Internet of vehicles communication method, related device, storage medium and computer program product

Abstract

The invention discloses an Internet of Vehicles communication method, related equipment, a storage medium and a computer program product, and the method comprises the steps that a first edge server receives first information sent by at least one second edge server; the first information is sent to the target vehicle; the first information comprises information related to a vehicle and / or roadside equipment in a grid corresponding to a second edge server, and the grid corresponding to the second edge server is different from the grid corresponding to the first edge server; the target vehicle is located in a grid corresponding to the first edge server.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a vehicle-to-everything (V2X) communication method, related equipment, storage medium, and computer program product. Background Technology

[0002] Currently, for city-level vehicle-to-everything (V2X) networks with large-scale coverage, the Uu interface technology is more suitable. However, the Uu interface technology has multi-level routing jumps, requires communication methods for precise geographical ranges, and has the problem of ineffective coordination of vehicle-to-everything (V2X) messages across geographical ranges and server levels. Summary of the Invention

[0003] To address the related technical issues, embodiments of this application provide a vehicle-to-everything (V2X) communication method, related equipment, storage medium, and computer program product.

[0004] The technical solution of this application embodiment is implemented as follows:

[0005] This application provides a vehicle-to-everything (V2X) communication method applied to a first edge server, the method comprising:

[0006] Receive first information sent by at least one second edge server, the first information including information related to vehicles and / or roadside equipment in the grid corresponding to the second edge server, the grid corresponding to the second edge server being different from the grid corresponding to the first edge server;

[0007] Send first information to the target vehicle, which is located within the grid corresponding to the first edge server.

[0008] In the above scheme, sending the first information to the target vehicle includes:

[0009] Based on the first message set, the first information is sent to the target vehicle. The first message set represents the vehicle-to-everything (V2X) message set of the Uu interface.

[0010] In the above scheme, receiving the first information sent by at least one second edge server includes:

[0011] Based on the second message set, the first information sent by the at least one second edge server is received, and the second message set is used for message forwarding between different edge servers.

[0012] The method in the above scheme further includes:

[0013] Receive information reported by roadside devices within the grid corresponding to the first edge server;

[0014] Send a second message to the target vehicle. The second message includes at least the information reported by the roadside device in the grid corresponding to the first edge server and / or the processed information reported by the roadside device.

[0015] The method in the above scheme further includes:

[0016] Based on the third, fourth, and fifth information, a broadcast schedule for the target vehicle is generated.

[0017] Based on the broadcast schedule, some or all of the information contained in the broadcast schedule is sent to the target vehicle; wherein...

[0018] The third information includes information related to roadside equipment within the grid corresponding to the first edge server; the fourth information includes information related to all vehicles within all grids adjacent to the grid corresponding to the first edge server; the fifth information includes first information sent by the second edge server based on a forwarding policy table; the forwarding policy table is issued by the cloud server and is used to instruct at least one second edge server to send the first information to the target vehicle within the grid corresponding to the first edge server.

[0019] In the above scheme, the mesh corresponding to the first edge server is adjacent to the mesh corresponding to at least one second edge server, or...

[0020] The mesh corresponding to the first edge server is adjacent to the mesh corresponding to the second edge server, and the remaining mesh corresponding to the second edge server is determined based on the road direction.

[0021] This application also provides a vehicle-to-everything (V2X) communication method applied to a second edge server, the method comprising:

[0022] Send first information to the first edge server. The first information includes information related to vehicles and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0023] In the above scheme, sending the first information to the first edge server includes:

[0024] The system receives a forwarding policy table sent by a cloud server. The forwarding policy table is used to instruct at least one second edge server to send first information to the target vehicle in the grid corresponding to the first edge server.

[0025] Based on the forwarding policy table, the first information is sent to the first edge server.

[0026] In the above scheme, before sending the first information to the first edge server, the method further includes:

[0027] Based on the third message set, information reported by roadside devices within the grid corresponding to the second edge server is received. The third message set is used by the edge server to manage and / or obtain data from the roadside devices.

[0028] In the above scheme, sending the first information to the first edge server includes:

[0029] Based on the second message set, the first information is sent to the first edge server, and the second message set is used for message forwarding between the different edge servers.

[0030] This application also provides a vehicle-to-everything (V2X) communication method applied to a cloud server, the method comprising:

[0031] A forwarding policy table is sent to at least one second edge server. The forwarding policy table is used to instruct the at least one second edge server to send first information to a target vehicle in the grid corresponding to the first edge server. The first information includes information related to the vehicle and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0032] The method in the above scheme further includes:

[0033] A first grid and a second grid are determined based on the target vehicle's driving information. The first grid represents the grid where the target vehicle is currently located, and the second grid represents the grid to which the target vehicle is predicted to arrive at a set driving time.

[0034] Based on the first grid and the second grid, and the correspondence between the grid and the edge server, the forwarding policy table is determined.

[0035] In the above scheme, sending the forwarding policy table to at least one second edge server includes:

[0036] Based on the fourth message set, a forwarding policy table is sent to the at least one second edge server. The fourth message set is used to manage the edge server and distribute the forwarding policy table.

[0037] The method in the above scheme further includes:

[0038] Based on the defined latitude and longitude range and spatial adjacency model, the roads within the coverage area of ​​the network device corresponding to each edge server are divided into a grid.

[0039] The method in the above scheme further includes:

[0040] Based on the fifth message set, the sixth message sent by the vehicle is received; among which,

[0041] The sixth piece of information is used for vehicle registration and / or authentication, and the fifth message set is used for registration, authentication, and configuration distribution.

[0042] The method in the above scheme further includes:

[0043] Based on the target vehicle's driving information, determine the identifier of the grid where the target vehicle is currently located;

[0044] Based on the identifier of the grid where the target vehicle is currently located, the access information of the first edge server is determined;

[0045] The access information is sent to the target vehicle, and the access information is used for the target vehicle to establish a connection with the first edge server.

[0046] In the above scheme, sending access information to the target vehicle includes:

[0047] Based on the fifth message set, access information is sent to the target vehicle; the fifth message set is used for registration, authentication, and configuration distribution.

[0048] This application also provides a vehicle-to-everything (V2X) communication method applied to a target vehicle, the method comprising:

[0049] The system receives first information sent by a first edge server. The first information includes information related to vehicles and / or roadside equipment within the grid corresponding to a second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server. The target vehicle is located within the grid corresponding to the first edge server.

[0050] The method in the above scheme further includes:

[0051] The system receives second information sent by the first edge server, the second information including at least information reported by roadside devices within the grid corresponding to the first edge server and / or information after processing the information reported by the roadside devices.

[0052] The method in the above scheme further includes:

[0053] The driving information of the target vehicle is sent to the cloud server. The driving information is used to determine a first grid and a second grid. The first grid represents the grid where the target vehicle is currently located, and the second grid represents the grid to which the target vehicle is predicted to arrive at a set driving time.

[0054] This application also provides an electronic device, including a processor and a memory for storing a computer program capable of running on the processor.

[0055] When the processor runs the computer program, it executes the steps of any of the methods described above on the first edge server side, or the steps of any of the methods described above on the second edge server side, or the steps of any of the methods described above on the cloud server side, or the steps of any of the methods described above on the target vehicle side.

[0056] This application embodiment also provides a storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of any of the methods described above for the first edge server side, or the steps of any of the methods described above for the second edge server side, or the steps of any of the methods described above for the cloud server side, or the steps of any of the methods described above for the target vehicle side.

[0057] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above methods.

[0058] In the vehicle-to-everything (V2X) communication method, related equipment, storage medium, and computer program products provided in this application embodiment, a cloud server sends a forwarding policy table to at least one second edge server; the second edge server sends first information to a first edge server; the first edge server receives the first information sent by at least one second edge server and sends the first information to a target vehicle; the target vehicle receives the first information sent by the first edge server; wherein, the first information includes information related to vehicles and / or roadside equipment within the grid corresponding to the second edge server, and the grid corresponding to the second edge server is different from the grid corresponding to the first edge server; the target vehicle is located within the grid corresponding to the first edge server; the forwarding policy table is used to instruct the at least one second edge server to send the first information to the target vehicle within the grid corresponding to the first edge server. This solution, by dividing the grid and implementing cross-grid or cross-edge server communication through a forwarding policy table, achieves low-latency V2X services for precise geographical areas, ensuring the continuity of services across geographical areas. Attached Figure Description

[0059] Figure 1 This is an example diagram of a vehicle-to-everything (V2X) communication system architecture according to an embodiment of this application;

[0060] Figure 2 This is a schematic flowchart of a vehicle-to-everything (V2X) communication method according to an embodiment of this application;

[0061] Figure 3 This is a schematic flowchart of a vehicle-to-everything (V2X) communication method according to an embodiment of this application;

[0062] Figure 4 This is a schematic flowchart of a vehicle-to-everything (V2X) communication method according to an embodiment of this application;

[0063] Figure 5 This is an example diagram of a "one" type spatial adjacency model according to an embodiment of this application;

[0064] Figure 6 This is an example diagram of a "+" shaped spatial adjacency model according to an embodiment of this application;

[0065] Figure 7 This is an example diagram of a "meter"-shaped spatial adjacency model according to an embodiment of this application;

[0066] Figure 8 This is a schematic flowchart of a vehicle-to-everything (V2X) communication method according to an application embodiment of this application;

[0067] Figure 9 This is a schematic diagram of the structure of a vehicle-to-everything (V2X) communication device according to an embodiment of this application;

[0068] Figure 10 This is a schematic diagram of the structure of a vehicle-to-everything (V2X) communication device according to an embodiment of this application;

[0069] Figure 11 This is a schematic diagram of the structure of a vehicle-to-everything (V2X) communication device according to an embodiment of this application;

[0070] Figure 12 This is a schematic diagram of the structure of a vehicle-to-everything (V2X) communication device according to an embodiment of this application;

[0071] Figure 13 This is a schematic diagram of the first edge server structure according to an embodiment of this application;

[0072] Figure 14 This is a schematic diagram of the second edge server structure according to an embodiment of this application;

[0073] Figure 15 This is a schematic diagram of the cloud server structure according to an embodiment of this application;

[0074] Figure 16 This is a schematic diagram of the target vehicle structure in an embodiment of this application. Detailed Implementation

[0075] Currently, there are two major schools of thought on vehicle-to-everything (V2X) technology: one is the Dedicated Short Range Communication (DSRC) technology chosen by the United States, and the other is Cellular Vehicle-to-Everything (C-V2X) technology promoted in my country, which is based on cellular technology. C-V2X is a V2X technology with a clear evolution path towards 5G (5th Generation Mobile Communication Technology), encompassing LTE-V2X, eLTE-V2X, and the backward evolution 5G NR-V2X.

[0076] The V2X communication system includes On-Board Unit (OBU) and Roadside Unit (RSU) devices, as well as two key communication interfaces: the Proximity Communication (PC5) direct communication interface and the User to Network (Uu) cellular communication interface. The RSU primarily broadcasts traffic conditions, traffic lights, and pedestrian information within its roadside coverage area, provides time and location synchronization, and has mobile network access capabilities, allowing connection to vehicle network management platforms or cloud platforms. The PC5 interface refers to the direct communication interface between OBUs and between OBUs and RSUs, enabling direct communication between vehicles and other devices without the aid of a mobile network. The Uu interface is the interface between the OBU or RSU and the base station, enabling communication with the mobile network. Specifically, the PC5 and Uu interfaces have the following characteristics:

[0077] The PC5 interface enables direct communication, allowing vehicles to communicate directly with other vehicles (V2V), roadside units (V2I), or pedestrian devices (V2P) without the need for base station relay, thus reducing communication latency. However, the communication range is limited, typically less than 200 meters in urban scenarios with good communication quality. Furthermore, multiple devices using the same frequency band simultaneously may cause signal interference, especially in high-density traffic environments.

[0078] The Uu interface communicates via base stations, meaning that base stations in the cellular network can provide extensive communication coverage, enabling vehicles to maintain a stable connection over a wide area. It can also provide high data transmission rates through the high bandwidth of the cellular network, making it suitable for large data transmission needs, such as high-definition video streaming or software updates. However, compared to the PC5 interface, the signal coverage of the Uu interface depends on the base station construction, and because it needs to forward data through the base station, it will have relatively high end-to-end latency.

[0079] In practical deployments, V2X systems typically combine the PC5 and Uu interfaces to leverage their respective advantages and compensate for their shortcomings, thereby providing a more reliable, efficient, and comprehensive communication solution. For example, emergency security information is transmitted directly and quickly via the PC5 interface, while entertainment services and background updates are handled through the Uu interface.

[0080] Among related technologies, the Uu interface is more suitable for city-level vehicle-to-everything (V2X) networks requiring large-scale coverage because it eliminates the need for additional RSU equipment and network optimization on existing base stations can further reduce communication latency. However, Uu interface communication requires forwarding through base stations, potentially involving multiple routing hops. While a multi-level service architecture can be used to optimize this by placing vehicle communication on edge servers to reduce network routing and latency, the current lack of a precise geographical communication method makes it difficult to effectively coordinate messages across geographical areas and server levels, resulting in inaccurate V2X message broadcasting and service discontinuity. For example, safety warning scenarios in V2X (such as forward collision warning, emergency braking warning, and red light violation warning), as well as scenarios for advanced autonomous driving (such as cooperative lane changing, cooperative vehicle merging, cooperative intersection passage, and safe passage for vulnerable road users), all require providing vehicles or road users with accurate and low-latency broadcast messages. The service latency requirement is 10-50ms, and the geographical coverage area generally needs to be 1-300m. If the latency requirement is not met, road users will be in a more dangerous state due to receiving non-real-time information. If the coverage accuracy is not met, road users will receive a large amount of useless information, thereby increasing network and computing overhead and reducing the overall efficiency of the service.

[0081] Based on this, in various embodiments of this application, the cloud server sends a forwarding policy table to at least one second edge server; the second edge server sends first information to the first edge server; the first edge server receives the first information sent by at least one second edge server and sends the first information to the target vehicle; the target vehicle receives the first information sent by the first edge server; wherein, the first information includes information related to vehicles and / or roadside equipment within the grid corresponding to the second edge server, and the grid corresponding to the second edge server is different from the grid corresponding to the first edge server; the target vehicle is located within the grid corresponding to the first edge server; the forwarding policy table is used to instruct the at least one second edge server to send the first information to the target vehicle within the grid corresponding to the first edge server. The above scheme, by dividing the grid and realizing cross-grid or cross-edge server communication through the forwarding policy table, achieves low-latency V2X services for precise geographical ranges, ensuring the continuity of services across geographical ranges.

[0082] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0083] First, to better illustrate the vehicle-to-everything (V2X) communication method provided in the embodiments of this application, the following is given: Figure 1 This application provides an example of a vehicle-road cooperative system architecture based on grid partitioning for vehicle-to-everything (V2X) communication in a scenario where mobile communication networks and V2X are integrated. Grid partitioning involves dividing the roads within the coverage area of ​​a base station. Figure 1 The system architecture shown mainly includes the vehicle side, edge server side, and cloud server side.

[0084] The vehicle-side primarily refers to intelligent vehicles (also known as vehicular vehicles, meaning they are interchangeable) that possess communication network access and V2X access capabilities. A vehicle can receive first information from a first edge server to obtain information related to vehicles and / or roadside equipment within its adjacent grid, and / or information related to vehicles and / or roadside equipment within a grid the vehicle may reach after a period of time, thereby enabling timely responses, such as generating alerts or taking coordinated actions. The vehicle can also receive second information from the first edge server to obtain relevant information about roadside equipment within its grid. The target vehicle can be any vehicle in the vehicle-to-everything (V2X) network.

[0085] It should be noted that when a vehicle connects to the Internet of Vehicles, it needs to interact with the cloud server to complete vehicle registration and / or authentication, and establish a connection with the cloud server. Specifically, vehicle registration and / or authentication can be completed by sending sixth information to the cloud server; the connection between the cloud server and the cloud server can be established by sending driving information to the cloud server, so that the cloud server can find the main edge server of the grid where the vehicle is located, and can predict the grid that the vehicle will arrive at after a period of time, and generate a forwarding policy table.

[0086] Edge servers primarily refer to Centralized Radio Access Network (C-RAN) level edge servers or C-RAN level downlink servers. Located on the base station node side, they possess roadside equipment connectivity and computing power reserves, enabling them to handle services with relatively high latency requirements (such as latency-sensitive traffic incidents and collaborative driving). An edge server can be understood as the main edge server of a grid, handling various services within its corresponding grid. It is also responsible for accessing roadside equipment, performing perception calculations for traffic signals, signs, and participants, and forwarding messages from other edge servers based on a forwarding policy table. Message reception and transmission with vehicles are accomplished via the Uu interface. Edge servers include first edge servers and second edge servers. The first edge server can be understood as the main edge server of the grid where the target vehicle resides (e.g., the first edge server is the main edge server of the grid where the target vehicle is located). Figure 1In this context, the grid where the target vehicle is located is grid 1, and the main edge server of grid 1 is the first edge server. The second edge server can be understood as each grid adjacent to the grid where the target vehicle is located, and / or the grid that the target vehicle arrives at after a certain period of time (e.g., ...). Figure 1 In the grid 2, grid 2 is both the grid adjacent to the grid where the target vehicle is located and the grid where the target vehicle will arrive after a period of time; the second edge server can send first information to the first edge server, and the first edge server can receive the first information sent by at least one second edge server and send the first information to the target vehicle, so that the target vehicle can obtain information related to nearby vehicles and / or roadside equipment, and / or obtain information related to nearby vehicles and / or roadside equipment after a period of time, so as to respond in a timely manner.

[0087] Cloud servers primarily refer to V2X regional cloud servers, deployed under the User Plane Function (UPF) at the prefecture-level city level. They are responsible for handling V2X-related services within the prefecture-level city, providing basic services such as vehicle registration, authentication, and time synchronization, establishing connections with vehicles, managing and configuring the corresponding main edge servers in each grid, handling services with relatively low latency requirements, and connecting to networks (such as with Access and Mobility Management Function (AMF), Session Management Function (SMF), and Policy Control Function (PCF), as well as connecting to third-party services or higher-level cross-regional services. A cloud server can send a forwarding policy table to at least one second edge server to instruct the second edge server to forward first information to the vehicle through the first edge server. The forwarding policy table can be determined based on the vehicle's driving information.

[0088] This application provides a vehicle-to-everything (V2X) communication method applied to a first edge server, which can also be called a sinking server or a Centralized Radio Access Network (C-RAN) level sinking server. The User Plane Function (UPF), deployed near the base station or in the access room, can manage and configure the edge server. Simultaneously, deploying the UPF near the base station or in the access room can also reduce network latency to a certain extent. The first edge server is deployed on the base station side, co-located with the base station, supports roadside equipment connectivity, and has computing power reserves. It can directly process various services of the current grid; for example, receiving RE data and completing perception calculations for traffic signals, signs, and participants; for example, receiving and sending messages with vehicles through the Uu interface; for example, forwarding messages or information from other sinking servers according to the forwarding policy table; in addition, the first edge server can also handle services with high latency requirements (such as latency-sensitive dangerous traffic events and cooperative driving). Figure 2 As shown, the method includes:

[0089] Step 201: Receive first information sent by at least one second edge server.

[0090] The first information includes information related to vehicles and / or roadside equipment within the grid corresponding to the second edge server, and the grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0091] Here, the second edge server can be an edge server in a grid adjacent to the grid where the first edge server is located, or it can be an edge server in a grid that the target vehicle arrives at after a certain period of time. The grid can be understood as a Uu grid, road grid, or intersection grid. A Uu grid is obtained by the cloud server dividing the roads within the coverage area of ​​the base station. Specifically, it can be divided according to a set geographical range, or it can be divided with a distance as the radius centered on an intersection or traffic light location. The first edge server receives information related to vehicles and / or roadside equipment in other grids; that is, the first edge server can accurately receive information related to vehicles and / or roadside equipment within other geographical ranges, thereby enabling a low-latency communication method for precise geographical ranges.

[0092] It should be noted that at least one edge server must be deployed within a grid. An edge server can be pre-configured for each grid, or an edge server can be automatically and randomly selected within a grid as the grid's sole access edge server. This edge server can be understood as the grid's primary edge server, maintaining a primary / backup relationship with other edge servers within the grid. In other words, the grid's edge server can be considered the grid's primary edge server. An edge server can connect to multiple base stations; that is, all base stations within a grid can connect to the grid's primary edge server, or vehicle data acquired by all base stations within a grid can be aggregated to the grid's primary edge server. In other words, vehicle data acquired by all base stations within a grid can access the same edge server via Internet Protocol (IP). The geographical area covered by the base station signal contains several roads and several grids. Edge servers can be co-located with a baseband unit (BBU), or they can be in the form of a board or a standalone host.

[0093] Vehicles can also be understood as any mobile device within the grid capable of communicating with the second edge server, such as on-board units (OBUs), smartphones, or other portable electronic devices deployed on vehicles. Roadside devices can be understood as intelligent devices deployed on the roadside within the grid, such as traffic lights, cameras, and sensors (e.g., radar). Vehicles can connect to the base station corresponding to the grid, enabling them to receive and send messages from the grid where the vehicle is located. Roadside devices connect to the edge server via direct connections (such as wired or passive optical networks (PON)).

[0094] Vehicle-related information may include vehicle status information and / or vehicle-collected perception data and / or V2X data; specifically, it may include one or more of the following: vehicle location information, driving direction, speed, acceleration, distance to neighboring vehicles, front-end position, in-vehicle signage information, basic safety information (BSM), vehicle intention and request (VIR), etc. Roadside equipment-related information may include roadside perception data and / or V2X data and / or data processed by the Roadside Computing Unit (RSCU); wherein, the V2X data of the roadside equipment may include Road Side Information (RSI) and / or Signal Phase and Timing Message (SPAT), and the data processed by the RSCU represents the data after processing the perception data of the roadside equipment.

[0095] To enable communication between edge servers and achieve low-latency vehicle-to-everything (V2X) messaging, in one embodiment, receiving first information sent by at least one second edge server includes:

[0096] Based on the second message set, the first information sent by the at least one second edge server is received, and the second message set is used for message forwarding between different edge servers.

[0097] Here, the second message set includes the definitions or format definitions of messages, information, or data transmitted between edge servers. Edge servers can perform message forwarding across Uu or across edge servers based on the forwarding policy table issued by the cloud server and the message format defined in the second message set.

[0098] Step 202: Send the first message to the target vehicle.

[0099] The target vehicle is located within the grid corresponding to the first edge server.

[0100] Here, the first edge server forwards the first information sent by the second edge server, which can realize information transmission across grids, geographical ranges, or edge servers, so that the target vehicle can generate events based on the first information and its own status and needs, which can be used to remind the target vehicle or complete collaborative actions; the first information belongs to V2X information.

[0101] It should be noted that the grid where the first edge server is located is the same grid as the grid where the target vehicle is located.

[0102] To enable the edge server to send V2X information to the vehicle and achieve low-latency vehicle-to-everything (V2X) messaging, in one embodiment, sending the first information to the target vehicle includes:

[0103] Based on the first message set, first information is sent to the target vehicle, where the first message set represents the V2X message set of the Uu interface.

[0104] Here, the first message set may include definitions or format definitions of various types of V2X messages, information, or data transmitted between the edge server and the vehicle. V2X messages include basic V2X messages and new extended messages, such as vehicle BSM, Roadside Safety Message (RSM), Map Message (MAP), SPAT, Roadside Traffic Event and Traffic Sign Messages (such as RSI), and other custom messages. The standards for message definitions in the first message set can refer to V2X communication standards in related technologies, following a nested logic of message frame-message body-data frame-data element.

[0105] The messages defined in the first message set can be sent using the Transmission Control Protocol (TCP) and User Datagram Protocol (UDP) transport protocols. The sending method can be unicast, multicast, or groupcast, without specific limitations here.

[0106] It should be noted that sending information based on a message set can be understood as sending information to the information receiving end using the format of the information to be sent as defined in the message set. For example, sending the first message to the target vehicle based on the first message set can be understood as sending the first message to the target vehicle using the format of vehicle and / or roadside equipment related information defined in the first message set.

[0107] To enable vehicles to obtain roadside equipment data within a precise geographical range, in one embodiment, the method further includes:

[0108] Receive information reported by roadside devices within the grid corresponding to the first edge server;

[0109] Send a second message to the target vehicle. The second message includes at least the information reported by the roadside device in the grid corresponding to the first edge server and / or the processed information reported by the roadside device.

[0110] Here, information reported by roadside devices within the grid corresponding to the first edge server can be received based on a third message set; second information can be sent to the target vehicle based on the first message set. The third message set may include definitions or format definitions of messages, information, or data transmitted between the edge server and the roadside devices. These messages, information, or data include information reported by the roadside devices and configuration messages from the edge server. When the first edge server receives information reported by roadside devices within its corresponding grid based on the third message set, it can calculate the reported information or sensing data using a set algorithm to obtain processed information, which can also be understood as the sensing result. The processed information is then sent to the target vehicle based on the first message set; and / or, based on the first message set, the received information or sensing data reported by the roadside devices is directly sent to the target vehicle. Information reported by the roadside devices includes traffic signals, signs, and participant status. Information reported by a roadside device, or information processed from information reported by a roadside device, can be denoted as RErst.

[0111] The second information may also include the grid identifier and / or the roadside device identifier; the second information may be denoted as listREs. For example, the second information is listREs(area_id_m) = {{RE_id_1, RErst_1}, {RE_id_2, RErst_2}, ..., {RE_id_n, RErst_n}}, where area_id_m is the identifier of the grid corresponding to the first edge server, RE_id_1, RE_id_2, and RE_id_n are the identifiers of the roadside devices, and RErst_1, RErst_2, and RE_id_n are the information reported by the roadside devices RE_id_1, RE_id_2, and RE_id_n, respectively, or the information after processing the information reported by RE_id_1, RE_id_2, and RE_id_n.

[0112] In order to achieve precise geographic coverage for V2X information forwarding, in one embodiment, the method further includes:

[0113] Based on the third, fourth, and fifth information, a broadcast schedule for the target vehicle is generated.

[0114] Based on the broadcast schedule, some or all of the information contained in the broadcast schedule is sent to the target vehicle; wherein...

[0115] The third information includes information related to roadside equipment within the grid corresponding to the first edge server; the fourth information includes information related to all vehicles within all grids adjacent to the grid corresponding to the first edge server; the fifth information includes first information sent by the second edge server based on a forwarding policy table; the forwarding policy table is issued by the cloud server and is used to instruct at least one second edge server to send the first information to the target vehicle within the grid corresponding to the first edge server.

[0116] Here, the third information can be understood as the second information mentioned above. Sending the third information contained in the broadcast table to the target vehicle represents RE to UE information forwarding, corresponding to Infrastructure-to-Vehicle (I2V) communication in the V2X scenario. The fourth information can be obtained from the edge servers of all adjacent grids based on the correspondence between the first edge server and the vehicles connected to the edge servers of all grids adjacent to the first edge server's grid, and the corresponding grids. That is, the fourth information can be obtained from the second edge server adjacent to the grid corresponding to the first edge server. Sending the fourth information contained in the broadcast table to the target vehicle represents UE to UE information forwarding, corresponding to Vehicle-to-Vehicle (V2V) communication in the V2X scenario. Sending the fifth information contained in the broadcast table to the target vehicle represents UE to UE and RE to UE information forwarding across grids or regions.

[0117] It should be noted that the fourth information may also include information about vehicles within the grid corresponding to the first edge server. Based on the broadcast table, some or all of the information contained in the broadcast table is sent to the target vehicle, which may be one or more of the third, fourth, and fifth information.

[0118] For example, the broadcast schedule for the target vehicle can be generated using the following formula:

[0119] broadlistV2X(UE_id_aim)={listUEs(UuArea(area_id_p).neighborids), listREs(area_id_p), listTrans(UE_id_aim)}

[0120] Here, UE_id_aim is the identifier of the target vehicle, and broadlistV2X(UE_id_aim) is the broadcast table for the target vehicle. UuArea() is the attribute table of the grid, area_id_p is the identifier of the grid where the target vehicle is located, and neighborsids is an attribute in the attribute table of the grid, including the identifiers of all adjacent grids centered on grid area_id_p. We can first use UuArea(area_id_p).neighborids to find the identifiers of all adjacent grids of grid area_id_p, and then substitute the found identifiers into listUEs() to find all vehicles within adjacent grids that have established connections with the second edge server. The found vehicles can be understood as source ends, and the target vehicle can be understood as destination ends. Through the connection relationship between the second edge server and the vehicles, we can obtain the relevant information of all vehicles within all grids adjacent to the grid corresponding to the first edge server. In other words, `listUEs(UuArea(area_id_p).neighborids)` retrieves the mapping table of all vehicles and grids within the grid corresponding to the first edge server and / or all adjacent grids, as well as related information for all vehicles—the fourth piece of information. `listREs(area_id_p)` retrieves information related to roadside equipment within the grid corresponding to the first edge server—the third piece of information. `listTrans(UE_id_aim)` represents the forwarding policy table, instructing the second edge server to send the first piece of information to the target vehicle `UE_id_aim` within the grid corresponding to the first edge server, thus enabling the edge server to obtain the fifth piece of information.

[0121] To obtain an accurate geographical range, the vehicle-to-everything (V2X) system divides the area into grids based on a multi-level service architecture and a defined geographical range. Therefore, in one embodiment, the grid corresponding to the first edge server is adjacent to the grid corresponding to at least one second edge server, or...

[0122] The mesh corresponding to the first edge server is adjacent to the mesh corresponding to the second edge server, and the remaining mesh corresponding to the second edge server is determined based on the road direction.

[0123] Here, the grid is determined based on the road direction. In practical applications, the grid corresponding to the first edge server will be adjacent to at least one grid. The first edge server and the second edge server are edge servers deployed in different grids. The first edge server can be understood as the edge server deployed in the grid where the target vehicle is located, and the second edge server can be understood as the edge server deployed in other grids besides the grid where the target vehicle is located.

[0124] This application also provides a vehicle-to-everything (V2X) communication method applied to a second edge server. The second edge server is of the same type as the first edge server and has the same function. Figure 3 As shown, the method includes:

[0125] Step 301: Send the first information to the first edge server.

[0126] The first information includes information related to vehicles and / or roadside equipment within the grid corresponding to the second edge server, and the grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0127] Here, the second edge server can directly send the information reported by vehicles and / or roadside devices within the acquired grid to the first edge server, or it can process the information reported by vehicles and / or roadside devices within the acquired grid first and then send the processed information to the first edge server.

[0128] To enable communication between edge servers and achieve low-latency vehicle-to-everything (V2X) messaging, in one embodiment, sending the first information to the first edge server includes:

[0129] Based on the second message set, the first information is sent to the first edge server, and the second message set is used for message forwarding between the different edge servers.

[0130] Here, the first edge server and the second edge server transmit messages, information or data based on the second message set, so that V2X information can be forwarded directly through the edge server instead of through the base station, thereby realizing low-latency vehicle-to-everything (V2X) message communication. The grid corresponding to the first edge server is different from the grid corresponding to the second edge server. Therefore, cross-grid communication can also be realized based on the second message set, thereby realizing low-latency V2X communication across geographical areas.

[0131] To enable cross-grid message broadcasting, allowing for smooth switching of edge servers when the target vehicle moves across grids, thereby ensuring the continuity of services across geographical areas, in one embodiment, sending the first information to the first edge server includes:

[0132] The system receives a forwarding policy table sent by a cloud server. The forwarding policy table is used to instruct at least one second edge server to send first information to the target vehicle in the grid corresponding to the first edge server.

[0133] Based on the forwarding policy table, the first information is sent to the first edge server.

[0134] Here, when sending first information to the first edge server based on the forwarding policy table, the grid corresponding to the second edge server may or may not be adjacent to the grid corresponding to the first edge server. Upon receiving the forwarding policy table from the cloud server, the first information can be obtained and / or determined. If the grid corresponding to the second edge server is adjacent to the grid corresponding to the first edge server, the first information may include vehicle-related information within the grid corresponding to the second edge server. For example, the first information may include the identifiers and / or related information of all vehicles connected to the second edge server within the grid corresponding to the second edge server. If the second edge server receives the forwarding policy table, the first information may also include information related to roadside equipment within the grid corresponding to the second edge server.

[0135] To enable communication between the cloud server and the edge server to achieve low-latency vehicle-to-everything (V2X) messaging, in one embodiment, before sending the first information to the first edge server, the method further includes:

[0136] Based on the third message set, information reported by roadside devices within the grid corresponding to the second edge server is received. The third message set is used by the edge server to manage and / or obtain data from the roadside devices.

[0137] Here, the raw data or sensing data of roadside devices within the grid corresponding to the edge server can be reported based on the third message set; the edge server can also issue relevant configuration information based on the third message set to manage the roadside devices.

[0138] This application also provides a vehicle-to-everything (V2X) communication method applied to a cloud server. The cloud server can also be understood as a V2X regional cloud server, used to process V2X services in city-level areas, providing vehicle registration, authentication, and time synchronization services. It manages and configures edge servers in each grid, handles services insensitive to latency requirements, and can connect to networks, third-party servers, or higher-level cross-regional services. The cloud server is deployed under a city-level regional UPF to carry services within the city-level area. Figure 4 As shown, the method includes:

[0139] Step 401: Send a forwarding policy table to at least one second edge server.

[0140] The forwarding policy table is used to instruct at least one second edge server to send first information to the target vehicle in the grid corresponding to the first edge server. The first information includes information related to the vehicle and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0141] Here, the cloud server determines a forwarding policy table and sends the forwarding policy table to at least one second edge server, thereby instructing the at least one second edge server to send information related to vehicles and / or roadside equipment within the corresponding grid to the target vehicle, realizing cross-grid forwarding of V2X messages; the at least one second edge server may include a time-based prediction second edge server, a second edge server representing the grid that the target vehicle will arrive at after a period of time, and second edge servers of the grids that the target vehicle passes through during its journey from the current grid to the grid that it will arrive at after a period of time.

[0142] It should be noted that cloud servers can maintain grid information and edge server information. Edge server information may include the edge server identifier, the IP address of the device to which the edge server belongs, the Media Access Control Address (MAC), the connected base station identifier, and the geographical latitude and longitude range of the coverage. It may also include the edge server's communication address and authentication information. Among these, the edge server identifier, IP address, MAC address, connected base station identifier, communication address, and authentication information can be understood as the edge server's attribute information or access information, and the geographical latitude and longitude range of the coverage can be understood as the grid corresponding to the edge server.

[0143] Edge server information can be an edge server form, which can be represented as sinkserver = {serverinfo, Uu_areas}, where serverinfo is the attribute information or access information of the edge server, and Uu_areas is the grid table corresponding to the edge server. Edge server information can also be represented using JavaScript Object Notation (JSON). For example, the attribute or access information of an edge server includes the edge server identifier (server_id) S12345, the IP address (ip_address) of the device to which the edge server belongs (192.168.1.10), the MAC address (mac_address) 00:11:22:33:44:55, the Uniform Resource Locator (URL) of the edge server's communication address, and the authentication information (token) uouqiaskdfkahluoq. The grid list corresponding to the edge server is {UuArea(area_id_n1), UuArea(area_id_n2), UuArea(area_id_n3), ..., UuArea(area_id_nN)}. There is a one-to-one correspondence between edge servers and edge server information (sinkserver). Multiple edge servers managed by the cloud server can be represented as a whole edge server form, which can be written as serverlists = {sinkserver1, sinkserver2, ..., sinkserverx}.

[0144] It should be noted that the Uu_areas in the form of the edge server of the grid (first edge server and second edge server) can include only one grid; the Uu_areas in the form of the regional edge server (such as the prefecture-level regional edge server) can include one or more grids.

[0145] To enable communication between cloud servers and edge servers for low-latency vehicle-to-everything (V2X) messaging, in one embodiment, sending a forwarding policy table to at least one second edge server includes:

[0146] Based on the fourth message set, a forwarding policy table is sent to the at least one second edge server. The fourth message set is used to manage the edge server and distribute the forwarding policy table.

[0147] Here, the fourth message set can include definitions or format definitions of various messages, information, or data transmitted between the cloud server and the edge server. Uplink messages between the cloud server and the edge server include status information reported by the edge server (such as edge server resource usage, network traffic statistics, anomalies, and status information reported by roadside devices); downlink messages between the cloud server and the edge server include configuration information (such as configuration information of roadside devices, configuration information of edge servers, and forwarding policy tables). The cloud server can send forwarding policy tables to at least one second edge server based on the fourth message set.

[0148] To enable cross-grid message broadcasting and facilitate smooth switching of edge servers when the target vehicle moves across grids, thereby ensuring the continuity of services across geographical areas, in one embodiment, the method further includes:

[0149] A first grid and a second grid are determined based on the target vehicle's driving information. The first grid represents the grid where the target vehicle is currently located, and the second grid represents the grid to which the target vehicle is predicted to arrive at a set driving time.

[0150] Based on the first grid and the second grid, and the correspondence between the grid and the edge server, the forwarding policy table is determined.

[0151] Here, the driving information of the target vehicle is received. Based on the position information in the driving information, the identifier of the first grid is determined. Based on the position information, driving direction, speed, and acceleration in the driving information, the grid that the target vehicle will arrive at after a set time is determined, thereby determining the identifier of the second grid. For example, the second grid can be determined through the following steps:

[0152] Step 1: Given that the location information of the target vehicle is expressed in latitude and longitude, convert the geographic coordinates (lon, lat) of the location information to Cartesian coordinates (x, y) on the 1984 World Geodetic System 1984 ellipsoid. This coordinate conversion can be achieved using a geographic coordinate transformation library (such as Geographic Information System (GIS)).

[0153] Step 2: Based on the target vehicle's direction of travel, speed, and acceleration, calculate the velocity and acceleration components in the Cartesian coordinate system. For example, the velocity and acceleration components can be calculated using the following formula:

[0154] v x =-vsin(h)v y =-vcos(h)a x =-asin(h)ay =-acos(h)

[0155] Where v represents the speed of the target vehicle, h represents the direction of travel of the target vehicle, and v x V represents the component of velocity on the x-axis. y Let 'a' represent the velocity component on the y-axis, and let 'a' represent the acceleration of the target vehicle. x a represents the x-component of acceleration. y This represents the component of acceleration on the y-axis.

[0156] Step 3: Based on kinematic formulas, predict the position of the target vehicle after a set time. For example, the position of the target vehicle after a set time can be calculated using the following formula:

[0157]

[0158] Among them, (x t y t ) represents the Cartesian coordinate position of the target vehicle after a set time, and t represents the set time; in practical applications, the set time can be any time within the range of 7 to 10 seconds.

[0159] Step 4: Convert the Cartesian coordinates of the target vehicle after the set time into geographic coordinates. GIS can also be used to achieve this coordinate conversion.

[0160] Step 5: Based on the geographic coordinates of the target vehicle after a set time, determine the second grid, that is, determine the identifier of the second grid.

[0161] Given that the first grid and the second grid are different, the identifiers of the edge servers of the first grid and the second grid are determined based on the identifiers of the first grid and the second grid, as well as the correspondence between the grids and the edge servers. The identifiers of the edge servers of the first grid and the second grid are determined based on the identifiers of the first grid and the second grid. The forwarding strategy table for the target vehicle is determined based on the identifiers of the first grid, the first edge server, the second grid, and the second edge server. For example, the forwarding policy table for the target vehicle UE_id_aim can be denoted as listTrans(UE_id_aim) = {{serv_p, area_id_p}, {serv_pt, area_id_pt}}, where serv_p is the identifier of the first edge server, area_id_p is the identifier of the first grid, serv_pt is the identifier of the second edge server, and area_id_pt is the identifier of the second grid. This forwarding policy table instructs that the second edge server serv_pt forwards the relevant information of vehicles and / or roadside equipment within the second grid area_id_pt to the first edge server serv_p, and the first edge server serv_p sends the received relevant information of vehicles and / or roadside equipment within the second grid area_id_pt to the target vehicle UE_id_aim.

[0162] The target vehicle's driving information includes its identification, location information, driving direction, speed, and acceleration. It may also include a timestamp, the cell identifier, operator name, and signal strength currently in use. Location information, driving direction, speed, and acceleration can be understood as the target vehicle's status information. The cell identifier, operator name, and signal strength currently in use can be understood as network information. Location information can be represented by latitude, longitude, and altitude. Driving direction can be represented by an angle measured clockwise from true north. The timestamp can be represented using the data storage and exchange format, information exchange, date and time representation method published by the International Organization for Standardization (ISO 8601).

[0163] For example, driving information can be represented using a state vector: stUE = {UE_id, position, netinfo, velocity, heading, acc}, where UE_id is the identifier of the target vehicle, position is the position information of the target vehicle, netinfo is the network information, velocity is the velocity of the target vehicle, heading is the direction of travel of the target vehicle, and acc is the acceleration of the target vehicle. For example, driving information represented using JavaScript Object Notation (JSON) includes: the target vehicle identifier (UE_id_aim), the timestamp of the driving information (2023-03-15T14:30:00Z), location information (latitude 39.9042, longitude 116.4074, altitude 50.0), network information (network_info), and status information; among which, the network information includes the cell identifier (CID001), the carrier (China Mobile), and the signal strength (signal_strength) -75, and the status information (status) includes speed (velocity) 60km / h, driving direction due north clockwise 225°, and acceleration (acceleration) 2.5m / s². 2 .

[0164] In this embodiment, by determining a forwarding strategy table based on time prediction and combining it with a grid, information across geographical ranges or across edge server levels can be effectively coordinated, enabling the first edge server to accurately broadcast V2X messages and ensuring the continuity of vehicle-to-everything (V2X) services.

[0165] To enable the cloud server to accurately determine the geographical range, in one embodiment, the method further includes:

[0166] Based on the defined latitude and longitude range and spatial adjacency model, the roads within the coverage area of ​​the network device corresponding to each edge server are divided into a grid.

[0167] Here, an edge server can connect to multiple network devices. The geographical area covered by these network devices includes multiple roads. These roads are divided into grids based on a defined geographical range (e.g., latitude and longitude) and a spatial adjacency model. Alternatively, a grid can be formed by defining a geographical range with a radius equal to a specified distance from an intersection or traffic light. The defined geographical range or distance can be set according to the specific application. At least one edge server is deployed in each grid. Network devices include base stations. For example, road sections can be divided into grids based on a 300m x 300m latitude and longitude range and a spatial adjacency model. Another example is dividing a geographical range with a 300m radius centered on an intersection into a grid. In road sections without intersections, a grid can be formed with a 300m radius centered on a traffic light. For example, a grid can be represented as UuArea(area_id_3) = {server_id, area_id_3, boundary, neighbors}; where server_id is the identifier of the edge server; area_id_3 is the identifier of the grid; boundary is the geographical extent of the grid, which can be represented by {western longitude, eastern longitude, southern latitude, northern latitude}, for example, the boundary of the grid is {114.2898, 114.3012, 30.5742, 30.5832}; neighbors are the identifiers of all grids spatially adjacent to the grid area_id_3, which may or may not include the identifier of the grid area_id_3.

[0168] It should be noted that the spatial adjacency model is pre-measured based on the actual road alignment and can take various forms; for example, the "I" type for straight roads, such as... Figure 5 As shown, the identifiers of all adjacent grids of grid area_id_3 are {area_id_3, area_id_1, area_id_5}; for example, the "+" or "L" shaped intersections, such as... Figure 6 The "+" shaped spatial adjacency model shown has all adjacent grids of grid area_id_3 identified by the identifiers `neighborids` as {area_id_3, area_id_1, area_id_2, area_id_4, area_id_5}; another example is the "m" shaped model for open areas, such as... Figure 7 As shown, the neighbor IDs of all adjacent grids of area_id_3 are {area_id_3, area_id_6, area_id_2, area_id_7, area_id_1, area_id_5, area_id_8, area_id_4, area_id_9}.

[0169] In order for the cloud server to manage vehicles located on or entering roads within the geographical coverage area of ​​the base station in a timely manner, in one embodiment, the method further includes:

[0170] Based on the fifth message set, the sixth message sent by the vehicle is received; among which,

[0171] The sixth piece of information is used for vehicle registration and / or authentication, and the fifth message set is used for registration, authentication, and configuration distribution.

[0172] Here, before receiving the target vehicle's driving information, or when the vehicle enters the grid managed by the cloud server, or when the vehicle connects to the vehicle network, the sixth information sent by the vehicle is received based on the fifth message set to complete the vehicle's registration, authentication, and time synchronization, enabling the cloud server to manage and configure the vehicle; the target vehicle's driving information can also be received based on the fifth message set.

[0173] The fifth message set includes the definitions or format definitions of messages, information, or data transmitted between the cloud server and the vehicle. Uplink messages between the cloud server and the vehicle include vehicle registration and authentication requests and vehicle driving information; downlink messages include vehicle registration confirmation messages, time synchronization messages, grid information, or edge server access information.

[0174] In order to obtain the correspondence between grids and vehicles, and thus enable precise management of vehicles within each grid, in one embodiment, the method further includes:

[0175] Based on the target vehicle's driving information, determine the identifier of the grid where the target vehicle is currently located;

[0176] Based on the identifier of the grid where the target vehicle is currently located, the access information of the first edge server is determined;

[0177] The access information is sent to the target vehicle, and the access information is used for the target vehicle to establish a connection with the first edge server.

[0178] Here, the grid where the target vehicle is currently located can be understood as the first grid mentioned above. The grid where the target vehicle is currently located is determined based on the location information included in the target vehicle's driving information. Specifically, this can be determined using the managed edge server information and the location information in the target vehicle's driving information. For example, the location information (position) in the target vehicle's driving information is compared with the geographical bounding of each corresponding grid (UuArea()) in the grid list (Uu_areas) of each edge server form (sinkserver) to determine the geographical bounding of the grid to which the target vehicle's location information belongs. This determines the identifier of the grid where the target vehicle UE_id_aim is currently located as area_id_p. Based on this grid identifier, the edge server identifier contained in the grid information is determined as serv_p, and the access information serverinfo of this edge server is obtained. The access information serverinfo of the edge server serv_p (the first edge server) of the target vehicle's current grid area_id_p is sent to the target vehicle. Alternatively, the access information of the corresponding edge server can be sent to other vehicles using the same method as sending access information to the target vehicle.

[0179] After the target vehicle or other vehicles establish a connection with the first edge server based on the access information, the correspondence between the vehicle or target vehicle and the grid can be obtained, or the identifiers of all vehicles within the grid. The identifiers of all vehicles within the grid can be denoted as: listUEs(area_id_n) = {area_id_n, UE_id_n1, UE_id_n2, ..., UE_id_nk}, where area_id_n is the identifier of the grid, and UE_id_n1, UE_id_n2, ..., UE_id_nk are the identifiers of each vehicle within the grid area_id_n.

[0180] To enable communication between cloud servers and edge servers for low-latency vehicle-to-everything (V2X) messaging, in one embodiment, sending access information to the target vehicle includes:

[0181] Based on the fifth message set, access information is sent to the target vehicle; the fifth message set is used for registration, authentication, and configuration distribution.

[0182] Here, the access information of the edge server can also be sent based on the fifth message set. That is, the cloud server can receive the sixth information sent by the vehicle, receive the driving information sent by the vehicle, and send access information to the target vehicle based on the fifth message set.

[0183] This application also provides a vehicle-to-everything (V2X) communication method applied to a target vehicle, the method comprising:

[0184] The system receives first information sent by a first edge server. The first information includes information related to vehicles and / or roadside equipment within the grid corresponding to a second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server. The target vehicle is located within the grid corresponding to the first edge server.

[0185] Here, the target vehicle can receive first information sent by the first edge server based on the first message set, thereby obtaining information related to vehicles and / or roadside equipment in the grid adjacent to the target vehicle, and / or obtaining information related to vehicles and / or roadside equipment in the grid that the target vehicle may reach after a period of time; then, based on the received first information and its own state, it generates various events to remind the target vehicle or complete cooperative actions; these events include collision warning, red light violation warning, abnormal vehicle alert, cooperative lane change, cooperative merging, etc. The target vehicle can be any vehicle in the vehicle network.

[0186] To obtain roadside equipment data within a precise geographical range, in one embodiment, the method further includes:

[0187] The system receives second information sent by the first edge server, the second information including at least information reported by roadside devices within the grid corresponding to the first edge server and / or information after processing the information reported by the roadside devices.

[0188] Here, the target vehicle can also receive the second information sent by the first edge server based on the first message set, thereby obtaining relevant information about the roadside equipment in the grid where the target vehicle is located; then, based on the received first information, the second information and its own state, it can generate various events, or based on the received second information, adjust the generated events to improve the accuracy of the generated events.

[0189] To achieve smooth switching of edge servers during cross-grid operations, thereby ensuring the continuity of services across geographical areas, in one embodiment, the method further includes:

[0190] The driving information of the target vehicle is sent to the cloud server. The driving information is used to determine a first grid and a second grid. The first grid represents the grid where the target vehicle is currently located, and the second grid represents the grid to which the target vehicle is predicted to arrive at a set driving time.

[0191] Here, after vehicle registration and / or authentication are completed, driving information can be sent to the cloud server based on the fifth message set. The driving information may include the target vehicle's identifier, location information, driving direction, speed and acceleration, as well as the timestamp of the driving information, the cell identifier where the target vehicle is currently located, the operator name and signal strength.

[0192] It should be noted that before sending driving information to the cloud server, the sixth message can be sent to the cloud server based on the fifth message set to complete the registration and / or authentication of the target vehicle.

[0193] The following examples demonstrate the application and Figure 1 The system architecture shown will be described in further detail below. For example... Figure 8 As shown, the vehicle-to-everything (V2X) communication methods include:

[0194] Step 1: The cloud server receives the sixth information sent by the target vehicle. The sixth information is used to register and / or authenticate the vehicle.

[0195] Here, the cloud server receives the sixth message sent by the target vehicle based on the fifth message set. The sixth message may include a registration authentication request. The cloud server responds to the sixth message and sends a registration confirmation message and / or time synchronization message to the target vehicle, thereby completing the registration authentication and / or time synchronization of the target vehicle.

[0196] Step 2: The target vehicle sends its driving information to the cloud server.

[0197] Here, after completing registration authentication and / or time synchronization, the target vehicle sends its driving information to the cloud server based on the fifth message set.

[0198] Step 3: The cloud server determines the access information of the first edge server based on the driving information of the target vehicle.

[0199] For details on the implementation of step 3, please refer to the relevant description above; it will not be repeated here.

[0200] Step 4: The cloud server sends access information to the target vehicle.

[0201] Here, the cloud server sends access information to the target vehicle based on the fifth message set, and the target vehicle establishes a connection with the first edge server based on the access information; other vehicles can also establish connections with the edge server in the same way; the edge server can determine the correspondence between all connected vehicles and grids based on the connected vehicles and their corresponding grids, and the correspondence between vehicles and grids can be understood as the relevant information of the vehicles.

[0202] It should be noted that after establishing a connection with a vehicle, the edge server can obtain relevant information about the vehicle from the connected vehicle, or receive relevant information reported by the vehicle.

[0203] Step 5: The cloud server determines the forwarding strategy table based on the target vehicle's driving information; the forwarding strategy table is used to instruct at least one second edge server to send the first information to the target vehicle within the grid corresponding to the first edge server.

[0204] For the specific implementation process of step 5, please refer to the relevant description above; it will not be repeated here.

[0205] Step 6: The cloud server sends a forwarding policy table to at least one second edge server.

[0206] Here, the cloud server sends a forwarding policy table to at least one second edge server based on the fourth message set. For example, Figure 1 The cloud server sends forwarding policy tables to the first edge server and the second edge server based on the fourth message set. The first edge server is deployed in grid 1 and the second edge server is deployed in grid 2. The target vehicle crosses from grid 1 to grid 2 after passing t1.

[0207] Step 7: The second edge server receives information reported by roadside devices within the grid corresponding to the second edge server based on the third message set, and determines the first information.

[0208] Here, the second edge server receives information reported by roadside devices within the grid corresponding to the second edge server based on the third message set, and / or the second edge server obtains relevant information about connected vehicles; the second edge server determines the first information based on the received information reported by the roadside devices and / or the obtained vehicle-related information.

[0209] It should be noted that the second edge servers of all grids adjacent to the grid corresponding to the first edge server can determine the corresponding first information based on the acquired vehicle-related information.

[0210] Step 8: The second edge server sends first information to the first edge server. The first information includes information related to vehicles and / or roadside equipment within the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0211] Please refer to the relevant description above for the specific implementation process of steps 8-10, which will not be repeated here.

[0212] Step 9: The first edge server sends the first information to the target vehicle.

[0213] Step 10: The first edge server receives information reported by roadside devices within the grid corresponding to the first edge server based on the third message set, and determines the second information.

[0214] Step 11: The first edge server sends the second information to the target vehicle.

[0215] Here, the first edge server sends the second information to the target vehicle. Upon receiving the second information, the target vehicle calculates and generates application layer events based on its own status and business scenario requirements. These events are used to remind the target vehicle and complete collaborative actions. The application layer events include collision warning, red light violation warning, abnormal vehicle alert, collaborative lane change, and collaborative merging.

[0216] It should be noted that the first and second information can also be sent to the target vehicle through a broadcast table; specifically, the first edge server determines the third information based on the second information, and determines the fourth and fifth information based on the first information; then, based on the third, fourth, and fifth information, it generates a broadcast table for the target vehicle; and sends some or all of the information contained in the broadcast table to the target vehicle.

[0217] This application example uses five message sets—the first, second, third, fourth, and fifth—to complete communication between various devices in the vehicle-to-everything (V2X) system. It also achieves low-latency message communication for precise geographical ranges by dividing the grid and predicting the grid where the target vehicle will be located after time t1, without relying on the PC5 protocol. This enables the target vehicle to receive and send messages smoothly when crossing grids.

[0218] To implement the method on the first edge server side of this application embodiment, this application embodiment also provides a vehicle network communication device, which is set on the first edge server, such as... Figure 9 As shown, the device includes:

[0219] The first receiving unit 901 is configured to receive first information sent by at least one second edge server. The first information includes information related to vehicles and / or roadside equipment within the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0220] The first sending unit 902 is used to send first information to the target vehicle, which is located within the grid corresponding to the first edge server.

[0221] In one embodiment, the first sending unit 902 is specifically used to send first information to the target vehicle based on a first message set, wherein the first message set represents the V2X message set of the Uu interface.

[0222] In one embodiment, the first receiving unit 901 is specifically used to receive first information sent by the at least one second edge server based on a second message set, wherein the second message set is used for message forwarding between different edge servers.

[0223] In one embodiment, the device further includes:

[0224] The second receiving unit is used to receive information reported by roadside devices within the grid corresponding to the first edge server.

[0225] The second sending unit is used to send second information to the target vehicle. The second information includes at least the information reported by the roadside equipment in the grid corresponding to the first edge server and / or the information after processing the information reported by the roadside equipment.

[0226] In one embodiment, the device further includes:

[0227] A generation unit is used to generate a broadcast table for the target vehicle based on third, fourth, and fifth information; wherein, the third information includes information related to roadside equipment within the grid corresponding to the first edge server, the fourth information includes information related to all vehicles within all grids adjacent to the grid corresponding to the first edge server, and the fifth information includes first information sent by a second edge server based on a forwarding policy table; the forwarding policy table is issued by a cloud server and is used to instruct at least one second edge server to send the first information to the target vehicle within the grid corresponding to the first edge server.

[0228] The third sending unit is used to send some or all of the information contained in the broadcast table to the target vehicle based on the broadcast table.

[0229] In one embodiment, the mesh corresponding to the first edge server is adjacent to the mesh corresponding to at least one second edge server, or,

[0230] The mesh corresponding to the first edge server is adjacent to the mesh corresponding to the second edge server, and the remaining mesh corresponding to the second edge server is determined based on the road direction.

[0231] In practical applications, the first receiving unit 901, the first sending unit 902, the second receiving unit, the second sending unit, and the third sending unit can be implemented by a processor in the vehicle network communication device combined with a communication interface, and the generating unit can be implemented by a processor in the vehicle network communication device.

[0232] To implement the method on the second edge server side of this application embodiment, this application embodiment also provides a vehicle network communication device, which is set on the second edge server, such as... Figure 10As shown, the device includes:

[0233] The fourth sending unit 1001 is used to send first information to the first edge server. The first information includes information related to vehicles and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0234] In one embodiment, the device further includes:

[0235] The third receiving unit is used to receive a forwarding policy table sent by the cloud server. The forwarding policy table is used to instruct at least one second edge server to send first information to the target vehicle in the grid corresponding to the first edge server.

[0236] The fourth sending unit 1001 is specifically used to send the first information to the first edge server based on the forwarding policy table.

[0237] In one embodiment, the device further includes:

[0238] The fourth receiving unit is used to receive information reported by roadside devices within the grid corresponding to the second edge server based on the third message set, wherein the third message set is used by the edge server to manage and / or acquire data from the roadside devices.

[0239] In one embodiment, the fourth sending unit 1001 is specifically used to send first information to the first edge server based on a second message set, wherein the second message set is used for message forwarding between the different edge servers.

[0240] In practical applications, the fourth transmitting unit 1001, the third transmitting unit, and the fourth receiving unit can be implemented by a processor in the vehicle network communication device combined with a communication interface.

[0241] To implement the cloud server-side method of this application embodiment, this application embodiment also provides a vehicle network communication device, which is set on a cloud server, such as... Figure 11 As shown, the device includes:

[0242] The fifth sending unit 1101 is used to send a forwarding policy table to at least one second edge server. The forwarding policy table is used to instruct the at least one second edge server to send first information to a target vehicle in the grid corresponding to the first edge server. The first information includes information related to the vehicle and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0243] In one embodiment, the device further includes:

[0244] The first determining unit is used to determine a first grid and a second grid based on the driving information of the target vehicle. The first grid represents the grid where the target vehicle is currently located, and the second grid represents the grid to which the target vehicle is predicted to arrive at a set driving time.

[0245] The second determining unit is used to determine the forwarding policy table based on the first grid and the second grid, as well as the correspondence between the grid and the edge server.

[0246] In one embodiment, the fifth sending unit 1101 is specifically used to send a forwarding policy table to the at least one second edge server based on a fourth message set, wherein the fourth message set is used to manage the edge server and distribute the forwarding policy table.

[0247] In one embodiment, the device further includes:

[0248] The partitioning unit is used to divide the roads within the coverage area of ​​the network device corresponding to each edge server into a grid based on a set latitude and longitude range and spatial adjacency model.

[0249] In one embodiment, the device further includes:

[0250] The fifth receiving unit is used to receive the sixth information sent by the vehicle based on the fifth message set; wherein,

[0251] The sixth piece of information is used for vehicle registration and / or authentication, and the fifth message set is used for registration, authentication, and configuration distribution.

[0252] In one embodiment, the device further includes:

[0253] The third determining unit is used to determine the identifier of the grid where the target vehicle is currently located based on the target vehicle's driving information;

[0254] The fourth determining unit is used to determine the access information of the first edge server based on the identifier of the grid where the target vehicle is currently located;

[0255] The sixth sending unit is used to send the access information to the target vehicle, the access information being used by the target vehicle to establish a connection with the first edge server.

[0256] In one embodiment, the sixth sending unit is specifically used to send access information to the target vehicle based on the fifth message set; the fifth message set is used for registration, authentication, and configuration distribution.

[0257] In practical applications, the fifth sending unit 1101, the fifth receiving unit, and the sixth sending unit can be implemented by a processor in the vehicle network communication device in conjunction with a communication interface, and the first determining unit, the second determining unit, the dividing unit, the third determining unit, and the fourth determining unit can be implemented by a processor in the vehicle network communication device.

[0258] To implement the method on the target vehicle side of this application embodiment, this application embodiment also provides a vehicle network communication device, installed on the target vehicle, such as... Figure 12 As shown, the device includes:

[0259] The seventh sending unit 1201 is used to receive first information sent by the first edge server. The first information includes information related to vehicles and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server. The target vehicle is located in the grid corresponding to the first edge server.

[0260] In one embodiment, the device further includes:

[0261] The sixth receiving unit is used to receive second information sent by the first edge server, the second information including at least information reported by roadside devices in the grid corresponding to the first edge server and / or information after processing the information reported by the roadside devices.

[0262] In one embodiment, the device further includes:

[0263] The eighth sending unit is used to send the driving information of the target vehicle to the cloud server. The driving information is used to determine a first grid and a second grid. The first grid represents the grid where the target vehicle is currently located, and the second grid represents the grid to which the target vehicle is predicted to arrive at a set driving time.

[0264] In practical applications, the seventh transmitting unit 1201, the sixth receiving unit, and the eighth transmitting unit can be implemented by a processor in the vehicle network communication device combined with a communication interface.

[0265] It should be noted that the vehicle-to-everything (V2X) communication device provided in the above embodiments is only illustrated by the division of the above-described program modules when performing V2X communication. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the V2X communication device and the V2X communication method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0266] Based on the hardware implementation of the above program modules, and in order to implement the method on the first edge server side of this application embodiment, this application embodiment also provides a first edge server, such as... Figure 13 As shown, the first edge server 1300 includes:

[0267] The first communication interface 1301 is capable of exchanging information with other network nodes;

[0268] The first processor 1302 is connected to the first communication interface 1301 to enable information interaction with other network nodes. When running a computer program, it executes the methods provided by one or more technical solutions on the first edge server side. The computer program is stored in the first memory 1303.

[0269] Specifically, the first communication interface 1301 is used to receive first information sent by at least one second edge server, the first information including information related to vehicles and / or roadside equipment in the grid corresponding to the second edge server, the grid corresponding to the second edge server being different from the grid corresponding to the first edge server; it is also used to send first information to a target vehicle, the target vehicle being located in the grid corresponding to the first edge server.

[0270] In one embodiment, the first communication interface 1301 is specifically used to send first information to the target vehicle through a first message set, wherein the first message set represents the V2X message set of the Uu interface.

[0271] In one embodiment, the first communication interface 1301 is specifically used to receive first information sent by at least one second edge server through a second message set, wherein the second message set is used for message forwarding between different edge servers.

[0272] In one embodiment, the first communication interface 1301 is further configured to:

[0273] Receive information reported by roadside devices within the grid corresponding to the first edge server;

[0274] Send a second message to the target vehicle. The second message includes at least the information reported by the roadside device in the grid corresponding to the first edge server and / or the processed information reported by the roadside device.

[0275] In one embodiment, the first processor 1302 is further configured to: generate a broadcast table for the target vehicle based on third information, fourth information, and fifth information; wherein the third information includes information related to roadside equipment within the grid corresponding to the first edge server, the fourth information includes information related to all vehicles within all grids adjacent to the grid corresponding to the first edge server, and the fifth information includes first information sent by a second edge server based on a forwarding policy table; the forwarding policy table is issued by a cloud server and is used to instruct at least one second edge server to send the first information to the target vehicle within the grid corresponding to the first edge server.

[0276] The first communication interface 1301 is further configured to: send some or all of the information contained in the broadcast table to the target vehicle based on the broadcast table.

[0277] In one embodiment, the mesh corresponding to the first edge server is adjacent to the mesh corresponding to at least one second edge server, or,

[0278] The mesh corresponding to the first edge server is adjacent to the mesh corresponding to the second edge server, and the remaining mesh corresponding to the second edge server is determined based on the road direction.

[0279] It should be noted that the specific processing procedures of the first processor 1302 and the first communication interface 1301 can be understood by referring to the above method.

[0280] Of course, in practical applications, the various components in the first edge server 1300 are coupled together via a bus system 1304. It is understood that the bus system 1304 is used to implement communication between these components. In addition to a data bus, the bus system 1304 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 13 The general designated all buses as Bus System 1304.

[0281] The first memory 1303 in this embodiment is used to store various types of data to support the operation of the first edge server 1300. Examples of such data include any computer program used to operate on the first edge server 1300.

[0282] The methods disclosed in the above embodiments of this application can be applied to the first processor 1302, or implemented by the first processor 1302. The first processor 1302 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware or by instructions in the form of software in the first processor 1302. The first processor 1302 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The first processor 1302 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in the first memory 1303. The first processor 1302 reads the information in the first memory 1303 and completes the steps of the aforementioned method in combination with its hardware.

[0283] In an exemplary embodiment, the first edge server 1300 may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0284] Based on the hardware implementation of the above program modules, and in order to implement the method on the second edge server side of the embodiments of this application, the embodiments of this application also provide a second edge server, such as... Figure 14 As shown, the second edge server 1400 includes:

[0285] The second communication interface 1401 is capable of exchanging information with other network nodes;

[0286] The second processor 1402 is connected to the second communication interface 1401 to enable information interaction with other network nodes. When running a computer program, it executes the methods provided by one or more technical solutions on the second edge server side. The computer program is stored in the second memory 1403.

[0287] Specifically, the second communication interface 1401 is used to send first information to the first edge server. The first information includes information related to vehicles and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0288] In one embodiment, the second communication interface 1401 is specifically used for:

[0289] The system receives a forwarding policy table sent by a cloud server. The forwarding policy table is used to instruct at least one second edge server to send first information to the target vehicle in the grid corresponding to the first edge server.

[0290] Based on the forwarding policy table, the first information is sent to the first edge server.

[0291] In one embodiment, the second communication interface 1401 is further configured to receive information reported by roadside devices within the grid corresponding to the second edge server via a third message set, wherein the third message set is used by the edge server to manage and / or acquire data from the roadside devices.

[0292] In one embodiment, the second communication interface 1401 is specifically used to send first information to the first edge server through a second message set, wherein the second message set is used for message forwarding between the different edge servers.

[0293] It should be noted that the specific processing procedures of the second processor 1402 and the second communication interface 1401 can be understood by referring to the above method.

[0294] Of course, in practical applications, the various components in the second edge server 1400 are coupled together via a bus system 1404. It is understood that the bus system 1404 is used to implement communication between these components. In addition to a data bus, the bus system 1404 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 14 The general designated all buses as Bus System 1404.

[0295] The second memory 1403 in this embodiment is used to store various types of data to support the operation of the second edge server 1400. Examples of such data include any computer program used to operate on the second edge server 1400.

[0296] The methods disclosed in the embodiments of this application can be applied to, or implemented by, the second processor 1402. The second processor 1402 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware or by instructions in the form of software within the second processor 1402. The second processor 1402 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The second processor 1402 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, specifically a second memory 1403. The second processor 1402 reads information from the second memory 1403 and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0297] In an exemplary embodiment, the second edge server 1400 may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general-purpose processors, controllers, MCUs, microprocessors, or other electronic components to perform the aforementioned method.

[0298] Based on the hardware implementation of the above program modules, and in order to implement the cloud server-side method of this application embodiment, this application embodiment also provides a cloud server. For example... Figure 15 As shown, the cloud server 1500 includes:

[0299] The third communication interface 1501 is capable of exchanging information with other network nodes;

[0300] The third processor 1502 is connected to the third communication interface 1501 to enable information interaction with other network nodes and to execute the methods provided by one or more technical solutions on the cloud server side when running a computer program. The computer program is stored on the third memory 1503.

[0301] Specifically, the third communication interface 1501 is used to send a forwarding policy table to at least one second edge server. The forwarding policy table is used to instruct the at least one second edge server to send first information to the target vehicle in the grid corresponding to the first edge server. The first information includes information related to the vehicle and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

[0302] In one embodiment, the third processor 1502 is further configured to:

[0303] A first grid and a second grid are determined based on the target vehicle's driving information. The first grid represents the grid where the target vehicle is currently located, and the second grid represents the grid to which the target vehicle is predicted to arrive at a set driving time.

[0304] Based on the first grid and the second grid, and the correspondence between the grid and the edge server, the forwarding policy table is determined.

[0305] In one embodiment, the third communication interface 1501 is specifically used to send a forwarding policy table to the at least one second edge server through a fourth message set, wherein the fourth message set is used to manage the edge server and distribute the forwarding policy table.

[0306] In one embodiment, the third processor 1502 is further configured to divide the roads within the coverage area of ​​the network device corresponding to each edge server into a grid based on a set latitude and longitude range and a spatial adjacency model.

[0307] In one embodiment, the third communication interface 1501 is further configured to receive sixth information sent by the vehicle via a fifth message set; wherein the sixth information is used for vehicle registration and / or authentication, and the fifth message set is used for registration, authentication, and configuration distribution.

[0308] In one embodiment, the third processor 1502 is further configured to: determine the identifier of the grid where the target vehicle is currently located based on the driving information of the target vehicle;

[0309] Based on the identifier of the grid where the target vehicle is currently located, the access information of the first edge server is determined;

[0310] The third communication interface 1501 is also used to send the access information to the target vehicle, and the access information is used for the target vehicle to establish a connection with the first edge server.

[0311] In one embodiment, the third communication interface 1501 is specifically used to send access information to the target vehicle through a fifth message set; the fifth message set is used for registration, authentication, and configuration distribution.

[0312] It should be noted that the specific processing procedures of the third processor 1502 and the third communication interface 1501 can be understood by referring to the above method.

[0313] Of course, in practical applications, the various components in the cloud server 1500 are coupled together through the bus system 1504. It can be understood that the bus system 1504 is used to implement communication between these components. In addition to the data bus, the bus system 1504 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 15 The general labeled all buses as Bus System 1504.

[0314] The third memory 1503 in this embodiment is used to store various types of data to support the operation of the cloud server 1500. Examples of such data include any computer program used to operate on the cloud server 1500.

[0315] The methods disclosed in the embodiments of this application can be applied to, or implemented by, the third processor 1502. The third processor 1502 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware or by instructions in the software form of the third processor 1502. The third processor 1502 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The third processor 1502 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, specifically a third memory 1503. The third processor 1502 reads information from the third memory 1503 and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0316] In an exemplary embodiment, the cloud server 1500 may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general-purpose processors, controllers, MCUs, microprocessors, or other electronic components to perform the aforementioned method.

[0317] Based on the hardware implementation of the above-mentioned program modules, and in order to implement the method on the target vehicle side of the embodiments of this application, the embodiments of this application also provide a target vehicle. For example... Figure 16 As shown, the target vehicle 1600 includes:

[0318] The fourth communication interface 1601 is capable of exchanging information with other network nodes;

[0319] The fourth processor 1602 is connected to the fourth communication interface 1601 to enable information interaction with other network nodes. When running a computer program, it executes the methods provided by one or more technical solutions on the target vehicle side. The computer program is stored on the fourth memory 1603.

[0320] Specifically, the fourth communication interface 1601 is used to receive first information sent by the first edge server. The first information includes information related to vehicles and / or roadside equipment in the grid corresponding to the second edge server. The grid corresponding to the second edge server is different from the grid corresponding to the first edge server. The target vehicle is located in the grid corresponding to the first edge server.

[0321] In one embodiment, the fourth communication interface 1601 is further configured to receive second information sent by the first edge server, the second information including at least information reported by roadside devices within the grid corresponding to the first edge server and / or information after processing the information reported by the roadside devices.

[0322] In one embodiment, the fourth communication interface 1601 is further configured to send the driving information of the target vehicle to the cloud server. The driving information is used to determine a first grid and a second grid. The first grid represents the grid where the target vehicle is currently located, and the second grid represents the grid to which the target vehicle is predicted to arrive at a set driving time.

[0323] Of course, in practical applications, the various components in the target vehicle 1600 are coupled together via the bus system 1604. It can be understood that the bus system 1604 is used to achieve communication between these components. In addition to the data bus, the bus system 1604 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 16 The general designated all buses as Bus System 1604.

[0324] The fourth memory 1603 in this embodiment is used to store various types of data to support the operation of the target vehicle 1600. Examples of such data include any computer program used to operate on the target vehicle 1600.

[0325] The methods disclosed in the embodiments of this application can be applied to, or implemented by, the fourth processor 1602. The fourth processor 1602 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware or by instructions in the software form of the fourth processor 1602. The fourth processor 1602 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The fourth processor 1602 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, specifically a fourth memory 1603. The fourth processor 1602 reads information from the fourth memory 1603 and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0326] In an exemplary embodiment, the target vehicle 1600 may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general-purpose processors, controllers, MCUs, microprocessors, or other electronic components to perform the aforementioned method.

[0327] It is understood that the memories (first memory 1303, second memory 1403, third memory 1503, and fourth memory 1603) in the embodiments of this application can be volatile memory or non-volatile memory, or both. Specifically, the non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); the magnetic surface memory can be disk storage or magnetic tape storage. The volatile memory can be random access memory (RAM), which is used as an external cache.By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memory.

[0328] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a first memory 1303 storing a computer program, which can be executed by the first processor 1302 of the first edge server 1300 to complete the steps described in the aforementioned first edge server-side method. Another example is a second memory 1403 storing a computer program, which can be executed by the second processor 1402 of the second edge server 1400 to complete the steps described in the aforementioned second edge server-side method. Yet another example is a third memory 1503 storing a computer program, which can be executed by the third processor 1502 of the cloud server 1500 to complete the steps described in the aforementioned cloud server-side method. Yet another example is a fourth memory 1603 storing a computer program, which can be executed by the fourth processor 1602 of the target vehicle 1600 to complete the steps described in the aforementioned target vehicle-side method. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0329] Exemplary embodiments of this application also provide a computer program product, including a computer program that can be executed by a first processor 1302 of a first edge server 1300 to complete the steps described in the aforementioned first edge server-side method. The computer program can be executed by a second processor 1402 of a second edge server 1400 to complete the steps described in the aforementioned second edge server-side method. The computer program can be executed by a third processor 1502 of a cloud server 1500 to complete the steps described in the aforementioned cloud server-side method. The computer program can be executed by a fourth processor 1602 of a target vehicle 1600 to complete the steps described in the aforementioned target vehicle-side method.

[0330] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0331] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, the terms "at least one" or "at least one item" in this document refer to any combination of at least two of any one or more of a plurality of elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0332] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0333] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application.

Claims

1. A vehicular internet of things communication method, characterized in that, The method applied to a first edge server comprises: receiving first information sent by at least one second edge server, wherein the first information comprises information related to vehicles and / or roadside devices in a grid corresponding to the second edge server, and the grid corresponding to the second edge server is different from a grid corresponding to the first edge server; sending the first information to a target vehicle located in the grid corresponding to the first edge server.

2. The method of claim 1, wherein, The method further comprises: receiving information reported by a roadside device in the grid corresponding to the first edge server; sending second information to the target vehicle, wherein the second information at least comprises the information reported by the roadside device in the grid corresponding to the first edge server and / or information processed based on the information reported by the roadside device.

3. The method according to any one of claims 1 or 2, characterized in that, The method further comprises: generating a broadcast table of the target vehicle based on third information, fourth information and fifth information; sending part or all information contained in the broadcast table to the target vehicle based on the broadcast table; wherein the third information comprises information related to roadside devices in the grid corresponding to the first edge server, the fourth information comprises information related to all vehicles in all grids adjacent to the grid corresponding to the first edge server, and the fifth information comprises the first information sent by the second edge server based on a forwarding strategy table; the forwarding strategy table is issued by a cloud server and is used to instruct the at least one second edge server to send the first information to the target vehicle in the grid corresponding to the first edge server.

4. The method according to claim 1 or 2, characterized in that, The grid corresponding to the first edge server is adjacent to the grid corresponding to the at least one second edge server, or the grid corresponding to the first edge server is adjacent to part of the grids corresponding to the second edge servers, and the remaining grids corresponding to the second edge servers are determined based on a road direction. 5.A method for vehicle-to-everything communication, the method comprising: The method applied to a second edge server comprises: sending first information to a first edge server, wherein the first information comprises information related to vehicles and / or roadside devices in a grid corresponding to the second edge server, and the grid corresponding to the second edge server is different from a grid corresponding to the first edge server.

6. The method of claim 5, wherein, The sending of the first information to the first edge server comprises: receiving a forwarding strategy table sent by a cloud server, wherein the forwarding strategy table is used to instruct at least one second edge server to send first information to a target vehicle in a grid corresponding to a first edge server; sending the first information to the first edge server based on the forwarding strategy table. 7.A method for vehicle-to-everything communication, the method comprising: The method applied to a cloud server comprises: sending a forwarding strategy table to at least one second edge server, wherein the forwarding strategy table is used to instruct the at least one second edge server to send first information to a target vehicle in a grid corresponding to a first edge server, and the first information comprises information related to vehicles and / or roadside devices in a grid corresponding to the second edge server, and the grid corresponding to the second edge server is different from the grid corresponding to the first edge server.

8. The method of claim 7, wherein, The method further comprises: determining a first grid and a second grid based on driving information of a target vehicle, the first grid representing a grid where the target vehicle is currently located, and the second grid representing a grid where the target vehicle is predicted to be located after a set time; determining the forwarding policy table based on the first grid and the second grid, and a correspondence between the grids and edge servers.

9. The method according to any of claims 7 or 8, characterized in that, The method further comprises: dividing roads within a coverage range of a network device corresponding to each edge server into grids based on a set latitude and longitude range and a spatial adjacency model. 10.A method for vehicle-to-everything communication, the method comprising: The method is applied to a target vehicle, and the method comprises: receiving first information sent by a first edge server, the first information comprising information related to vehicles and / or roadside devices within a grid corresponding to a second edge server, the grid corresponding to the second edge server being different from a grid corresponding to the first edge server, and the target vehicle being located within the grid corresponding to the first edge server.

11. An electronic device, comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is configured to execute the steps of the method of any one of claims 1 to 4, or the steps of the method of any one of claims 5 to 6, or the steps of the method of any one of claims 7 to 9, or the steps of the method of claim 10 when the computer program is run.

12. A storage medium having stored thereon a computer program, characterized in that The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 4, or the steps of the method of any one of claims 5 to 6, or the steps of the method of any one of claims 7 to 9, or the steps of the method of claim 10.

13. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 10.

Images