Vehicle relay method and system, vehicle and medium

Abstract

The invention discloses a vehicle relay method and system, a vehicle and a medium, the method is applied to the vehicle relay system, the vehicle relay system comprises a first vehicle and a second vehicle, and the method comprises the following steps: when the first vehicle detects that a condition of entering a communication blind area is satisfied, broadcasting a relay request to a surrounding area; when the second vehicle receives the relay request, determining a relay preference index according to the vehicle state and the relay request, forming a relay response message and feeding back the relay response message to the first vehicle; and the first vehicle determines a relay vehicle from the second vehicles according to the relay response messages and establishes a relay communication link for data relay communication. The relay suitability between the second vehicle and the first vehicle is scored from multiple dimensions through the second vehicle, and the selection standard of the relay vehicle is carried out according to the relay optimization index. The relay demand and the vehicle capability are accurately matched, the data transmission reliability in the communication blind area is guaranteed, and the communication continuity is further guaranteed.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and in particular to a vehicle relay method, system, vehicle, and medium. Background Technology

[0002] With the development of Vehicle-to-Everything (V2X), vehicle-to-network (V2N) communication is becoming increasingly common. Vehicles access cloud services via cellular networks to obtain traffic information, high-precision maps, and remote control. However, this presents challenges in many complex geographical environments, such as enclosed spaces like tunnels, underground parking lots, and caves.

[0003] Areas with signal obstruction: densely populated urban high-rise buildings, underground or semi-underground passages; these areas often experience severe attenuation or even complete interruption of cellular signals.

[0004] Traditional solutions, such as deploying dedicated base stations or relay equipment within tunnels, are costly to build and maintain and lack deployment flexibility. Vehicle-to-vehicle (V2V) communication provides the ability for direct connectivity between vehicles, enabling network relay using V2V technology.

[0005] However, relay solutions have the following technical defects: existing relay solutions mostly adopt simple "nearest neighbor" or "random" selection strategies, ignoring the mobility of relay vehicles. If a relay vehicle that is about to leave the effective communication range is selected, the relay link will be interrupted quickly, resulting in unreliable communication. Summary of the Invention

[0006] This invention provides a vehicle relay method, system, vehicle, and medium to achieve accurate matching of relay vehicles and ensure the stability of the relay link.

[0007] According to a first aspect of the present invention, a vehicle relay method is provided, characterized in that it is applied to a vehicle relay system, the vehicle relay system including a first vehicle and a second vehicle, the first vehicle being a vehicle entering a communication dead zone, and the second vehicle being another vehicle within the communication range of the first vehicle's vehicle-to-vehicle (V2V) communication technology, the method comprising:

[0008] When the conditions for entering a communication blind zone are detected, the first vehicle broadcasts a relay request to the surrounding area.

[0009] When the second vehicle receives the relay request, it determines the relay preference index based on its own vehicle status and the relay request, and generates a relay response message to feed back to the first vehicle.

[0010] determine relay vehicles from the second vehicles and establish relay communication links for data relay communication according to the relay response messages.

[0011] According to a second aspect of the present application, there is provided a vehicle relay system, comprising a first vehicle and a second vehicle, the first vehicle being a vehicle entering a communication blind area, and the second vehicle being another vehicle within a communication range of a vehicle-to-vehicle (V2V) communication technology of the first vehicle;

[0012] The first vehicle is configured to broadcast a relay request to a surrounding area when a condition of entering a communication blind area is detected.

[0013] The second vehicle is configured to determine a relay preference index according to a vehicle state of the second vehicle and the relay request, and to form a relay response message and feed back to the first vehicle.

[0014] The first vehicle is configured to determine relay vehicles from the second vehicles and establish relay communication links for data relay communication according to the relay response messages.

[0015] According to a third aspect of the present application, there is provided a vehicle, which is used as the first vehicle or the second vehicle in the vehicle relay method according to any one of the embodiments of the present application, and the vehicle comprises:

[0016] at least one controller; and

[0017] a memory in communication connection with the at least one controller; wherein

[0018] the memory stores a computer program executable by the at least one controller, and the computer program is executed by the at least one controller to enable the at least one controller to perform the vehicle relay method according to any one of the embodiments of the present application.

[0019] According to a fourth aspect of the present application, there is provided a computer readable storage medium, which stores a computer program, and the computer program is used to enable a controller to perform the vehicle relay method according to any one of the embodiments of the present application when the controller executes the computer program.

[0020] The technical scheme of the embodiment of the application is that when the first vehicle detects that the entering-communication-blind-area condition is met, a relay request is broadcasted to the surrounding area; when the second vehicle receives the relay request, a relay-preference-index is determined according to the state of the vehicle and the relay request, and a relay response message is fed back to the first vehicle; and the first vehicle determines a relay vehicle from each second vehicle according to each relay response message, and establishes a relay communication link to perform data relay communication. The second vehicle scores the relay adaptability between the first vehicle and the second vehicle from multiple dimensions, and the relay-preference-index is used as the selection standard of the relay vehicle. The relay demand and the vehicle capability are accurately matched, the data transmission reliability in the communication blind area is ensured, and the continuity of the communication is ensured.

[0021] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0023] Figure 1 is a flowchart of a vehicle relay method according to the first embodiment of the application;

[0024] Figure 2 is a flowchart of a vehicle relay method according to the second embodiment of the application;

[0025] Figure 3 is an example flowchart of a vehicle relay method according to the second embodiment of the application;

[0026] Figure 4 is a structural schematic diagram of a vehicle relay system according to the third embodiment of the application;

[0027] Figure 5 is a structural schematic diagram of a vehicle according to the embodiment of the application. DETAILED DESCRIPTION

[0028] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work should belong to the protection scope of the present application.

[0029] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to include only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment one

[0031] Figure 1 A flowchart of a vehicle relay method is provided for the first embodiment of the present application. The present embodiment can be applicable to the case of optimal relay vehicle selection. The method can be configured in a vehicle relay system, which includes a first vehicle and a second vehicle. The first vehicle is a vehicle entering a communication blind area, and the second vehicle is another vehicle within the V2V communication range of the first vehicle. The method can be configured in a vehicle. As shown in the figure, the method includes the following steps. Figure 1

[0032] S110, when the first vehicle detects that the entering communication blind area condition is met, the first vehicle broadcasts a relay request to the surrounding area.

[0033] In the present embodiment, the first vehicle can be understood as a vehicle entering a V2X communication blind area. The entering communication blind area condition can be understood as a condition for judging whether it is a communication blind area. The relay request can be understood as a request for declaring its own state, which can include its position, service request type and vehicle identification. The surrounding area can be understood as the V2V communication range of the first vehicle.

[0034] ​Specifically, the first vehicle can continuously monitor the current network signal strength (such as the cellular network signal strength) of itself, and when the signal strength is lower than a preset threshold (for example, RSRP<-110dBm), the condition of entering the communication blind area is met, and the first vehicle can broadcast a relay request to the surrounding area through the C-V2X PC5 interface (C-V2X technology realizes direct communication between vehicles, roadside units (RSU), pedestrians and other road users through the PC5 interface, without relying on the base station).

[0035] S120, when the second vehicle receives the relay request, the second vehicle determines the relay preference index according to the vehicle state of the second vehicle and the relay request, and forms a relay response message and feeds back to the first vehicle.

[0036] In this embodiment, the vehicle state of itself can be understood as a state for reflecting the vehicle and the relay related judgment, for example, it can include vehicle driving conditions, communication signal state and resource usage, etc. The relay preference index can be understood as a numerical form of quantifying the relay situation of itself as a relay vehicle. The relay response message can be understood as a message for feeding back the relay preference index to the first vehicle.

[0037] Specifically, when the second vehicle receives the relay request, the second vehicle can determine the relay preference index through multiple dimensions according to the vehicle state of the second vehicle and the relay request, for example, it can include V2N channel quality, link stability, physical distance and resource availability, etc. The second vehicle can encapsulate the relay preference index into the relay response message and feed back to the first vehicle through V2V.

[0038] S130, the first vehicle determines the relay vehicle from each second vehicle according to each relay response message, and establishes a relay communication link for data relay communication.

[0039] In this embodiment, the relay vehicle can be understood as a vehicle located in a good cellular network coverage area, which can receive the relay request of the first vehicle and provide relay service.

[0040] Specifically, the first vehicle can receive all the relay response messages of the second vehicles, and select the second vehicle with the largest relay preference index as the optimal relay vehicle and establish a relay communication link for data relay communication.

[0041] The technical scheme of the embodiment of the application comprises the following steps: when the first vehicle detects that the entering-communication-blind-area condition is met, a relay request is broadcasted to the surrounding area; when the second vehicle receives the relay request, a relay-preference-index is determined according to the state of the vehicle and the relay request, and a relay response message is fed back to the first vehicle; and the first vehicle determines a relay vehicle from each second vehicle according to each relay response message, and establishes a relay communication link to perform data relay communication. The second vehicle scores the relay adaptability between the first vehicle and the second vehicle from multiple dimensions, and the relay-preference-index is used as the selection standard of the relay vehicle. The relay demand and the vehicle capability are accurately matched, the data transmission reliability in the communication blind area is ensured, and the continuity of the communication is ensured.

[0042] As a first optional embodiment of the first embodiment, after the first vehicle determines a relay vehicle from each second vehicle according to each relay response message, and establishes a relay communication link to perform data relay communication, the method further comprises the following steps:

[0043] The first vehicle sends data to the relay vehicle, so that the relay vehicle transmits the data to the cloud.

[0044] In the embodiment, the data can be understood as data (such as vehicle state and traffic information) that needs to be sent to the cloud. The cloud can be understood as a data processing and storage platform based on cloud computing, which is responsible for receiving, analyzing vehicle data and issuing instructions, and is the core support system for realizing intelligent driving, remote control and data-driven iteration.

[0045] Specifically, the first vehicle can send the data that needs to be sent to the cloud to the relay vehicle through the V2V link, so that the relay vehicle forwards the data to the cellular network base station through the Uu interface (cellular network interface) of the relay vehicle, and then transmits the data to the cloud server.

[0046] As a second optional embodiment of the first embodiment, after the first vehicle determines a relay vehicle from each second vehicle according to each relay response message, and establishes a relay communication link to perform data relay communication, the method further comprises the following steps:

[0047] The relay vehicle receives the data to be forwarded from the cloud, and sends the data to be forwarded to the first vehicle through the relay communication link.

[0048] In the embodiment, the data to be forwarded can be understood as data that needs to be transmitted to the first vehicle by the cloud.

[0049] Specifically, the cloud sends the data to be forwarded to the first vehicle to the second vehicle, and the second vehicle forwards the data to be forwarded to the first vehicle through the established relay communication link, i.e., the V2V link.

[0050] Embodiment two

[0051] Figure 2 A flowchart of a vehicle relay method provided for embodiment two of the present application, which is a further refinement of the above-mentioned embodiment. As shown in the figure, the method comprises: Figure 2

[0052] S201, when the first vehicle detects that the entering a communication blind area condition is met, broadcasting a relay request to the surrounding area through the first vehicle.

[0053] S202, determining the link stability score between the first vehicle and the second vehicle according to the first vehicle motion state and the second vehicle motion state in the relay request.

[0054] In this embodiment, the first vehicle motion state is used to represent the current driving state of the first vehicle, which can include the first vehicle's own position, speed, acceleration, etc.

[0055] Among them, the self-vehicle state includes the second vehicle motion state, the real-time signal-to-noise ratio between the base station, and the vehicle resource state. The second vehicle motion state can be understood as representing the current driving state of the second vehicle, which can include the second vehicle's own position, speed, acceleration, etc.

[0056] The base station can be understood as the core infrastructure that provides a mobile communication network, such as a cellular network base station. The real-time signal-to-noise ratio is used to reflect the communication quality and transmission reliability. The vehicle resource state includes the state of resources such as current battery power and CPU load. The link stability score is used to quantitatively represent the predicted stability of the V2V link between the second vehicle and the first vehicle.

[0057] Specifically, when the second vehicle receives the relay request, it can obtain the real-time signal-to-noise ratio (SNR) between itself and the cellular base station, the GPS position, the speed, and the vehicle resource state (such as CPU load, battery power) as the second vehicle motion state. The first vehicle motion state and the second vehicle motion state in the relay request can be used to predict the relative distance change between the first vehicle and the second vehicle in the future time window, and the link stability score between the first vehicle and the second vehicle can be determined by the relative distance change.

[0058] Further, on the basis of the above-mentioned embodiment, determining the link stability score between the first vehicle and the second vehicle according to the first vehicle motion state and the second vehicle motion state in the relay request can include:

[0059] ​According to the first vehicle motion state and the second vehicle motion state, relative information is determined and a state vector is formed; a state transition matrix is constructed according to the state vector; prediction is performed according to the state transition matrix, and a predicted relative distance in a predicted time window is determined; and according to the predicted relative distance, a link stability score between the first vehicle and the second vehicle is determined.

[0060] In the embodiment, the relative information is used to reflect data information related to the positions and motions of the first vehicle and the second vehicle, and the relative information can include a relative distance (a straight-line distance of the centers of mass or specific reference points of the two vehicles), a relative speed (a difference value of the speeds of the two vehicles, including a direction, such as a negative relative speed when the speed of the front vehicle is faster than that of the vehicle), a relative acceleration (a difference value of the accelerations of the two vehicles, reflecting a change trend of the relative speed), and the like. The state vector can be understood as a data carrier for integrating scattered relative information in an ordered array form, facilitating subsequent processing through matrix operations. The state transition matrix is used to describe how the current state vector changes to the next time state vector, and is a core operation tool constructed based on physical laws or statistical models. The predicted time window can be understood as a time range in which the future state needs to be predicted, which is the time boundary of the prediction task. The predicted relative distance is the final output result, which is estimated at the end of the set time window.

[0061] Specifically, the second vehicle can determine relative information according to the first vehicle motion state and the second vehicle motion state, which can include a relative position, a relative speed, and a relative acceleration, and then combine and form a state vector in a fixed order. The second vehicle can predict a predicted state vector at a current time step according to a state vector at a previous time step, and construct a state transition matrix. The second vehicle can predict according to the state transition matrix, and determine a predicted relative distance in a predicted time window. The second vehicle can determine a link stability score between the first vehicle and the second vehicle according to the predicted relative distance.

[0062] Exemplarily, the V2V link stability score can be determined by the following formula : First, define the state vector, define represents the state of the system at a discrete time step k. The state vector includes the relative position, the relative speed, and the relative acceleration of the second vehicle relative to the first vehicle. The position, speed, and acceleration of the first vehicle are obtained by the vehicle communication unit of the first vehicle through V2V broadcast. The position, speed, and acceleration of the second vehicle are obtained by the vehicle sensors (GNSS, IMU) of the second vehicle.

[0063]

[0064] wherein, and is the relative position of the second vehicle relative to the first vehicle. and is the relative velocity between the second vehicle and the first vehicle. and is the relative acceleration between the second vehicle and the first vehicle.

[0065] The second step can make state prediction, which predicts the state of the current time step based on the state of the last time step, and the state prediction formula is:

[0066]

[0067] wherein, is the predicted current state vector, is the estimated state vector of the last time step, and F is the state transition matrix, which can be expressed as:

[0068]

[0069] wherein, is the time step length.

[0070] Further covariance prediction is made:

[0071]

[0072] wherein, is the predicted covariance matrix, representing the uncertainty of state estimation. is the process noise covariance matrix, which can be expressed as:

[0073]

[0074] wherein, , , , , , respectively represent the process noise variance of the relative position, relative velocity and relative acceleration in each direction, which is calibrated according to the scene.

[0075] The measurement vector is defined as: containing the relative position measurement between the two vehicles.

[0076]

[0077] Further gain is calculated

[0078]

[0079] wherein, R is the measurement noise covariance matrix, is the measurement matrix, mapping the state vector to the measurement vector, which can be expressed as:

[0080] where, and are the measurement noise variances in x and y directions of relative position, which are calibrated according to the accuracy of GNSS positioning.

[0081]

[0082] Through the state update, the final estimated state vector :

[0083]

[0084] The covariance matrix update formula is:

[0085]

[0086] where, is the unit matrix.

[0087] The formula of the link stability score can be:

[0088]

[0089] where, is the predicted future relative distance.

[0090] Through the prediction and update steps, the second vehicle can continuously update its estimate of the relative motion state. The relative distance change rate between the two vehicles is calculated using the state prediction results within the prediction time window Δt, thereby obtaining the V2V link stability score.

[0091] S203, determining communication score information according to real-time signal-to-noise ratio and maximum V2V technology communication distance.

[0092] In this embodiment, the maximum V2V technology communication distance can be understood as the farthest coverage distance for communication through V2V. The communication score information can be understood as a score item related to communication, which can include channel quality and distance weighting, for example.

[0093] Specifically, the second vehicle can evaluate the connection quality between the second vehicle and the base station by the exponentially weighted average of the real-time signal-to-noise ratio to avoid instantaneous fluctuations. The distance between the second vehicle and the first vehicle is used to reduce the delay and packet loss rate of V2V communication.

[0094] Further, on the basis of the above embodiment, the step of determining the communication score information according to the real-time signal-to-noise ratio and the maximum V2V technology communication distance can be refined as:

[0095] According to the real-time signal-to-noise ratio, a V2N channel quality score is determined; according to the relative distance from the first vehicle and the maximum communication distance, a distance-weighted score is determined; and according to the V2N channel quality score and the distance-weighted score, communication score information is determined.

[0096] In this embodiment, the V2N channel quality score is used to quantify the connection quality of the second vehicle with the base station to ensure normal communication of the second vehicle. The distance-weighted score can be understood as being used to represent the influence of distance on communication.

[0097] Specifically, according to the real-time signal-to-noise ratio, a V2N channel quality score is determined; according to the relative distance from the first vehicle and the maximum communication distance, the distance between the second vehicle and the first vehicle is evaluated to ensure that a second vehicle at a short distance is selected to reduce the delay and packet loss rate of V2V communication, thereby obtaining a distance-weighted score; and according to the V2N channel quality score and the distance-weighted score, communication score information is determined.

[0098] Illustratively, the connection quality of the second vehicle with the cellular base station can be evaluated using an exponentially weighted average of the real-time signal-to-noise ratio (SNR) to avoid transient fluctuations. This formula ensures that the higher the connection quality of the relay vehicle with the base station, the higher the score, and the formula for the V2N channel quality score is:

[0099]

[0100] wherein, is a channel quality indicator. is the real-time signal-to-noise ratio of the vehicle with the base station. is a time window.

[0101] Illustratively, the distance-weighted score may be determined by the following formula:

[0102]

[0103] wherein, is the distance between the two vehicles. is the maximum V2V communication distance.

[0104] S204, according to the vehicle resource state, a resource availability score is determined.

[0105] In this embodiment, the resource availability score is used to quantify the current resource situation of the vehicle.

[0106] Specifically, the second vehicle can determine the resource availability score through the vehicle resource state (such as battery power and CPU load, etc.), to avoid selecting a vehicle with tight resources.

[0107] Illustratively, the resource availability score The formula can be determined as follows:

[0108]

[0109] wherein, and are weights. is the current battery power. is the CPU idle rate.

[0110] S205, according to the link stability score, the communication score information and the resource availability score, determine the relay preferred index and encapsulate it into the relay response message and feedback to the first vehicle.

[0111] Specifically, the second vehicle can weight the link stability score, the communication score information and the resource availability score, determine the relay preferred index and encapsulate it into the relay response message and feedback to the first vehicle.

[0112] Exemplarily, the relay preferred index S is calculated by the following multi-dimensional score formula, and the higher the value is, the more suitable the vehicle is as a relay.

[0113]

[0114] wherein, , , and are adjustable weight coefficients, the sum of which is 1, for balancing the importance of different dimensions.

[0115] S206, the first vehicle determines the second vehicle with the highest relay preferred index in the relay response message as the relay vehicle.

[0116] Specifically, the first vehicle can compare all received relay preferred indexes, and select the second vehicle with the highest index as the optimal relay vehicle.

[0117] S207, a connection confirmation message is sent to the relay vehicle to establish a relay communication link based on V2V communication technology with the relay vehicle.

[0118] In the embodiment, the connection confirmation message can be understood as a kind of instruction class data frame for answering relay link establishment request, informing the request party (such as the vehicle initiating communication) that V2V relay communication link can be successfully established with the relay vehicle, and the core function is to complete the answering link of establishment, guarantee the reliability and effectiveness of communication connection.

[0119] Specifically, the first vehicle can send a connection confirmation message to the relay vehicle, and the relay vehicle can establish a relay communication link based on V2V communication technology with the relay vehicle after verification.

[0120] Further, when the relay vehicle is no longer suitable due to changes in driving state (such as driving out of the communication range of the first vehicle or excessive load, etc.), the first vehicle can re-broadcast the request, quickly switch to a new optimal relay, and adapt to scenarios where vehicles are dynamically moving.

[0121] For example, the present application can be demonstrated in a specific example, Figure 3 An example flowchart of a vehicle relay method is provided for embodiment two of the present application, as shown, Figure 3 As shown, it includes a first vehicle and a second vehicle, as well as a cellular network base station and a cloud server. The steps can include: continuously monitoring the cellular signal strength by the first vehicle (such as RSRP < -110 dBm, determined to enter the communication blind area), and broadcasting a relay request containing unknown, service type and vehicle identification through the C-V2X PC5 interface (direct mode). The second vehicle receives the relay request, collects data in real time (including SNR, GPS position, speed and CPU / battery status), calculates the relay preference index S through multi-dimensional scoring based on the above data, and generates a relay response message, which is fed back to the first vehicle. The first vehicle compares all S values and selects the vehicle B with the highest score as the optimal relay vehicle and sends a connection confirmation message to vehicle B. Only vehicle B responds to this confirmation to establish a relay communication link. The first vehicle sends uplink data (such as vehicle status and traffic information) to be transmitted to the cloud server to vehicle B, which forwards the uplink data to the cellular network base station through the Uu interface to transmit to the cloud server. The cloud server sends downlink data (such as service data or control instructions) to vehicle B through the cellular network base station, and vehicle B forwards the downlink data to the first vehicle through the V2V link.

[0122] The technical solution of the embodiment of the present application determines the relay preference index from multiple dimensions of communication performance, distance and resources, selects the relay vehicle with the best channel quality and minimizes the transmission delay through channel quality evaluation, effectively reduces the delay and packet loss rate of end-to-end communication, and meets the needs of high-demand applications such as autonomous driving. By evaluating the resource status of the relay vehicle, it prevents individual vehicles from over-serving and effectively utilizes the entire vehicle network resource. The relay preference index can intelligently select relay vehicles with more stable links in the future, reducing the risk of communication interruption caused by the movement of relay vehicles, and providing high reliability and stability of communication. Using existing vehicles as dynamic relay nodes effectively expands the coverage of the cellular network. Avoiding blind selection of relay vehicles reduces the risk of link interruption or transmission delay caused by insufficient relay vehicle capacity (such as insufficient bandwidth, imminent exit from the communication range), and improves the stability of data relay.

[0123] Embodiment three

[0124] Figure 4 A structure schematic diagram of a vehicle relay system is provided for the third embodiment of the present application. As shown, the system comprises: a first vehicle 41 and a second vehicle 42, the first vehicle 41 is a vehicle entering a communication blind area, and the second vehicle 42 is another vehicle within the communication range of the first vehicle 41 in the vehicle-to-vehicle communication technology V2V; Figure 4

[0125] The first vehicle 41 is configured to broadcast a relay request to the surrounding area when it is detected that the entering a communication blind area condition is met;

[0126] The second vehicle 42 is configured to determine a relay preference index according to its own vehicle state and the relay request, and form a relay response message to feed back to the first vehicle 41;

[0127] The first vehicle 41 is configured to determine a relay vehicle from each of the second vehicles 42 according to each of the relay response messages, and establish a relay communication link for data relay communication.

[0128] Further, the own vehicle state includes the second vehicle 42 motion state, the real-time signal-to-noise ratio between the second vehicle 42 and the base station, and the vehicle resource state, and correspondingly, the second vehicle 42 comprises:

[0129] A first determination module configured to determine a link stability score between the first vehicle 41 and the second vehicle 42 according to the first vehicle 41 motion state in the relay request and the second vehicle 42 motion state;

[0130] A second determination module configured to determine communication score information according to the real-time signal-to-noise ratio and the maximum V2V technology communication distance;

[0131] A third determination module configured to determine a resource availability score according to the vehicle resource state;

[0132] A fourth determination module configured to determine a relay preference index according to the link stability score, the communication score information, and the resource availability score, and encapsulate the relay preference index into a relay response message to feed back to the first vehicle 41.

[0133] The first determination module is specifically configured to:

[0134] Determine relative information and form a state vector according to the first vehicle 41 motion state and the second vehicle 42 motion state;

[0135] Construct a state transition matrix according to the state vector;

[0136] Determine a predicted relative distance in a predicted time window according to the state transition matrix.​

[0137] determine a link stability score between the first vehicle 41 and the second vehicle 42 according to the predicted relative distance.

[0138] The second determining module is specifically configured to:

[0139] determine a V2N channel quality score according to the real-time signal-to-noise ratio;

[0140] determine a distance weighting score according to the relative distance from the first vehicle 41 and the maximum communication distance;

[0141] determine communication score information according to the V2N channel quality score and the distance weighting score.

[0142] Further, the first vehicle 41 is specifically configured to:

[0143] determine the second vehicle 42 with the highest relay response message relay preference index as the relay vehicle;

[0144] send a connection confirmation message to the relay vehicle to establish a relay communication link based on the V2V communication technology with the relay vehicle.

[0145] Further, the first vehicle 41 is further configured to:

[0146] After the data relay communication through the first vehicle 41 according to each relay response message to determine the relay vehicle from each second vehicle 42 and establish a relay communication link, it further comprises:

[0147] send data to the relay vehicle through the first vehicle 41 to transmit the data to the cloud through the relay vehicle.

[0148] Further, the relay vehicle is configured to:

[0149] After the data relay communication through the first vehicle 41 according to each relay response message to determine the relay vehicle from each second vehicle 42 and establish a relay communication link, it further comprises:

[0150] receive the data to be forwarded from the cloud through the relay vehicle and send the data to be forwarded to the first vehicle 41 through the relay communication link.

[0151] The vehicle relay system provided by the embodiments of the present application can perform the vehicle relay method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of performing the method.

[0152] Embodiment four

[0153] Figure 5 A structural diagram of an electronic device 50 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0154] As shown in Figure 5 The electronic device 50 includes at least one controller 51, and memory, such as read-only memory (ROM) 52, random access memory (RAM) 53, etc., in communication with the at least one controller 51, where the memory stores computer programs that are executable by the at least one controller, which can perform various appropriate actions and processes according to computer programs stored in the read-only memory (ROM) 52 or loaded from the storage unit 58 into the random access memory (RAM) 53. Various programs and data required for the operation of the electronic device 50 can also be stored in the RAM 53. The controller 51, the ROM 52, and the RAM 53 are connected to each other through a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0155] Various components in the electronic device 50 are connected to the I / O interface 55, including an input unit 56, such as a keyboard, a mouse, etc., an output unit 57, such as various types of displays, speakers, etc., a storage unit 58, such as a magnetic disk, an optical disk, etc., and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0156] The controller 51 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the controller 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various controllers running machine learning model algorithms, a digital signal controller (DSP), and any appropriate controller, controller, microcontroller, etc. The controller 51 performs various methods and processes described above, such as the vehicle relay method.

[0157] In some embodiments, the vehicle relay method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 58. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 50 via, e.g., ROM 52 and / or communication unit 59. When the computer program is loaded onto RAM 53 and executed by controller 51, one or more steps of the vehicle relay method described above can be performed. Alternatively, in other embodiments, controller 51 can be configured to perform the vehicle relay method by way of other means, e.g., by way of firmware.

[0158] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable controller, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0159] Computer programs used to implement the processes of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program

[0160] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0161] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0162] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0163] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. Servers can be cloud servers, also known as cloud computing servers or cloud hosts, which are a host product in the cloud computing service system to solve the defects of great management difficulty and weak business scalability in traditional physical hosts and VPS services.

[0164] In one embodiment, the embodiments of the present application also include a computer program product comprising a computer program which, when executed by a controller, implements the vehicle relay method of any of the embodiments of the present application.

[0165] The computer program product can be implemented in one or more computer programs comprising computer program code which, when executed by a computer, performs a method according to the embodiments of the application. The computer program code can comprise one or more computer programs in one or more programming languages. The computer program code can be computer executable, partially computer executable, or fully computer executable. The computer program code can be executed on a user computer, partially on a user computer, as a stand-alone software package, partially on a user computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user computer by any kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect to the Internet).

[0166] It should be understood that the various forms of flow shown above can be reordered, additional or deleted steps can be used. For example, the steps described in the present application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0167] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle relay method characterized by, The application is applied to a vehicle relay system, the vehicle relay system comprises a first vehicle and a second vehicle, the first vehicle is a vehicle entering a communication blind area, the second vehicle is another vehicle within a vehicle-to-vehicle (V2V) communication range of the first vehicle, and the method comprises the following steps: When the first vehicle detects that a condition for entering a communication blind area is met, the first vehicle broadcasts a relay request to a surrounding area; When the second vehicle receives the relay request, the second vehicle determines a relay preference index according to a vehicle state of the second vehicle and the relay request, and forms a relay response message and feeds back to the first vehicle; The first vehicle determines a relay vehicle from each of the second vehicles according to each of the relay response messages, and establishes a relay communication link to perform data relay communication.

2. The method of claim 1, wherein, The vehicle state of the second vehicle comprises a second vehicle motion state, a real-time signal-to-noise ratio between the second vehicle and a base station, and a vehicle resource state, and correspondingly, the determination of the relay preference index according to the vehicle state of the second vehicle and the relay request, and the formation of the relay response message and the feedback to the first vehicle comprise the following steps: According to the first vehicle motion state in the relay request and the second vehicle motion state, a link stability score between the first vehicle and the second vehicle is determined; According to the real-time signal-to-noise ratio and a maximum V2V technology communication distance, communication score information is determined; According to the vehicle resource state, resource availability score is determined; According to the link stability score, the communication score information and the resource availability score, the relay preference index is determined and encapsulated into the relay response message and fed back to the first vehicle.

3. The method of claim 2, wherein, The determination of the link stability score between the first vehicle and the second vehicle according to the first vehicle motion state in the relay request and the second vehicle motion state comprises the following steps: According to the first vehicle motion state and the second vehicle motion state, relative information is determined and a state vector is constituted; A state transition matrix is constructed according to the state vector; According to the state transition matrix, a predicted relative distance in a predicted time window is determined by prediction; According to the predicted relative distance, the link stability score between the first vehicle and the second vehicle is determined.

4. The method of claim 2, wherein, The determination of the communication score information according to the real-time signal-to-noise ratio and the maximum V2V technology communication distance comprises the following steps: According to the real-time signal-to-noise ratio, a vehicle-to-network (V2N) channel quality score is determined; According to a relative distance from the first vehicle and a maximum communication distance, a distance weighting score is determined; According to the V2N channel quality score and the distance weighting score, the communication score information is determined.

5. The method of claim 1, wherein, The determination of the relay vehicle from each of the second vehicles according to each of the relay response messages, and the establishment of the relay communication link to perform data relay communication comprise the following steps: The second vehicle with the highest relay preference index in the relay response message is determined as the relay vehicle; A connection confirmation message is sent to the relay vehicle to establish a relay communication link based on the V2V communication technology with the relay vehicle.

6. The method of claim 1, wherein, After the first vehicle determines relay vehicles from the second vehicles and establishes relay communication links for data relay communication according to the relay response messages, the method further comprises: The first vehicle sends data to the relay vehicles to transmit the data to the cloud through the relay vehicles.

7. The method of claim 1, wherein, After the first vehicle determines relay vehicles from the second vehicles and establishes relay communication links for data relay communication according to the relay response messages, the method further comprises: The relay vehicles receive data to be forwarded from the cloud and send the data to be forwarded to the first vehicle through the relay communication links.

8. A vehicle relay system, characterized by, The first vehicle is a vehicle entering a communication blind area, and the second vehicle is another vehicle within a vehicle-to-vehicle (V2V) communication range of the first vehicle. The first vehicle is configured to broadcast a relay request to a surrounding area when a condition for entering a communication blind area is met. The second vehicle is configured to determine a relay preference index according to a vehicle state of the second vehicle and the relay request, and to form a relay response message and feed back to the first vehicle. The first vehicle is configured to determine relay vehicles from the second vehicles and establish relay communication links for data relay communication according to the relay response messages.

9. A vehicle characterized by comprising: The vehicle as the first vehicle or the second vehicle of any one of claims 1-7, the vehicle comprising: at least one controller; and a memory in communication connection with the at least one controller; wherein the memory stores a computer program executable by the at least one controller, and the computer program is executed by the at least one controller to enable the at least one controller to perform the vehicle relay method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the controller to perform the vehicle relay method of any one of claims 1-7 when executed. The computer readable storage medium stores computer instructions for enabling the controller to perform the vehicle relay method of any one of claims 1-7 when executed.

Images