Specifically, an autonomous platoon typically consists of a pilot vehicle and one or more follower vehicles. As the name suggests, the pilot vehicle is the leading vehicle in the platoon, responsible for determining the platoon's route, speed, and formation strategy, and also serves as the central communication node within the platoon. Follower vehicles are autonomous trucks traveling behind the pilot vehicle, relying primarily on the pilot vehicle's guidance and information sharing to reduce the burden of independent perception and decision-making. In this embodiment, upon receiving different types of data from follower vehicles, the pilot vehicle can proactively detect and determine the validity of the primary communication method used for these data. "Target type data" refers to various critical information that needs to be exchanged in real time during platooning, such as formation heartbeat messages, video data, or RTK (Real-Time Kinematic) positioning data. These data correspond to different communication bandwidth, latency, and distance requirements, and the communication method most suitable for the target type of data is used as the primary communication method. For formation heartbeat messages, the primary communication method is V2X (Vehicle-to-Everything, V2X). For follow-up vehicle video data, the primary communication method is WiFi. For RTK positioning data, the primary communication method is cellular network communication. However, in remote mountainous areas with less developed networks, the stability of each communication method cannot be guaranteed. Therefore, this embodiment monitors the effectiveness of the primary communication method in real time. If it fails, it immediately switches to another communication method to ensure the safety of the convoy, thereby supporting unmanned operation of automated truck platooning in remote areas.

[0108] Step S202: if the primary communication mode is invalid, determining a redundant communication mode corresponding to the target type data, and if there are multiple redundant communication modes, determining a priority of each redundant communication mode, wherein the priority indicates the order in which the redundant communication modes are adopted;

[0109] Specifically, when the lead vehicle detects that the primary communication method for a target type of data (such as V2X, WiFi, or cellular network) has become ineffective, it automatically matches a redundant communication method for that target type of data. For example, formation heartbeat messages can use both WiFi and cellular networks as redundant communication methods. Because each data type has its own bandwidth, latency, and distance requirements, some target types may have only one redundant communication method, while others may have multiple. When multiple redundant communication methods are available, each is prioritized based on the communication quality and the data transmission characteristics that best match that type of data. The highest-priority communication method is prioritized to restore normal data transmission as quickly as possible. For example, for formation heartbeat messages, WiFi (if available) will be prioritized over cellular networks due to its sensitivity to latency, as it typically offers lower communication latency. Once the primary communication method is determined to be ineffective, the redundant communication methods are tested sequentially based on their pre-set priorities until a valid communication link is found. For example, in the redundant communication scheme of the formation heartbeat message, if the V2X communication fails, it will first check whether the WiFi communication is valid. If it is valid, WiFi will be used. If WiFi also fails, the cellular network communication will be further checked.

[0110] Step S203 , detecting whether the plurality of redundant communication modes are valid according to the priority from high to low until a valid redundant communication mode is detected, stopping the detection, determining the valid redundant communication mode as the target communication mode, and communicating with the following vehicle through the target communication mode.

[0111] Specifically, the priority order of the redundant communication methods previously determined is followed, starting with the communication method with the highest priority. In order of priority, the lead vehicle checks whether the redundant communication methods are valid one by one. The validity test usually includes multiple indicators such as signal strength, connectivity, data transmission rate and latency, with the aim of ensuring that the selected communication method can meet the requirements for the transmission of specific data types. If a redundant communication method is detected to be valid, it is considered that it can be used as the target communication method to restore data transmission. At this point, the system will stop checking subsequent redundant communication methods and directly use the communication method that has been verified to be valid. The lead vehicle re-establishes the communication link with the follower vehicle through the selected target communication method. The follower vehicle follows the lead vehicle's selection and uses the target communication method to continue data transmission, such as formation heartbeat messages, video data or RTK positioning data.

[0112] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0113] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0114] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0115] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0117] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0118] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0119] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0120] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0121] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0122] 1) In the communication method for an autonomous driving fleet of the present application, upon receiving target type data sent by a following vehicle, the method detects whether the primary communication mode of the target type data is valid; if the primary communication mode is invalid, the method determines the redundant communication mode corresponding to the target type data. If there are multiple redundant communication modes, the method determines the priority of each redundant communication mode; the method detects the validity of the multiple redundant communication modes in descending order of priority until a valid redundant communication mode is detected, stops detecting, and determines the valid redundant communication mode as the target communication mode, communicating with the following vehicle via the target communication mode. Compared to the prior art, in which communication is no longer possible when a communication link fails during data transmission of an autonomous driving fleet, the present application detects whether the primary communication mode of the target type data is valid. If the primary communication mode of the target type data is invalid, the method uses the valid redundant communication mode as the target communication mode to communicate with the following vehicle, thereby avoiding the problem of the lead vehicle and the following vehicle being unable to communicate. Therefore, the prior art problem of the inability to communicate when a communication link fails in the data of the autonomous driving fleet is solved, thereby achieving the effect of maintaining communication of the autonomous driving fleet.

[0123] 2) In the communication device of the autonomous driving fleet of the present application, when receiving target type data sent by the following vehicle, it detects whether the main communication mode of the target type data is valid; when the main communication mode is invalid, it determines the redundant communication mode corresponding to the target type data, and when there are multiple redundant communication modes, determines the priority of each redundant communication mode; it detects whether the multiple redundant communication modes are valid in descending order of priority until a valid redundant communication mode is detected, stops detecting, and determines the valid redundant communication mode as the target communication mode, and communicates with the following vehicle via the target communication mode. Compared with the prior art, in which the communication link of the data fails during the transmission of the autonomous driving fleet data, the present application detects whether the main communication mode of the target type data is valid, and when the main communication mode of the target type data is invalid, it uses the valid redundant communication mode as the target communication mode to communicate with the following vehicle, thereby avoiding the problem that the lead vehicle and the following vehicle cannot continue to communicate. Therefore, it can solve the problem in the prior art that the communication link of the autonomous driving fleet data fails and cannot continue to communicate, thereby achieving the effect of maintaining communication of the autonomous driving fleet.

[0124] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A communication method for an autonomous driving fleet, characterized in that: The autonomous driving convoy includes a pilot vehicle and a following vehicle. The communication method for the autonomous driving convoy is applied to the pilot vehicle, including: Upon receiving the target type data sent by the following vehicle, detecting whether the primary communication mode of the target type data is valid; If the primary communication mode is invalid, determining a redundant communication mode corresponding to the target type data, and if there are multiple redundant communication modes, determining a priority of each redundant communication mode, wherein the priority indicates the order in which the redundant communication modes are adopted; The plurality of redundant communication modes are detected from high to low according to the priority to determine whether they are valid, until a valid redundant communication mode is detected, the detection is stopped, and the valid redundant communication mode is determined as the target communication mode, and the target communication mode is used to communicate with the following vehicle.

2. The communication method for an autonomous driving fleet according to claim 1, characterized in that: Before detecting whether the primary communication mode of the target type data is valid, the method further includes: When the target type data received from the following vehicle is connection status data, determining that the primary communication mode is a vehicle communication mode, wherein the connection status data is data indicating whether communication between vehicles is connected, and the vehicle communication mode is a mode of communication between a vehicle and traffic participants, wherein the traffic participants include at least vehicles and traffic facilities; In a case where the target type data received from the following vehicle is video data, determining that the primary communication mode is a wireless local area network communication mode; In a case where the target type data received from the following vehicle is positioning data, the primary communication mode is determined to be a mobile communication mode, wherein the positioning data is data indicating the position of the vehicle.

3. The communication method for an autonomous driving fleet according to claim 2, characterized in that: Detecting whether the primary communication mode of the target type data is valid includes: When the primary communication mode is the vehicle communication mode, detecting a reception time of the connection status data, and determining that the primary communication mode is invalid when at least an absolute value of a difference between two adjacent reception times is greater than a preset difference threshold; When the primary communication mode is the wireless local area network communication mode or the mobile communication mode, the signal strength of the wireless local area network communication mode or the mobile communication mode is detected. When the signal strength is less than a preset strength threshold, it is determined that the primary communication mode is invalid.

4. The communication method for an autonomous driving fleet according to claim 2, wherein: Determining a redundant communication mode corresponding to the target type data includes: Acquire a one-to-one mapping relationship between the target type data and the redundant communication mode to obtain a first mapping relationship; Determining, through the first mapping relationship, that the redundant communication mode of the connection status data is the wireless local area network communication mode and the mobile communication mode; Determining, through the first mapping relationship, that the redundant communication mode of the video data is the mobile communication mode; The redundant communication mode of the positioning data is determined to be a satellite communication mode through the first mapping relationship.

5. The communication method for an autonomous driving fleet according to claim 4, characterized in that: In the case where there are multiple redundant communication modes, determining the priority of each redundant communication mode includes: Acquire a one-to-one mapping relationship between the redundant communication mode and the priority of the connection state data to obtain a second mapping relationship; The second mapping relationship determines that the priority of the wireless local area network communication mode is level one, and the priority of the mobile communication mode is level two, wherein the level one priority is higher than the level two priority.

6. The communication method for an autonomous driving fleet according to claim 1, characterized in that: The method further comprises: In a case where there is only one redundant communication mode, the redundant communication mode is determined as the target communication mode, and communication with the following vehicle is performed through the target communication mode.

7. The communication method for an autonomous driving fleet according to claim 1, characterized in that: The method further comprises: When the primary communication mode is valid, communicating with the following vehicle via the primary communication mode; When both the primary communication mode and the redundant communication mode are invalid, the vehicle stops traveling.

8. A communication device for an autonomous driving fleet, characterized in that: The autonomous driving convoy includes a pilot vehicle and a following vehicle. The communication method for the autonomous driving convoy is applied to the pilot vehicle, including: A detection unit is configured to detect whether the primary communication mode of the target type data is valid when receiving the target type data sent by the following vehicle; a first determining unit, configured to determine, when the primary communication mode is invalid, a redundant communication mode corresponding to the target type data, and, when there are multiple redundant communication modes, determine a priority of each redundant communication mode, wherein the priority indicates an order in which the redundant communication modes are adopted; The first communication unit is configured to detect whether the plurality of redundant communication modes are valid according to the priority from high to low until a valid redundant communication mode is detected, stop detecting, determine the valid redundant communication mode as a target communication mode, and communicate with the following vehicle through the target communication mode.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the communication method for an autonomous driving fleet according to any one of claims 1 to 7.

10. A communication system for an autonomous driving fleet, characterized in that: include: Lead vehicle and follower vehicle; The pilot vehicle includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing the communication method of the autonomous driving fleet described in any one of claims 1 to 7.

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