Communication method, communication equipment, vehicle-mounted terminal and vehicle

Abstract

The invention provides a communication method, communication equipment, a vehicle-mounted terminal and a vehicle. In the communication method, a first device generates first data at a first moment, the first data comprises semantic information of a signal lamp, and the first data comprises timestamp information corresponding to the first moment; the first device sends the first data to a plurality of vehicle-mounted terminals through a first link and a second link at the same time, the first link is a direct connection communication link, and the second link is a wide area wireless communication link. Based on the communication method provided by the invention, the reliability and coverage of traffic signal lamp information broadcasting can be improved, and the dependence on a single communication mode is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle-road cooperative communication, and more particularly, to a communication method, a communication device, a vehicle terminal and a vehicle. BACKGROUND

[0002] In a vehicle to everything (V2X) system, a road side unit (RSU) is usually responsible for collecting state information of a traffic signal light (such as red, yellow and green lights and their durations), and broadcasting the information to on-board units (OBUs) of surrounding vehicles through a specific communication technology. After receiving a signal phase and timing (SPaT) message, the vehicle OBU can provide the driver with information about the front signal light, or provide the automatic driving system with a basis for decision-making. These information is of great significance to improve driving safety and efficiency. However, the single cellular vehicle-to-everything (C-V2X) communication mode has the problems of limited communication reliability and coverage, and narrow user coverage, and the single mobile cellular network communication mode has the problems of communication delay and reliability bottleneck, therefore, how to improve the reliability and coverage of traffic signal light information broadcast, and reduce the dependence on a single communication mode, is a technical problem that needs to be solved in the field. SUMMARY

[0003] The present application provides a communication method to improve the reliability and coverage of traffic signal light information broadcast, and reduce the dependence on a single communication mode.

[0004] In a first aspect, a communication method is provided, which can be executed by a first device. In the absence of special description, the "first device" in the present application can refer to the first device itself (such as a multi-access edge computing (MEC), a road side unit (RSU), etc.), a component (such as a processor, a chip, or a chip system, etc.) in the first device, or a logic module or software capable of realizing all or part of the functions of the first device. For ease of description, the following description is made by taking the first device as an example.

[0005] The communication method includes: generating, by the first device, first data at a first time, the first data including semantic information of a signal light, and the first data including timestamp information corresponding to the first time; The first device simultaneously sends the first data to a plurality of vehicle terminals through a first link and a second link, wherein the first link is a direct communication link, and the second link is a wide area wireless communication link.

[0006] In some implementations of the first aspect, the semantic information of the signal light comprises at least one of: the right-to-pass information corresponding to the plurality of vehicle terminals, the phase state remaining duration information of a traffic signal controller (TSC), the next phase prediction information of the TSC, the right-to-pass guidance information corresponding to the plurality of vehicle terminals, or the confidence information of the first data.

[0007] In some implementations of the first aspect, when the semantic information of the signal light comprises the right-to-pass information corresponding to the plurality of vehicle terminals, the generating the first data comprises: obtaining the signal light data and the intersection map data from the TSC, and generating the right-to-pass information according to the signal light data and the intersection map data of the TSC; when the semantic information of the signal light comprises the phase state remaining duration information of the TSC, the generating the first data comprises: obtaining the signal light data from the TSC, and generating the phase state remaining duration information according to the signal light data of the TSC; when the semantic information of the signal light comprises the next phase prediction information of the TSC, the generating the first data comprises: obtaining the signal light data and the intersection map data from the TSC, and generating the next phase prediction information of the TSC according to the signal light data and the intersection map data of the TSC; when the semantic information of the signal light comprises the right-to-pass guidance information corresponding to the plurality of vehicle terminals, the generating the first data comprises: obtaining the signal light data and the intersection map data from the TSC, and generating the right-to-pass guidance information corresponding to the plurality of vehicle terminals according to the signal light data and the intersection map data of the TSC; and when the semantic information of the signal light comprises the confidence information of the first data, the generating the first data comprises: obtaining the signal light data and the intersection map data from the TSC, and generating the confidence information of the first data according to the signal light data and the intersection map data of the TSC.

[0008] In a second aspect, a communication method is provided, which can be executed by a vehicle terminal. In the absence of special description, the "vehicle terminal" in the present application can refer to the second device itself (for example, an on-board unit OBU, a smart cockpit, etc.), a component in the vehicle terminal (for example, a processor, a chip, or a chip system, etc.), or a logic module or software capable of realizing all or part of the functions of the vehicle terminal. For ease of description, the following describes the execution of the vehicle terminal as an example.

[0009] The communication method comprises: receiving, by the vehicle terminal, second data through a first link; receiving, by the vehicle terminal, third data through a second link, wherein the second data and the third data comprise timestamp information corresponding to a first time; and fusing, by the vehicle terminal, the second data and the third data according to the timestamp information corresponding to the first time, to obtain semantic information of a signal light.

[0010] With reference to the second aspect, in some implementations of the second aspect, the vehicle terminal receives fourth data, the fourth data comprising another semantic information of the signal light; the vehicle terminal obtains the passing strategy of the vehicle in the corresponding range of the signal light according to the semantic information of the signal light, the vehicle terminal being arranged in the vehicle; wherein the another semantic information of the signal light comprises timestamp information of a second time point, the first time point being after the second time point; and / or the semantic information of the signal light comprises first confidence information, the another semantic information of the signal light comprises second confidence information, the value of the first confidence information being greater than the value of the second confidence information.

[0011] With reference to the second aspect, in some implementations of the second aspect, the passing strategy comprises at least one of the following: recommended passing speed information, green wave passing suggestion information, start reminding information, red light running warning information, and early lane changing prompt information.

[0012] With reference to the second aspect, in some implementations of the second aspect, when the passing strategy comprises the recommended passing speed information, the vehicle terminal obtains the passing strategy of the vehicle in the corresponding range of the signal light according to the semantic information of the signal light, comprising: obtaining state information of the vehicle, and generating the recommended passing speed information of the vehicle in the corresponding range of the signal light according to the state information of the vehicle and the semantic information of the signal light; when the passing strategy comprises the green wave passing suggestion information, the vehicle terminal obtains the passing strategy of the vehicle in the corresponding range of the signal light according to the semantic information of the signal light, comprising: obtaining state information of the vehicle, and generating the green wave passing suggestion information of the vehicle in the corresponding range of the signal light according to the state information of the vehicle and the semantic information of the signal light; when the passing strategy comprises the start reminding information, the vehicle terminal obtains the passing strategy of the vehicle in the corresponding range of the signal light according to the semantic information of the signal light, comprising: obtaining state information of the vehicle, and generating the start reminding information of the vehicle in the corresponding range of the signal light according to the state information of the vehicle and the semantic information of the signal light; when the passing strategy comprises the red light running warning information, the vehicle terminal obtains the passing strategy of the vehicle in the corresponding range of the signal light according to the semantic information of the signal light, comprising: obtaining state information of the vehicle, and generating the red light running warning information of the vehicle in the corresponding range of the signal light according to the state information of the vehicle and the semantic information of the signal light; when the passing strategy comprises the early lane changing prompt information, the vehicle terminal obtains the passing strategy of the vehicle in the corresponding range of the signal light according to the semantic information of the signal light, comprising: obtaining state information of the vehicle, and generating the early lane changing prompt information of the vehicle in the corresponding range of the signal light according to the state information of the vehicle and the semantic information of the signal light.

[0013] The third aspect provides a communication device for performing the first aspect and any of the implementation manners thereof. Specifically, the communication device comprises: a processing module configured to generate first data at a first time, the first data comprising semantic information of a signal light, and the first data comprising timestamp information corresponding to the first time; and a transceiver module configured to simultaneously transmit the first data to a plurality of vehicle-mounted terminals via a first link and a second link, wherein the first link is a direct communication link, and the second link is a wide-area wireless communication link.

[0014] The fourth aspect provides a vehicle-mounted terminal for performing the second aspect and any of the implementation manners thereof. Specifically, the vehicle-mounted terminal comprises: a transceiver module configured to receive second data via a first link, and configured to receive third data via a second link, wherein the second data and the third data comprise timestamp information corresponding to a first time; and a processing module configured to fuse the second data and the third data according to the timestamp information corresponding to the first time, to obtain semantic information of a signal light.

[0015] The fifth aspect provides a vehicle comprising the vehicle-mounted terminal provided in the fourth aspect.

[0016] The sixth aspect provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed, the method provided in any of the implementation manners of the first aspect and the second aspect is executed.

[0017] The seventh aspect provides a computer program product comprising instructions. When the computer program product is executed, the method provided in any of the implementation manners of the first aspect and the second aspect is executed.

[0018] The eighth aspect provides a chip comprising a processor and a communication interface. The processor reads instructions via the communication interface, and executes the method provided in any of the implementation manners of the first aspect and the second aspect.

[0019] Optionally, as an implementation manner, the chip further comprises a memory storing a computer program or instructions. The processor is configured to execute the computer program or instructions stored in the memory, and when the computer program or instructions are executed, the processor is configured to execute the method provided in any of the implementation manners of the first aspect and the second aspect.

[0020] The ninth aspect provides a communication system comprising the communication device of the third aspect and the vehicle-mounted terminal of the fourth aspect.

[0021] The tenth aspect provides a computer program. When the computer program is executed, the method provided in any of the implementation manners of the first aspect and the second aspect is executed.

[0022] The application provides a communication method. A first device generates first data at a first time. The first data includes semantic information of a traffic signal lamp, and the first data includes timestamp information corresponding to the time when the first data is generated, i.e., the first time. The first device simultaneously sends the first data to a plurality of vehicle-mounted terminals through two different communication links, i.e., a first link and a second link. The first link can cover all intelligent connected vehicles with OBU (On-Board Unit) in the range corresponding to the traffic signal lamp, and the second link can cover ordinary vehicles and intelligent connected vehicles that subscribe to the traffic signal lamp information service in the range corresponding to the traffic signal lamp. In the application, the low-latency broadcast characteristics of the direct communication link and the wide coverage characteristics of the wide-area wireless communication link are simultaneously used to cooperatively transmit traffic signal lamp information, so as to ensure the reliability of information transmission and coverage of different types of vehicles. Based on the communication method of the application, the reliability and coverage range of traffic signal lamp information broadcast can be improved, and the dependence on a single communication mode can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic flowchart of a first communication method provided by an embodiment of the application; Figure 2 is a schematic flowchart of a second communication method provided by an embodiment of the application; Figure 3 is a schematic diagram of a system to which the communication method of the application is applicable; Figure 4 is a schematic diagram of a communication device according to the application; Figure 5 is a schematic diagram of a vehicle-mounted terminal according to the application. DETAILED DESCRIPTION

[0024] In order to facilitate understanding of the embodiments of the application, the following points are first explained.

[0025] First, “at least one” in the application means one or more, and “a plurality of” means two or more (including two). In addition, in the embodiments of the application, “first”, “second”, and various numbers (for example, “#1”, “#2”, etc.) are only used for differentiation for convenience of description, and do not limit the scope of the embodiments of the application. The size of the serial number of each process below does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the application. It should be understood that the objects thus described can be interchanged under appropriate circumstances, so as to describe schemes other than the embodiments of the application. In addition, in the embodiments of the application, “S310” and the like are only used for identification for convenience of description, and do not limit the order of execution steps.

[0026] Second, in the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example or illustration. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed to be preferred or advantageous over other embodiments or designs. Rather, the intent is to present concepts in a concrete manner.

[0027] Third, in the embodiments of the present application, "storing" can refer to storing in one or more memories. The one or more memories can be separately arranged or integrated in the encoder or decoder, processor, or communication device. The one or more memories can be partially separately arranged and partially integrated in the decoder, processor, or communication device. The type of memory can be any form of storage medium, which is not limited in the present application.

[0028] Fourth, in the embodiments of the present application, "protocol" can refer to a standard protocol in the communication field, which can include NR protocol and related protocols applied to future communication systems, which is not limited in the present application.

[0029] Fifth, in the embodiments of the present application, "of", "corresponding", "corresponding" and "associated" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent.

[0030] Sixth, in the embodiments of the present application, "in the case of", "when", "if" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent.

[0031] Seventh, the term "and / or" in this document is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects.

[0032] Eighth, "message", "information", etc. can be used interchangeably in this document, and the names of messages or information are not limited in any way as long as the corresponding functions can be implemented.

[0033] Ninth, in this application, "send" and "receive" represent the direction of signal transmission. For example, "sending information to XX" can be understood as the destination of the information is XX, "sending information" can include direct sending, also includes indirectly sending through other units or modules. "Receiving information from YY" can be understood as the source of the information is YY, "receiving information" can include direct receiving from YY, also can include indirectly receiving from YY through other units or modules. In addition to the air interface sending or receiving signals realized by the whole machine level of network equipment or terminal equipment, "sending" can also be understood as the "output" of the chip interface, and "receiving" can also be understood as the "input" of the chip interface. For example, the modem or system-level chip (such as system on a chip (SoC) chip or system in package (SIP) chip, etc.) sends or receives signals. "Sending" or "receiving" can also be carried out by device components, such as sending or receiving signals through several parts, modules, chips of the device by bus, wire or interface.

[0034] The technical solutions in this application will be described below with reference to the drawings.

[0035] Figure 1 The first communication method provided by the embodiments of the present application is shown in the schematic flow chart, and the present application provides a communication method, which can be executed by a first device. In the case where it is not specially stated, the "first device" in this application can refer to the first device itself (for example, edge computing unit MEC, road side unit RSU, etc.), a component (for example, a processor, a chip, or a chip system, etc.) in the first device, or a logic module or software capable of realizing all or part of the functions of the first device. For the convenience of description, the following will be described by taking the first device as an example.

[0036] As shown in the communication method shown in the schematic flow chart, the communication method comprises the following steps: Figure 1 S110, the first device generates first data at a first time, the first data comprising semantic information of a signal light, and the first data comprising timestamp information corresponding to the first time; Specifically, the first data in this application is generated by the first device, the first data comprising semantic information of a signal light, and the first data further comprising timestamp information corresponding to the first time when the first data is generated.

[0037] S120, the first device simultaneously sends the first data to a plurality of vehicle-mounted terminals through a first link and a second link, wherein the first link is a direct communication link, and the second link is a wide area wireless communication link.

[0038] ​Specifically, the first device transmits the first data through two paths simultaneously. The first path, i.e., the first link, is a direct communication link. The direct communication link refers to a direct communication between devices (D2D) or between a road and a device (I2V) without relying on a cellular core network for data forwarding, such as C-V2X PC5, DSRC (Dedicated Short-Range Communication, such as IEEE 802.11p), NR-V2X Sidelink, Wi-Fi Direct, and other technologies with similar characteristics. For example, the first device can be a C-V2X radio unit in an RSU, and the transmission mode is periodic broadcast, for example, the transmission frequency can be 10 Hz (every 100 ms) or 2 Hz (every 500 ms), the transmission power is set according to the intersection coverage requirement and legal restrictions, and the transmission channel can be a designated V2X communication channel. The target of the transmission is all intelligent connected vehicles with OBU within the intersection coverage range. The second path, i.e., the second link, is a wide area wireless communication link. The wide area wireless communication link refers to communication through a wireless network infrastructure (base station, core network, etc.) deployed by an operator with wide coverage, such as 5G Uu interface, 4G (LTE) Uu interface, future 6G network interface, satellite communication link, and other wide area communication technologies. For example, the first device can be an edge computing unit MEC, which sends the first data to the 5G edge cloud or central cloud control platform through a secure connection (such as HTTPS / TLS) through the 5G User Plane Function (UPF) and the connection with the 5G core network. The upload protocol can use MQTT, gRPC, or HTTP POST. The cloud platform is responsible for managing vehicles / users (through APP registration, vehicle ID binding, etc.) that subscribe to the traffic light information service. The cloud platform determines which vehicles need the traffic light information of the current intersection based on the real-time GPS location reported by the vehicles (obtained through the APP / SDK) or the pre-set intersection list of interest of the vehicles. The first device in the second link can send the first data in a unicast mode, i.e., point-to-point push to specific vehicles, or in a multicast / broadcast mode, i.e., multicast or cell broadcast to all subscribed users in a specific geographic area if the network supports it. The target of the second link can be user terminal APPs or ordinary vehicles and intelligent connected vehicles with IVI that support the traffic light information service SDK. The push protocol from the cloud platform to the vehicle APP / SDK can be Firebase Cloud Messaging (FCM), Apple Push Notification service (APNs), MQTT long connection, or WebSocket.

[0039] The application provides a communication method. A first device generates first data at a first time, the first data including semantic information of a traffic signal light, and the first data including timestamp information corresponding to the time when the first data is generated (i.e., the first time). The first device simultaneously sends the first data to a plurality of vehicle-mounted terminals through two different communication links, i.e., a first link and a second link. The first link can cover all intelligent connected vehicles with OBU (On-Board Unit) in the range corresponding to the traffic signal light, and the second link can cover ordinary vehicles and intelligent connected vehicles that subscribe to the traffic signal light information service in the range corresponding to the traffic signal light. In the present application, the direct communication link and the wide-area wireless communication link are used for parallel transmission. The direct communication link ensures low-latency and high-reliability reception of near-field direct vehicles. The wide-area wireless communication link uses the wide coverage characteristics of the cellular network to make up for the possible coverage blind spots of the direct communication link and can reach vehicles at a farther distance. The two paths are backup and complementary to each other, thereby overcoming the problems of limited communication distance and stability of a single CP5 link and the problems of possible latency and insufficient reliability of a single cellular network.

[0040] In some embodiments, the semantic information of the traffic signal light includes at least one of the following: the traffic right information corresponding to the plurality of vehicle-mounted terminals, the phase state remaining time information of the traffic signal controller TSC, the next phase prediction information of the TSC, the traffic guidance information corresponding to the plurality of vehicle-mounted terminals, or the confidence information of the first data.

[0041] In the present application, the semantic information of the traffic signal light included in the first data generated by the first device is not only the original light state, but also not only the simple light color and countdown, but also includes rich structured semantic information such as the traffic right information corresponding to the vehicle-mounted terminals, the phase state remaining time information of the TSC, the next phase prediction information of the TSC, the traffic guidance information corresponding to the plurality of vehicle-mounted terminals, and the confidence information of the first data, so that the traffic signal light information obtained by the vehicle (including the intelligent connected vehicle and the ordinary vehicle) is more rich and easy to understand.

[0042] In some embodiments, when the semantic information of the signal light includes the traffic right information corresponding to the plurality of vehicle terminals, the generating the first data comprises: obtaining the signal light data and the intersection map data from the TSC, and generating the traffic right information according to the signal light data and the intersection map data of the TSC; when the semantic information of the signal light includes the remaining duration information of the phase state of the TSC, the generating the first data comprises: obtaining the signal light data from the TSC, and generating the remaining duration information of the phase state according to the signal light data of the TSC; when the semantic information of the signal light includes the next phase prediction information of the TSC, the generating the first data comprises: obtaining the signal light data and the intersection map data from the TSC, and generating the next phase prediction information of the TSC according to the signal light data and the intersection map data of the TSC; when the semantic information of the signal light includes the traffic guidance information corresponding to the plurality of vehicle terminals, the generating the first data comprises: obtaining the signal light data and the intersection map data from the TSC, and generating the traffic guidance information corresponding to the plurality of vehicle terminals according to the signal light data and the intersection map data of the TSC; and when the semantic information of the signal light includes the confidence information of the first data, the generating the first data comprises: obtaining the signal light data and the intersection map data from the TSC, and generating the confidence information of the first data according to the signal light data and the intersection map data of the TSC.

[0043] Exemplarily, the first device performs semantic modeling according to the original signal light data and the intersection map data from the traffic signal controller TSC to generate the traffic right information, specifically including: the first device matches the phase number and the light group state of the TSC with the lane function (straight ahead, left turn, right turn, pedestrian, etc.) and the signal phase correspondence in the intersection map data to generate explicit traffic right information such as “entry lane A-straight ahead green light” and “entry lane B-left turn red light”.

[0044] Data structure example (JSON fragment): JSON {“lane_id”: “A_lane_01”, “movement”: “straight_ahead”, “event_state”: “permissive_movement_allowed”, / / (green light) “timing_min_end_time”: “2025-05-30T10:23:45.500Z” / / (UTC)} The data structure clearly defines lane ID (lane_id), corresponding movement, event state (event_state, which uses standard terminology to indicate permission to pass), and the minimum end time (timing_min_end_time) of the state through key-value pairs, which facilitates efficient machine parsing and processing.

[0045] Exemplarily, the first device generates phase state remaining duration information according to the signal lamp data of the TSC, specifically including: the first device directly uses the current phase remaining time provided by the TSC, and if the TSC only provides the absolute end time of the phase, the remaining time is obtained by subtracting the current time from the end time. According to this, the phase state remaining duration information is generated, and the remaining duration can be accurate to 0.1 seconds.

[0046] Exemplarily, the first device generates next phase prediction information of the TSC according to the original signal lamp data from the traffic signal controller TSC and the intersection map data, specifically including: the first device obtains the current phase number and the phase sequence in the current active signal timing scheme; according to the phase sequence, the next phase number of the current phase is determined; in combination with the intersection map data, the traffic right corresponding to the next phase number (such as “entry A-left turn green light”) is parsed; for adaptive signal control, if the TSC can provide next phase prediction information, it is preferred to be used; otherwise, prediction can be made based on historical statistical data or a short-term learning model. The next phase prediction information thus generated can include a semantic description of the next phase and a predicted start time.

[0047] Exemplarily, the first device generates traffic guidance information corresponding to a plurality of vehicle terminals according to the original signal lamp data from the traffic signal controller TSC and the intersection map data, specifically including: the first device generates specific traffic guidance instructions by comprehensively analyzing signal lamp state, time, vehicle state and other information based on a rule-based decision tree or a state machine model. The specific technical means are as follows: Input parameters: Signal lamp information: current event state (green / yellow / red) of the target direction, signal phase state remaining duration (time_left) ).

[0048] Vehicle information: current vehicle speed (speed) , distance to the intersection stop line (distance_to_stop_line) ).

[0049] Static information: road speed limit, preset comfortable acceleration and deceleration.

[0050] Processing logic: Scene determination: Determines whether the vehicle is currently in one of the three basic scenarios: "approaching a green light", "approaching a red light", or "approaching a yellow light (decision zone)".

[0051] Green light scene handling: Calculate the time required for the vehicle to reach the stop line at its current speed: .

[0052] IF (in If a 2-second safety buffer period is provided, the vehicle is deemed safe to proceed. The output command is either "Suggested to proceed" or "Green wave speed suggestion".

[0053] ELSE indicates the vehicle cannot safely pass before the green light ends. Output instruction: "Suggest smooth deceleration and preparation to stop."

[0054] Red light scene handling: Get the remaining red light time .

[0055] IF (in If a 3-second start-up threshold is set, the command "Ready to start" will be output.

[0056] ELSE, output the command: "Stop and wait, red light ahead for X seconds".

[0057] Yellow light (decision zone) scene handling: Calculate the shortest distance required for a safe parking: in For comfort, deceleration, such as ).

[0058] IF If the vehicle can be comfortably stopped, the output command is: "Suggest stopping".

[0059] ELSE indicates that emergency braking is required to stop the vehicle, posing a risk. Output instruction: "Proceed with caution".

[0060] This generates multiple traffic guidance messages for in-vehicle terminals, which can be explicit guidance instructions for specific vehicles, such as "suggest proceeding," "suggest stopping," or "prepare to start."

[0061] For example, the first device performs semantic modeling based on raw traffic light data and intersection map data from the traffic signal controller (TSC) to generate confidence information for the first data. Specifically, this includes using a quantitative model based on multi-factor weighted scoring to assess the reliability of the generated semantic information. The specific implementation is as follows: Input factors: Data source factor ( ): Reflects the reliability of the original data acquisition method. For example, direct connection to traffic lights = 1.0; video recognition acquisition = 0.8; historical data inference = 0.7.

[0062] Data timeliness factor ( ): Reflects the freshness of the data. It can be expressed by the formula... Calculation, where The time difference from when the data was generated to the present. The maximum tolerable delay (e.g., 2 seconds).

[0063] Information type factor ( ): This indicates whether the information is measured or predicted. For example, the current phase state = 1.0; the predicted next phase = 0.9.

[0064] Processing logic (weighted summation): Assign a preset weight to each factor. ), the sum of all their weights is 1. For example, .

[0065] The final confidence level is calculated using a weighted formula: .

[0066] This generates the confidence information of the first data, which represents the credibility of the semantic information. The confidence level can be a floating-point value between 0 and 1.

[0067] For example, raw traffic light data from the TSC may include: Current Signal Phase: For example, the phase number currently being executed output by the TSC and its corresponding lamp group status (such as G1_Green, G2_Red, G3_Yellow).

[0068] Phase Time Remaining: The number of seconds remaining for each light state (green, yellow, red) in the current phase.

[0069] Signal Timing Plan: The signal cycle length, phase sequence, green split duration, yellow time, and all-red time for the current activity.

[0070] For example, intersection map data is optional and can be provided by the TSC. If the TSC does not provide intersection map data, the roadside unit (RSU) or edge computing unit (MEC) should pre-configure or obtain the intersection map MAP message (compliant with SAE J2735 or CSAE standards) from the cloud platform, which includes the intersection geometry topology, lane and phase correspondence, etc.

[0071] For example, the frequency of roadside sensing and signal acquisition can be high-frequency polling (e.g., once every 100ms-500ms) or data acquisition based on TSC event-driven methods to ensure real-time information.

[0072] For example, the roadside unit (RSU) or edge computing unit (MEC) can perform data preprocessing, such as verifying the collected raw data (e.g., checking timestamps and numerical ranges), filtering out obviously erroneous data, and performing preliminary format conversion.

[0073] For example, the first data can be a structured data object, such as a JSON object, encapsulating the semantic information of the traffic light. In the first link, the first device maps the semantic information in JSON format to a standard C-V2X message structure. Fields from existing standard messages (such as SAE J2735 SPaT messages and CSAE T / CSAE 53 SPAT messages) are preferred. If standard message fields are insufficient to carry all semantic information (such as "access permission information" or "predicted handover status"), they can be encapsulated using their regional extension fields or custom data elements (DEs). For example, in the IntersectionState of the SPaT message, in addition to eventState and timing, predictedNextEventState, predictedNextEventTime, and maneuverAdvise can be added via regional extensions within MovementState.

[0074] Figure 2 This is a schematic flowchart illustrating the second communication method provided in this application. This method can be executed by an in-vehicle terminal. Unless otherwise specified, "in-vehicle terminal" in this application can refer to the second device itself (e.g., on-board unit, smart cockpit, etc.), a component within the in-vehicle terminal (e.g., processor, chip, or chip system, etc.), or a logic module or software capable of implementing all or part of the in-vehicle terminal's functions. For ease of description, the following description uses the execution by an in-vehicle terminal as an example. The communication method includes the following steps: S210, the vehicle-mounted terminal receives the second data through the first link.

[0075] Specifically, the first link can be a direct communication link. For example, the vehicle terminal can be an OBU, which receives the second data through a C-V2X interface.

[0076] S220, the vehicle terminal receives third data through the second link, wherein the second data and the third data include the timestamp information corresponding to the first moment.

[0077] Specifically, the second link can be a wide-area wireless communication link. For example, the vehicle terminal can be a vehicle app or SDK, which receives third data via a 5G / cellular network interface. Both the second and third data include timestamp information corresponding to the first moment. In some implementations, the vehicle terminal parses the received data to extract semantic information about the traffic lights.

[0078] S230: The vehicle terminal fuses the second and third data based on the timestamp information corresponding to the first moment to obtain the semantic information of the traffic light.

[0079] In this application, the vehicle terminal receives second data and third data through two different communication links to ensure that the vehicle terminal can receive traffic light information. The second data and third data include timestamp information when the first device generates traffic light semantic information. The vehicle terminal fuses the second data and third data based on the timestamp information so that the vehicle terminal can obtain the latest traffic light semantic information.

[0080] In some implementations, the vehicle-mounted terminal receives fourth data, which includes another semantic information of the traffic light; the vehicle-mounted terminal obtains the vehicle's passage strategy within the corresponding range of the traffic light based on the semantic information of the traffic light, and the vehicle-mounted terminal is installed inside the vehicle; wherein, the other semantic information of the traffic light includes a timestamp information of a second moment, and the first moment is located after the second moment; and / or, the semantic information of the traffic light includes a first confidence information, and the other semantic information of the traffic light includes a second confidence information, and the value of the first confidence information is greater than the value of the second confidence information.

[0081] For example, if the vehicle terminal receives traffic light-related data from different communication links simultaneously, a fusion decision is made based on timestamp information and / or confidence level information. For instance, the data with the latest timestamp can be used, or the data with the highest confidence level can be used. In this application, by fusing multiple semantic information received by the vehicle terminal based on timestamps and / or confidence levels, it is possible to ensure that the vehicle terminal uses the latest data with higher confidence. Based on this, the vehicle terminal obtains the vehicle's passage strategy within the corresponding range of the traffic light according to the semantic information of the traffic light, thus improving the reliability and accuracy of the vehicle communication strategy.

[0082] In some implementations, the traffic strategy includes at least one of the following: recommended traffic speed information, green wave traffic suggestion information, start reminder information, red light violation warning information, and lane change advance reminder information.

[0083] In some implementations, when the traffic strategy includes recommended traffic speed information, the vehicle terminal obtains the vehicle's traffic strategy within the corresponding range of the traffic light based on the semantic information of the traffic light, including: acquiring vehicle status information and generating recommended traffic speed information for the vehicle within the corresponding range of the traffic light based on the vehicle status information and the semantic information of the traffic light; when the traffic strategy includes green wave traffic suggestion information, the vehicle terminal obtains the vehicle's traffic strategy within the corresponding range of the traffic light based on the semantic information of the traffic light, including: acquiring vehicle status information and generating green wave traffic suggestion information for the vehicle within the corresponding range of the traffic light based on the vehicle status information and the semantic information of the traffic light; when the traffic strategy includes start-up reminder information, the vehicle terminal obtains the vehicle's traffic strategy within the corresponding range of the traffic light based on the semantic information of the traffic light. The strategy includes: acquiring vehicle status information and generating a start reminder message for the vehicle within the corresponding range of the traffic light based on the vehicle status information and the semantic information of the traffic light; when the traffic strategy includes a red light violation warning message, the on-board terminal obtains the traffic strategy for the vehicle within the corresponding range of the traffic light based on the semantic information of the traffic light, including: acquiring vehicle status information and generating a red light violation warning message for the vehicle within the corresponding range of the traffic light based on the vehicle status information and the semantic information of the traffic light; when the traffic strategy includes an early lane change prompt message, the on-board terminal obtains the traffic strategy for the vehicle within the corresponding range of the traffic light based on the semantic information of the traffic light, including: acquiring vehicle status information and generating an early lane change prompt message for the vehicle within the corresponding range of the traffic light based on the vehicle status information and the semantic information of the traffic light.

[0084] For example, the vehicle status information acquired by the in-vehicle terminal may include: Current speed: obtained from the vehicle's CAN bus or GPS module; Current position: obtained from the GPS module, the higher the accuracy, the better (RTK is encouraged); Distance to Intersection Stop Bar: calculated by combining the GPS position and the stop line position of the intersection in a high-precision map (HD Map); Current Lane: obtained by combining high-precision positioning and HD Map; Driver's Intent / Navigation Route: obtained from the turn signal status and the route planned by the navigation system to determine the target direction (straight, left turn, right turn).

[0085] For example, obtaining vehicle status information and generating recommended speed advisory information for the vehicle within the corresponding range of the traffic light based on the vehicle status information and the semantic information of the traffic light can specifically include: In a green light scenario, this application aims to calculate a speed range that prevents vehicles from braking abruptly due to arriving too early or missing the green light due to arriving too late. As shown in the following formula, the minimum and maximum recommended speeds are determined by dividing the distance from the vehicle to the stop line by the upper and lower limits of the effective green light time, respectively: V_optimal_min = Distance_to_stop_bar / TTC_green_effective V_optimal_max = Distance_to_stop_bar / (TTC_green_effective - Time_window_pass (e.g., 3-5s)) (Ensures you don't go full speed as soon as the light turns green) Recommended_Speed_Range = [max(V_min_safe, V_optimal_min), min(V_max_legal, V_optimal_max)] (V_min_safe is the minimum safe speed, V_max_legal is the speed limit for the road segment) In a red light scenario, this application aims to calculate a smooth deceleration curve to guide the vehicle to a smooth stop before the stop line with a comfortable deceleration: Required_deceleration = Current_Speed2 / (2 * Distance_to_stop_bar) By comparing the required deceleration with the preset comfortable deceleration threshold, it is determined whether immediate deceleration is needed or if gliding can continue.

[0086] The recommended speed information provided in this application can help vehicles plan an optimal speed range so that they can pass through intersections economically and comfortably.

[0087] For example, obtaining vehicle status information and generating Green Light Optimal Speed ​​Advisory (GLOSA) information for the vehicle within the corresponding range of the traffic light based on the vehicle status information and the semantic information of the traffic light can specifically include: If the vehicle-mounted terminal can receive the semantic information of traffic lights and MAP data from multiple downstream intersections, this application iteratively calculates a speed range so that the vehicle can pass through multiple green light intersections continuously at a relatively constant speed. For example: For each_downstream_intersection_i: Calculate arrival_time_window_at_intersection_i_to_pass_green Calculate speed_range_to_reach_intersection_i_within_that_window Intersect current_recommended_speed_range with speed_range_for_intersection_i For example, by acquiring vehicle status information and generating a start-stop alert for the vehicle within the corresponding range of the traffic light based on the vehicle status information and the semantic information of the traffic light, the following algorithm can be used: IF (target direction red light AND TTC_red < threshold - start-up preparation time (e.g., 2-3s) AND next phase is target direction green light) THEN "Ready to get started".

[0088] For example, by acquiring vehicle status information and generating a Red Light Violation Warning (RLVW) based on the vehicle status information and the semantic information of the traffic light, the following algorithm can be used: IF (Target direction is about to turn red (yellow or green light TTC < threshold_yellow light passed judgment) AND (Distance_to_stop_bar / Current_Speed) > (TTC_green + TTC_yellow - Buffer_time_yellow) AND Required_deceleration > Max_emergency_deceleration) THEN "Danger! You may be running a red light!"

[0089] For example, vehicle status information is obtained, and based on the vehicle status information and the semantic information of the traffic lights, an advance lane change advisory is generated indicating that the vehicle is within the corresponding range of the traffic lights. Specifically, the following algorithm can be used: when the high-precision map supports lane-level positioning and lane function information... IF (Navigation route indicates a turn from X to M at the intersection ahead AND current lane function != M AND lane L corresponding to turn M currently has a red / yellow light AND it is predicted that lane L will turn green within a reasonable time AND current lane traffic efficiency is low or about to turn red) THEN "It is recommended to change lanes to lane L when the opportunity arises to perform an M turn." In some other implementations, the access strategy can be displayed in any of the following ways: Visual: Use graphics (simulated traffic lights, speedometer needle), colors (red, yellow, green), and numbers (countdown, recommended speed) to clearly display information on the vehicle's central control screen, instrument panel, HUD head-up display, or mobile APP interface; Auditory: Key prompts are announced via voice, such as "The green light is for going straight at the intersection ahead, and the recommended speed is 40 kilometers per hour" and "Please note that the red light countdown is 3 seconds, and you are about to start." Priority: Safety-related alerts (such as RLVW) should have the highest display and broadcast priority.

[0090] In this application, the vehicle-side dynamically calculates recommended traffic speed, green wave traffic suggestions, and early lane change prompts based on the semantic information of the received traffic lights and the vehicle's own state. This guidance information can be presented to the driver or the autonomous driving system to assist driving decisions, thereby solving the problem that existing solutions lack active guidance linked to vehicle speed, path, and signal phase duration, which limits the vehicle's decision-making optimization capabilities at intersections.

[0091] It should be noted that the above embodiments are based on the vehicle terminal receiving the semantic information of the traffic lights simultaneously through two communication links. For cases where the vehicle terminal can only receive the semantic information of the traffic lights through one of the links, such as when the vehicle terminal only supports wide-area wireless communication links or only supports direct communication links, any of the above-mentioned implementation methods for the vehicle terminal to fuse multiple received semantic information based on timestamps and / or confidence levels, and to generate a communication strategy for the vehicle within the corresponding range of the traffic lights, are applicable. For details not described in detail, please refer to the above method embodiments. For the sake of brevity, some content will not be repeated.

[0092] This application supports providing services to ordinary social vehicles that do not have a dedicated OBU installed (via a mobile APP or vehicle SDK terminal) through a wide-area wireless communication link, thereby solving the problem that traditional V2X solutions mainly rely on OBU hardware, resulting in narrow user coverage and high promotion costs.

[0093] Figure 3 This is a schematic diagram of a system to which the communication method of this application applies.

[0094] In some implementations of this application, combined with Figure 3 The system includes a roadside subsystem, a communication network subsystem, and a vehicle terminal system.

[0095] For example, the roadside subsystem includes a traffic signal controller and an edge computing unit / RSU, wherein the traffic signal controller is the data source for the raw traffic light data, and the edge computing unit / RSU in the system corresponds to the first device in the above-described communication method. That is, in some specific embodiments, the first device can be an edge computing unit (MEC) or a roadside unit (RSU). For example, the roadside unit (RSU) and the edge computing unit (MEC) can be two independent units, or the edge computing unit (MEC) can be integrated within the roadside unit (RSU).

[0096] For example, traffic signal controllers and edge computing units / RSUs can be connected via standardized physical interfaces (such as Ethernet ports or RS485 serial ports). The edge computing unit / RSU can read data using standard protocols (such as the GB / T20999 NTCIP protocol family or Modbus) or the proprietary SDK / API provided by the traffic signal controller manufacturer. For older traffic signal controllers without digital interfaces, external image acquisition devices (such as cameras) can be used to obtain light status and countdown numbers through image recognition algorithms (such as recognizing red, green, and yellow light areas and countdown numbers based on deep learning models such as YOLOvKeras).

[0097] For example, the communication network subsystem may include a C-V2X PC5 network and a 5G Uu network. The C-V2X PC5 network corresponds to the first link in the communication method of this application, and the 5G Uu network corresponds to the second link in the communication method of this application.

[0098] For example, the vehicle terminal system may include an OBU (On-Board Unit), a mobile app / vehicle SDK. The OBU, mobile app, and vehicle SDK correspond to the vehicle terminal in this application. It should be noted that intelligent connected vehicles (with app / SDK) that have subscribed to traffic light information services can also receive semantic information about traffic lights via the 5G Uu network, i.e., the second link. Figure 3 The examples shown are merely illustrative of ordinary vehicles and are not intended to limit this application.

[0099] In some possible implementations, the system also includes a cloud control platform subsystem. For example, the cloud control platform subsystem may include a regional traffic cloud control platform. The regional traffic cloud control platform can support the uploading of multi-intersection signal data and processed semantic information to the regional traffic cloud control platform, providing data support for signal coordination scheduling and strategy optimization within the region. This can solve the technical problem that traditional single-point information dissemination cannot support regional-level traffic collaborative optimization.

[0100] The regional traffic cloud control platform can be used for the following: (1) Data aggregation: The MEC units at each intersection periodically (e.g., every minute) upload processed traffic light operation summary data (such as actual green light duration for each phase, estimated based on traffic flow – if MEC integrates sensing capabilities), equipment status, etc., to the regional traffic cloud control platform.

[0101] The vehicle-side APP / SDK can also selectively upload anonymized trip data (such as intersection waiting time and average traffic speed).

[0102] (2) Regional situation analysis and optimization decision-making: The regional traffic cloud control platform performs big data analysis on the aggregated data from multiple intersections and vehicles to identify traffic congestion bottlenecks and arterial roads with low efficiency in green wave coordination.

[0103] Traffic flow optimization algorithms (such as reinforcement learning-based regional signal coordination, MAXBAND, and TRANSYT offline optimization versions) are used to generate regional signal timing optimization schemes or dynamic traffic management strategies.

[0104] (3) Strategy issuance and execution: The optimized signal timing parameters (such as new phase duration and phase difference offset) can be sent to the TSC at the target intersection for execution (via MEC or direct connection).

[0105] Dynamic traffic management strategies (such as suggested detour routes) can be distributed to vehicles in the affected area via MEC through 5G channels.

[0106] (4) Effect evaluation: Continuously monitor the changes in traffic parameters after the strategy is implemented to form a closed-loop optimization.

[0107] The intersection edge computing and cloud control collaborative architecture provided in this application utilizes edge computing units for real-time signal acquisition, semantic parsing, and dual-path distribution, and supports uploading data to the cloud control platform, providing data support for regional multi-intersection signal linkage scheduling and strategy optimization.

[0108] Figure 4This is a schematic diagram of a communication device according to this application, which is used to execute the first communication method described above and any of its embodiments. The description of the communication device embodiment corresponds to the description of the method embodiment; therefore, for content not described in detail, please refer to the method embodiment above. For the sake of brevity, some content will not be repeated.

[0109] This application embodiment can divide the communication device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware, software, or a combination of both. The module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation. The following description uses the division of functional modules according to each function as an example.

[0110] Specifically, in combination Figure 4 The communication device 400 includes a processing module 401 and a transceiver module 402.

[0111] For example, the processing module 410 is used to generate first data at a first moment, the first data including semantic information of the traffic light, and the first data including timestamp information corresponding to the first moment; the transceiver module 420 is used to send the first data to multiple vehicle terminals simultaneously through a first link and a second link, wherein the first link is a direct communication link and the second link is a wide-area wireless communication link.

[0112] Figure 5 This is a schematic diagram of a vehicle-mounted terminal 500 according to this application. The vehicle-mounted terminal 500 is used to execute the second communication method described above and any of its implementations. The description of the vehicle-mounted terminal embodiment corresponds to the description of the method embodiment. Therefore, for content not described in detail, please refer to the method embodiment above. For the sake of brevity, some content will not be repeated.

[0113] This application embodiment can divide the vehicle terminal into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware, software, or a combination of both. The module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation. The following description uses the division of functional modules according to each function as an example.

[0114] Specifically, the vehicle-mounted terminal 500 includes a transceiver module 501 and a processing module 502.

[0115] For example, the transceiver module 501 is configured to receive second data via a first link; the transceiver module 501 is also configured to receive third data via a second link, wherein the second data and the third data include timestamp information corresponding to a first moment. The processing module 502 is configured to fuse the second data and the third data according to the timestamp information corresponding to the first moment to obtain semantic information of the traffic light.

[0116] This application also provides a vehicle that includes the vehicle-mounted terminal as described above.

[0117] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed, causes the execution of any implementation of the first and second communication methods described above.

[0118] This application also provides a computer program product containing instructions. When the computer program product is run, it causes the method provided by any implementation of the first and second communication methods described above to be executed.

[0119] This application also provides a chip, which includes a processor and a communication interface. The processor reads instructions through the communication interface and executes the method provided by any one of the implementations of the first and second communication methods described above.

[0120] Optionally, as one implementation, the chip also includes a memory that stores computer programs or instructions. The processor is used to execute the computer programs or instructions stored in the memory. When the computer programs or instructions are executed, the processor is used to execute the method provided by any one of the implementations of the first and second communication methods described above.

[0121] This application also provides a communication system, including the aforementioned communication equipment and vehicle-mounted terminal.

[0122] This application also provides a computer program. When the computer program is run, it causes the method provided by any implementation of the first and second communication methods described above to be executed.

[0123] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0124] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0128] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0129] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A communication method, characterized in that, include: The first device generates first data at a first moment, the first data including semantic information of the traffic light, and the first data including timestamp information corresponding to the first moment; The first device simultaneously transmits the first data to multiple vehicle terminals through a first link and a second link, wherein the first link is a direct communication link and the second link is a wide-area wireless communication link.

2. The method according to claim 1, characterized in that, The semantic information of the traffic light includes at least one of the following: The information includes the access permission information corresponding to the multiple vehicle terminals, the remaining duration information of the phase state of the traffic signal controller (TSC), the next phase prediction information of the TSC, the traffic guidance information corresponding to the multiple vehicle terminals, or the confidence information of the first data.

3. The method according to 2, characterized in that, When the semantic information of the traffic lights includes the access permission information corresponding to the multiple vehicle terminals, generating the first data includes: acquiring traffic light data and intersection map data from the TSC, and generating the access permission information based on the traffic light data from the TSC and the intersection map data; When the semantic information of the traffic light includes the remaining duration information of the phase state of the TSC, generating the first data includes: acquiring traffic light data from the TSC, and generating the remaining duration information of the phase state based on the traffic light data of the TSC; When the semantic information of the traffic light includes the next phase prediction information of the TSC, the generation of the first data includes: acquiring traffic light data and intersection map data from the TSC, and generating the next phase prediction information of the TSC based on the traffic light data and the intersection map data. When the semantic information of the traffic lights includes the traffic guidance information corresponding to the multiple vehicle terminals, the generation of the first data includes: acquiring traffic light data and intersection map data from the TSC, and generating the traffic guidance information corresponding to the multiple vehicle terminals based on the traffic light data from the TSC and the intersection map data; When the semantic information of the traffic light includes the confidence information of the first data, generating the first data includes: acquiring traffic light data and intersection map data from the TSC, and generating the confidence information of the first data based on the traffic light data from the TSC and the intersection map data.

4. A communication method, characterized in that, include: The vehicle-mounted terminal receives the second data through the first link; The vehicle terminal receives third data through a second link, wherein the second data and the third data include timestamp information corresponding to the first moment; The vehicle terminal fuses the second data and the third data based on the timestamp information corresponding to the first moment to obtain the semantic information of the traffic light.

5. The method according to claim 4, characterized in that, The vehicle terminal receives fourth data, which includes another semantic information of the traffic light; The vehicle-mounted terminal obtains the vehicle's passage strategy within the corresponding range of the traffic light based on the semantic information of the traffic light, and the vehicle-mounted terminal is installed inside the vehicle. The other semantic information of the traffic light includes a timestamp of a second moment, wherein the first moment is after the second moment; and / or The semantic information of the traffic light includes a first confidence level, and the other semantic information of the traffic light includes a second confidence level, wherein the value of the first confidence level is greater than the value of the second confidence level.

6. The method according to claim 5, characterized in that, The traffic strategy includes at least one of the following: recommended traffic speed information, green wave traffic suggestion information, start reminder information, red light violation warning information, and lane change reminder information.

7. The method according to claim 6, characterized in that, When the traffic strategy includes the recommended traffic speed information, the vehicle terminal obtains the traffic strategy of the vehicle within the corresponding range of the traffic light based on the semantic information of the traffic light, including: obtaining the status information of the vehicle, and generating the recommended traffic speed information of the vehicle within the corresponding range of the traffic light based on the status information of the vehicle and the semantic information of the traffic light; When the traffic strategy includes the green wave traffic suggestion information, the vehicle terminal obtains the traffic strategy of the vehicle within the corresponding range of the traffic light based on the semantic information of the traffic light, including: obtaining the status information of the vehicle, and generating the green wave traffic suggestion information of the vehicle within the corresponding range of the traffic light based on the status information of the vehicle and the semantic information of the traffic light; When the traffic strategy includes the start reminder information, the vehicle terminal obtains the traffic strategy of the vehicle within the corresponding range of the traffic light based on the semantic information of the traffic light, including: obtaining the status information of the vehicle, and generating the start reminder information of the vehicle within the corresponding range of the traffic light based on the status information of the vehicle and the semantic information of the traffic light; When the traffic strategy includes the red light violation warning information, the vehicle terminal obtains the traffic strategy of the vehicle within the corresponding range of the traffic light based on the semantic information of the traffic light, including: obtaining the status information of the vehicle, and generating the red light violation warning information of the vehicle within the corresponding range of the traffic light based on the status information of the vehicle and the semantic information of the traffic light. When the traffic strategy includes the advance lane change prompt information, the vehicle terminal obtains the traffic strategy of the vehicle within the corresponding range of the traffic light based on the semantic information of the traffic light, including: obtaining the status information of the vehicle, and generating the advance lane change prompt information of the vehicle within the corresponding range of the traffic light based on the status information of the vehicle and the semantic information of the traffic light.

8. A communication device, characterized in that, include: The processing module is used to generate first data at a first moment, the first data including semantic information of the traffic light, and the first data including timestamp information corresponding to the first moment; The transceiver module is used to simultaneously send the first data to multiple vehicle terminals through a first link and a second link, wherein the first link is a direct communication link and the second link is a wide-area wireless communication link.

9. A vehicle-mounted terminal, characterized in that, include: The transceiver module is used to receive second data through the first link; It is also used to receive third data through a second link, wherein the second data and the third data include timestamp information corresponding to the first moment; The processing module is used to fuse the second data and the third data according to the timestamp information corresponding to the first time moment to obtain the semantic information of the traffic light.

10. A vehicle, characterized in that, Including the vehicle-mounted terminal as described in claim 9.

Images