A roadside unit modular system and method for v2x car networking

Abstract

The application discloses a roadside unit modular system and method for V2X vehicle networking, comprising a main control mainboard, a plurality of function modules in communication connection with the main control mainboard, a standardized connector module and an intelligent adaptive management and control unit arranged on the main control mainboard; the function modules are in the form of pluggable function subcards; the intelligent adaptive management and control unit comprises a module identification subunit, a drive adaptation subunit and a collaborative control subunit; the M.2 golden finger interface is adopted as the pluggable hardware, the RSU full modularization is realized, the intelligent adaptive management and control unit is designed, the function subcard plug-and-play is realized through module automatic identification, drive automatic loading and parameter automatic configuration, the built-in multi-module intelligent collaborative control mechanism is adopted, the automatic matching collaborative operation of the subcard combination that has been accessed is realized to realize the seamless linkage of the multi-modules, the full-standardized interface is adopted, different manufacturers, different protocol versions, different performance grade function modules are compatible, and the adaptation of the equipment is further improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle-to-everything (V2X) communication technology, and in particular to a modular system and method for roadside units used in V2X vehicle-to-everything (V2X) communication. Background Technology

[0002] Cooperative intelligent transportation systems (CMTS) enable intelligent collaboration and coordination between vehicles and infrastructure, between vehicles, between vehicles and people, and between vehicles and the cloud through the full-element information interaction of people, vehicles, roads, and the cloud. This is a core supporting technology for intelligent connected vehicles and smart transportation. Among these technologies, V2X (Vehicle-to-Infrastructure) communication technology, with its advantages of high connection speed, short transmission latency, long communication distance, and strong non-line-of-sight perception capabilities, has become the core communication method for vehicle-road collaboration. Roadside units (RSUs), as the core roadside nodes of the V2X network, are key devices for realizing vehicle-road information interaction.

[0003] The V2X industry is currently in a transitional phase between pilot verification and large-scale deployment. The functional requirements of RSUs vary greatly in scenarios such as highway test sections, closed test sites for autonomous driving, and urban road pilots, and these requirements are still in a dynamic iteration process.

[0004] The existing RSU devices suffer from the following main drawbacks: Mainstream RSUs often employ an integrated hardware design, with functional modules fixedly soldered onto the motherboard. This prevents flexible addition or removal of functions or switching of module performance levels based on scenario requirements. Different customer needs necessitate redesigning the entire hardware, customizing molds, and debugging firmware, resulting in long product development cycles, high R&D costs, and an inability to quickly respond to the dynamic demands of pilot scenarios. Some existing modular RSU solutions use custom proprietary interfaces, only compatible with modules from a single manufacturer, lacking compatibility with functional modules from different manufacturers, different protocol versions, and different performance levels, leading to extremely poor hardware compatibility. Existing modular solutions lack intelligent multi-module collaboration mechanisms; each functional module operates independently and cannot automatically adapt to collaborative operation rules based on the combination of connected modules. This makes it difficult to quickly implement customized functions such as differential base stations through module combinations, resulting in insufficient functional scalability and scenario adaptability. Furthermore, the power supply modules of existing RSUs are often integrated with the motherboard, making them unsuitable for diverse power supply environments such as AC220V, DC48V, and PoE in roadside scenarios. This requires additional power conversion equipment, increasing deployment costs and potential points of failure.

[0005] Therefore, those skilled in the art urgently need to provide a modular system and method for roadside units for V2X vehicle networking that is flexibly configurable, highly compatible, and plug-and-play. Summary of the Invention

[0006] The purpose of this invention is to provide a modular system and method for roadside units in V2X vehicle-to-everything (V2X) communication, in order to solve the problems existing in the prior art.

[0007] A modular roadside unit system for V2X vehicle-to-everything (V2X) communication includes: a main control motherboard, multiple functional modules communicatively connected to the main control motherboard, a standardized connector module, and an intelligent adaptation and management unit deployed on the main control motherboard. The standardized connector module includes at least one set of standardized M.2 interfaces pre-installed on the main control motherboard, and gold-finger connectors matching the M.2 interfaces. The functional modules, in the form of pluggable functional daughter cards, achieve detachable electrical connection and high-speed data communication with the main control motherboard through the standardized connector module. The pluggable functional daughter cards include at least two types of optional daughter cards, each type corresponding to at least two different performance levels or different manufacturers' adapter daughter cards. The intelligent adaptation and management unit includes a module identification subunit, a driver adaptation subunit, and a collaborative control subunit. The module identification subunit automatically identifies the type, manufacturer, and performance level of the pluggable functional daughter card after it is inserted. The driver adaptation subunit automatically loads the corresponding driver program and operating configuration parameters based on the identification results. The collaborative control subunit enables functional matching and collaborative operation among multiple daughter cards based on the configuration information of the connected pluggable functional daughter cards.

[0008] Preferably, the pluggable functional daughter card includes any one or more combinations of WiFi daughter cards, positioning daughter cards, encryption daughter cards, cellular communication daughter cards, V2X communication daughter cards, and extended functional daughter cards; the WiFi daughter card includes at least three optional configurations: no configuration, basic WiFi daughter card, and high-throughput WiFi daughter card; the basic WiFi daughter card supports the 802.11b / g / n protocol, and the high-throughput WiFi daughter card supports the 802.11b / g / n / ac / ax protocol; the positioning daughter card includes at least three optional accuracy configurations: meter-level positioning daughter card, sub-meter-level positioning daughter card, and centimeter-level positioning daughter card; the centimeter-level positioning daughter card supports differential positioning. The service positioning module enables roadside units to have differential base station functionality; the encryption sub-card includes at least three optional configurations: no configuration, a first-manufacturer's national cryptographic encryption chip sub-card, and a second-manufacturer's national cryptographic encryption chip sub-card; the cellular communication sub-card includes at least three optional configurations: a 4Gcat1 sub-card, a 4Gcat4 sub-card, and a 5G communication sub-card, and is compatible with cellular communication modules from different manufacturers; the V2X communication sub-card is compatible with LTE-V2X / 5GNR-V2X modules from different manufacturers and with different protocol versions; the extended function sub-card integrates any one or more combinations of an SFP optical port communication module, a power-off buffer module, an RTC clock module, and a PSAM encryption module.

[0009] Preferably, the V2X communication daughter card is detachably connected to the main control motherboard via a high-speed board-to-board connector, the PCB thickness of the V2X communication daughter card is not less than 1.6mm, and the daughter card integrates a dedicated heat dissipation structure.

[0010] Preferably, the system further includes a replaceable power module; the main control motherboard is provided with a standardized power interface, and the replaceable power module is detachably connected to the standardized power interface via a flexible flat cable; the replaceable power module includes any one of an AC220V power module, a DC48V power module, and a POE power supply module.

[0011] Preferably, the module identification subunit has a built-in module information database, which pre-stores device identifiers, driver information, and standard configuration parameters of functional sub-cards of multiple types, manufacturers, and performance levels; the module identification subunit automatically identifies all information of the sub-card by reading the device identifier of the access sub-card and comparing it with the module information database.

[0012] Preferably, the driver adaptation subunit is also used to complete the basic driver adaptation of the daughter card through a preset general driver framework when there is no matching driver information in the module information library, and supports iterative adaptation of the driver and configuration parameters by updating the module information library remotely via OTA.

[0013] Preferably, the collaborative control subunit has a built-in function matching rule library, which has preset collaborative operation rules corresponding to different combinations of function sub-cards; the collaborative control subunit calls the corresponding collaborative operation rules according to the type and configuration of the connected sub-cards to realize function matching and data linkage between multiple sub-cards.

[0014] Preferably, when the simultaneously accessed sub-cards include a centimeter-level positioning sub-card supporting differential base station function, a cellular communication sub-card, and a V2X communication sub-card, the collaborative control sub-unit calls the differential base station collaborative rules and broadcasts differential positioning correction information through the cellular communication sub-card, enabling the roadside unit to realize the differential base station function.

[0015] Preferably, the main control motherboard integrates a main control unit, a power management unit, and multiple standardized M.2 interfaces. The power management unit is used to provide standardized power supply for all connected pluggable functional daughter cards, and the main control unit is used to run the intelligent adaptation and management unit to realize the core control and data processing of the whole machine.

[0016] An operating method for a roadside unit modular system for V2X vehicle-to-everything (V2X) communication includes the following steps:

[0017] S1. Based on the functional requirements of the target application scenario, select the corresponding type and performance level of pluggable function daughter card, and insert it into the corresponding M.2 interface of the main control motherboard through the standardized connector module to complete the hardware configuration.

[0018] S2. The intelligent adaptation and management unit of the main control motherboard automatically detects the newly connected pluggable functional daughter card and automatically identifies the type, manufacturer and performance level of the daughter card by reading the device identifier of the daughter card.

[0019] S3. Based on the identification results, automatically load the driver and running configuration parameters that match the sub-card to complete the plug-and-play configuration of the sub-card without modifying the main control firmware;

[0020] S4. Obtain the configuration information of all pluggable functional daughter cards that are currently connected to the main control motherboard, call the corresponding collaborative operation rules, establish functional matching between multiple daughter cards, and realize the collaborative operation of all daughter cards.

[0021] Compared with the prior art, the present invention provides a modular system and method for roadside units in V2X vehicle networking, which has the following advantages:

[0022] 1. This invention adopts a pluggable hardware architecture with a standardized M.2 gold finger interface as the core, realizing a fully modular design of RSU function. Functional daughter cards can be added or removed, and the performance level and manufacturer of daughter cards can be switched according to different pilot scenarios and customer needs, without redesigning the whole machine hardware and opening molds, and can quickly respond to the dynamic needs of the market.

[0023] 2. This invention designs an intelligent adaptation and control unit, which realizes true plug-and-play functionality of the functional daughter card through automatic module identification, automatic driver loading, and automatic parameter configuration. Module replacement does not require on-site modification of the main control firmware or manual debugging by technicians, which greatly reduces the difficulty of on-site deployment and maintenance of the RSU and reduces maintenance costs.

[0024] 3. This invention has a built-in multi-module intelligent collaborative control mechanism, which can automatically match collaborative operation rules according to the connected sub-card combination to achieve seamless linkage between multiple modules. It can quickly realize customized functions such as differential base stations through sub-card combination without the need for additional functional firmware development, which greatly improves the functional scalability and scenario adaptability of RSU.

[0025] 4. This invention adopts a fully standardized interface design, which is compatible with functional modules from different manufacturers, different protocol versions, and different performance levels. This breaks the manufacturer lock-in problem of proprietary interfaces in the prior art and improves the stability of the product supply chain and the flexibility of selection. At the same time, the design of replaceable power modules can adapt to the diverse power supply environment of roadside scenarios, further improving the scenario adaptability of the equipment. Attached Figure Description

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

[0027] Figure 1 This is a block diagram of the overall architecture of the modular system of the V2X vehicle-to-everything (V2X) roadside unit of the present invention;

[0028] Figure 2 This is a configuration diagram of optional sub-cards for the functional modules of this invention. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1-2 As shown, a modular system and method for roadside units in V2X vehicle networking includes: a main control motherboard, multiple functional modules communicatively connected to the main control motherboard, a standardized connector module, and an intelligent adaptation and management unit deployed on the main control motherboard; the standardized connector module includes at least one set of standardized M.2 interfaces pre-installed on the main control motherboard, and gold finger connectors matching the M.2 interfaces; the functional modules are in the form of pluggable functional daughter cards, which achieve detachable electrical connection and high-speed data communication with the main control motherboard through the standardized connector module; the pluggable functional daughter cards include at least two types of optional daughter cards, each type of optional daughter card corresponding to at least two different performance levels or different manufacturers' adapter daughter cards; the intelligent adaptation and management unit includes a module identification subunit, a driver adaptation subunit, and a collaborative control subunit; the module identification subunit is used to automatically identify the type, manufacturer, and performance level of the pluggable functional daughter card after it is inserted; the driver adaptation subunit is used to automatically load the corresponding driver and operating configuration parameters according to the identification result; the collaborative control subunit is used to realize functional matching and collaborative operation among multiple daughter cards according to the configuration information of the connected pluggable functional daughter cards.

[0032] The main control motherboard is the core of the entire system, integrating a main control unit, a power management unit, multiple standardized M.2 interfaces, an Ethernet interface, a power interface, and peripheral circuits. The main control unit uses an NXP MX8 series industrial-grade processor running a Linux operating system, supporting the intelligent adaptation and management unit to achieve core control, data processing, and protocol conversion for the entire system. The power management unit connects to a replaceable power module, providing standardized 3.3V and 5V power to the entire system and all connected functional daughter cards, meeting the power requirements of various daughter cards. The multiple M.2 interfaces adopt the standard M.2 Key B / M interface definition, compatible with various high-speed communication protocols such as PCIe, USB, UART, and SDIO, meeting the communication bandwidth requirements of different functional daughter cards.

[0033] The standardized connector module is based on an M.2 interface and a gold-finger connector. Except for the V2X communication daughter card, all other functional daughter cards adopt the gold-finger design and are directly inserted into the M.2 interface of the main control motherboard without the need for additional connectors. This reduces hardware costs and ensures the reliability of high-speed data transmission. For the special requirements of the V2X communication daughter card, a high-speed board-to-board connector is used to connect to the main control motherboard, solving the problems of heat dissipation and connection reliability of the V2X module.

[0034] like Figure 2 As shown, the specific details of the pluggable function daughter card are as follows:

[0035] WiFi daughter card: Adopting the M.2 2230 specification, with a gold finger interface design, it supports three optional configurations: no configuration, basic WiFi daughter card (equipped with RS9113S module, supporting 802.11b / g / n protocol, 2.4GHz single band), and high-throughput WiFi daughter card (equipped with AP6275S module, supporting 802.11ax protocol, 2.4GHz+5GHz dual band). Through the WiFi daughter card, maintenance personnel can wirelessly access the RSU locally via terminal devices such as computers or tablets to complete equipment configuration, debugging, and maintenance. This function is not essential and can be selected according to needs.

[0036] Positioning daughter card: Adopting the M.2 2242 specification, with a gold finger interface design, it supports three accuracy configurations: meter-level positioning daughter card (equipped with a common GNSS module, supporting GPS / BeiDou dual-mode, positioning accuracy ±2m), sub-meter-level positioning daughter card (equipped with a high-precision GNSS module, supporting RTK positioning, positioning accuracy ±0.5m), and centimeter-level positioning daughter card (equipped with a full-frequency high-precision GNSS module, supporting multi-system multi-frequency RTK differential positioning, positioning accuracy ±1cm, and having differential base station functionality); positioning function is an essential function of RSU, and successful positioning is a prerequisite for V2X communication. Different accuracy positioning daughter cards can be switched according to scenario requirements.

[0037] Encryption daughter card: Adopting the M.2 2242 specification, with a gold finger interface design, it supports three optional configurations: no configuration, a daughter card with a national cryptographic chip from the first manufacturer (equipped with Huada Electronics CIU98_H national cryptographic chip, supporting SM2 / SM3 / SM4 national cryptographic algorithms), and a daughter card with a national cryptographic chip from the second manufacturer (equipped with Xinda Jiean XDSM3276 national cryptographic chip). For scenarios with high security requirements, hardware encryption daughter cards can be used to achieve hardware-level encryption of V2X communication data, improving data transmission security; for ordinary scenarios, software encryption solutions can be used without configuring an encryption daughter card.

[0038] Cellular communication daughter card: Adopting the M.2 3042 / 3052 standard specification, with a gold finger interface design, conforming to the 3GPP standard interface definition, and supporting three optional configurations: 4G Cat1 daughter card, 4G Cat4 daughter card, and 5G communication daughter card, while being compatible with cellular communication modules from different manufacturers such as Quectel, Fibocom, and Huawei; through the cellular communication daughter card, remote communication between the RSU and the cloud platform can be realized, adapting to roadside scenarios without wired Ethernet coverage.

[0039] V2X Communication Daughter Card: The PCB thickness is 1.6mm to avoid poor contact caused by soldering deformation. The daughter card integrates a dedicated heatsink and connects to the main control motherboard via a high-speed board-to-board connector. It supports PCIe high-speed communication and is compatible with V2X modules from different manufacturers such as Quectel, Chenxin, and CITIC Intelligent Connectivity. It supports LTE-V2X / 5G NR-V2X protocols, complies with 3GPP R14 / R15 standards, operates in the 5905-5925MHz frequency band, and has an adjustable bandwidth of 10 / 20MHz. By replacing the V2X daughter card, it can quickly adapt to modules from different manufacturers and different protocol versions without replacing the entire device.

[0040] Expansion Function Daughter Card: Adopting the M.2 2280 form factor and gold finger interface design, it can integrate one or more of the following modules as needed: SFP optical communication module, power failure buffer module, RTC clock module, and PSAM encryption module. The power failure buffer module includes an energy storage capacitor and a power failure detection circuit, which can instantly notify the CPU in the event of an unexpected power failure and provide the CPU with at least 500ms of power through the energy storage capacitor to ensure the CPU can save critical data. The SFP optical communication module enables fiber optic wired communication with the RSU, adapting to long-distance transmission scenarios. The PSAM module supports PSAM encryption cards specifically for the transportation industry, meeting the needs of scenarios such as toll collection and vehicle-to-everything (V2X) identity authentication.

[0041] The replaceable power module can be detachably connected to the standardized power interface of the main control motherboard via a flexible flat cable, and supports three optional configurations: AC220V power module (supports wide voltage AC85-265V input), DC48V power module (supports wide voltage DC36-72V input), and POE power supply module (supports IEEE 802.3af / at standard). The corresponding power module can be flexibly selected according to the power supply environment at the roadside site without modifying the motherboard design.

[0042] The intelligent adaptation and management unit is deployed in the Linux operating system of the main control motherboard and consists of three core modules: a module identification subunit, a driver adaptation subunit, and a collaborative control subunit, as detailed below:

[0043] Module Identification Subunit: Contains a built-in module information database. This database pre-stores the VID / PID device identifier, device type, manufacturer information, performance level, driver version, and standard configuration parameters of all supported function daughter cards. When a function daughter card is inserted into the M.2 interface, the module identification subunit automatically reads the daughter card's VID / PID identifier via the USB / PCIe bus and compares it with the module information database, completing the full identification of daughter card type, manufacturer, and performance level within 100ms.

[0044] Driver Adaptation Subunit: Based on the identification results of the module identification subunit, the driver program matching the daughter card is automatically retrieved from the driver library, completing the automatic loading and initialization of the driver. Simultaneously, based on the daughter card's performance level, the corresponding standard operating configuration parameters are automatically loaded to complete the daughter card's basic configuration. If no matching information for the daughter card is found in the module information library, the driver adaptation subunit will complete the basic driver adaptation of the daughter card using a preset general driver framework, ensuring the basic functions of the daughter card are available. It also supports remote updates of the module information library and driver library via cloud OTA, enabling iterative adaptation for new daughter card models without requiring on-site upgrades to the main control firmware.

[0045] The collaborative control subunit has a built-in function matching rule library, which contains preset collaborative operation rules for different sub-card combinations. These rules include time synchronization rules between positioning sub-cards and V2X sub-cards, encryption linkage rules between encryption sub-cards and V2X / cellular sub-cards, and differential base station collaboration rules. Once all sub-cards are configured, the collaborative control subunit obtains the configuration information of all currently connected sub-cards, automatically identifies the sub-card combination type, calls the corresponding collaborative operation rules, and establishes function matching links and data interaction channels between multiple sub-cards, achieving seamless collaborative operation of all sub-cards.

[0046] This embodiment describes the application of differential base stations in a highway scenario, where a centimeter-level positioning daughter card, a 5G communication daughter card, a V2X communication daughter card, and a PoE power supply module are connected to the main control motherboard. The specific working process is as follows:

[0047] After the hardware configuration is completed, the intelligent adaptation and control unit automatically identifies the model and configuration of the three daughter cards, automatically loads the corresponding drivers and parameters, and completes the initialization of the daughter cards;

[0048] The collaborative control subunit identifies the sub-card combination as a centimeter-level positioning sub-card supporting differential base station function + a 5G communication sub-card + a V2X communication sub-card, and automatically calls the differential base station collaborative rules;

[0049] The positioning sub-card calculates differential positioning correction information based on its own positioning information, and broadcasts the differential positioning correction information to surrounding vehicle-mounted units (OBUs) via the 5G communication sub-card. This allows surrounding OBUs to obtain centimeter-level positioning accuracy without having to access paid differential positioning services separately, significantly reducing the construction cost of the vehicle-road cooperative system. The V2X module broadcasts traffic condition information to nearby OBUs within 500 meters via the PC5 communication protocol.

[0050] This embodiment provides a modular and configurable method for V2X vehicle-to-everything (V2X) roadside units, with the following specific steps:

[0051] S1. Hardware Configuration: Based on the functional requirements of the target application scenario, determine the required functional sub-card type and performance level, insert the selected functional sub-card into the corresponding M.2 interface of the main control motherboard through the gold finger connector, select the appropriate power module and connect it to the motherboard to complete the hardware assembly.

[0052] S2. Automatic Module Identification: After the device is powered on, the intelligent adaptation and management unit of the main control motherboard detects the device access status of the M.2 interface in real time. When a newly connected function sub-card is detected, the VID / PID device identifier of the sub-card is read through the bus and compared with the built-in module information database to automatically identify the type, manufacturer and performance level of the sub-card.

[0053] S3. Automatic Driver Adaptation: Based on the identification results, the matching driver is retrieved from the driver library to complete the automatic loading and initialization of the driver. At the same time, the corresponding standard operating configuration parameters are loaded to complete the plug-and-play configuration of the daughter card. No manual intervention or modification of the main control firmware is required throughout the process.

[0054] S4. Multi-module collaborative operation: Obtain the configuration information of all currently connected functional sub-cards, identify the sub-card combination type, call the corresponding collaborative operation rules from the function matching rule library, establish function matching links and data interaction channels between multiple sub-cards, realize the collaborative operation of all sub-cards, and complete the overall configuration and function startup of the RSU.

[0055] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0056] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A modular roadside unit system for V2X vehicle-to-everything (V2X) communication, characterized in that, include: The main control motherboard, multiple functional modules that communicate with the main control motherboard, standardized connector modules, and intelligent adaptation and management units deployed on the main control motherboard; The standardized connector module includes at least one set of standardized M.2 interfaces pre-installed on the main control motherboard, and gold finger connectors that match the M.2 interfaces; The functional module is in the form of a pluggable functional daughter card, which is connected to the main control motherboard via a standardized connector module to achieve detachable electrical connection and high-speed data communication; the pluggable functional daughter card includes at least two types of optional daughter cards, and each type of optional daughter card corresponds to at least two different performance levels or different manufacturers' adapter daughter cards; The intelligent adaptation and management unit includes a module identification subunit, a driver adaptation subunit, and a collaborative control subunit. The module identification subunit is used to automatically identify the type, manufacturer, and performance level of the pluggable functional sub-card after it is inserted; the driver adaptation subunit is used to automatically load the corresponding driver and running configuration parameters according to the identification results; the collaborative control subunit is used to realize the functional matching and collaborative operation between multiple sub-cards according to the configuration information of the pluggable functional sub-cards that have been connected.

2. A modular roadside unit system for V2X vehicle networking according to claim 1, characterized in that, The pluggable functional daughter card includes any one or more combinations of WiFi daughter card, positioning daughter card, encryption daughter card, cellular communication daughter card, V2X communication daughter card and extended functional daughter card; The WiFi daughter card includes at least three optional configurations: no configuration, basic WiFi daughter card, and high-throughput WiFi daughter card; the basic WiFi daughter card supports the 802.11b / g / n protocol, and the high-throughput WiFi daughter card supports the 802.11b / g / n / ac / ax protocol; The positioning sub-card includes at least three optional accuracy configurations: meter-level positioning sub-card, sub-meter-level positioning sub-card, and centimeter-level positioning sub-card; the centimeter-level positioning sub-card is a positioning module that supports differential positioning services, used to enable the roadside unit to have differential base station functionality; The encryption sub-card includes at least three optional configurations: no configuration, a national cryptographic encryption chip sub-card from a first manufacturer, and a national cryptographic encryption chip sub-card from a second manufacturer. The cellular communication daughter card includes at least three optional configurations: 4Gcat1 daughter card, 4Gcat4 daughter card and 5G communication daughter card, and is compatible with cellular communication modules from different manufacturers; The V2X communication daughter card is compatible with LTE-V2X / 5GNR-V2X modules from different manufacturers and with different protocol versions; The extended function sub-card integrates any one or more of the following: SFP optical port communication module, power failure buffer module, RTC clock module, and PSAM encryption module.

3. A modular roadside unit system for V2X vehicle networking according to claim 2, characterized in that, The V2X communication daughter card is detachably connected to the main control motherboard via a high-speed board-to-board connector. The PCB thickness of the V2X communication daughter card is not less than 1.6mm, and the daughter card integrates a dedicated heat dissipation structure.

4. A modular roadside unit system for V2X vehicle networking according to claim 1, characterized in that, The system also includes a replaceable power module; The main control motherboard is equipped with a standardized power interface, and the replaceable power module is detachably connected to the standardized power interface via a flexible flat cable; the replaceable power module includes any one of an AC220V power module, a DC48V power module, and a POE power supply module.

5. A modular roadside unit system for V2X vehicle networking according to claim 1, characterized in that, The module identification subunit has a built-in module information database, which pre-stores device identifiers, driver information, and standard configuration parameters of functional sub-cards of multiple types, manufacturers, and performance levels. The module identification subunit automatically identifies all information of the subcard by reading the device identifier of the access subcard and comparing it with the module information database.

6. A modular roadside unit system for V2X vehicle networking according to claim 5, characterized in that, The driver adaptation subunit is also used to complete the basic driver adaptation of the daughter card through a preset general driver framework when there is no matching driver information in the module information library, and supports iterative adaptation of the driver and configuration parameters by updating the module information library remotely via OTA.

7. A modular roadside unit system for V2X vehicle networking according to claim 2, characterized in that, The collaborative control subunit has a built-in function matching rule library, which has preset collaborative operation rules corresponding to different combinations of function sub-cards. The collaborative control subunit calls the corresponding collaborative operation rules according to the type and configuration of the connected sub-cards to realize function matching and data linkage between multiple sub-cards.

8. A modular roadside unit system for V2X vehicle networking according to claim 7, characterized in that, When the connected sub-cards include centimeter-level positioning sub-cards supporting differential base station functions, cellular communication sub-cards, and V2X communication sub-cards, the collaborative control sub-unit calls the differential base station collaborative rules and broadcasts differential positioning correction information through the cellular communication sub-card, enabling the roadside unit to realize the differential base station function.

9. A modular roadside unit system for V2X vehicle networking according to claim 1, characterized in that, The main control motherboard integrates a main control unit, a power management unit, and multiple standardized M.2 interfaces. The power management unit is used to provide standardized power supply for all connected pluggable function cards. The main control unit is used to run the intelligent adaptation and management unit to realize the core control and data processing of the whole machine.

10. An operation method for a roadside unit modular system for V2X vehicle networking according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Based on the functional requirements of the target application scenario, select the corresponding type and performance level of pluggable function daughter card, and insert it into the corresponding M.2 interface of the main control motherboard through the standardized connector module to complete the hardware configuration. S2. The intelligent adaptation and management unit of the main control motherboard automatically detects the newly connected pluggable functional daughter card and automatically identifies the type, manufacturer and performance level of the daughter card by reading the device identifier of the daughter card. S3. Based on the identification results, automatically load the driver and running configuration parameters that match the sub-card to complete the plug-and-play configuration of the sub-card without modifying the main control firmware; S4. Obtain the configuration information of all pluggable functional daughter cards that are currently connected to the main control motherboard, call the corresponding collaborative operation rules, establish functional matching between multiple daughter cards, and realize the collaborative operation of all daughter cards.

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