Message sending method and device and electronic equipment

Abstract

The invention provides a message sending method and apparatus, and an electronic device, the method is applied to an edge cloud node, the edge cloud node is used for serving n intersections, n is a positive integer, and the method comprises the steps of determining grid regions of the n intersections based on center points of the n intersections; encoding the grid areas of the n intersections to obtain encoding information of the grid areas of the n intersections; receiving coding information, sent by the first vehicle, of the first grid area where the first vehicle is located; and under the condition that the coding information of the grid areas of the n intersections comprises the coding information of the first grid area, sending an intersection message of at least one intersection in the n intersections to the first vehicle, the at least one intersection comprising the first intersection where the first grid area is located. Therefore, the equipment deployment and operation and maintenance cost in the vehicle-road cooperation scene is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle-to-everything (V2X) technology, and in particular to a message sending method, apparatus and electronic device. Background Technology

[0002] Vehicle-to-everything (V2X) communication is a technological system that enables communication and interaction between vehicles and road infrastructure, other vehicles, pedestrians, etc., aiming to achieve a safer, more efficient, and intelligent transportation system. The rapid development of wireless communication technologies (such as 5G, Cellular Vehicle-to-Everything (C-V2X)), sensor technologies, big data, and artificial intelligence provides the technological foundation for V2X. V2X communication mainly includes, but is not limited to, vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N). Real-time perception and transmission of road information are achieved by deploying roadside units (RSUs), sensors, and intelligent transportation systems on roads. Vehicles are equipped with onboard units (OBUs, also known as vehicle terminals) and sensors, enabling them to receive and process information from external sources and make intelligent decisions.

[0003] To reduce traffic accidents, it's generally necessary to broadcast intersection messages to vehicles within a certain range of the intersection. A common approach is to install Remote Units (RSUs) at the intersection. After receiving the intersection message, the RSU broadcasts it to vehicles within the intersection's range via ProSe Communication (PC5) interface. However, this method requires deploying RSUs at each intersection, resulting in high deployment and maintenance costs. Summary of the Invention

[0004] This application provides a message sending method, apparatus, and electronic device to address the problem of high equipment deployment and maintenance costs in existing vehicle-road cooperative scenarios.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a message sending method applied to an edge cloud node, wherein the edge cloud node serves n intersections, where n is a positive integer, and the method includes:

[0007] Based on the center points of the n intersections, determine the grid areas of the n intersections;

[0008] The grid regions of the n intersections are encoded to obtain the encoded information of the grid regions of the n intersections;

[0009] Receive the encoded information of the first vehicle located in the first grid area sent by the first vehicle;

[0010] If the encoded information of the first grid area is included in the encoded information of the grid area of ​​the n intersections, an intersection message of at least one of the n intersections is sent to the first vehicle, wherein the at least one intersection includes the first intersection where the first grid area is located.

[0011] Secondly, embodiments of this application provide a message sending device applied to an edge cloud node, wherein the edge cloud node serves n intersections, where n is a positive integer, and the device includes:

[0012] The first determining module is used to determine the grid area of ​​the n intersections based on the center point of the n intersections;

[0013] The encoding module is used to encode the grid areas of the n intersections to obtain the encoded information of the grid areas of the n intersections;

[0014] The first receiving module is used to receive encoded information of the first vehicle located in the first grid area sent by the first vehicle.

[0015] The first sending module is configured to send an intersection message of at least one of the n intersections to the first vehicle when the encoded information of the grid area of ​​the n intersections includes the encoded information of the first grid area, wherein the at least one intersection includes the first intersection where the first grid area is located.

[0016] Thirdly, embodiments of this application provide an electronic device, which is an edge cloud node used to serve n intersections, where n is a positive integer. The electronic device includes a transceiver and a processor.

[0017] The processor is used for:

[0018] Based on the center points of the n intersections, determine the grid areas of the n intersections;

[0019] The grid regions of the n intersections are encoded to obtain the encoded information of the grid regions of the n intersections;

[0020] Receive the encoded information of the first vehicle located in the first grid area sent by the first vehicle;

[0021] If the encoded information of the first grid area is included in the encoded information of the grid area of ​​the n intersections, an intersection message of at least one of the n intersections is sent to the first vehicle, wherein the at least one intersection includes the first intersection where the first grid area is located.

[0022] Fourthly, embodiments of this application provide an electronic device, including: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the message sending method described in the first aspect.

[0023] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the message sending method described in the first aspect.

[0024] In a sixth aspect, embodiments of this application provide a computer program product, including computer instructions that, when executed by a processor, implement the steps of the method described in the first aspect above.

[0025] In this embodiment, the edge cloud node can serve n intersections. It can determine the grid areas of the n intersections by using the center point of each intersection and obtain the encoding information of these grid areas. If the encoding information of the grid areas of the n intersections includes the encoding information of the first grid area, then an intersection message can be sent to the first vehicle, indicating at least one intersection among the n intersections that includes the first grid area. This solution allows for the transmission of intersection messages to the first vehicle even when roadside equipment such as RSUs are not deployed at each intersection. As long as the encoding information of the grid areas of the n intersections includes the encoding information of the first grid area where the first vehicle is located, an intersection message can be sent to the first vehicle, indicating at least one intersection among the n intersections that includes the first grid area where the first vehicle is located. This eliminates the need to deploy roadside equipment such as RSUs at each intersection, reducing deployment and maintenance costs. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is one of the flowcharts of a message sending method provided in the embodiments of this application;

[0028] Figure 2 This is a structural block diagram of a vehicle-road cooperative intersection message broadcasting system provided in an embodiment of this application;

[0029] Figure 3 This is a second flowchart of a message sending method provided in an embodiment of this application;

[0030] Figure 4 This is a schematic diagram of a nine-grid area provided in an embodiment of this application;

[0031] Figure 5 This is a schematic diagram of a driving trajectory provided in an embodiment of this application;

[0032] Figure 6 This is a schematic diagram of the structure of a message sending device provided in an embodiment of this application;

[0033] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] See Figure 1 , Figure 1 This is a flowchart of a message sending method provided in an embodiment of this application, which can be applied to edge cloud nodes. The edge cloud nodes are used to serve n intersections, where n is a positive integer, such as... Figure 1 As shown, the message sending method provided in this embodiment includes the following steps:

[0036] Step 101: Determine the grid area of ​​the n intersections based on the center points of the n intersections;

[0037] Step 102: Obtain the encoding information of the grid regions of n intersections;

[0038] Step 103: Receive the encoded information of the first vehicle's location in the first grid area sent by the first vehicle;

[0039] Step 104: If the encoding information of the first grid area is included in the encoding information of the grid area of ​​the n intersections, send an intersection message of at least one of the n intersections to the first vehicle. The at least one intersection includes the first intersection where the first grid area is located.

[0040] It can be understood that location points (location coordinates, such as latitude and longitude) within the same raster area correspond to the same encoded information, that is, the encoded information of the raster area in which they are located. As an example, the map can be pre-divided into multiple raster areas, and these multiple raster areas can be encoded to obtain the encoded information of multiple raster areas. After determining the center points of n intersections, at least one raster area for each of the n intersections can be determined from the multiple raster areas, and the encoded information of at least one raster area of ​​an intersection can be obtained from the encoded information of the multiple raster areas. Another example is that the map can be pre-divided into multiple raster areas. After determining the center points of n intersections, at least one raster area for each of the n intersections can be determined from the multiple raster areas, and then the encoded information of the raster areas of the n intersections can be obtained, and so on.

[0041] Furthermore, vehicles can determine their current grid region based on their location, encode that region to obtain corresponding encoding information, and report this information to the edge cloud node. The edge cloud node can then receive this encoded information from the vehicle. For example, if a vehicle is currently in the first grid region, it can encode that region and report the encoded information to the edge cloud node. It should be understood that the encoding methods used by the vehicle and the edge cloud node are the same. For instance, if the encoding precision is pre-agreed upon, the vehicle encodes according to the pre-agreed encoding schedule with the edge cloud node, and the edge cloud node also encodes according to the pre-agreed schedule with the vehicle. This ensures that subsequent encoding information is compared at a uniform precision, guaranteeing the accuracy of subsequent message transmissions.

[0042] After receiving the encoded information of the first grid area where the first vehicle is located from the first vehicle, the edge cloud node can search the encoded information of the grid areas of n intersections to see if the encoded information of the first grid area is included. If the encoded information of the first grid area is included in the encoded information of the grid areas of n intersections, it means that the first vehicle is within the service range of the edge cloud node, that is, within the service broadcast range of the edge cloud node. The edge cloud node can send the first vehicle an intersection message of at least one of the n intersections, where at least one intersection includes the first intersection where the first grid area is located, so that the first vehicle can understand the intersection message of at least one intersection, so that the vehicle or its user can understand the intersection situation, etc., so that the vehicle or its user can make corresponding driving decisions, improve driving safety, optimize traffic flow, reduce traffic congestion and accidents, improve road communication capabilities, and thus save travel time.

[0043] As an example, intersection messages may include, but are not limited to, at least one of the following: signal phase and timing (SPAT), roadside safety message (RSM), roadside information (RSI), and map data (MAP).

[0044] In this embodiment, the edge cloud node can serve n intersections. It can determine the grid regions of the n intersections by using their center points and obtain the encoding information of these grid regions. If the encoding information of the first grid region is included in the encoding information of the grid regions of the n intersections, an intersection message containing at least one of the first intersections (including the intersection where the first grid region is located) can be sent to the first vehicle. This solution allows for the transmission of intersection messages to the first vehicle even when roadside units (RSUs) are not deployed at each intersection. As long as the encoding information of the first vehicle's first grid region is included in the encoding information of the grid regions of the n intersections, the edge cloud node can send an intersection message containing at least one of the first intersections corresponding to the first vehicle's first grid region. This eliminates the need to deploy RSUs at every intersection, reducing deployment and maintenance costs. Simultaneously, accurate transmission of intersection messages is achieved, and the first vehicle reports the encoding information of its first grid region, not its actual location, protecting the privacy and security of the vehicle's actual location and ensuring information security.

[0045] In some embodiments, determining the grid regions of the n intersections based on the center points of the n intersections includes:

[0046] For each of the n intersections, determine the grid area containing the center point of the intersection;

[0047] Determine an N-grid region centered on the grid region containing the center point, where N is the square of M, and M is an odd number greater than 1. The grid region of an intersection includes the N-grid region of the intersection.

[0048] It should be understood that the larger the required message broadcast range for the business, the larger the required grid area of ​​the intersection, and thus the larger the value of M, and vice versa. This allows for setting different grid area sizes to suit different traffic demands. As an example, the value of M can be determined based on the actual message broadcast range required by the business; the value of M is directly proportional to the required message broadcast range.

[0049] In this embodiment, an N-grid area centered on the grid area where the center point of the intersection is located is used as the grid area of ​​the intersection. In this way, the grid area of ​​the intersection can uniformly cover the surrounding area, effectively capture vehicle entry and exit, and improve the accuracy of determining whether a vehicle has entered the grid area of ​​the intersection.

[0050] In some embodiments, where the encoded information of the first grid region is included in the encoded information of the grid regions at the n intersections, the method further includes:

[0051] The information of the first vehicle is stored in the first matching vehicle information set at the first intersection. The first matching vehicle information set is used to store the information of vehicles that meet the matching conditions. The encoding information of the grid area where the vehicle that meets the matching conditions is located is included in the encoding information of the grid area at the first intersection.

[0052] Once a vehicle's reported coding information is received, it can be matched against the coding information of the grid area at its location. If a match is successful, meaning the coding information of the grid area at the intersection includes the vehicle's coding information, the vehicle is within the service broadcast range of that intersection, and its information can be stored in the matching vehicle information set for that intersection. It can be understood that each intersection has a corresponding matching vehicle information set to store information about vehicles whose coding information is included in the coding information of their respective grid area. As an example, vehicle information may include, but is not limited to, vehicle identification numbers.

[0053] In some embodiments, sending an intersection message for at least one of the n intersections to the first vehicle includes:

[0054] Determine the initial grid area where the first vehicle enters the first intersection, with the initial grid area corresponding to the first direction of travel;

[0055] In the grid area of ​​the first intersection, determine the first central area corresponding to the first direction of travel;

[0056] In the case where the first grid area is within the first central area, send an intersection message for at least one intersection to the first vehicle.

[0057] It is understood that each grid area has its corresponding driving direction, which can also be understood as the driving direction supported by the grid area. The intersection where the first vehicle is located is the first intersection. The first grid area that the first vehicle passes through when entering the first intersection is the initial grid area. A first central area (or first intermediate area) corresponding to the first driving direction can be determined in the grid area of ​​the first intersection. The range of the first central area is smaller than the range of the grid area of ​​the first intersection. If the first grid area is within the first central area, an intersection message of at least one intersection is sent to the first vehicle. The intersection message has a scope for the vehicle. Intersection messages outside the valid range become meaningless to the vehicle, such as traffic lights or intersection signs. Once the vehicle leaves the intersection, they become useless. Therefore, in this embodiment, the area comparison range is narrowed to determine the first central area with a smaller range. It is then determined whether the first grid area is within the first central area. If the first grid area is within the first central area, an intersection message of at least one intersection is sent to the first vehicle, achieving more accurate broadcasting of the intersection message.

[0058] In some embodiments, the method further includes:

[0059] If the first grid area is not within the first center area, stop sending intersection messages for the first intersection to the first vehicle.

[0060] In this way, the first grid area is not within the first central area, so broadcasting the intersection message to the first vehicle is not very meaningful. Therefore, the broadcasting of the intersection message to the vehicle can be stopped, thereby achieving message filtering, reducing the broadcasting of invalid messages, and improving the efficiency of communication resource utilization.

[0061] In some embodiments, when the first grid region is not within the first center region, the method further includes:

[0062] Remove the information of the first vehicle from the first matching vehicle information set at the first intersection.

[0063] If the first grid area is not within the first central area, the edge cloud node can remove the first vehicle from the mapping table of the first intersection and vehicle information (the first matching vehicle information set of the first intersection), stop broadcasting the intersection message of the first intersection to the first vehicle, thereby achieving message filtering, reducing the broadcast of invalid information, and improving the efficiency of system communication resource utilization.

[0064] The above method will be described in detail below with some specific embodiments.

[0065] C-V2X primarily uses two communication methods: PC5 mode and UU mode. There are also two methods for broadcasting messages at intersections:

[0066] The first type is PC mode, where the roadside unit (RSU) receives traffic light and other intersection messages and broadcasts them to vehicle terminals within a certain range (e.g., 300 meters) of the intersection via PC5.

[0067] The second method is the UU mode, where the vehicle terminal T-box (OBU) accesses the cellular network (such as 4G / 5G) and establishes a connection with the base station through the UU interface. Vehicle information is sent to the base station via the UU interface, and the base station then forwards the message to the V2X server platform on the core network side, where it is matched, updated, or broadcast according to the message type and application scenario. For example, traffic light status information is pushed to vehicles at the corresponding intersection.

[0068] Intersection message broadcasts enable vehicles to obtain real-time information about their surroundings, providing early warnings of potential hazards, effectively reducing traffic accidents and improving road user safety. Cooperative communication between vehicles and infrastructure can optimize traffic flow, reduce congestion, improve road capacity, and save travel time. However, current technologies face the following challenges:

[0069] First, in the current pilot cities for vehicle-road-cloud (V2X) services, considering the scientific and economic aspects of the construction plan, urban intersections are classified according to their importance. Different levels of intersections have different equipment lists. Generally, only a few important intersections will have a full set of roadside units (RSUs), roadside sensors, roadside computing units (RCUs), traffic lights, and other equipment installed. Most other ordinary intersections will only have traffic lights. If the PC5 broadcast technology route chosen by most traditional solutions is adopted, in order to ensure continuous broadcasting of intersection information at a city scale, RSU equipment would need to be installed at thousands of intersections, which is a considerable expense. Otherwise, at intersections without RSUs, the broadcasting of information like at traffic light intersections cannot be guaranteed, affecting the user experience of the city-level V2X service.

[0070] Second, most current vehicle-mounted intelligent terminals do not support V2X. If a PC5 broadcasting solution is adopted, most existing intelligent vehicles will be unable to access intersection information services.

[0071] Third, the UU and PC5 redundant communication scheme, which broadcasts intersection information through both communication links simultaneously, not only increases the overhead of the vehicle terminal system, but also wastes resources.

[0072] Fourth, the scheme of UU and PC5 converged communication, where PC5 communication takes priority at RSU intersections and UU communication is used when there are no RSUs, increases the overall complexity of the system, and frequent switching reduces the robustness of the system.

[0073] Fifth, information security and privacy protection. C-V2X communication involves a large amount of vehicle and user information, and ensuring the security of this private information is a significant challenge. For example, sensitive information such as user identity and location must not be illegally obtained or tracked to ensure user privacy.

[0074] To address the aforementioned issues, this proposal presents a method and system for continuous and accurate broadcasting of multi-intersection messages based on the UU interface. First, at intersections without RSU (Roadside Unit) equipment, continuous broadcasting of traffic light messages (SPAT) and traffic event and traffic sign messages (RSI) is still possible, reducing the need for RSU equipment investment and making the construction plan more economical. Second, the UU interface-based solution allows seamless access to a large number of existing intelligent vehicles without the need for additional V2X modules on the terminals, saving costs and increasing the versatility of the vehicle-road-cloud solution. Third, the UU interface-based solution avoids the waste of redundant communication resources and simplifies the complexity of the PC5 and UU integrated information broadcasting scheme, making the system more robust. Fourth, geocoding technology is used to anonymize vehicle location information, changing the reporting of GNSS points to reporting geographic raster cell strings, ensuring that accurate GNSS information does not leave the vehicle and effectively protecting user privacy.

[0075] This application proposes a method and system for broadcasting vehicle-road cooperative intersection messages. Vehicle terminals can report anonymized geographic raster cell information (the encoded information of the raster area where the vehicle is located) to the edge cloud via a UU port. The edge cloud adaptively matches the encoded information of the raster area (e.g., a 9x9 or 25x2 grid) of the intersection's center point geographic raster cell with the vehicle's geographic raster cell information, based on the requirements of the intersection's service scope. If a match is found, the collected service information (RSM, RSI, SPAT, and MAP) of the intersection where the vehicle is located—the intersection message—is broadcast to the vehicle terminal via the UU port. Furthermore, the intersection message is filtered according to the principle of data timeliness, achieving efficient and accurate intersection information broadcasting.

[0076] like Figure 2 As shown, a vehicle-road cooperative intersection message broadcasting system (i.e., message sending system) is provided, which can implement the message sending method of the embodiments of this application. The vehicle-road cooperative intersection message broadcasting system includes roadside equipment, traffic management platform, edge cloud nodes (e.g., edge cloud MEC (Multi-Access Edge Computing), base stations (e.g., 4G / 5G base stations, etc.), vehicles and other modules.

[0077] Roadside Equipment: In the pilot city construction plan for vehicle-road-cloud infrastructure, intersections are generally divided into multiple levels based on their importance, such as Level 1, Level 2, and Level 3. Level 1 intersections are defined as high-level intersections, fewer in number, but with the most complete equipment, including traffic lights, Roadside Units (RSUs), Roadside Computing Units (RCUs), video cameras, and millimeter-wave radar. Level 2 intersections are defined as medium-level intersections, with more data, and the installed roadside equipment includes video cameras and traffic lights. Level 3 intersections are defined as low-level intersections, the most numerous, and the roadside equipment generally only includes traffic lights.

[0078] Traffic management platform: Provides real-time road event information.

[0079] Edge cloud nodes: On one hand, they are responsible for managing vehicle access at various intersections within the area, and generating a real-time intersection-vehicle relationship mapping table based on the geographic raster cell information reported by vehicles and the intersection center point location, serving as the basis for intersection information broadcasting. On the other hand, they are responsible for collecting structured data from various intersections, including traffic lights and roadside computing units (RCUs). Finally, the edge cloud can also receive raw data from video cameras and generate structured data after computation.

[0080] Vehicle: Equipped with a vehicle terminal (i.e., a pre-installed or aftermarket smart module), it can send and receive data via the 4G / 5G module's UU port. It utilizes an efficient geocoding algorithm to convert latitude and longitude coordinates into string codes, which represent a geographic raster region (cell).

[0081] The method of this application embodiment is as follows:

[0082] Edge cloud nodes collect intersection messages and vehicle-reported messages within the region. Through rapid matching of intersections and vehicles, they then broadcast the intersection messages generated at the corresponding intersection to the vehicles at that intersection in real time. (See below.) Figure 3 As shown, the process of broadcasting messages at intersections includes:

[0083] The encoding precision, defined as d, can be selected based on the broadcast distance requirements of the vehicle-road cloud application scenario. This encoding precision determines the length of the string generated after encoding the vehicle's latitude and longitude (the encoded information of the grid area where the vehicle is located). The higher the encoding precision, the longer the generated string, and the smaller the corresponding geographic grid cell range. The length and width of the area range are very close. For example, a geographic grid cell can be defined as a square with a side length of x, and the encoded string is defined as: .

[0084] Similarly, choosing an encoding precision of 'd', the latitude and longitude values ​​of the intersection center point are geocoded and output as a string. (Encoding information of the grid area at the intersection), for example, outputting its 8-adjacent area as: This forms a nine-square grid of broadcast range, as follows: Figure 4 As shown:

[0085] The center point of the intersection, with its latitude and longitude coordinates, can be converted into a square grid with sides of length x. Based on the principles of geocoding, all latitude and longitude points within this grid correspond to the same encoded string. Assuming this latitude and longitude point is at point 'a' on the network edge, then 'ab' and 'ac' represent the shortest and longest coverage areas of the 3x3 grid, respectively, with the shortest distance being... The longest distance is Therefore, the broadcast distance corresponding to the nine-square grid is [ , If a larger broadcast range is required, an additional grid can be added around the 3x3 grid to create a 25x2 grid. The broadcast distance corresponding to the 25x2 grid is […]. , For example, if x equals 100 meters, the broadcast distance for a 9-square grid is [100 meters, 280 meters], and the broadcast range for a 25-square grid is [200 meters, 420 meters].

[0086] The set of all intersections for which an edge cloud is responsible for its services can be represented as: For example, each intersection will generate a nine-grid string or a twenty-five-grid encoded string (encoded information) based on the latitude and longitude of the intersection's center point.

[0087] When a vehicle reports the encoding information of its geographic raster region cell in real time, the edge cloud node can match it with the encoding information of the 9x9 and 25x2 grids of each intersection in the intersection set. If a matching encoding is found, it means the vehicle is within the service broadcast range of a certain intersection. Therefore, the edge cloud node maintains a real-time mapping table between intersections and vehicles. Taking intersection i as an example, it is represented as follows:

[0088] ;

[0089] in, express The set of vehicles matched in the nine-square grid at the intersection (i.e., in (The set of matching vehicle information corresponding to the grid area of ​​the intersection when it is a nine-square grid). express The set of vehicles matched in the 25-square grid at the intersection (i.e., in The set of matching vehicle information corresponding to the grid area of ​​the intersection is a 25-grid area.

[0090] When new business data updates arrive at a certain intersection, such as traffic light Spat, the edge cloud selects the matching vehicles in the corresponding nine-square or twenty-five-square grid for precise data broadcasting based on the broadcast range requirements of the business.

[0091] In addition, this application embodiment also provides a message filtering process, as follows:

[0092] Intersection information has a limited scope for vehicles; once a vehicle passes through this scope, the information becomes meaningless. For example, traffic lights or intersection signs become useless once the vehicle leaves the intersection. This proposal utilizes the characteristics of the intersection's center point geographic grid and its neighboring geographic grids to propose a message filtering method that stops broadcasting intersection messages once a vehicle has passed the central area of ​​the intersection.

[0093] Taking a vehicle entering the intersection from south to north (corresponding to the first driving direction being north-south) as an example, the message filtering process is illustrated as follows:

[0094] The middle area of ​​an intersection is defined as follows: for vehicles traveling in the north-south direction, the middle area of ​​the intersection is neighboring area 4, the area where the center point of the intersection is located, and neighboring area 5. Similarly, for vehicles traveling in the east-west direction, the middle area of ​​the intersection is defined as: neighboring area 2, the area where the center point of the intersection is located, and neighboring area 7.

[0095] A vehicle entering the intersection from south to north has four possible directions of travel: U-turn, left turn, straight ahead, and right turn. Taking the example of right-hand traffic, the simulated driving trajectory is as follows: Figure 5 As shown:

[0096] The driving trajectory for the U-turn is as follows: enter from neighboring zone 7, then pass through the center point of the intersection, neighboring zone 4, and neighboring zone 6.

[0097] The driving trajectory for a left turn is as follows: enter from neighboring zone 7, then pass through the center point of the intersection, neighboring zone 2, and neighboring zone 1.

[0098] The straight driving trajectory is as follows: enter from neighboring area 8, pass through neighboring area 5, and then neighboring area 3.

[0099] The driving trajectory for turning right is: entering from neighboring zone 8 and passing through neighboring zone 5.

[0100] Regardless of the driving trajectory, once a vehicle passes through the central area in the north-south direction of the nine-square grid (i.e., area 4, the area where the intersection center point is located, and area 5), ​​it can be considered to have left the intersection. For example, if a straight-going vehicle enters the intersection from neighboring area 8 and then enters neighboring area 5, when the vehicle enters neighboring area 3, the edge cloud will remove the vehicle from the mapping table between the intersection and the vehicle, and stop broadcasting intersection messages to the vehicle, thereby achieving message filtering and precise broadcasting.

[0101] This proposal presents a method and system for broadcasting intersection information based on UU-interface communication. It innovatively utilizes geocoding algorithms to anonymize vehicle locations, reporting a geographic raster cell code instead of a precise GNSS point, effectively protecting user privacy. Furthermore, it rapidly constructs a mapping table between intersections and vehicles by matching the 9-square and 25-square geographic raster codes generated by vehicles and intersection center points. The method of comparing vehicle and intersection center point geographic raster cell codes significantly improves the overall computational efficiency of the system.

[0102] It also provides a method for filtering messages at intersections. This innovative message filtering method utilizes the characteristics of the geographic grid at the center point of the intersection and its neighboring geographic grids to define the middle area of ​​the intersection. Once a vehicle passes through the middle area of ​​the intersection, the edge cloud will remove the vehicle from the mapping table between the intersection and the vehicle, and stop broadcasting intersection messages to the vehicle. This achieves message filtering, reduces the broadcast of invalid information, and improves the efficiency of system communication resource utilization.

[0103] Compared to the PC5 and UU fusion broadcasting solution, the technical advantages of the solution in this application are:

[0104] First, the UU-based intersection information broadcasting solution reduces system complexity and increases robustness by avoiding the complex control required for switching between PC5 and UU interfaces. Second, it lowers equipment costs for intersection construction, eliminating the need for RSU and RCU infrastructure, and better adapts to the broadcasting needs of intersections at different levels, resulting in better continuity and user experience for urban intersection information broadcasting. Third, it avoids the need for vehicle-side V2X modules, reducing the hardware requirements for vehicle-side access to intersection information. Finally, it leverages the high bandwidth of 5G UU, avoiding the need for packet splitting and repackaging of large data packets due to insufficient bandwidth in traditional PC5 solutions.

[0105] Second, instead of directly reporting the current GNSS location, the vehicle reports the geographic raster cell, which blurs and desensitizes the user's location information on the vehicle side, effectively protecting the user's privacy.

[0106] Third, based on the latitude and longitude of the intersection center point, the system generates coded string information such as a nine-square grid or a twenty-five-square grid for the intersection. By comparing this information with the coded string on the vehicle side, the system has a more efficient matching method and can quickly generate a mapping table between the intersection and the vehicle.

[0107] Fourth, it can meet the different broadcast distance requirements of intersection information. By selecting a nine-grid or twenty-five-grid layout, the broadcast distance requirements can be quickly adapted.

[0108] Fifth, through message filtering, theoretically one-third of the system overhead can be saved, achieving accurate message delivery. Moreover, this filtering mechanism is simple and versatile, applicable regardless of whether the intersection is due north or at an angle.

[0109] like Figure 6 As shown, Figure 6 This is a schematic diagram of the structure of a message sending device 600 provided in an embodiment of this application, as shown below. Figure 6 As shown, this is applied to edge cloud nodes, which serve n intersections, where n is a positive integer. The message sending device 600 includes:

[0110] The first determining module 601 is used to determine the grid area of ​​n intersections based on the center points of n intersections;

[0111] Encoding module 602 is used to obtain the encoding information of the grid area of ​​n intersections;

[0112] The first receiving module 603 is used to receive the encoded information of the first vehicle located in the first grid area sent by the first vehicle.

[0113] The first sending module 604 is used to send an intersection message of at least one of the n intersections to the first vehicle when the encoding information of the grid area of ​​the n intersections includes the encoding information of the first grid area. The at least one intersection includes the first intersection where the first grid area is located.

[0114] In some embodiments, determining the grid regions of the n intersections based on the center points of the n intersections includes:

[0115] For each of the n intersections, determine the grid area containing the center point of the intersection;

[0116] Determine an N-grid region centered on the grid region containing the center point, where N is the square of M, and M is an odd number greater than 1. The grid region of an intersection includes the N-grid region of the intersection.

[0117] In some embodiments, where the encoded information of the grid regions at the n intersections includes the encoded information of the first grid region, the apparatus further includes:

[0118] The storage module is used to store the information of the first vehicle into the first matching vehicle information set at the first intersection. The first matching vehicle information set is used to store the information of vehicles that meet the matching conditions. The encoding information of the grid area where the vehicle that meets the matching conditions is located is included in the encoding information of the grid area at the first intersection.

[0119] In some embodiments, sending an intersection message for at least one of the n intersections to the first vehicle includes:

[0120] Determine the initial grid area where the first vehicle enters the first intersection, with the initial grid area corresponding to the first direction of travel;

[0121] In the grid area of ​​the first intersection, determine the first central area corresponding to the first direction of travel;

[0122] In the case where the first grid area is within the first central area, send an intersection message for at least one intersection to the first vehicle.

[0123] In some embodiments, the apparatus further includes:

[0124] The stop module is used to stop sending intersection messages to the first vehicle when the first grid area is not within the first center area.

[0125] In some embodiments, when the first grid region is not within the first central region, the apparatus further includes:

[0126] The deletion module is used to delete the information of the first vehicle from the first matching vehicle information set at the first intersection.

[0127] The message sending device 600 provided in this embodiment can implement the various processes of the above-described message sending method embodiments. The technical features correspond one-to-one and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0128] This application also provides an electronic device, including: a processor, a memory, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the various processes of the above-described message sending method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0129] For details, see Figure 7 This application also provides an electronic device, which includes a bus 701, a transceiver 702, an antenna 703, a bus interface 704, a processor 705, and a memory 706.

[0130] The electronic devices are edge cloud nodes, which serve n intersections, where n is a positive integer. Each electronic device includes a transceiver and a processor.

[0131] Processor, used for:

[0132] Determine the grid area of ​​n intersections based on the center points of n intersections;

[0133] Obtain the encoding information of the grid regions at n intersections;

[0134] Receive the encoded information of the first vehicle's location in the first grid area sent by the first vehicle;

[0135] If the encoded information of the grid area of ​​n intersections includes the encoded information of the first grid area, send an intersection message of at least one of the n intersections to the first vehicle, wherein at least one intersection includes the first intersection where the first grid area is located.

[0136] In some embodiments, determining the grid regions of the n intersections based on the center points of the n intersections includes:

[0137] For each of the n intersections, determine the grid area containing the center point of the intersection;

[0138] Determine an N-grid region centered on the grid region containing the center point, where N is the square of M, and M is an odd number greater than 1. The grid region of an intersection includes the N-grid region of the intersection.

[0139] In some embodiments, where the encoded information of the first grid region is included in the encoded information of the grid regions at the n intersections, the processor is further configured to:

[0140] The information of the first vehicle is stored in the first matching vehicle information set at the first intersection. The first matching vehicle information set is used to store the information of vehicles that meet the matching conditions. The encoding information of the grid area where the vehicle that meets the matching conditions is located is included in the encoding information of the grid area at the first intersection.

[0141] In some embodiments, sending an intersection message for at least one of the n intersections to the first vehicle includes:

[0142] Determine the initial grid area where the first vehicle enters the first intersection, with the initial grid area corresponding to the first direction of travel;

[0143] In the grid area of ​​the first intersection, determine the first central area corresponding to the first direction of travel;

[0144] In the case where the first grid area is within the first central area, send an intersection message for at least one intersection to the first vehicle.

[0145] In some embodiments, the processor is further configured to:

[0146] If the first grid area is not within the first center area, stop sending intersection messages for the first intersection to the first vehicle.

[0147] In some embodiments, where the first grid region is not within the first central region, the processor is further configured to:

[0148] Remove the information of the first vehicle from the first matching vehicle information set at the first intersection.

[0149] exist Figure 7 In this document, a bus architecture (represented by bus 701) is used. Bus 701 can include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 705 and memory represented by memory 706. Bus 701 can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 704 provides an interface between bus 701 and transceiver 702. Transceiver 702 can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 705 is transmitted over a wireless medium via antenna 703, which further receives data and transmits data to processor 705.

[0150] Processor 705 manages bus 701 and general processing, and also provides various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. Memory 706 can be used to store data used by processor 705 during operation.

[0151] Optionally, the processor 705 can be a CPU, ASIC, FPGA, or CPLD.

[0152] The processor 705 of the electronic device provided in this embodiment can implement each process of each embodiment of the above message sending method. The technical features are one-to-one and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0153] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the above-described message sending method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0154] This application provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, they implement the various processes of the method described in the embodiment. The technical features are one-to-one and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0155] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0156] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods of the various embodiments of this application.

[0157] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A message sending method, characterized in that, Applied to edge cloud nodes, where the edge cloud nodes serve n intersections, where n is a positive integer, the method includes: Based on the center points of the n intersections, determine the grid areas of the n intersections; Obtain the encoding information of the grid regions of the n intersections; Receive the encoded information of the first vehicle located in the first grid area sent by the first vehicle; If the encoded information of the first grid area is included in the encoded information of the grid area of ​​the n intersections, an intersection message of at least one of the n intersections is sent to the first vehicle, wherein the at least one intersection includes the first intersection where the first grid area is located.

2. The method according to claim 1, characterized in that, The step of determining the grid area of ​​the n intersections based on the center points of the n intersections includes: For each of the n intersections, determine the grid area where the center point of the intersection is located; Determine an N-grid region centered on the grid region where the center point is located, where N is the square of M, and M is an odd number greater than 1. The grid region of the intersection includes the N-grid region of the intersection.

3. The method according to claim 1, characterized in that, When the encoded information of the grid regions at the n intersections includes the encoded information of the first grid region, the method further includes: The information of the first vehicle is stored in the first matching vehicle information set of the first intersection. The first matching vehicle information set is used to store the information of vehicles that meet the matching conditions. The encoding information of the grid area where the vehicle that meets the matching conditions is located is included in the encoding information of the grid area of ​​the first intersection.

4. The method according to any one of claims 1-3, characterized in that, Sending the intersection message of at least one of the n intersections to the first vehicle includes: Determine the initial grid area where the first vehicle enters the first intersection, the initial grid area corresponding to the first driving direction; In the grid area of ​​the first intersection, a first central area corresponding to the first direction of travel is determined; When the first grid area is within the first central area, the intersection message of the at least one intersection is sent to the first vehicle.

5. The method according to claim 4, characterized in that, The method further includes: If the first grid area is not within the first central area, stop sending the intersection message of the first intersection to the first vehicle.

6. The method according to claim 5, characterized in that, When the first grid area is not within the first center area, the method further includes: Remove the information of the first vehicle from the first matching vehicle information set at the first intersection.

7. A message sending device, characterized in that, Applied to edge cloud nodes, where the edge cloud nodes serve n intersections, where n is a positive integer, the device includes: The first determining module is used to determine the grid area of ​​the n intersections based on the center point of the n intersections; The encoding module is used to encode the grid areas of the n intersections to obtain the encoded information of the grid areas of the n intersections; The first receiving module is used to receive encoded information of the first vehicle located in the first grid area sent by the first vehicle. The first sending module is configured to send an intersection message of at least one of the n intersections to the first vehicle when the encoded information of the grid area of ​​the n intersections includes the encoded information of the first grid area, wherein the at least one intersection includes the first intersection where the first grid area is located.

8. An electronic device, characterized in that, The electronic device is an edge cloud node, which serves n intersections, where n is a positive integer. The electronic device includes a transceiver and a processor. The processor is used for: Based on the center points of the n intersections, determine the grid areas of the n intersections; The grid regions of the n intersections are encoded to obtain the encoded information of the grid regions of the n intersections; Receive the encoded information of the first vehicle located in the first grid area sent by the first vehicle; If the encoded information of the first grid area is included in the encoded information of the grid area of ​​the n intersections, an intersection message of at least one of the n intersections is sent to the first vehicle, wherein the at least one intersection includes the first intersection where the first grid area is located.

9. An electronic device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-6.

11. A computer program product, characterized in that, Includes computer instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1-6.

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