A re-anchoring switching method and system for 5G vehicle networking remote control service

Abstract

The application provides a 5G vehicle networking remote control service re-anchor switching method and system, and belongs to the technical field of communication. The method acquires 5G vehicle networking target cell signals, source cell signals, vehicle terminal motion states and source edge node load data in real time, and determines re-anchor preparation conditions accordingly. After the conditions are met, candidate anchor point sets and corresponding state vectors are acquired, the target anchor point is determined in combination with the terminal motion state, and a target path is created. After the path is ready, a switching submission signal is sent to the terminal to make it enter a transition state, and two control messages are generated and sent in parallel through the source and target paths. After the terminal executes the mixed feedback confirmation message, the two-way traffic proportion is adjusted according to a preset load reduction curve until the target path carries all control flows, and the re-anchor switching is completed. The method realizes no service flow interruption in the switching process by creating a target path in advance and transmitting control messages in parallel, and guarantees the continuity and reliability of 5G vehicle networking remote control service switching.

Description

Technical Field

[0001] This invention belongs to the field of communication technology, specifically relating to a re-anchoring handover method and system for 5G vehicle-to-everything (V2X) remote control services. Background Technology

[0002] In 5G vehicle-to-everything (V2X) remote control services, such as unmanned mining trucks and remote excavators, control commands must be transmitted between the vehicle and edge nodes with extremely low latency and high reliability. When the vehicle-mounted terminal moves, it needs to perform cell handover and may need to migrate the user plane anchor point from the source anchor point to the target anchor point to maintain service quality. Existing technologies typically employ a "disconnect first, rebuild later" serial approach: after the terminal completes cell handover, the network side triggers anchor point reselection, releases the source path, and sequentially establishes new user plane paths. The application-side state is migrated only after the new anchor point is ready. However, this method has a significant rebuilding window. During this period, control commands may be lost due to path interruption or become out of order and duplicated due to asynchronous path handover. Simultaneously, the lag in updates to the control plane and application-side states may cause the vehicle-mounted terminal to execute outdated commands, leading to service interruptions, latency jitter, and even security risks. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a re-anchoring handover method and system for 5G vehicle-to-everything (V2X) remote control services, thereby solving the aforementioned problems. This method achieves seamless service interruption during the handover process by pre-creating target paths and transmitting control messages in parallel, ensuring the continuity and reliability of 5G V2X remote control service handover.

[0004] To address the aforementioned technical problems, this invention provides a re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services, comprising the following steps: The system acquires the target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data of the 5G vehicle-to-everything (V2X) network in real time. Based on these data, it performs a re-anchoring preparation determination. When the preset re-anchoring preparation determination conditions are met, the following steps are executed: Obtain a set of candidate anchor points and obtain the candidate anchor point state vector corresponding to each candidate anchor point based on the set of candidate anchor points; The target anchor point is determined from the set of candidate anchor points based on the motion state data of the vehicle terminal and the candidate anchor point state vectors corresponding to each candidate anchor point. A target path is created based on the target anchor point, and the target path is in a ready state. When the target path ready state meets the preset submission conditions, a handover submission event signal is sent to the vehicle terminal so that the vehicle terminal enters the handover transition state. In the switching transition state, the control instruction frame to be sent for the remote control service is acquired, and a first control message and a second control message are generated based on the control instruction frame to be sent. The first control message and the second control message are sent to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can perform mixed execution based on the first control message and the second control message and output an acknowledgment message; Based on the confirmation message and the preset load reduction curve, adjust the traffic ratio of the source path and the target path until the target path carries all control flow, and complete the re-anchoring switch.

[0005] In the above scheme, the re-anchoring preparation judgment is completed by combining the target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data. The target anchor point is determined in advance and the target path is created, eliminating the waiting window period for path reconstruction during handover. In the handover transition state, the control command frame to be sent for remote control services is generated into a first control message and a second control message, which are sent to the vehicle terminal in parallel via the source path and the target path, respectively. The vehicle terminal executes the two messages in combination and outputs an acknowledgment message to avoid control command loss, duplicate execution, or anomalies, ensuring stable delivery and accurate execution of commands. Subsequently, the traffic ratio of the source path and the target path is adjusted according to the acknowledgment message and the preset load reduction curve until the target path carries the entire control flow, completing a smooth re-anchoring handover. This achieves no service interruption during the handover process and ensures the continuity and reliability of 5G vehicle-to-everything (V2X) remote control service handover.

[0006] It should be noted that the first control message refers to a copy of the control message carried on the source path; the second control message refers to a copy of the control message carried on the target path. Both carry the same control command frame content, but their path identifiers differ. Similarly, the "first message information set" mentioned later refers to the set of information extracted from the first control message, and the "second message information set" refers to the set of information extracted from the second control message; the "first epoch identifier" refers to the epoch field value carried in the header of the first control message, and the "second epoch identifier" refers to the epoch field value carried in the header of the second control message.

[0007] Furthermore, in the re-anchoring preparation determination based on the target cell signal, source cell signal, vehicle terminal motion state data, and source edge node load data, the preset re-anchoring preparation determination condition specifically includes: The cell handover pre-trigger time is obtained based on the vehicle terminal motion status data and the preset target cell coverage map data; When the target cell signal is higher than the preset cell signal threshold within the preset time window, or the target cell signal is higher than the source cell signal within the preset time window, or the cell handover pre-trigger time is less than the preset boundary time threshold, or the CPU utilization of the source edge node is greater than the preset CPU utilization threshold, then the preset re-anchoring preparation judgment condition is met.

[0008] In the above scheme, by setting multi-dimensional re-anchoring preparation judgment conditions, unnecessary re-anchoring preparation processes can be avoided. Four types of parallel judgment conditions are preset: the target cell signal is higher than a preset cell signal threshold within a preset time window; the target cell signal is higher than the source cell signal within a preset time window; the cell handover pre-trigger time obtained based on vehicle terminal motion state data and preset target cell coverage map data is less than a preset boundary time threshold; and the CPU utilization of the source edge node is greater than a preset CPU utilization threshold. These four conditions independently trigger re-anchoring preparation from the dimensions of signal quality, relative signal strength, vehicle movement trend, and edge node load balancing, ensuring that the preparation process is initiated promptly when handover demand arises, allowing sufficient time for subsequent target path creation, avoiding handover problems caused by insufficient preparation, and ensuring the orderly implementation of re-anchoring handover.

[0009] Further, determining the target anchor point from the candidate anchor point set based on the vehicle terminal motion state data and the candidate anchor point state vectors corresponding to each candidate anchor point includes: Based on the candidate anchor point state vector corresponding to each candidate anchor point, obtain the anchor point geographical location, anchor point load parameter set and anchor point slice margin; Based on the vehicle terminal motion state data, the geographical location of each candidate anchor point, the anchor point load parameter set, and the anchor point slice margin, the candidate anchor point set is initially screened with hard constraints to obtain the initial candidate anchor point set. The comprehensive score of each candidate anchor point in the initial screening candidate anchor point set is calculated by a preset weighted scoring algorithm, and the target anchor point is determined from the initial screening candidate anchor point set based on the comprehensive score corresponding to each candidate anchor point.

[0010] In the above scheme, due to differences in the geographical location, load parameter set, and anchor slice margin of each candidate anchor point, a single selection method can easily lead to unreasonable anchor point selection. The above scheme first obtains the anchor point's geographical location, load parameter set, and anchor slice margin based on the state vector of each candidate anchor point. Combined with the vehicle terminal's motion state data, it performs a hard-constraint initial screening of the candidate anchor point set, quickly eliminating unsuitable anchor points and simplifying the subsequent calculation process. Then, a preset weighted scoring algorithm is used to calculate the comprehensive score of the initially screened candidate anchor points. Based on the score, the target anchor point is determined, thereby selecting a target anchor point with suitable geographical location, reasonable load, and sufficient slice margin, ensuring reliable transmission of subsequent target path creation and control commands.

[0011] Further, the step of creating a target path based on the target anchor point to obtain the target path ready state includes: Based on the target anchor points, determine the target user plane functional nodes and the target edge computing nodes; Pre-configure user plane rules for the target user plane function node to obtain the pre-configured target user plane function node; A communication path is established based on the pre-configured target user plane functional node and the vehicle terminal to obtain the user plane path ready state. The current vehicle status, authentication token, and pre-authorization permission are obtained from the source edge node and input into the target edge computing node; Based on the current vehicle status, authentication token, and pre-authorization permission, the target edge computing node is pre-configured with control resources to obtain the target application-side ready state. Based on the user plane path readiness status and the target application side readiness status, it is determined that the target path creation is complete and the target path readiness status is obtained.

[0012] In the above scheme, the target user plane functional node and the target edge computing node are determined based on the target anchor point. User plane rules are pre-configured on the target user plane functional node, and a communication path is established with the vehicle terminal to obtain the user plane path ready state. Simultaneously, the current vehicle status, authentication token, and pre-authorization permission are obtained from the source edge node and input into the target edge computing node to complete the pre-configuration of control resources and obtain the target application-side ready state. Combining the user plane path ready state and the target application-side ready state, the creation of the target path is confirmed, and the target path ready state is obtained. This scheme can complete the path and application-side preparation in advance, eliminate the configuration window during handover, ensure uninterrupted control flow during handover, and achieve smooth target path readyness.

[0013] Further, the step of establishing a communication path based on the pre-configured target user plane functional node and the vehicle terminal to obtain the user plane path ready state includes: Assign an uplink tunnel endpoint identifier and a downlink tunnel endpoint identifier to the current session of the vehicle terminal; Based on the uplink tunnel endpoint identifier and the downlink tunnel endpoint identifier, configure tunnel forwarding paths for the pre-configured target user plane functional nodes and vehicle terminals; The path detection message is sent to the vehicle terminal through the tunnel forwarding path, and the detection response returned by the vehicle terminal is received. Based on the detection response, a preset delay condition is determined to obtain the user plane path ready state.

[0014] In the above scheme, to ensure that the target user plane path meets the transmission requirements of remote control services, after pre-configuring user plane rules, the scheme assigns uplink tunnel endpoint identifiers and downlink tunnel endpoint identifiers to the current session of the vehicle terminal. Based on these identifiers, a tunnel forwarding path is configured between the pre-configured target user plane functional node and the vehicle terminal. Path probe messages are sent to the vehicle terminal through the tunnel forwarding path, and the probe response returned by the vehicle terminal is received. Based on the probe response, a preset delay condition is determined, ultimately obtaining the user plane path readiness status. This scheme can confirm the transmission validity and delay compliance of the tunnel forwarding path in advance, avoiding control command transmission failures caused by path anomalies, ensuring reliable user plane path readiness, and providing a reliable basis for subsequent handover submissions.

[0015] Further, the step of sending a handover submission event signal to the vehicle terminal when the target path ready state meets the preset submission conditions, so that the vehicle terminal enters the handover transition state, includes: Based on the target path readiness status, obtain the round-trip time, jitter, and packet loss rate of the target path; When the round-trip latency is less than or equal to a preset latency threshold, the jitter is less than or equal to a preset jitter threshold, the packet loss rate is less than or equal to a preset packet loss rate threshold, and the target application is ready, the preset submission condition is determined to be met. In response to the preset submission conditions, a handover submission event signal is generated and sent to the vehicle terminal, so that the vehicle terminal increments the current epoch identifier based on the handover submission event signal and enters the handover transition state.

[0016] In the above scheme, the round-trip time, jitter, and packet loss rate of the target path are obtained based on the target path's readiness status. The preset submission conditions are only met when the round-trip time is less than or equal to a preset latency threshold, the jitter is less than or equal to a preset jitter threshold, the packet loss rate is less than or equal to a preset packet loss rate threshold, and the target application's readiness status is "ready." Upon meeting the response conditions, a handover submission event signal is generated and sent to the vehicle terminal. The terminal increments the current epoch identifier and enters the handover transition state. This scheme can accurately confirm the target path's service takeover capability, clearly define the handover boundary through epoch identifier incrementing, avoid mixing of old and new path packets, and ensure a smooth service transition during the handover transition phase.

[0017] Further, the step of sending the first control message and the second control message in parallel to the vehicle terminal via the source path and the destination path, respectively, so that the vehicle terminal performs mixed execution based on the first control message and the second control message and outputs an acknowledgment message, includes: The first control message and the second control message are sent to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can extract the corresponding first message information set and second message information set based on the first control message and the second control message, respectively. Obtain the current active epoch, and compare and filter the first epoch identifier in the first message information set and the second epoch identifier in the second message information set with the current active epoch to obtain an initial filtered message information set; Obtain the current system time, obtain a time difference set based on the sending timestamps in the initial filtered message information set and the current system time, and perform validity verification on the initial filtered message information based on the time difference set to obtain a valid message information set; Obtain the sequence number receiving bitmap and recently executed sequence numbers, and perform deduplication verification based on the sequence numbers in the valid message information set and the sequence number receiving bitmap to obtain a deduplicated message information set; Based on the deduplication message information set and the preset path scoring algorithm, the replica selection is performed to obtain the target message information set; Update the sequence number receiving bitmap and recently executed sequence numbers based on the target message information set, and output the instruction to be executed; The execution results are obtained by performing a mixed execution based on the instructions to be executed. Based on the execution result, the updated sequence number receiving bitmap, and the recently executed sequence number, an acknowledgment message is generated and output.

[0018] In the above scheme, during the transition period, source and target paths send copies of control commands in parallel, and the vehicle receives multi-path messages. The scheme first extracts the first and second message information sets from the two paths, filters the epoch identifier against the current active epoch, and removes residual messages; it then performs validity checks by combining the time difference between the current system time and the sending timestamp, excluding outdated commands; next, it uses the sequence number receiving bitmap and recently executed sequence numbers to remove duplicates, avoiding repeated execution; it selects the target message information set using a preset path scoring algorithm, updates the bitmap and sequence number, outputs the commands to be executed, and performs mixed execution, ultimately generating an acknowledgment message. This forms a closed loop of receiving, filtering, checking, selecting, executing, and feedback, ensuring correct and efficient execution of control commands even under dual-path parallel processing, guaranteeing business continuity.

[0019] Furthermore, the process of selecting replicas based on the deduplicated message information set and the preset path scoring algorithm to obtain the target message information set, wherein the preset path scoring algorithm is specifically as follows: Based on the deduplication message information set, identical sequences are extracted to obtain the source path message information set and the target path message information set; Based on a preset path scoring table, the source path message information set and the target path message information set are scored to obtain the corresponding source path score value and target path score value, and the message information set with the higher score value is taken as the candidate message information set. When the source path score and the target path score are equal, the source path arrival time and the target path arrival time corresponding to the source path message information set and the target path message information set are obtained, and the message information set with the shorter arrival time is taken as the candidate message information set. The candidate message information set is determined as the target message information set.

[0020] In the above scheme, for message replicas with the same sequence number within the deduplication message information set, a preset path scoring algorithm is used to select the best replica. First, identical sequences are extracted, resulting in a source path message information set and a target path message information set. The two types of message information sets are scored using a preset path scoring table, yielding source path score values ​​and target path score values. The message information set with the higher score is selected as a candidate message information set. If the two scores are equal, the arrival times of the corresponding source path and target path are compared, and the message information set with the shorter arrival time is selected as a candidate, ultimately determining the target message information set. This scheme, combining path quality and transmission timeliness, can select the optimal message replica, ensuring the reliability and timeliness of control command execution and improving the message processing effect during the handover transition phase.

[0021] It should be noted that the preset path rating table refers to a pre-configured rating mapping relationship used to evaluate the transmission quality of different paths (source path or target path). The rating criteria include, but are not limited to, the round-trip time, jitter, and packet loss rate of the path. The higher the rating value, the better the path quality.

[0022] Further, the step of adjusting the traffic ratio of the source path and the target path based on the confirmation message and the preset load reduction curve until the target path carries all control flow, thus completing the re-anchoring switch, includes: Based on the confirmation message, obtain the source path transmission performance parameter set and the target path transmission performance parameter set; The source path transmission performance parameter set, the target path transmission performance parameter set, and the preset load reduction curve determine the source path traffic allocation ratio and the target path traffic allocation ratio at the current moment. The control command frames to be sent are allocated to the source path and the target path according to the source path traffic allocation ratio and the target path traffic allocation ratio, and then sent in parallel to obtain the source path traffic and the target path traffic. The system acquires the duration of continuous stability of the target path in real time, and makes a stable bearing judgment based on the duration of continuous stability, the source path transmission performance parameter set, and the target path transmission performance parameter set. When the target path meets the preset stable bearing conditions, the system gradually reduces the traffic allocation ratio of the source path based on the preset load reduction curve until the traffic carried by the source path drops to zero. At the same time, all control command frames to be sent are switched to the target path for transmission, thus completing the re-anchoring switch.

[0023] In the above scheme, the handover transition period needs to smoothly complete the migration of control flow from the source path to the target path. This scheme obtains the source path transmission performance parameter set and the target path transmission performance parameter set based on acknowledgment messages, determines the current dual-path traffic allocation ratio based on a preset load reduction curve, and allocates control command frames to be sent in parallel according to the ratio. The scheme also obtains the duration of continuous stability of the target path in real time, and performs stability bearing judgment based on the dual-path transmission performance parameter set. When the target path meets the preset stability bearing conditions, the source path traffic allocation ratio is gradually reduced to zero according to the preset load reduction curve, and all control command frames to be sent are switched to the target path for transmission, completing the re-anchoring handover. This ensures a smooth and uninterrupted handover process and improves the reliability of the re-anchoring handover.

[0024] It should be noted that the preset load reduction curve refers to a pre-configured curve function that describes the decrease in the proportion of source path traffic over time. Its horizontal axis represents time or switching progress, and its vertical axis represents the proportion of source path traffic allocation. The curve can be a linear curve with a fixed slope or an adaptive curve dynamically adjusted by an artificial intelligence model. The preset stable load conditions may include: the target path continuously operating normally for a preset stable duration threshold, the round-trip latency and packet loss rate of the target path meeting business requirements for multiple consecutive measurement cycles, and no abnormal alarms from the target edge computing node.

[0025] This invention also provides a re-anchoring handover system for 5G vehicle-to-everything (V2X) remote control services, comprising: The data acquisition module is used to acquire in real time the target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data of the 5G vehicle-to-everything (V2X) network. The re-anchoring preparation determination module is used to determine the re-anchoring preparation based on the target cell signal, source cell signal, vehicle terminal motion status data and source edge node load data, and to trigger subsequent modules when the preset re-anchoring preparation determination conditions are met. The candidate anchor point processing module is used to obtain a set of candidate anchor points and obtain the candidate anchor point state vector corresponding to each candidate anchor point based on the set of candidate anchor points. The target anchor point determination module is used to determine the target anchor point from the set of candidate anchor points based on the motion state data of the vehicle terminal and the candidate anchor point state vectors corresponding to each candidate anchor point. The target path creation module is used to create a target path based on the target anchor point and obtain the target path ready state. The switching submission module is used to send a switching submission event signal to the vehicle terminal when the target path ready state meets the preset submission conditions, so that the vehicle terminal enters the switching transition state. The message generation module is used to acquire the control instruction frame to be sent for the remote control service during the switching transition state, and generate a first control message and a second control message based on the control instruction frame to be sent. The parallel sending module is used to send the first control message and the second control message to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can perform mixed execution based on the first control message and the second control message and output an acknowledgment message; The flow adjustment module is used to adjust the flow ratio of the source path and the target path based on the confirmation message and the preset load reduction curve until the target path carries all control flow, thus completing the re-anchoring switch.

[0026] In the above scheme, the data acquisition module collects target cell signals, source cell signals, vehicle terminal motion status data, and source edge node load data in real time to provide data support for re-anchoring preparation judgment; the re-anchoring preparation judgment module completes the judgment based on multiple types of data and triggers subsequent processes; the candidate anchor point processing module and the target anchor point determination module cooperate to determine the target anchor point; the target path creation module completes the creation of the target path and obtains the ready status; the handover submission, message generation, and parallel transmission modules sequentially realize the handover triggering and dual-path message transmission; the traffic adjustment module smoothly adjusts the traffic ratio based on the confirmation message and the preset load reduction curve. All modules work together to form a complete closed loop, realizing the fully automated execution of the re-anchoring handover process and ensuring the continuity and reliability of 5G vehicle-to-everything (V2X) remote control service handover. Attached Figure Description

[0027] Figure 1 This is a schematic flowchart of a re-anchoring and switching method for 5G vehicle-to-everything (V2X) remote control services, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of a re-anchoring and switching system architecture for a 5G vehicle-to-everything (V2X) remote control service, provided as an embodiment of the present invention. Detailed Implementation

[0028] 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.

[0029] Please see Figure 1 This embodiment provides a re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services, including the following steps: Step S1: Real-time acquisition of target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data for 5G vehicle-to-everything (V2X) networks; and re-anchoring preparation determination based on the target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data. When the preset re-anchoring preparation determination conditions are met, the following steps are executed: Step S2: Obtain the candidate anchor point set and obtain the candidate anchor point state vector corresponding to each candidate anchor point based on the candidate anchor point set; Step S3: Determine the target anchor point from the candidate anchor point set based on the motion state data of the vehicle terminal and the candidate anchor point state vectors corresponding to each candidate anchor point; Step S4: Create a target path based on the target anchor point to obtain the target path ready state; Step S5: When the target path ready state meets the preset submission conditions, a handover submission event signal is sent to the vehicle terminal so that the vehicle terminal enters the handover transition state. Step S6: In the switching transition state, obtain the control instruction frame to be sent for the remote control service, and generate the first control message and the second control message based on the control instruction frame to be sent. Step S7: Send the first control message and the second control message to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can perform mixed execution based on the first control message and the second control message and output an acknowledgment message; Step S8: Adjust the flow ratio of the source path and the target path based on the confirmation message and the preset load reduction curve until the target path carries all control flow, and complete the re-anchoring switch.

[0030] In this embodiment, the re-anchoring preparation is determined by combining the target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data. The target anchor point is determined in advance, and the target path is created, eliminating the waiting window for path reconstruction during handover. During the handover transition, the control command frames to be sent for the remote control service are generated into a first control message and a second control message, which are sent to the vehicle terminal in parallel via the source path and the target path, respectively. The vehicle terminal performs a mixed execution of the two messages and outputs an acknowledgment message, preventing control command loss, duplicate execution, or anomalies, ensuring stable delivery and accurate execution of commands. Subsequently, the traffic ratio of the source path and the target path is adjusted based on the acknowledgment message and a preset load reduction curve until the target path carries the entire control flow, completing a smooth re-anchoring handover. This ensures no service interruption during the handover process and guarantees the continuity and reliability of 5G vehicle-to-everything (V2X) remote control service handover.

[0031] It should be noted that this embodiment is applicable to 5G vehicle-to-everything (V2X) remote control scenarios in industry private networks such as mining farms. The vehicle terminal can be an in-vehicle UE equipped with a vehicle agent module, and the source path and target path correspond to the user plane transmission channel composed of the source edge node (MEC-A / UPF-A) and the target edge node (MEC-B / UPF-B), respectively.

[0032] Furthermore, in the re-anchoring preparation determination based on the target cell signal, source cell signal, vehicle terminal motion state data, and source edge node load data, the preset re-anchoring preparation determination condition specifically includes: The cell handover pre-trigger time is obtained based on the vehicle terminal motion status data and the preset target cell coverage map data; When the target cell signal is higher than the preset cell signal threshold within the preset time window, or the target cell signal is higher than the source cell signal within the preset time window, or the cell handover pre-trigger time is less than the preset boundary time threshold, or the CPU utilization of the source edge node is greater than the preset CPU utilization threshold, then the preset re-anchoring preparation judgment condition is met.

[0033] In this embodiment, setting multi-dimensional re-anchoring preparation judgment conditions can avoid unnecessary preparation procedures. The above four conditions independently trigger re-anchoring preparation from the dimensions of target cell absolute signal quality, relative signal strength, vehicle movement trend, and edge node load balancing, ensuring that the preparation process is initiated in a timely manner when handover needs arise, allowing sufficient time for the creation of the target path and ensuring orderly handover.

[0034] In one embodiment, the preset conditions involved in the re-anchoring preparation determination step can be implemented in parallel through multiple triggering mechanisms. The system includes a vehicle agent module on the vehicle terminal side for controlling the sending, receiving, and execution of control messages; the network side includes a source radio access node and a target radio access node, wherein the source side consists of a source 5G base station (gNB-S), a source user plane functional entity (UPF-A), and a source multiple access edge computing node (MEC-A), and the target side consists of a target 5G base station (gNB-T), a target user plane functional entity (UPF-B), and a target multiple access edge computing node (MEC-B); the remote control application is deployed on each edge computing node. In addition, a globally unique session identifier (session_id) is assigned to each vehicle control session, which remains unchanged throughout the re-anchoring handover process to maintain the continuity of the control session.

[0035] It should be noted that the session_id, as the unique identifier of the end-to-end control session, remains constant throughout the entire re-anchoring and switching process. It is the core basis for user plane rule pre-configuration, state synchronization, and command verification, and cannot be changed or reset.

[0036] The preset reanchoring preparation judgment condition is specifically triggered when any one of the following four conditions is met: First, the cell handover pre-trigger time calculated based on the vehicle terminal motion state data and the preset target cell coverage map data is less than the preset boundary time threshold; Second, the target cell signal is higher than the preset cell signal threshold within the preset time window; Third, the target cell signal is higher than the source cell signal within the preset time window and the difference reaches the preset offset; Fourth, the central processing unit (CPU) utilization rate in the source edge node load data is greater than the preset CPU utilization threshold.

[0037] The first condition corresponds to the triggering mechanism based on motion trend prediction. The vehicle terminal periodically reports its location information (such as GPS coordinates) and motion status data (such as speed and direction). The control plane combines the preset target cell coverage map data to calculate the estimated time for the vehicle terminal to reach the effective coverage boundary of the target cell, i.e., the cell handover pre-trigger time. When this time is less than the preset boundary time threshold (e.g., 2 seconds), it indicates that the vehicle terminal is about to enter the target cell coverage area, and the system triggers a preparation judgment to reserve target-side resources in advance.

[0038] The second and third conditions correspond to the triggering mechanism based on wireless signal measurement reports. The vehicle-mounted terminal periodically measures the signal quality of the source 5G base station (gNB-S) and the target 5G base station (gNB-T), with measurement indicators such as Reference Signal Received Power (RSRP) or Reference Signal Received Quality (RSRQ). When the target cell signal is consistently higher than a preset cell signal threshold (e.g., -100dBm) for multiple consecutive measurement periods (e.g., 3 periods), or when the target cell signal is consistently higher than the source cell signal within the same time window and the difference reaches a preset offset (e.g., 3dB), it indicates that the target cell has reliable service capability or its signal quality is significantly better than the current serving cell, and the system triggers a preparation determination.

[0039] The fourth condition corresponds to the triggering mechanism based on the edge node load status. The source multi-access edge computing node (MEC-A) continuously monitors its own operating load metrics, such as CPU utilization, memory usage, or processing latency. When any load metric exceeds the corresponding preset threshold (e.g., CPU utilization exceeds 80%), it indicates that the source edge node can no longer guarantee the low latency and high reliability requirements of the service. At this time, the system selects a target multi-access edge computing node (MEC-B) with a better load through a load balancing algorithm, and triggers a preparation decision for the affected vehicle control sessions to migrate the service to the target edge node with a lower load.

[0040] Through the above four parallel and complementary triggering conditions, this embodiment can independently start the re-anchoring preparation process from multiple dimensions such as vehicle movement trend prediction, target cell absolute signal quality, relative signal strength and edge node load balancing. This avoids unnecessary preparations caused by fluctuations in a single condition and can be triggered in a timely manner when the handover requirement actually occurs, reserving sufficient time for subsequent target anchor point selection, target path creation and dual-path parallel transmission, thus ensuring the orderliness and continuity of services during the re-anchoring handover process.

[0041] Further, determining the target anchor point from the candidate anchor point set based on the vehicle terminal motion state data and the candidate anchor point state vectors corresponding to each candidate anchor point includes: Based on the candidate anchor point state vector corresponding to each candidate anchor point, obtain the anchor point geographical location, anchor point load parameter set and anchor point slice margin; Based on the vehicle terminal motion state data, the geographical location of each candidate anchor point, the anchor point load parameter set, and the anchor point slice margin, the candidate anchor point set is initially screened with hard constraints to obtain the initial candidate anchor point set. The comprehensive score of each candidate anchor point in the initial screening candidate anchor point set is calculated by a preset weighted scoring algorithm, and the target anchor point is determined from the initial screening candidate anchor point set based on the comprehensive score corresponding to each candidate anchor point.

[0042] In this embodiment, since candidate anchor points differ in geographical location, load conditions, and slice margin, a single selection method can easily lead to unreasonable anchor point selection. This embodiment first obtains the anchor point's geographical location, load parameter set, and slice margin based on the candidate anchor point's state vector, and performs hard constraint initial screening in conjunction with the vehicle terminal's motion state data to quickly eliminate unqualified anchor points and simplify subsequent calculations. Then, a preset weighted scoring algorithm is used to calculate the comprehensive score of the initially screened candidate anchor points, and the target anchor point is selected based on the score. This ensures that the target anchor point has a suitable geographical location, reasonable load, and sufficient slice margin, providing a guarantee for the reliable transmission of subsequent target path creation and control commands.

[0043] In one embodiment, the step of determining the target anchor point is specifically divided into a hard constraint initial screening stage and a comprehensive scoring optimization stage, to ensure that the selected target anchor point meets the requirements of business continuity and reliability in three dimensions: spatial location, computing resources, and network resources.

[0044] In the initial screening stage under hard constraints, the control plane first extracts the anchor point's geographical location, anchor point load parameter set, and anchor point slice margin based on the candidate anchor point's state vector. The anchor point's geographical location represents the deployment coordinates of the candidate User Plane Functional Entity (UPF) and candidate Multiple Access Edge Computing Node (MEC); the anchor point load parameter set includes the CPU utilization and memory usage of each candidate MEC; and the anchor point slice margin includes the available bandwidth and corresponding service latency indicators for each candidate UPF under the current network slice configuration. Simultaneously, the control plane acquires real-time motion status data reported by the vehicle-mounted terminal, including current location coordinates, speed, and direction of movement. Subsequently, the control plane performs the initial screening under hard constraints, quickly eliminating candidate anchor points that do not meet the basic operating conditions, forming the initial candidate anchor point set.

[0045] The hard-constraint initial screening operation can be specifically set as a logic and combination of the following three screening rules: First, geographical location accessibility constraint, which calculates the geographical distance between the predicted trajectory of the vehicle terminal extending along the current direction of movement and each candidate anchor point, and retains only candidate anchor points whose distance is less than a preset maximum service distance threshold (e.g., 5 kilometers); Second, edge computing load constraint, which retains only candidate anchor points whose CPU utilization is lower than a preset CPU load threshold (e.g., 70%) and whose memory occupancy is lower than a preset memory load threshold (e.g., 80%); Third, network slice resource constraint, which retains only candidate anchor points whose available bandwidth meets the service bandwidth requirements (e.g., ≥10Mbps) and whose actual latency meets the slice service level agreement (SLA) requirements (e.g., <20 milliseconds). Through hard-constraint initial screening, the candidate range is effectively narrowed, reducing the complexity of subsequent comprehensive scoring calculations.

[0046] In the comprehensive scoring and optimization stage, the control surface uses a preset weighted scoring algorithm to calculate a comprehensive score for each candidate anchor point in the initial candidate anchor point set, and selects the one with the highest score as the target anchor point. The preset weighted scoring algorithm can be specifically configured as a multi-objective weighted summation model, and the expression for calculating the comprehensive score (Score) is as follows: Where D represents the geographical distance between the predicted location of the vehicle terminal and the candidate anchor point, Dmax represents the preset normalized reference distance (e.g., the maximum service distance threshold), Ucpu represents the CPU utilization of the candidate multi-access edge computing node, Bavail represents the available bandwidth of the candidate user plane functional entity, Breq represents the service demand bandwidth of the vehicle terminal, and α, β, and γ are the weight coefficients corresponding to the geographical location dimension, load dimension, and slice resource dimension, respectively.

[0047] In this embodiment, the weighting coefficients can be set to α=0.5, β=0.3, and γ=0.2 respectively to reflect the dominant influence of geographical location on handover latency, while also taking into account computational load balancing and slice resource assurance. A higher overall score indicates better overall performance of the candidate anchor point in terms of geographical proximity, remaining computing power, and network resource sufficiency. Based on this, the control plane selects a target anchor point, which corresponds to a combination of candidate user plane functional entities and multi-access edge computing nodes that are geographically adapted, have reasonable load, and sufficient slice margin, providing a guarantee for reliable, low-latency transmission of subsequent target path creation and remote control commands.

[0048] Further, the step of creating a target path based on the target anchor point to obtain the target path ready state includes: Based on the target anchor points, determine the target user plane functional nodes and the target edge computing nodes; Pre-configure user plane rules for the target user plane function node to obtain the pre-configured target user plane function node; A communication path is established based on the pre-configured target user plane functional node and the vehicle terminal to obtain the user plane path ready state. The current vehicle status, authentication token, and pre-authorization permission are obtained from the source edge node and input into the target edge computing node; Based on the current vehicle status, authentication token, and pre-authorization permission, the target edge computing node is pre-configured with control resources to obtain the target application-side ready state. Based on the user plane path readiness status and the target application side readiness status, it is determined that the target path creation is complete and the target path readiness status is obtained.

[0049] In this embodiment, the target user plane functional node and the target edge computing node are determined based on the target anchor point. User plane rules are pre-configured on the target user plane functional node, and a communication path is established with the vehicle terminal to obtain the user plane path ready state. Simultaneously, the current vehicle status, authentication token, and pre-authorization permission are obtained from the source edge node and input into the target edge computing node to complete the pre-configuration of control resources and obtain the target application-side ready state. Combining the user plane path ready state and the target application-side ready state, the creation of the target path is determined, and the target path ready state is obtained. This embodiment can complete the path and application-side preparation in advance, eliminate the configuration window during handover, ensure uninterrupted control flow during handover, and achieve smooth target path readyness.

[0050] In one embodiment, the steps of creating a target path and obtaining the target path ready state are specifically divided into a user plane path ready sub-process and an application-side ready sub-process, which are executed in parallel or serially. Finally, a comprehensive judgment is made to form the target path ready state, and the end-to-end target-side resource pre-configuration is completed before the formal switchover submission.

[0051] In the user plane path ready sub-process, the control plane first determines the corresponding target user plane functional entity (UPF) and target multiple access edge computing node (MEC) based on the target anchor point. The control plane pre-configures user plane rules for the target UPF, including creating corresponding forwarding rule entries for the current session identifier (session_id), such as Packet Detection Rules (PDR) and Forwarding Action Rules (FAR). The Packet Detection Rules are used to match data packets carrying the session control flow; matching fields may include the IP address of the vehicle terminal, the IP address of the remote control application server, and 5-tuple information. The Forwarding Action Rules define the forwarding path and GPRS Tunneling Protocol User Plane (GTP-U) tunnel encapsulation parameters. To ensure quality of service, the control plane also configures corresponding Quality of Service (QoS) rules, including allocating Quality of Service Flow Identifiers (QFI), associating 5G Quality of Service Identifiers (5QI), and setting parameters such as Guaranteed Bit Rate (GFBR), Maximum Bit Rate (MFBR), Packet Delay Budget (PDB), and Packet Error Rate (PER), and can create QoS Enforcement Rules (QER). After pre-configuration is completed, the control plane triggers the communication path establishment process between the target user plane functional entity and the vehicle terminal, including establishing a GTP-U tunnel between the radio access network and the core network user plane. Once the communication path is successfully established and passes connectivity verification, the user plane path is ready.

[0052] In the application-side ready sub-process, the control plane or the source edge node (MEC-A) actively migrates the application layer context information to the target edge computing node (MEC-B). Specifically, it first obtains the current vehicle status data, authentication token, and pre-authorization permission from the source edge node and inputs them to the target edge computing node. The current vehicle status data includes, but is not limited to: the vehicle's current location (latitude and longitude, altitude), motion status (instantaneous speed, heading angle, acceleration), operating status (gear, throttle opening, braking status, steering angle), and historical trajectory data, and may also include the current control mode and control parameter configuration information. After receiving the status data, the target edge computing node verifies the status synchronization completion. The verification criteria include that the ratio of the number of received data items to the number of data items that should be received is not less than a preset integrity threshold (e.g., ≥95%), the difference between the latest data timestamp and the current system time does not exceed a preset timeliness threshold (e.g., ≤100 milliseconds), and the data integrity verification passes.

[0053] The authentication token is a control token generated by the source edge node, in JSON network token (JWT) format. The payload includes a session identifier, vehicle terminal identifier, permission scope, issuance time, and expiration time, and is signed using the source edge node's private key. The initial validity period of the token can be set to twice the expected switching time window. Upon receiving the token, the target edge computing node performs verification operations, including verifying signature validity, checking if it is within the validity period, verifying session identifier matching, and querying the token revocation list. After successful verification, the token is marked as valid, and the remaining validity period is continuously monitored, with a renewal request initiated if necessary.

[0054] The process of obtaining the pre-authorized license is as follows: the target edge computing node sends a permission request to the control plane. The control plane performs permission conflict detection, and after confirming that the source edge node currently legally holds control rights and there is no conflict, it issues a pre-authorized license certificate to the target edge computing node. This certificate is marked as pre-authorized rather than active, and its validity period is the same as or slightly extended from the validity period of the authentication token.

[0055] After acquiring status data, a valid token, and pre-authorized permission, the target edge computing node performs control resource pre-configuration, including reserving computing resources, allocating memory, reserving network bandwidth, reserving storage resources, and initializing the control communication interface with the vehicle terminal, configuring the transmission path, encoding / decoding module, and security key. It then sends a heartbeat probe message through the pre-configured path to verify the reachability of the control interface.

[0056] After both the user-side path and application-side ready states are met, the control plane comprehensively determines the target path's ready state. Judgment conditions may include: state synchronization completion rate ≥ preset threshold, latest state data timeliness meeting requirements, valid token with remaining time greater than a security threshold, valid pre-authorization license, successful pre-allocation of control resources, and normal control interface heartbeat. The target edge computing node can periodically report ready status codes. The control plane evaluates the stability of the ready state based on multiple consecutive reports. For example, only when the ready percentage is not lower than a preset stability threshold (e.g., ≥90%) is the target path finally confirmed to be reliably ready. If any judgment sub-condition is not met, the control flow continues to maintain the original path and periodically re-probes and evaluates according to a preset retry strategy (e.g., retry interval of 200 milliseconds, maximum number of retries of 5). If the condition is still not met within the maximum number of retries, the current re-anchoring is canceled and the abnormal event is recorded.

[0057] Through the above mechanism, this embodiment ensures that the formal handover submission stage is only entered after the target-side user plane path and application-side resources are fully ready and stable, fundamentally eliminating the path reconstruction waiting window during the handover process and ensuring uninterrupted transmission and deterministic execution of the control flow during the re-anchoring handover.

[0058] Through the above mechanism, this embodiment ensures that the formal handover submission stage is only entered when the user plane path on the target side and the application-side resources are fully ready and stable. This fundamentally eliminates the waiting window period for path reconstruction during the handover process and ensures uninterrupted transmission and deterministic execution of the remote control service control flow during the re-anchoring handover.

[0059] Further, the step of establishing a communication path based on the pre-configured target user plane functional node and the vehicle terminal to obtain the user plane path ready state includes: Assign an uplink tunnel endpoint identifier and a downlink tunnel endpoint identifier to the current session of the vehicle terminal; Based on the uplink tunnel endpoint identifier and the downlink tunnel endpoint identifier, configure tunnel forwarding paths for the pre-configured target user plane functional nodes and vehicle terminals; The path detection message is sent to the vehicle terminal through the tunnel forwarding path, and the detection response returned by the vehicle terminal is received. Based on the detection response, a preset delay condition is determined to obtain the user plane path ready state.

[0060] In this embodiment, after pre-configuring user plane rules, an uplink tunnel endpoint identifier (UL TEID) and a downlink tunnel endpoint identifier (DL TEID) are assigned to the current session of the vehicle terminal, and a tunnel forwarding path is configured accordingly. Path probe messages are sent through this path and responses are received. Latency conditions are judged based on the responses, ultimately determining the user plane path readiness status. This process can confirm the validity of the tunnel forwarding path and the latency compliance in advance, avoiding control command transmission failures caused by path anomalies.

[0061] In one embodiment, the step of establishing a communication path and obtaining the user plane path readiness state further includes sub-steps such as tunnel endpoint identifier allocation, tunnel forwarding path configuration, path detection, and latency condition verification. Specifically, firstly, uplink and downlink tunnel endpoint identifiers (e.g., UL TEID=0x12345678, DL TEID=0x87654321) are allocated to the current session of the vehicle terminal, and tunnel parameters between the target base station (gNB-T) and the target user plane functional entity (UPF-B) are configured, including the transport layer address of the UPF-B (e.g., IP address 10.0.2.100) and the GTP-U port number (e.g., 2152). Simultaneously, a Protocol Data Unit (PDU) session context associated with the session identifier is created, containing the PDU session identifier, Data Network Name (DNN), Single Network Slice Selection Auxiliary Information (S-NSSAI), and the vehicle terminal IP address. Then, the complete routes for the uplink and downlink user plane paths are defined. The target user plane functional entity has entered the pending activation state. Although it has forwarding rules and tunnel resources, the actual business data flow has not yet been migrated.

[0062] To verify whether the tunnel forwarding path in the pending activation state has reliable packet forwarding capability, this embodiment sends a path probe message (PATH_PROBE) to the vehicle terminal through the configured path. This message carries a session identifier to verify whether the target user plane functional entity can correctly identify and forward the message. Upon receiving the probe response, the end-to-end round-trip time (RTT) is calculated to determine whether it meets a preset latency threshold (e.g., <30 milliseconds). If the response is successfully received and the latency meets the threshold, the user plane path is determined to be ready; otherwise, it is determined to be unready. In a preferred embodiment, a multiple probe and retry mechanism can be used to improve the reliability of the determination. For example, probe messages are continuously sent at 200-millisecond intervals, with a maximum of 5 retries. If the threshold is not met multiple times consecutively, the process of canceling re-anchoring or reselecting the target anchor point is triggered, and the abnormal event is recorded.

[0063] Through the aforementioned tunnel identifier allocation, path configuration, and latency verification based on actual detection, this embodiment can confirm the connectivity and performance of the target user plane forwarding path before the formal handover of service traffic. This effectively avoids control command transmission failures caused by tunnel configuration errors, unreachable routes, or excessive link latency, providing a reliable user plane basis for subsequent handover submission. Simultaneously, the target multi-access edge computing nodes synchronize application layer context information in parallel, enabling the application side to take over and collaboratively achieve overall readiness of the target path.

[0064] Further, the step of sending a handover submission event signal to the vehicle terminal when the target path ready state meets the preset submission conditions, so that the vehicle terminal enters the handover transition state, includes: Based on the target path readiness status, obtain the round-trip time, jitter, and packet loss rate of the target path; When the round-trip latency is less than or equal to a preset latency threshold, the jitter is less than or equal to a preset jitter threshold, the packet loss rate is less than or equal to a preset packet loss rate threshold, and the target application is ready, the preset submission condition is determined to be met. In response to the preset submission conditions, a handover submission event signal is generated and sent to the vehicle terminal, so that the vehicle terminal increments the current epoch identifier based on the handover submission event signal and enters the handover transition state.

[0065] In this embodiment, the round-trip time, jitter, and packet loss rate of the target path are obtained based on the target path's readiness status. The preset submission conditions are deemed met only when the round-trip time is less than or equal to a preset latency threshold, the jitter is less than or equal to a preset jitter threshold, the packet loss rate is less than or equal to a preset packet loss rate threshold, and the target application's readiness status is "ready." Upon meeting the response conditions, a handover submission event signal is generated and sent to the vehicle terminal. The terminal increments the current epoch identifier and enters the handover transition state. This embodiment can accurately confirm the target path's service takeover capability, clearly delineate the handover boundary through epoch identifier incrementing, avoid mixing of old and new path packets, and ensure a smooth service transition during the handover transition phase.

[0066] In one embodiment, the step of determining that the preset submission conditions are met and sending a handover submission event signal further includes a composite determination mechanism based on the target path transmission performance indicators and the target application-side readiness state. After the target path is in the readiness state, the control plane continuously acquires or receives transmission performance measurement parameters of the target path, including round-trip time (RTT), latency jitter, and packet loss rate. These parameters can be obtained by periodically sending path probe messages and collecting response statistics. The preset submission conditions are specifically configured as a logic and combination of multiple sub-conditions: First, the target path is successfully probed continuously for a preset number of times or a duration threshold; second, the measured round-trip time is less than or equal to the preset latency threshold, and the jitter is less than or equal to the preset jitter threshold, and the packet loss rate is less than or equal to the preset packet loss rate threshold; third, the quality of service rules configured by the target side for the session identifier have been confirmed to be effective; fourth, the control application instance of the target multi-access edge computing node is in a ready or takeover state, that is, the state synchronization is complete, the token is valid, the pre-authorization license has been issued, and the control interface heartbeat is normal.

[0067] When all the above sub-conditions are met simultaneously, the control plane determines that the preset submission condition is met, and then generates a handover submission event signal and sends it to the vehicle terminal through the control plane signaling channel. Upon receiving this signal, the vehicle terminal increments the current epoch identifier. The epoch identifier is used to distinguish the period to which control messages carried by different paths belong before and after the handover; its value monotonically increases with each successful handover. By incrementing the epoch identifier, the vehicle terminal clearly defines the handover boundary. New control messages expected to be received thereafter will carry the new epoch identifier, while messages from the old path will carry the old epoch identifier. Based on the updated epoch identifier, the vehicle terminal officially enters the handover transition state, capable of simultaneously listening to and processing control messages from both the source and destination paths, and performing differentiated and mixed execution processing based on the epoch identifier, effectively avoiding disordered instruction execution order, duplicate execution, or inconsistent states.

[0068] After completing the handover submission and entering the handover transition state, this embodiment performs the process of migrating traffic from the source path to the target path.

[0069] It should be noted that the traffic migration process described in this embodiment follows a preset load reduction curve and proceeds gradually, rather than an instantaneous hard switch. For example, initially, the source path carries all control traffic, and the target path is in a ready-to-carry state. After the switching transition state is activated, the target path first begins to carry a portion of the control traffic, and the traffic carrying ratio of the source path is gradually reduced, for example, according to gradients of 100% source path, 50% source path and 50% target path, and 0% source path and 100% target path. After the target path carries all the control traffic, the stable carrying capacity of the new path is continuously monitored and confirmed.

[0070] It should be noted that the criteria for determining the stable operation of the new path can be set comprehensively across multiple dimensions, including time-based criteria, namely, the new path must maintain normal operation for a preset stable duration threshold (e.g., greater than or equal to 3 seconds), and no abnormal events must occur within the observation window (e.g., 5 seconds); performance index criteria, namely, the round-trip latency must meet the preset threshold requirement (e.g., less than or equal to 30 milliseconds) in multiple consecutive measurements (e.g., 10 times), the packet loss rate must remain below the preset upper limit (e.g., less than or equal to 1%) within the statistical period (e.g., the most recent 2 seconds), and the actual throughput must reach or exceed the preset proportion of the bandwidth required by the business (e.g., greater than or equal to 90%); business continuity criteria, namely, the control command success rate must meet high reliability requirements (e.g., greater than or equal to 99%), the packet out-of-order rate must remain at an extremely low level (e.g., less than or equal to 0.1%), and no session interruption or connection disconnection events must occur; and resource usage criteria, namely, the load indicators of the target user plane functional entity and the target multi-access edge computing node must be within the normal operating range (e.g., CPU utilization less than 70%, memory usage less than 80%), and no resource alarms must be reported. When the new path performs stably and meets the corresponding threshold requirements in the continuous monitoring of the above-mentioned indicators, the control plane confirms that the new path has entered a stable carrying state. Subsequently, the control plane sends resource release commands to the source user plane functional entity (UPF-A) and the source multiple access edge computing node (MEC-A) to reclaim the tunnel resources, computing resources and network resources allocated by the source side for this session, thereby finally completing the entire re-anchoring handover process.

[0071] Through the multi-dimensional and rigorous judgment of the above submission conditions, the division of the handover boundary based on the epoch identifier, and the subsequent confirmation mechanism for the stable bearing of the new path, this embodiment can accurately confirm the actual service takeover capability of the target path, avoid the risk of service interruption caused by the target path transmission quality not meeting the standards or the application side not being fully ready and switching prematurely, and at the same time ensure the orderly issuance and deterministic execution of control commands during the handover transition phase, further improving the continuity and reliability of 5G vehicle-to-everything (V2X) remote control services during the reanchoring handover process.

[0072] Further, the step of sending the first control message and the second control message in parallel to the vehicle terminal via the source path and the destination path, respectively, so that the vehicle terminal performs mixed execution based on the first control message and the second control message and outputs an acknowledgment message, includes: The first control message and the second control message are sent to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can extract the corresponding first message information set and second message information set based on the first control message and the second control message, respectively. Obtain the current active epoch, and compare and filter the first epoch identifier in the first message information set and the second epoch identifier in the second message information set with the current active epoch to obtain an initial filtered message information set; Obtain the current system time, obtain a time difference set based on the sending timestamps in the initial filtered message information set and the current system time, and perform validity verification on the initial filtered message information based on the time difference set to obtain a valid message information set; Obtain the sequence number receiving bitmap and recently executed sequence numbers, and perform deduplication verification based on the sequence numbers in the valid message information set and the sequence number receiving bitmap to obtain a deduplicated message information set; Based on the deduplication message information set and the preset path scoring algorithm, the replica selection is performed to obtain the target message information set; Update the sequence number receiving bitmap and recently executed sequence numbers based on the target message information set, and output the instruction to be executed; The execution results are obtained by performing a mixed execution based on the instructions to be executed. Based on the execution result, the updated sequence number receiving bitmap, and the recently executed sequence number, an acknowledgment message is generated and output.

[0073] In this embodiment, during the transition period, source and target paths send copies of control commands in parallel, and the vehicle receives multi-path messages. This embodiment first extracts the first and second message information sets from the two paths, compares the epoch identifier with the current active epoch for filtering, and removes residual messages; it then performs validity checks by combining the time difference between the current system time and the sending timestamp, excluding outdated commands; next, it uses the sequence number receiving bitmap and recently executed sequence numbers to remove duplicates, avoiding repeated execution; it selects the target message information set through a preset path scoring algorithm, updates the bitmap and sequence number, outputs the commands to be executed, and performs mixed execution, ultimately generating an acknowledgment message. This forms a closed loop of receiving, filtering, checking, selecting, executing, and feedback, ensuring correct and efficient execution of control commands even under dual-path parallel processing, guaranteeing business continuity.

[0074] It should be noted that the control message header described in this embodiment also carries a path identifier (path_id, 0 = old path, 1 = new path), a sending timestamp (send_ts), and a validity period (validity_us).

[0075] Furthermore, the process of selecting replicas based on the deduplicated message information set and the preset path scoring algorithm to obtain the target message information set, wherein the preset path scoring algorithm is specifically as follows: Based on the deduplication message information set, identical sequences are extracted to obtain the source path message information set and the target path message information set; Based on a preset path scoring table, the source path message information set and the target path message information set are scored to obtain the corresponding source path score value and target path score value, and the message information set with the higher score value is taken as the candidate message information set. When the source path score and the target path score are equal, the source path arrival time and the target path arrival time corresponding to the source path message information set and the target path message information set are obtained, and the message information set with the shorter arrival time is taken as the candidate message information set. The candidate message information set is determined as the target message information set.

[0076] In this embodiment, for message replicas with the same sequence number within the deduplication message information set, a preset path scoring algorithm is used to select the best replica. First, identical sequences are extracted, resulting in a source path message information set and a target path message information set. The two types of message information sets are scored using a preset path scoring table, yielding source path score values ​​and target path score values. The message information set with the higher score is selected as a candidate message information set. If the two scores are equal, the corresponding source path arrival time and target path arrival time are compared, and the message information set with the shorter arrival time is selected as a candidate, ultimately determining the target message information set. This embodiment combines path quality and transmission timeliness to select the optimal message replica, ensuring the reliability and timeliness of control command execution and improving the message processing effect during the handover transition phase.

[0077] Further, the step of adjusting the traffic ratio of the source path and the target path based on the confirmation message and the preset load reduction curve until the target path carries all control flow, thus completing the re-anchoring switch, includes: Based on the confirmation message, obtain the source path transmission performance parameter set and the target path transmission performance parameter set; The source path transmission performance parameter set, the target path transmission performance parameter set, and the preset load reduction curve determine the source path traffic allocation ratio and the target path traffic allocation ratio at the current moment. The control command frames to be sent are allocated to the source path and the target path according to the source path traffic allocation ratio and the target path traffic allocation ratio, and then sent in parallel to obtain the source path traffic and the target path traffic. The system acquires the duration of continuous stability of the target path in real time, and makes a stable bearing judgment based on the duration of continuous stability, the source path transmission performance parameter set, and the target path transmission performance parameter set. When the target path meets the preset stable bearing conditions, the system gradually reduces the traffic allocation ratio of the source path based on the preset load reduction curve until the traffic carried by the source path drops to zero. At the same time, all control command frames to be sent are switched to the target path for transmission, thus completing the re-anchoring switch.

[0078] In this embodiment, the handover transition period needs to smoothly complete the migration of control flow from the source path to the target path. The above scheme obtains the source path transmission performance parameter set and the target path transmission performance parameter set based on the acknowledgment message, determines the current dual-path traffic allocation ratio in combination with the preset load reduction curve, and allocates the control command frames to be sent in parallel according to the ratio. The duration of continuous stability of the target path is obtained in real time, and a stable bearing judgment is performed in combination with the dual-path transmission performance parameter set. When the target path meets the preset stable bearing conditions, the source path traffic allocation ratio is gradually reduced to zero according to the preset load reduction curve, and all control command frames to be sent are switched to the target path for transmission, completing the re-anchoring handover. This ensures a smooth and uninterrupted handover process and improves the reliability of the re-anchoring handover.

[0079] In one embodiment, the step of sending the first control message and the second control message in parallel to the vehicle terminal via the source path and the target path respectively during the handover transition state, so that the vehicle terminal can perform mixed execution based on the first control message and the second control message and output an acknowledgment message, further includes a multi-level filtering and verification mechanism, a copy selection and execution mechanism, and an acknowledgment message feedback mechanism on the vehicle terminal side based on the message header field, thereby ensuring the orderliness, determinism, and real-time performance of the control commands under dual-path parallel transmission conditions.

[0080] It should be noted that during the handover transition window, i.e., the period from when the target path begins to carry some control traffic until it is fully stable, the network side or application side encapsulates each remote control service control command frame to be sent into two independent control messages: a first control message and a second control message. The first control message is sent via the source path, which includes the source User Plane Function Entity (UPF-A) and the source base station (gNB-S); the second control message is sent via the target path, which includes the target User Plane Function Entity (UPF-B) and the target base station (gNB-T). Both control messages carry the same control command payload, but the message headers carry the transmission control information corresponding to their respective paths. Specifically, the header of each control message includes at least the following fields: session identifier (session_id), which remains globally unique and unchanged during the reanchoring handover process; epoch identifier (epoch_id), which is incremented by the vehicle terminal and the control plane upon each successful handover event submission to distinguish messages generated during different handover periods; sequence number (seq), a monotonically increasing integer value used to identify the order in which control commands are sent; path identifier (path_id), used to indicate the transmission path traversed by the message, for example, a value of 0 represents the source path and a value of 1 represents the destination path; send timestamp (send_ts), recording the time when the control message was sent from the network side; and validity period (validity_us), used to define the valid time window of the control message from the time of sending.

[0081] The vehicle-mounted terminal maintains a corresponding receiving state context, which includes at least: a current active epoch identifier (active_epoch_id) to record the currently effective epoch; a most recently executed sequence number (last_exec_seq) to record the sequence number of the control instruction most recently successfully delivered to the execution unit; a sequence number receiving bitmap (seen_bitmap) to record the sequence numbers of recently received or processed messages to support fast deduplication; and a path score for each path (path_score[path_id]), which is dynamically calculated based on the historical transmission performance parameters of each path, such as a weighted average of indicators such as round-trip time (RTT), latency jitter, and packet loss rate.

[0082] When the vehicle terminal receives a control message from any path, it first extracts the message information set corresponding to the message. The message information set includes the session identifier, epoch identifier, sequence number, path identifier, sending timestamp, and validity period, which are parsed from the message header. Subsequently, the vehicle terminal performs an epoch identifier filtering operation, that is, comparing the extracted epoch identifier with the currently active epoch identifier maintained locally. If the epoch identifier in the message is less than the currently active epoch identifier, it indicates that the message belongs to a late remnant message from the previous epoch and is directly discarded. Only when the message epoch identifier is equal to the currently active epoch identifier will the message enter the subsequent processing flow, thus obtaining the initial filtered message information set.

[0083] Next, the vehicle terminal performs a validity period verification operation. In this embodiment, the vehicle terminal obtains the current system time and calculates the time difference between the current system time and the sending timestamp in the initial filtered message information set. If the time difference is greater than the validity period declared in the message header, the control instruction is determined to have exceeded its valid execution window and is considered an obsolete instruction, and is discarded; only when the time difference is less than or equal to the validity period is the message considered valid and retained, forming a valid message information set. This mechanism effectively avoids the negative impact of long-delay instructions caused by network congestion or path switching transients on vehicle control.

[0084] Furthermore, the vehicle-mounted terminal performs a serial number deduplication check. In this embodiment, the vehicle-mounted terminal compares the serial numbers in the valid message information set with the locally maintained serial number reception bitmap. If the serial number has been marked as received or processed in the serial number reception bitmap, it indicates that the control command corresponding to the serial number has been successfully received and processed through a copy of another path, and the currently received message is a duplicate copy, which is directly discarded; if the serial number is not marked in the reception bitmap, the message is retained and included in the deduplication message information set. This mechanism effectively eliminates the risk of duplicate execution that may result from the parallel transmission of the same command copy by both the source and target paths.

[0085] For the set of deduplicated message information retained after deduplication verification, when it contains multiple message copies with the same sequence number but arriving via different paths, the vehicle terminal further performs a copy selection operation to determine the final target message information set used for instruction execution.

[0086] It should be noted that the replica selection operation described in this embodiment is performed based on a preset path scoring algorithm. Specifically, firstly, replicas of messages with the same sequence number are extracted from the deduplicated message information set, resulting in a source path message information set and a target path message information set. Then, a preset path scoring table is queried or a path scoring function is called to obtain the path score values ​​corresponding to the source path message information set and the target path message information set, respectively. The path score value reflects the overall transmission quality of the corresponding path at the current moment; a higher score indicates better transmission latency, jitter, and packet loss rate. The message information set with the higher path score value is selected as a candidate message information set. If the source path score value and the target path score value are equal, the arrival times of the messages corresponding to the two message information sets are further compared, i.e., the time when the message is received by the vehicle terminal network protocol stack. The message information set with the earlier arrival time is selected as the candidate message information set, prioritizing the use of replicas with shorter transmission latency. Finally, the candidate message information set is determined as the target message information set.

[0087] After determining the target message information set, the vehicle terminal updates its local status based on the target message information set. Specifically, this includes: setting the bit corresponding to the sequence number in the sequence number receiving bitmap to mark that the sequence number has been processed; if the sequence number is greater than the most recently executed sequence number currently recorded and the sequential execution condition is met, then the most recently executed sequence number is updated. Subsequently, the control instruction payload is extracted from the target message information set, an instruction to be executed is generated, and delivered to the vehicle execution unit.

[0088] In this embodiment, the vehicle terminal employs a hybrid execution strategy when executing the instructions to be executed, to adapt to the differentiated requirements of real-time performance and sequentiality for different types of control instructions. For general discrete control instructions or state change instructions requiring strict order preservation, the vehicle terminal executes them in a strictly ascending order of sequence number. That is, it executes immediately only when the sequence number of the instruction to be executed is equal to the most recently executed sequence number plus one. For instructions that arrive out of order, they are temporarily stored in a reordering buffer, waiting for the message of the preceding missing sequence number to arrive before being submitted for execution in sequence. For continuous control quantities, such as steering angle control quantities or throttle opening control quantities, the vehicle terminal adopts a strategy of prioritizing the execution of the latest available instruction. That is, if there are multiple consecutive control instructions to be executed in the buffer, the instruction with the largest sequence number, i.e., the latest one, is directly selected for execution to ensure the smoothness and real-time responsiveness of vehicle motion control. In addition, for safety-critical instructions such as emergency stop instructions or emergency braking instructions, the highest priority is set. Regardless of their sequence number order, once they pass the validity and deduplication verification, they are immediately executed before all other instructions and will not be overwritten by subsequent ordinary control instructions.

[0089] After completing the mixed execution of instructions, the vehicle terminal generates an acknowledgment message (ACK) and sends it back to the network-side control plane or application server via one or more currently active paths. It should be noted that the acknowledgment message includes at least the following fields: a cumulative acknowledgment sequence number (ack_seq), indicating the maximum consecutively successfully received and processed sequence number; a selective acknowledgment bitmap (ack_bits), indicating the reception status of a recent consecutive number of sequence numbers (e.g., 32 or 64), with each bit corresponding to whether a sequence number has been successfully received; and path transmission performance statistics (path_stats), encoded in Type-Length-Value (TLV) format, which includes at least the estimated round-trip time, latency jitter, and packet loss rate for both the source and destination paths. Based on the received acknowledgment message, the network-side control plane or application server dynamically adjusts the allocation ratio of subsequent control command frames to be sent between the source and destination paths, and assesses whether the destination path meets stable bearing conditions or needs to trigger a rollback operation.

[0090] In another embodiment, the step of adjusting the traffic ratio of the source path and the target path based on the acknowledgment message and the preset load reduction curve until the target path carries the entire control flow specifically includes dynamic decision-making based on the dual-path transmission performance parameters fed back in the acknowledgment message and the continuous stable duration of the target path. The network-side control plane extracts the source path transmission performance parameter set and the target path transmission performance parameter set from the acknowledgment message. The transmission performance parameter set includes, but is not limited to, round-trip time, latency jitter, packet loss rate, and available bandwidth estimate. The control plane, in conjunction with the preset load reduction curve, determines the traffic allocation ratio of the source path and the target path within the current adjustment period. The preset load reduction curve can be defined, for example, as a time-proportion mapping function or a closed-loop control law based on transmission performance index feedback. Its goal is to gradually increase the target path carrying ratio and gradually decrease the source path carrying ratio while ensuring uninterrupted service. The control plane distributes the control command frames to be sent to the source path and the target path according to the traffic allocation ratio for parallel transmission.

[0091] Simultaneously, the control plane monitors the continuous stable duration of the target path in real time and performs stable bearing judgment based on the target path transmission performance parameter set. The preset stable bearing conditions can be specifically configured as follows: the target path's continuous normal working duration reaches a preset stable duration threshold (e.g., greater than or equal to 3 seconds); the round-trip delay of the target path continuously meets the preset delay threshold requirement within a preset observation window period, and jitter and packet loss rate are within a preset range; and the target multi-access edge computing node (MEC-B) has a normal load status and no abnormal alarms. When the target path meets the preset stable bearing conditions, the control plane further accelerates the reduction of the source path's traffic allocation ratio according to the preset load reduction curve, for example, gradually reducing the source path allocation weight from the current value to zero, while simultaneously increasing the target path allocation weight to 100%, thereby switching all control command frames to be sent to the target path for independent bearing transmission. At this time, the control traffic on the source path is completely reduced to zero, and the re-anchoring switching process is completed.

[0092] As a supplement to the above embodiments, if the network side or the vehicle terminal detects a specific abnormal event during the switching transition window or before the target path is stably carried, a rollback operation can be triggered to quickly restore the safe state of independent carrying of the source path.

[0093] It should be noted that the conditions for triggering a rollback operation may include, but are not limited to, any one or a combination of the following: Within a preset statistical window (e.g., the most recent second), the packet loss rate of the target path exceeds a preset packet loss rate threshold (e.g., greater than 5%), or multiple consecutive data packets are lost (e.g., 10 consecutive packets without acknowledgment); the round-trip latency of the target path exceeds a preset absolute latency limit (e.g., greater than 100 milliseconds), or its increase relative to the baseline before the handover exceeds a preset multiple (e.g., greater than 3 times the baseline); the target multi-access edge computing node experiences application unresponsiveness, such as multiple consecutive heartbeat detection timeouts (e.g., 3 consecutive heartbeats with an interval of 500 milliseconds without response), or the control command output value exceeds a preset reasonable range (e.g., acceleration command exceeds ±2 meters per second squared); and the vehicle terminal's acknowledgment message shows a stalled execution sequence, such as no acknowledgment message received within a preset acknowledgment timeout period, or the cumulative acknowledgment sequence number of multiple consecutive commands not being updated. Once a rollback is determined to be triggered, the control plane immediately issues a rollback command to the vehicle terminal and the target-side network element, and simultaneously increments the epoch marker.

[0094] It should be noted that the rollback operation itself is considered a new epoch switch. That is, the vehicle terminal increments the current active epoch identifier to a new value, the source path is re-established as the primary path, and subsequent control command frames are reverted to being sent only through the source path, while traffic transmission on the target path is suspended or released. Through this rollback mechanism, this embodiment can quickly restore services to a known good state when the target path performance is unsatisfactory, further improving the robustness and security of the re-anchoring handover process.

[0095] Please see Figure 2 This embodiment also provides a re-anchoring handover system for 5G vehicle-to-everything (V2X) remote control services, including: The data acquisition module is used to acquire in real time the target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data of the 5G vehicle-to-everything (V2X) network. The re-anchoring preparation determination module is used to determine the re-anchoring preparation based on the target cell signal, source cell signal, vehicle terminal motion status data and source edge node load data, and to trigger subsequent modules when the preset re-anchoring preparation determination conditions are met. The candidate anchor point processing module is used to obtain a set of candidate anchor points and obtain the candidate anchor point state vector corresponding to each candidate anchor point based on the set of candidate anchor points. The target anchor point determination module is used to determine the target anchor point from the set of candidate anchor points based on the motion state data of the vehicle terminal and the candidate anchor point state vectors corresponding to each candidate anchor point. The target path creation module is used to create a target path based on the target anchor point and obtain the target path ready state. The switching submission module is used to send a switching submission event signal to the vehicle terminal when the target path ready state meets the preset submission conditions, so that the vehicle terminal enters the switching transition state. The message generation module is used to acquire the control instruction frame to be sent for the remote control service during the switching transition state, and generate a first control message and a second control message based on the control instruction frame to be sent. The parallel sending module is used to send the first control message and the second control message to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can perform mixed execution based on the first control message and the second control message and output an acknowledgment message; The flow adjustment module is used to adjust the flow ratio of the source path and the target path based on the confirmation message and the preset load reduction curve until the target path carries all control flow, thus completing the re-anchoring switch.

[0096] In this embodiment, the data acquisition module collects target cell signals, source cell signals, vehicle terminal motion status data, and source edge node load data in real time to provide data support for re-anchoring preparation determination. The re-anchoring preparation determination module completes the determination based on multiple types of data and triggers subsequent processes. The candidate anchor point processing module and the target anchor point determination module cooperate to determine the target anchor point. The target path creation module completes the creation of the target path and obtains the ready status. The handover submission, message generation, and parallel transmission modules sequentially realize the handover triggering and dual-path message transmission. The traffic adjustment module smoothly adjusts the traffic ratio based on the confirmation message and the preset load reduction curve. All modules work together to form a complete closed loop, realizing the fully automated execution of the re-anchoring handover process and ensuring the continuity and reliability of 5G vehicle-to-everything (V2X) remote control service handover.

[0097] It should be noted that the system described in this embodiment can also be additionally configured with an AI dynamic control module, which is used to dynamically optimize the load reduction curve based on the vehicle-side ACK (vehicle-side acknowledgment message), execution status, and network KPI (network-side key performance indicators); and a rollback detection and execution module, which is used to detect abnormalities in the target path and trigger rollback, incrementing the epoch identifier to restore the source path bearing.

[0098] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services, characterized in that, Includes the following steps: The system acquires the target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data of the 5G vehicle-to-everything (V2X) network in real time. Based on these data, it performs a re-anchoring preparation determination. When the preset re-anchoring preparation determination conditions are met, the following steps are executed: Obtain a set of candidate anchor points and obtain the candidate anchor point state vector corresponding to each candidate anchor point based on the set of candidate anchor points; The target anchor point is determined from the set of candidate anchor points based on the motion state data of the vehicle terminal and the candidate anchor point state vectors corresponding to each candidate anchor point. A target path is created based on the target anchor point, and the target path is in a ready state. When the target path ready state meets the preset submission conditions, a handover submission event signal is sent to the vehicle terminal so that the vehicle terminal enters the handover transition state. In the switching transition state, the control instruction frame to be sent for the remote control service is acquired, and a first control message and a second control message are generated based on the control instruction frame to be sent. The first control message and the second control message are sent to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can perform mixed execution based on the first control message and the second control message and output an acknowledgment message; Based on the confirmation message and the preset load reduction curve, adjust the traffic ratio of the source path and the target path until the target path carries all control flow, and complete the re-anchoring switch.

2. The re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services according to claim 1, characterized in that, In the re-anchoring preparation determination based on target cell signal, source cell signal, vehicle terminal motion state data, and source edge node load data, the preset re-anchoring preparation determination conditions are specifically as follows: The cell handover pre-trigger time is obtained based on the vehicle terminal motion status data and the preset target cell coverage map data; When the target cell signal is higher than the preset cell signal threshold within the preset time window, or the target cell signal is higher than the source cell signal within the preset time window, or the cell handover pre-trigger time is less than the preset boundary time threshold, or the CPU utilization of the source edge node is greater than the preset CPU utilization threshold, then the preset re-anchoring preparation judgment condition is met.

3. The re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services according to claim 1, characterized in that, The step of determining the target anchor point from the candidate anchor point set based on the vehicle terminal motion state data and the candidate anchor point state vectors corresponding to each candidate anchor point includes: Based on the candidate anchor point state vector corresponding to each candidate anchor point, obtain the anchor point geographical location, anchor point load parameter set and anchor point slice margin; Based on the vehicle terminal motion state data, the geographical location of each candidate anchor point, the anchor point load parameter set, and the anchor point slice margin, the candidate anchor point set is initially screened with hard constraints to obtain the initial candidate anchor point set. The comprehensive score of each candidate anchor point in the initial screening candidate anchor point set is calculated by a preset weighted scoring algorithm, and the target anchor point is determined from the initial screening candidate anchor point set based on the comprehensive score corresponding to each candidate anchor point.

4. The re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services according to claim 3, characterized in that, The step of creating a target path based on the target anchor point and obtaining the target path ready state includes: Based on the target anchor points, determine the target user plane functional nodes and the target edge computing nodes; Pre-configure user plane rules for the target user plane function node to obtain the pre-configured target user plane function node; A communication path is established based on the pre-configured target user plane functional node and the vehicle terminal to obtain the user plane path ready state. The current vehicle status, authentication token, and pre-authorization permission are obtained from the source edge node and input into the target edge computing node; Based on the current vehicle status, authentication token, and pre-authorization permission, the target edge computing node is pre-configured with control resources to obtain the target application-side ready state. Based on the user plane path readiness status and the target application side readiness status, it is determined that the target path creation is complete and the target path readiness status is obtained.

5. The re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services according to claim 4, characterized in that, The step of establishing a communication path based on the pre-configured target user plane functional node and the vehicle terminal to obtain the user plane path ready state includes: Assign an uplink tunnel endpoint identifier and a downlink tunnel endpoint identifier to the current session of the vehicle terminal; Based on the uplink tunnel endpoint identifier and the downlink tunnel endpoint identifier, configure tunnel forwarding paths for the pre-configured target user plane functional nodes and vehicle terminals; The path detection message is sent to the vehicle terminal through the tunnel forwarding path, and the detection response returned by the vehicle terminal is received. Based on the detection response, a preset delay condition is determined to obtain the user plane path ready state.

6. The re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services according to claim 4, characterized in that, When the target path readiness state meets the preset submission conditions, a handover submission event signal is sent to the vehicle terminal to cause the vehicle terminal to enter a handover transition state, including: Based on the target path readiness status, obtain the round-trip delay, jitter, and packet loss rate of the target path; When the round-trip latency is less than or equal to a preset latency threshold, the jitter is less than or equal to a preset jitter threshold, the packet loss rate is less than or equal to a preset packet loss rate threshold, and the target application is ready, the preset submission condition is determined to be met. In response to the preset submission conditions, a handover submission event signal is generated and sent to the vehicle terminal, so that the vehicle terminal increments the current epoch identifier based on the handover submission event signal and enters the handover transition state.

7. The re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services according to claim 1, characterized in that, The step of sending the first control message and the second control message in parallel to the vehicle terminal via the source path and the destination path, respectively, so that the vehicle terminal performs mixed execution based on the first control message and the second control message and outputs an acknowledgment message, includes: The first control message and the second control message are sent to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can extract the corresponding first message information set and second message information set based on the first control message and the second control message, respectively. Obtain the current active epoch, and compare and filter the first epoch identifier in the first message information set and the second epoch identifier in the second message information set with the current active epoch to obtain an initial filtered message information set; Obtain the current system time, obtain a time difference set based on the sending timestamps in the initial filtered message information set and the current system time, and perform validity verification on the initial filtered message information based on the time difference set to obtain a valid message information set; Obtain the sequence number receiving bitmap and recently executed sequence numbers, and perform deduplication verification based on the sequence numbers in the valid message information set and the sequence number receiving bitmap to obtain a deduplicated message information set; Based on the deduplication message information set and the preset path scoring algorithm, the replica selection is performed to obtain the target message information set; Update the sequence number receiving bitmap and recently executed sequence numbers based on the target message information set, and output the instruction to be executed; The execution results are obtained by performing a mixed execution based on the instructions to be executed. Based on the execution result, the updated sequence number receiving bitmap, and the recently executed sequence number, an acknowledgment message is generated and output.

8. The re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services according to claim 7, characterized in that, The process of selecting the best replica based on the deduplicated message information set and the preset path scoring algorithm yields the target message information set. The preset path scoring algorithm specifically includes: Based on the deduplication message information set, identical sequences are extracted to obtain the source path message information set and the target path message information set; Based on a preset path scoring table, the source path message information set and the target path message information set are scored to obtain the corresponding source path score value and target path score value, and the message information set with the higher score value is taken as the candidate message information set. When the source path score and the target path score are equal, the source path arrival time and the target path arrival time corresponding to the source path message information set and the target path message information set are obtained, and the message information set with the shorter arrival time is taken as the candidate message information set. The candidate message information set is determined as the target message information set.

9. The re-anchoring handover method for 5G vehicle-to-everything (V2X) remote control services according to claim 1, characterized in that, The step of adjusting the traffic ratio of the source path and the target path based on the confirmation message and the preset load reduction curve until the target path carries all control flow, thus completing the re-anchoring switch, includes: Based on the confirmation message, obtain the source path transmission performance parameter set and the target path transmission performance parameter set; The source path transmission performance parameter set, the target path transmission performance parameter set, and the preset load reduction curve determine the source path traffic allocation ratio and the target path traffic allocation ratio at the current moment. The control command frames to be sent are allocated to the source path and the target path according to the source path traffic allocation ratio and the target path traffic allocation ratio, and then sent in parallel to obtain the source path traffic and the target path traffic. The system acquires the duration of continuous stability of the target path in real time, and makes a stable bearing judgment based on the duration of continuous stability, the source path transmission performance parameter set, and the target path transmission performance parameter set. When the target path meets the preset stable bearing conditions, the system gradually reduces the traffic allocation ratio of the source path based on the preset load reduction curve until the traffic carried by the source path drops to zero. At the same time, all control command frames to be sent are switched to the target path for transmission, thus completing the re-anchoring switch.

10. A re-anchoring handover system for 5G vehicle-to-everything (V2X) remote control services, characterized in that, include: The data acquisition module is used to acquire in real time the target cell signal, source cell signal, vehicle terminal motion status data, and source edge node load data of the 5G vehicle-to-everything (V2X) network. The re-anchoring preparation determination module is used to determine the re-anchoring preparation based on the target cell signal, source cell signal, vehicle terminal motion status data and source edge node load data, and to trigger subsequent modules when the preset re-anchoring preparation determination conditions are met. The candidate anchor point processing module is used to obtain a set of candidate anchor points and obtain the candidate anchor point state vector corresponding to each candidate anchor point based on the set of candidate anchor points. The target anchor point determination module is used to determine the target anchor point from the set of candidate anchor points based on the motion state data of the vehicle terminal and the candidate anchor point state vectors corresponding to each candidate anchor point. The target path creation module is used to create a target path based on the target anchor point and obtain the target path ready state. The switching submission module is used to send a switching submission event signal to the vehicle terminal when the target path ready state meets the preset submission conditions, so that the vehicle terminal enters the switching transition state. The message generation module is used to acquire the control instruction frame to be sent for the remote control service during the switching transition state, and generate a first control message and a second control message based on the control instruction frame to be sent. The parallel sending module is used to send the first control message and the second control message to the vehicle terminal in parallel through the source path and the destination path, respectively, so that the vehicle terminal can perform mixed execution based on the first control message and the second control message and output an acknowledgment message; The flow adjustment module is used to adjust the flow ratio of the source path and the target path based on the confirmation message and the preset load reduction curve until the target path carries all control flow, thus completing the re-anchoring switch.

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