Communication method, device and system of vehicle platoon

Abstract

This application provides a communication method, apparatus, and system for vehicle platooning. The method includes: when a first onboard unit of a first vehicle receives a message from a second vehicle, and the timestamp of the first onboard unit receiving the message from the second vehicle is less than the timestamp of the second onboard unit of the first vehicle receiving the same message from the second vehicle, the second onboard unit of the first vehicle transmits the next message from the first vehicle; when the first onboard unit of the first vehicle receives a message from the second vehicle, and the timestamp of the first onboard unit receiving the message from the second vehicle is greater than the timestamp of the second onboard unit of the first vehicle receiving the same message from the second vehicle, the first onboard unit of the first vehicle transmits the next message from the first vehicle. This solution solves the problems of easy interruption and low reliability in vehicle platooning communication.

Description

Technical Field

[0001] This application relates to the field of vehicle communication technology, and more specifically, to a communication method for vehicle formations, a communication device for vehicle formations, a computer program product, and a communication system for vehicle formations. Background Technology

[0002] With the rapid development of intelligent connected vehicle technology, vehicle platooning, as an important application scenario to improve road traffic efficiency, reduce fuel consumption, and enhance driving safety, is gradually moving from the laboratory to real-world road deployment. In platooning systems, vehicles need to continuously exchange key information such as position, speed, acceleration, and steering status through vehicle-to-vehicle communication to achieve coordinated acceleration, braking, and lane keeping. To ensure high reliability and low latency communication, redundant communication mechanisms have become a core element of platooning system design.

[0003] The current solution relies on "latency threshold-triggered switching" (such as a latency threshold greater than 100ms), which is a "passive fault detection" method. That is, switching only occurs after a fault has occurred and communication has been damaged, which cannot avoid communication interruption or data loss and has low reliability. Summary of the Invention

[0004] The main objective of this application is to provide a communication method, a communication device, a computer program product, and a communication system for vehicle platoons, so as to at least solve the problems of easy interruption and low reliability of communication in vehicle platooning in the prior art.

[0005] To achieve the above objectives, according to one aspect of this application, a communication method for vehicle platooning is provided, comprising: receiving, via broadcast, a message sent by a second vehicle-mounted unit using a first vehicle-mounted unit of a first vehicle, wherein the second vehicle-mounted unit is either another vehicle-mounted unit of the first vehicle other than the first vehicle-mounted unit or a vehicle-mounted unit of the second vehicle, wherein the first vehicle-mounted unit and the second vehicle-mounted unit of the first vehicle can simultaneously receive and simultaneously broadcast messages; determining, via broadcast, to send the next message of the first vehicle using the second vehicle-mounted unit when the first vehicle-mounted unit receives a message of the second vehicle, and the timestamp of the first vehicle-mounted unit receiving the message of the second vehicle is less than the timestamp of the second vehicle-mounted unit receiving the same message of the second vehicle; and, via broadcast, to send the next message of the first vehicle using the first vehicle-mounted unit when the first vehicle-mounted unit receives a message of the second vehicle, and the timestamp of the first vehicle-mounted unit receiving the message of the second vehicle is greater than the timestamp of the second vehicle-mounted unit receiving the same message of the second vehicle.

[0006] Optionally, receiving a message sent by a second vehicle-mounted unit via broadcast using a first vehicle-mounted unit of the first vehicle includes at least one of the following: receiving a message sent by a second vehicle-mounted unit of the first vehicle via broadcast using the first vehicle-mounted unit of the first vehicle; or receiving a message sent by a second vehicle-mounted unit of the second vehicle via broadcast using the first vehicle-mounted unit of the first vehicle.

[0007] Optionally, after the first vehicle-mounted unit of the first vehicle receives a message sent by the second vehicle-mounted unit via broadcast, and before determining that the second vehicle-mounted unit of the first vehicle will send the next message of the first vehicle via broadcast, the method further includes: determining whether the message received by the first vehicle-mounted unit of the first vehicle satisfies at least one of the following: the message is a message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle, the message is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle, or the message is a duplicate message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle; if the message received by the first vehicle-mounted unit of the first vehicle is a message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle, the message received by the first vehicle-mounted unit of the first vehicle is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle, or the message received by the first vehicle-mounted unit of the first vehicle is a duplicate message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle, the message received by the first vehicle-mounted unit of the first vehicle is deleted, and the first vehicle-mounted unit of the first vehicle continues to receive messages.

[0008] Optionally, determining whether a message received by the first vehicle-mounted unit of the first vehicle satisfies that the message is a message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle includes: extracting a vehicle identifier from the message received by the first vehicle-mounted unit of the first vehicle to obtain a first vehicle identifier; extracting a pre-stored vehicle identifier of the first vehicle to obtain a second vehicle identifier; if the first vehicle identifier and the second vehicle identifier are different, determining that the message is a message of the second vehicle, and determining that the message received by the first vehicle-mounted unit of the first vehicle does not satisfy the requirement that the message is a message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle; if the first vehicle identifier and the second vehicle identifier are the same, determining that the message is a message of the first vehicle, and determining that the message received by the first vehicle-mounted unit of the first vehicle satisfies the requirement that the message is a message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle.

[0009] Optionally, determining whether the message received by the first vehicle unit of the first vehicle satisfies that the message is an old message of the second vehicle sent by the second vehicle unit of the second vehicle includes: extracting the timestamp from the Nth message received by the first vehicle unit of the first vehicle to obtain a first timestamp, where N≥2; extracting the timestamp from the (N-1)th message received by the first vehicle unit of the first vehicle to obtain a second timestamp; if the first timestamp is less than the second timestamp, determining that the message received by the first vehicle unit of the first vehicle satisfies that the message is an old message of the second vehicle sent by the second vehicle unit of the second vehicle; if the first timestamp is greater than the second timestamp, determining that the message received by the first vehicle unit of the first vehicle does not satisfy that the message is an old message of the second vehicle sent by the second vehicle unit of the second vehicle.

[0010] Optionally, determining whether a message received by the first vehicle unit of the first vehicle satisfies that the message is a duplicate message of the second vehicle sent by the second vehicle unit of the second vehicle includes: comparing the similarity between the message received by the first vehicle unit of the first vehicle for the Mth time and the message received by the first vehicle unit of the first vehicle for the (M+1)th time to obtain a message similarity, wherein M≥1; if the message similarity is greater than or equal to a preset similarity threshold, determining that the message received by the first vehicle unit of the first vehicle satisfies that the message is a duplicate message of the second vehicle sent by the second vehicle unit of the second vehicle; if the message similarity is less than the preset similarity threshold, determining that the message received by the first vehicle unit of the first vehicle does not satisfy that the message is a duplicate message of the second vehicle sent by the second vehicle unit of the second vehicle.

[0011] Optionally, before the first vehicle-mounted unit of the first vehicle receives the message sent by the second vehicle-mounted unit in a broadcast manner, the method further includes: extracting the timestamp of the last received message sent by the second vehicle-mounted unit of the second vehicle to obtain a reception timestamp; calculating the difference between the reception timestamp and the current timestamp to obtain a time difference; and determining that the first vehicle-mounted unit of the first vehicle and the second vehicle-mounted unit of the first vehicle simultaneously send the message of the first vehicle in a broadcast manner if the time difference is greater than a preset duration threshold and / or if no message has been received from the second vehicle-mounted unit of the second vehicle.

[0012] According to another aspect of this application, a communication device for vehicle platooning is provided, comprising: a receiving unit, configured to receive, via broadcast, a message transmitted by a second vehicle-mounted unit using a first vehicle-mounted unit of a first vehicle, wherein the second vehicle-mounted unit is either a vehicle-mounted unit of the first vehicle other than the first vehicle-mounted unit or a vehicle-mounted unit of the second vehicle, and the first vehicle-mounted unit and the second vehicle-mounted unit of the first vehicle can simultaneously receive and simultaneously broadcast messages; a first determining unit, configured to determine, via broadcast, that the second vehicle-mounted unit of the first vehicle will transmit the next message of the first vehicle using the second vehicle-mounted unit, if the first vehicle-mounted unit of the first vehicle receives a message of the second vehicle and the timestamp of the first vehicle-mounted unit receiving the message of the second vehicle is less than the timestamp of the second vehicle-mounted unit of the first vehicle receiving the same message of the second vehicle; and a transmitting unit, configured to transmit the next message of the first vehicle using the first vehicle-mounted unit of the first vehicle via broadcast, if the first vehicle-mounted unit of the first vehicle receives a message of the second vehicle and the timestamp of the first vehicle-mounted unit receiving the message of the second vehicle is greater than the timestamp of the second vehicle-mounted unit receiving the same message of the second vehicle.

[0013] According to another aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the steps of any of the vehicle platoon communication methods.

[0014] According to another aspect of this application, a vehicle platooning communication system is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any of the vehicle platooning communication methods described above.

[0015] By applying the technical solution of this application, the selection of the OBU transmitter is not determined by manual setting or timeout judgment, but dynamically determined by which vehicle unit receives the target vehicle's message more timely and stably. If the first vehicle unit receives the second vehicle's message earlier than the second vehicle unit, it means that the link between the first vehicle unit and the second vehicle is better. In this case, the second vehicle unit is selected as the transmitter. This selection is not random or rotational, but is based on dynamic link selection. There is no need to wait for timeout judgment, thereby improving the reliability of communication. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for performing a vehicle platooning communication method according to an embodiment of this application is shown;

[0018] Figure 2 A flowchart illustrating a communication method for vehicle platooning according to an embodiment of this application is shown.

[0019] Figure 3 A schematic diagram of the communication flow of the vehicle platoon in this scheme is shown;

[0020] Figure 4 A structural block diagram of a communication device for vehicle platooning provided according to an embodiment of this application is shown.

[0021] The above figures include the following reference numerals:

[0022] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0027] On-Board Unit (OBU): The full English name is On-Board Unit.

[0028] As described in the background section, communication in vehicle platooning is prone to interruption and has low reliability in the prior art. To solve the above problems, embodiments of this application provide a vehicle platooning communication method, a vehicle platooning communication device, a computer program product, and a vehicle platooning communication system.

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a vehicle platooning communication method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0031] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle platooning communication method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0032] This embodiment provides a communication method for vehicle platooning that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0033] Figure 2 This is a flowchart illustrating a communication method for vehicle platooning according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0034] Step S201: The first vehicle-mounted unit of the first vehicle receives the message sent by the second vehicle-mounted unit in a broadcast manner. The second vehicle-mounted unit is either the vehicle-mounted unit of the first vehicle other than the first vehicle-mounted unit or the vehicle-mounted unit of the second vehicle. The first vehicle-mounted unit and the second vehicle-mounted unit of the first vehicle can simultaneously receive and broadcast messages.

[0035] Specifically, the first on-board unit of the first vehicle acquires data from on-board units other than its own by receiving messages broadcast by the second on-board unit. The second on-board unit includes other on-board units of the first vehicle besides the first on-board unit, as well as the on-board units of the second vehicle, thus ensuring that the receiving end can simultaneously obtain information from multiple communication nodes of its own vehicle or neighboring vehicles. The first on-board unit and the second on-board unit of the first vehicle have parallel receiving and broadcasting capabilities, enabling them to synchronously listen to broadcast messages in the network and independently participate in message sending, thereby forming a bidirectional parallel communication sensing and response mechanism.

[0036] The first vehicle refers to any vehicle in the vehicle formation, used for V2V communication with other vehicles (such as the second vehicle). It is equipped with multiple on-board units (such as the first on-board unit and the second on-board unit) to send and receive messages, thereby realizing redundant communication functions.

[0037] The second vehicle refers to another vehicle that forms a convoy with the first vehicle. It sends and receives messages with the first vehicle. The two are equivalent in the communication structure and have the same redundant communication logic to achieve reliable two-way communication within the convoy.

[0038] The first onboard unit refers to a V2X communication module (such as an OBU) installed on the first vehicle. It has independent transmit and receive capabilities and can exchange messages with the onboard units of other vehicles in a broadcast manner. The messages it receives contain vehicle number and timestamp information, which are used to determine the communication status and select the sending source.

[0039] The second vehicle unit refers to another V2X communication module (such as an OBU) installed on the first vehicle, or an OBU on the second vehicle. It works in parallel with the first vehicle unit, has the same function, and is used to provide communication redundancy. Its receiving and sending behavior is controlled by software logic, and it participates in communication dynamically according to the message timestamp and receiving status.

[0040] Step S202: If the first vehicle unit of the first vehicle receives the message from the second vehicle and the timestamp of the first vehicle unit receiving the message from the second vehicle is less than the timestamp of the second vehicle unit receiving the same message from the second vehicle, it is determined that the second vehicle unit of the first vehicle will broadcast the next message from the first vehicle.

[0041] Specifically, when the first onboard unit of the first vehicle receives a message from the second vehicle, it indicates that the unit has successfully acquired the communication content from the other vehicle. Simultaneously, the second onboard unit of the first vehicle also receives the same message from the second vehicle, indicating that the redundant communication path is available. By comparing the timestamps of the two onboard units receiving the message, it is determined that the first onboard unit's receiving timestamp is earlier. Based on this time difference, the second onboard unit is chosen as the carrier for the next message transmission. That is, the first onboard unit, which received the message earlier, is no longer used; instead, the second onboard unit, which received the message later, performs the broadcast transmission task. This automatically selects the transmission path based on the relative timing of the reception, without relying on external triggering conditions.

[0042] Step S203: When the first vehicle-mounted unit of the first vehicle receives a message from the second vehicle, and the timestamp of the first vehicle-mounted unit receiving the message from the second vehicle is greater than the timestamp of the second vehicle-mounted unit receiving the same message from the second vehicle, the first vehicle-mounted unit of the first vehicle broadcasts the next message from the first vehicle.

[0043] Specifically, when the first onboard unit of the first vehicle receives a message from the second vehicle, it indicates that the unit has successfully acquired the communication content from the peer vehicle. Simultaneously, the second onboard unit of the first vehicle also receives the same message, indicating that the message is redundantly received through multiple paths. When the timestamp of the first onboard unit receiving the message is greater than the timestamp of the second onboard unit receiving the same message, it indicates that the first onboard unit received a more recent copy of the message, meaning that the message is later in the time sequence. Based on this time difference comparison, the first onboard unit is selected to perform the next message broadcast, which means that the sending behavior is dynamically bound to the communication unit that has most recently received a valid message, thereby ensuring that the sending source is always synchronized with the latest communication status.

[0044] In this embodiment, the selection of the OBU transmitter is not determined by manual setting or timeout judgment, but dynamically determined by which vehicle unit receives the target vehicle's message more timely and stably. If the first vehicle unit receives the second vehicle's message earlier than the second vehicle unit, it means that the link between the first vehicle unit and the second vehicle is better. In this case, the second vehicle unit is selected as the transmitter. This selection is not random or rotational, but based on dynamic link selection, without waiting for timeout judgment, thereby improving the reliability of communication.

[0045] In current solutions, switching to redundant communication requires active triggering based on latency. However, by this time, latency has already occurred. To avoid this latency, it's currently possible to implement this through software-defined receive and send rules. Current solutions involve full transmission, sending the same communication information on both the main road and redundant communication. This increases the PC5 bandwidth load, which can be problematic when there are many vehicles in a platoon. To avoid increasing the PC5 bandwidth load, this can also be achieved through software-defined send rules.

[0046] Applying the technical solution of this embodiment, after receiving a message broadcast by an external vehicle, the two on-board units of the first vehicle dynamically determine which on-board unit with the updated timestamp will be responsible for broadcasting the next message by comparing their respective timestamps of receiving the message. This mechanism ensures that only one on-board unit is activated in any given transmission task, thereby completely avoiding the PC5 channel resource conflict and bandwidth load surge caused by simultaneous broadcasting by two OBUs. Since the timestamp information truly reflects the order in which messages arrive, this selection logic is real-time and deterministic, and can automatically and smoothly switch transmission permissions in a dynamic communication environment of vehicle platooning, ensuring the orderliness of communication and bandwidth efficiency. Therefore, it can effectively solve the PC5 channel congestion problem caused by parallel transmission by redundant OBUs in the prior art, realize the stable and efficient operation of the vehicle platooning communication link, and improve the real-time performance and reliability of collaborative perception and control.

[0047] In a specific implementation process, the first vehicle-mounted unit of the first vehicle receives a message sent by the second vehicle-mounted unit in a broadcast manner, including at least one of the following: the first vehicle-mounted unit of the first vehicle receives a message sent by the second vehicle-mounted unit of the first vehicle in a broadcast manner; the first vehicle-mounted unit of the first vehicle receives a message sent by the second vehicle-mounted unit of the second vehicle in a broadcast manner.

[0048] In this scheme, the first on-board unit of the first vehicle obtains the real-time reception status of its redundant OBU by receiving broadcast messages from the second on-board unit of the same vehicle. At the same time, it obtains the communication timing information of external vehicles by receiving broadcast messages from the second on-board unit of the second vehicle. Thus, the dual message reception timing data of the vehicle and the cross-vehicle external vehicles are synchronously integrated in the timestamp comparison mechanism. This ensures that when selecting the next message sender, an accurate decision is made based on a complete and bidirectional timing reference. This avoids transmission conflicts or delays caused by relying on only one-sided reception information, effectively suppresses PC5 channel congestion caused by simultaneous broadcasting of dual OBUs, improves the coordination and reliability of vehicle platoon communication, and ultimately achieves dynamic balancing of bandwidth load and stable guarantee of communication continuity in redundant communication scenarios.

[0049] During operation, the first onboard unit of the first vehicle continuously receives messages broadcast from the second onboard unit of the same vehicle. These messages are internal communication information within the vehicle and are used to verify whether the communication link between the two onboard units of the vehicle is normal. At the same time, the first onboard unit also receives messages broadcast from the second onboard unit of the second vehicle. These messages are driving status information sent by other vehicles in the formation and are used to obtain the target vehicle dynamic data required for formation coordination.

[0050] In some embodiments, after the first on-board unit of the first vehicle receives a message broadcast by the second on-board unit, and before determining whether the second on-board unit of the first vehicle will broadcast the next message of the first vehicle, the method further includes the following steps: determining whether the message received by the first on-board unit of the first vehicle satisfies the following conditions: the message is a message of the first vehicle broadcast by the second on-board unit of the first vehicle, the message is an old message of the second vehicle broadcast by the second on-board unit of the second vehicle, or the message is a message of the second vehicle broadcast by the second on-board unit of the second vehicle. At least one of the following: If the message received by the first vehicle-mounted unit of the first vehicle is a message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle, the message received by the first vehicle-mounted unit of the first vehicle is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle, or the message received by the first vehicle-mounted unit of the first vehicle is a duplicate message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle, the message received by the first vehicle-mounted unit of the first vehicle is deleted, and the first vehicle-mounted unit of the first vehicle continues to receive messages.

[0051] In this scheme, after receiving a broadcast message from the second vehicle unit, the first vehicle unit of the first vehicle identifies and filters out three types of invalid messages: messages sent by its own second vehicle unit, expired messages from the second vehicle, and duplicate messages from the second vehicle. This effectively avoids the distortion of timestamp comparison logic caused by interference from self-loop communication, outdated or redundant information. This ensures that the subsequent timestamp-based sending unit selection mechanism makes decisions only based on real and non-self-loop external messages, significantly improving the accuracy and stability of the switching of redundant OBU sending rights in the vehicle formation. Ultimately, this achieves reasonable control of PC5 communication bandwidth, alleviates channel congestion caused by simultaneous broadcasting by two OBUs, and improves the reliability and efficiency of formation communication.

[0052] After receiving all broadcast messages, the first on-board unit of the first vehicle first determines whether the message originates from the second on-board unit of the same vehicle by checking the vehicle identification field in the message header. If the source is the same vehicle, it is determined to be a "self-sent message from this vehicle". This type of message is synchronization information between redundant communication units of the same vehicle and is not used for formation coordination decision-making, so it needs to be filtered. Secondly, it compares the timestamp field in the message with the latest received timestamp recorded locally. If the timestamp of the current message is less than or equal to the latest timestamp recorded locally, it is determined to be an "old message" or "duplicate message" and is discarded.

[0053] By clearly distinguishing between three types of invalid messages—messages sent by the vehicle itself, expired messages, and duplicate messages—errors in status judgment caused by redundant reception are avoided. For example, if the first onboard unit receives a message broadcast by the second onboard unit of the same vehicle and mistakenly interprets it as information from an external vehicle, it may incorrectly trigger the sender's switching logic. If an old message (such as information sent in the previous cycle and overwritten by an updated message) is received from the second vehicle and still used for timestamp comparison, it will lead to incorrect selection by the sender, resulting in a misjudgment of link quality. Through proactive filtering, it is ensured that the timestamp data used for decision-making comes only from valid, up-to-date external messages that are not from the vehicle itself, thereby providing an accurate basis for link status judgment for sender switching.

[0054] Specifically, such as Figure 3 As shown, taking a two-vehicle platoon as an example, the two vehicles are numbered A and B, and the four OBUs are numbered A1, A2, B1, and B2. Vehicles A and B frequently and continuously send messages and expect to receive messages from other vehicles. These four OBUs (A1, A2, B1, and B2) can all send and receive information with other OBUs. Furthermore, the headers of the transmitted messages have a unified data format, containing the vehicle number and message timestamp information. Therefore, the goal is to find a method that allows communication to continue even if any one OBU fails.

[0055] The message format is as follows: sender_name identifies the vehicle sending the message and contains the vehicle ID; Timestamp is the timestamp of the message sending; seq_id is the sequence number; payload_length is the message length; header_crc is used to verify the integrity of the header data; payload_crc is a cyclic redundancy check code used to verify the integrity of the payload data; and payload_data contains other data.

[0056] In receive mode, from the perspective of vehicle A, both OBU A1 and OBU A2 receive messages. Based on the vehicle number information in the message header, messages sent by vehicle A itself are filtered out. Based on the vehicle number and timestamp information in the message header, the latest timestamp of vehicle B's message is recorded. Based on the latest timestamp, old and duplicate messages from vehicle B are filtered out. Vehicle B is the same as vehicle A, so it will not be described in detail here.

[0057] When the transmission mode is in normal mode, from the perspective of vehicle A, at the moment a message is to be sent, there will be an OBU that has recently received the message, and only this OBU will be selected to send it. Vehicle B is the same as vehicle A, so it will not be described in detail here.

[0058] In the specific implementation process, determining whether the message received by the first vehicle-mounted unit of the first vehicle satisfies that the message is a message sent by the second vehicle-mounted unit of the first vehicle of the first vehicle can be achieved through the following steps: extracting the vehicle identifier from the message received by the first vehicle-mounted unit of the first vehicle to obtain the first vehicle identifier; extracting the pre-stored vehicle identifier of the first vehicle to obtain the second vehicle identifier; if the first vehicle identifier and the second vehicle identifier are different, determining that the message is a message of the second vehicle, and determining that the message received by the first vehicle-mounted unit of the first vehicle does not satisfy that the message is a message sent by the second vehicle-mounted unit of the first vehicle ...

[0059] In this scheme, the first on-board unit of the first vehicle receives the message broadcast by the second on-board unit and extracts the vehicle identifier from it. It then compares the extracted identifier with the pre-stored vehicle identifier of the first vehicle to accurately identify whether the message originates from the redundant on-board unit of the first vehicle. When the two identifiers are the same, the message is determined to be a loopback message of the first vehicle and is deleted to prevent it from participating in subsequent timestamp comparisons and OBU selection logic. Only legitimate messages from other vehicles are retained as the basis for communication decisions. This ensures that in the dual OBU redundant communication scenario, the intelligent switching of the transmitting end can be performed based on the actual external vehicle communication status. This effectively eliminates communication decision interference caused by misjudgment of loopback messages, reduces the invalid broadcast load of the PC5 channel, and improves the stability and bandwidth utilization of platoon communication.

[0060] For example, when the first onboard unit of the first vehicle receives a message, it extracts the vehicle identifier from the message to obtain the first vehicle identifier, and compares it with the pre-stored vehicle identifier of the first vehicle, namely the second vehicle identifier. If the first vehicle identifier and the second vehicle identifier are the same, it is determined that the message is sent by the second onboard unit of the first vehicle itself, and then it is filtered out and excluded from subsequent communication status judgment. If the first vehicle identifier and the second vehicle identifier are different, it is confirmed that the message comes from another vehicle, and its timestamp information is retained for updating the reception status and participating in the selection decision of the sending OBU.

[0061] Upon receiving any broadcast message, the first onboard unit of the first vehicle first parses the sender's vehicle identification field from the message header. This field is a predefined unique number, such as "002" representing the second vehicle and "001" representing the vehicle itself. Simultaneously, it reads the vehicle's preset vehicle identification from local non-volatile memory. This identification is written during vehicle initialization and bound to the vehicle's physical identity, for example, "001". The parsed "first vehicle identification" is then compared character by character with the locally stored "second vehicle identification". If they match completely, it indicates that the message was sent by another onboard unit of the same vehicle (the second onboard unit); if they do not match, it is determined that the message originated from another vehicle in the platoon.

[0062] In some embodiments, determining whether a message received by the first vehicle-mounted unit of the first vehicle satisfies that the message is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle can be achieved through the following steps: extracting the timestamp from the Nth message received by the first vehicle-mounted unit of the first vehicle to obtain a first timestamp, where N≥2; extracting the timestamp from the (N-1)th message received by the first vehicle-mounted unit of the first vehicle to obtain a second timestamp; if the first timestamp is less than the second timestamp, determining that the message received by the first vehicle-mounted unit of the first vehicle satisfies that the message is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle; if the first timestamp is greater than the second timestamp, determining that the message received by the first vehicle-mounted unit of the first vehicle does not satisfy that the message is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle.

[0063] In this scheme, the first onboard unit of the first vehicle continuously receives broadcast messages from the second onboard unit of the second vehicle. It extracts the timestamp of the Nth received message as the first timestamp and the timestamp of the (N-1)th received message as the second timestamp. By comparing the two timestamps, it accurately identifies old messages whose timestamps decrease due to network delays or retransmissions. When the first timestamp is less than the second timestamp, the message is determined to be an invalid old message and deleted, avoiding its erroneous inclusion in the sending unit selection logic. Only when the first timestamp is greater than the second timestamp is it confirmed as a valid new message, triggering a sending unit switching mechanism based on message source and timestamp order. This effectively filters redundant, duplicate, and timing-abnormal messages, preventing incorrect switching of onboard units for broadcast transmission due to misjudgment of old messages. This significantly reduces the redundant load of the PC5 communication channel, improves the accuracy and stability of communication decisions between vehicles in the formation, and ultimately achieves efficient utilization of bandwidth resources and reliable operation of formation collaboration in redundant communication scenarios.

[0064] Of course, if the first timestamp and the second timestamp are equal, then the first on-board unit of the first vehicle can be randomly selected to send the next message, or the second on-board unit of the first vehicle can be randomly selected to send the next message.

[0065] For example, when the first onboard unit of the first vehicle receives a message for the Nth time, it extracts the timestamp from the message to obtain the first timestamp, and simultaneously extracts the timestamp from the (N-1)th received message to obtain the second timestamp. If the first timestamp is less than the second timestamp, it determines that the message is an old message sent by the second onboard unit of the second vehicle, and thus filters and discards it to ensure that only the legal communication data with the latest timestamp is retained to maintain the timing consistency of the communication sequence.

[0066] During the continuous reception of broadcast messages from the second vehicle, the first onboard unit of the first vehicle records a timestamp field for each received message. This timestamp is generated by the sender (such as the second onboard unit of the second vehicle) based on its local clock, in milliseconds, for example, with an update cycle of 100ms. When receiving a message for the Nth time, the timestamp of the current message is extracted as the "first timestamp," and the timestamp of the previously received (N-1th) message from the same source vehicle is read from the local cache as the "second timestamp." The two timestamps are then compared. If the first timestamp is less than the second timestamp, it indicates that the timestamp of the currently received message is backwards, meaning the message is a duplicate or delayed old message (e.g., due to network congestion causing a delay in the arrival of a previous message), and is considered invalid. If the first timestamp is greater than the second timestamp, it indicates that the message sequence is progressing normally and is a valid new message.

[0067] In the specific implementation process, determining whether the message received by the first vehicle-mounted unit of the first vehicle satisfies that the message is a duplicate message sent by the second vehicle-mounted unit of the second vehicle can be achieved through the following steps: comparing the similarity between the message received by the first vehicle-mounted unit of the first vehicle for the Mth time and the message received by the first vehicle-mounted unit of the first vehicle for the (M+1)th time to obtain the message similarity, where M≥1; if the message similarity is greater than or equal to a preset similarity threshold, determining that the message received by the first vehicle-mounted unit of the first vehicle satisfies that the message is a duplicate message sent by the second vehicle-mounted unit of the second vehicle; if the message similarity is less than the preset similarity threshold, determining that the message received by the first vehicle-mounted unit of the first vehicle does not satisfy that the message is a duplicate message sent by the second vehicle-mounted unit of the second vehicle.

[0068] In this scheme, the first onboard unit of the first vehicle continuously receives broadcast messages from the second onboard unit. By comparing the similarity between two consecutive messages received, and combining this with a preset similarity threshold, it determines whether the message is a duplicate message from the second vehicle. Thus, when duplicate messages are identified, they are actively filtered and deleted, avoiding incorrect sending unit switching decisions or unnecessary processing resource consumption caused by duplicate messages being misjudged as valid new messages. This mechanism works in conjunction with the timestamp-based sending unit switching logic, effectively improving the accuracy of message filtering without changing the timestamp-driven switching mechanism. It ensures that subsequent decisions are only made when a truly new message is received, significantly reducing the bandwidth load caused by redundant communication in the PC5 channel and improving the stability and resource utilization efficiency of the formation communication system.

[0069] For example, when the first vehicle unit of the first vehicle receives a message sent by the second vehicle unit of the second vehicle for the Mth time, and receives another message for the M+1th time, the first vehicle unit of the first vehicle extracts the message header fields of the two messages and calculates their similarity. If the vehicle number and timestamp fields of the two messages are completely consistent or the timestamp difference is less than the preset tolerance and the content is completely repeated, then the message similarity is determined to be greater than or equal to the preset similarity threshold. Thus, the message received for the M+1th time is determined to be a duplicate message sent by the second vehicle unit of the second vehicle and is filtered out. Otherwise, the message is retained as a valid new message for upper layer processing.

[0070] When the first onboard unit of the first vehicle continuously receives broadcast messages from the second onboard unit of the second vehicle, it compares the content of the currently received (M+1)th message with the previously received (Mth) message from the same source vehicle. The comparison includes key information fields such as vehicle identifier, timestamp, and control command fields. Byte-level hash verification or structured field item-by-item matching algorithms are used to calculate message similarity. Similarity is represented by a floating-point number from 0 to 1, where 1 represents complete identity. A preset similarity threshold of 0.98 is used. If the similarity is greater than or equal to 0.98, the message is considered a duplicate and discarded; if the similarity is less than 0.98, it is considered a valid new message and retained for link state assessment.

[0071] In some embodiments, before the first vehicle-mounted unit of the first vehicle receives a message sent by the second vehicle-mounted unit in a broadcast manner, the method further includes the following steps: extracting the timestamp of the last received message sent by the second vehicle-mounted unit of the second vehicle to obtain a reception timestamp; calculating the difference between the reception timestamp and the current timestamp to obtain a time difference; and determining that the first vehicle-mounted unit of the first vehicle and the second vehicle-mounted unit of the first vehicle simultaneously send the message of the first vehicle in a broadcast manner if the time difference is greater than a preset duration threshold and / or if no message has been received from the second vehicle-mounted unit of the second vehicle.

[0072] This scheme extracts the timestamp of the last message received from the second vehicle's onboard unit and calculates the time difference between the timestamp and the current timestamp. Combined with the judgment of whether no message has been received, it can proactively identify anomalies when the communication link times out or is interrupted. This triggers both onboard units of the first vehicle to simultaneously broadcast messages, effectively avoiding communication gaps caused by single-point transmission failures. After communication is restored, the optimal sending unit is dynamically selected based on the timestamp order to ensure the orderliness and bandwidth efficiency of subsequent communication. Therefore, it can significantly improve the reliability and stability of vehicle formations in complex communication environments, achieve intelligent switching and seamless connection of communication redundancy, and ensure the continuity and safety of formation collaborative operation.

[0073] For example, when the first vehicle's first onboard unit continuously receives messages from the second vehicle's second onboard unit via broadcast, the timestamp of the last received message from the second vehicle's second onboard unit is extracted as the receiving timestamp, and the difference between the receiving timestamp and the current system timestamp is calculated to form a time difference. When this time difference exceeds a preset duration threshold, or when the first vehicle's onboard unit does not receive any messages from the second vehicle's second onboard unit for several consecutive periods, it is determined that the communication link is abnormal. This triggers the first vehicle's first onboard unit and the second vehicle's second onboard unit to work together to simultaneously broadcast the first vehicle's messages to the second vehicle, ensuring uninterrupted communication.

[0074] When the transmission mode is in abnormal mode, from vehicle A's perspective, if no OBU message is received, or the OBU that most recently received a message is too far removed from the time when the message is to be sent (10 times the message period, which could be 50Hz), it will select two OBUs to send the message together, maximizing the message's transmission. Upon receiving a message from the other vehicle, it defaults to normal mode and switches back to normal mode. Vehicle B operates similarly to vehicle A, and will not be elaborated upon here.

[0075] Each time the first onboard unit of the first vehicle receives a message from the second onboard unit of the second vehicle, it saves the timestamp field of the message to its local cache as a "receive timestamp". Before sending the next message from its own vehicle, it reads the current system time (provided by the onboard clock, with an accuracy of 1ms) and calculates the difference between it and the previously successfully received timestamp to obtain a "time difference". The preset duration threshold can be set to 200ms. If the time difference exceeds 200ms, or if the local record shows that no message from the second vehicle has ever been successfully received (i.e., the receive timestamp is empty), it is determined that the external communication link has failed or is unreliable, and an abnormal transmission mode is triggered, forcibly activating both the first and second onboard units simultaneously to send the vehicle's message via dual-channel broadcast.

[0076] In the above scheme, under normal mode, only one OBU transmits per vehicle, thus conserving PC5 resources as much as possible. In normal mode, only one OBU transmits. If a single OBU fails, communication can immediately switch to another OBU. Since the last OBU capable of receiving messages is always used for transmission, if one OBU malfunctions, it will naturally not receive messages, and therefore will not be used for transmission, thus not affecting communication. The adaptive switching logic automatically switches to the normal OBU for communication when an anomaly occurs. In normal mode, the introduction of redundant modules will not increase the load on PC5. Transmission delay will not lead to an abnormal state; if one OBU has high latency, the low-latency OBU will be used for transmission and reception under normal circumstances.

[0077] This application also provides a communication device for vehicle platooning. It should be noted that the vehicle platooning communication device of this application can be used to execute the communication method for vehicle platooning provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0078] The following describes the communication device for vehicle platooning provided in the embodiments of this application.

[0079] Figure 4 This is a structural block diagram of a communication device for vehicle platooning according to an embodiment of this application. Figure 4 As shown, the device includes:

[0080] The receiving unit 10 is used to receive a message sent by the second vehicle unit in a broadcast manner using the first vehicle unit of the first vehicle. The second vehicle unit is either a vehicle unit of the first vehicle other than the first vehicle unit or a vehicle unit of the second vehicle. The first vehicle unit and the second vehicle unit of the first vehicle can simultaneously receive messages and simultaneously broadcast messages.

[0081] The first determining unit 20 is configured to determine, when the first vehicle-mounted unit of the first vehicle receives a message from the second vehicle and the timestamp of the first vehicle-mounted unit receiving the message from the second vehicle is less than the timestamp of the second vehicle-mounted unit receiving the same message from the second vehicle, to use the second vehicle-mounted unit of the first vehicle to broadcast the next message from the first vehicle.

[0082] The sending unit 30 is configured to, when the first vehicle-mounted unit of the first vehicle receives a message from the second vehicle and the timestamp of the first vehicle-mounted unit receiving the message from the second vehicle is greater than the timestamp of the second vehicle-mounted unit receiving the same message from the second vehicle, send the next message of the first vehicle via broadcast using the first vehicle-mounted unit of the first vehicle.

[0083] In this embodiment, the selection of the OBU transmitter is not determined by manual setting or timeout judgment, but dynamically determined by which vehicle unit receives the target vehicle's message more timely and stably. If the first vehicle unit receives the second vehicle's message earlier than the second vehicle unit, it means that the link between the first vehicle unit and the second vehicle is better. In this case, the second vehicle unit is selected as the transmitter. This selection is not random or rotational, but based on dynamic link selection, without waiting for timeout judgment, thereby improving the reliability of communication.

[0084] In the specific implementation process, the receiving unit includes a first receiving module and a second receiving module. The first receiving module is used to receive messages sent by the second vehicle-mounted unit of the first vehicle in a broadcast manner using the first vehicle-mounted unit of the first vehicle. The second receiving module is used to receive messages sent by the second vehicle-mounted unit of the second vehicle in a broadcast manner using the first vehicle-mounted unit of the first vehicle.

[0085] In this scheme, the first on-board unit of the first vehicle obtains the real-time reception status of its redundant OBU by receiving broadcast messages from the second on-board unit of the same vehicle. At the same time, it obtains the communication timing information of external vehicles by receiving broadcast messages from the second on-board unit of the second vehicle. Thus, the dual message reception timing data of the vehicle and the cross-vehicle external vehicles are synchronously integrated in the timestamp comparison mechanism. This ensures that when selecting the next message sender, an accurate decision is made based on a complete and bidirectional timing reference. This avoids transmission conflicts or delays caused by relying on only one-sided reception information, effectively suppresses PC5 channel congestion caused by simultaneous broadcasting of dual OBUs, improves the coordination and reliability of vehicle platoon communication, and ultimately achieves dynamic balancing of bandwidth load and stable guarantee of communication continuity in redundant communication scenarios.

[0086] In some embodiments, the above-mentioned unit further includes a second determining unit and a processing unit. The second determining unit is configured to, after the first vehicle-mounted unit of the first vehicle receives a message sent by the second vehicle-mounted unit via broadcast, and before determining whether the second vehicle-mounted unit of the first vehicle sends the next message of the first vehicle via broadcast, determine whether the message received by the first vehicle-mounted unit of the first vehicle meets the following conditions: the message is a message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle; the message is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle; or the message is a message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle. At least one of the duplicate messages from the two vehicles; the processing unit is configured to delete the message received by the first vehicle-mounted unit of the first vehicle when the message received by the first vehicle-mounted unit of the first vehicle is a message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle, the message received by the first vehicle-mounted unit of the first vehicle is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle, or the message received by the first vehicle-mounted unit of the first vehicle is a duplicate message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle, and continue to receive messages using the first vehicle-mounted unit of the first vehicle.

[0087] In this scheme, after receiving a broadcast message from the second vehicle unit, the first vehicle unit of the first vehicle identifies and filters out three types of invalid messages: messages sent by its own second vehicle unit, expired messages from the second vehicle, and duplicate messages from the second vehicle. This effectively avoids the distortion of timestamp comparison logic caused by interference from self-loop communication, outdated or redundant information. This ensures that the subsequent timestamp-based sending unit selection mechanism makes decisions only based on real and non-self-loop external messages, significantly improving the accuracy and stability of the switching of redundant OBU sending rights in the vehicle formation. Ultimately, this achieves reasonable control of PC5 communication bandwidth, alleviates channel congestion caused by simultaneous broadcasting by two OBUs, and improves the reliability and efficiency of formation communication.

[0088] In the specific implementation process, the second determining unit includes a first extraction module, a second extraction module, a first determining module, and a second determining module. The first extraction module is used to extract the vehicle identifier from the message received by the first vehicle-mounted unit of the first vehicle to obtain the first vehicle identifier. The second extraction module is used to extract the vehicle identifier of the first vehicle that has been pre-stored to obtain the second vehicle identifier. The first determining module is used to determine that the message is the message of the second vehicle when the first vehicle identifier and the second vehicle identifier are different, and to determine that the message received by the first vehicle-mounted unit of the first vehicle does not satisfy the requirement that the message is the message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle. The second determining module is used to determine that the message is the message of the first vehicle when the first vehicle identifier and the second vehicle identifier are the same, and to determine that the message received by the first vehicle-mounted unit of the first vehicle satisfies the requirement that the message is the message of the first vehicle sent by the second vehicle-mounted unit of the first vehicle.

[0089] In this scheme, the first on-board unit of the first vehicle receives the message broadcast by the second on-board unit and extracts the vehicle identifier from it. It then compares the extracted identifier with the pre-stored vehicle identifier of the first vehicle to accurately identify whether the message originates from the redundant on-board unit of the first vehicle. When the two identifiers are the same, the message is determined to be a loopback message of the first vehicle and is deleted to prevent it from participating in subsequent timestamp comparisons and OBU selection logic. Only legitimate messages from other vehicles are retained as the basis for communication decisions. This ensures that in the dual OBU redundant communication scenario, the intelligent switching of the transmitting end can be performed based on the actual external vehicle communication status. This effectively eliminates communication decision interference caused by misjudgment of loopback messages, reduces the invalid broadcast load of the PC5 channel, and improves the stability and bandwidth utilization of platoon communication.

[0090] In some embodiments, the second determining unit includes a third extraction module, a fourth extraction module, a third determining module, and a fourth determining module. The third extraction module is used to extract the timestamp from the Nth message received by the first vehicle-mounted unit of the first vehicle to obtain a first timestamp, where N≥2. The fourth extraction module is used to extract the timestamp from the (N-1)th message received by the first vehicle-mounted unit of the first vehicle to obtain a second timestamp. The third determining module is used to determine that, if the first timestamp is less than the second timestamp, the message received by the first vehicle-mounted unit of the first vehicle satisfies that the message is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle. The fourth determining module is used to determine that, if the first timestamp is greater than the second timestamp, the message received by the first vehicle-mounted unit of the first vehicle does not satisfy that the message is an old message of the second vehicle sent by the second vehicle-mounted unit of the second vehicle.

[0091] In this scheme, the first onboard unit of the first vehicle continuously receives broadcast messages from the second onboard unit of the second vehicle. It extracts the timestamp of the Nth received message as the first timestamp and the timestamp of the (N-1)th received message as the second timestamp. By comparing the two timestamps, it accurately identifies old messages whose timestamps decrease due to network delays or retransmissions. When the first timestamp is less than the second timestamp, the message is determined to be an invalid old message and deleted, avoiding its erroneous inclusion in the sending unit selection logic. Only when the first timestamp is greater than the second timestamp is it confirmed as a valid new message, triggering a sending unit switching mechanism based on message source and timestamp order. This effectively filters redundant, duplicate, and timing-abnormal messages, preventing incorrect switching of onboard units for broadcast transmission due to misjudgment of old messages. This significantly reduces the redundant load of the PC5 communication channel, improves the accuracy and stability of communication decisions between vehicles in the formation, and ultimately achieves efficient utilization of bandwidth resources and reliable operation of formation collaboration in redundant communication scenarios.

[0092] In the specific implementation process, the second determining unit includes a comparison module, a fifth determining module, and a sixth determining module. The comparison module is used to compare the similarity between the message received by the first vehicle unit of the first vehicle for the Mth time and the message received by the first vehicle unit of the first vehicle for the (M+1)th time, to obtain the message similarity, where M≥1. The fifth determining module is used to determine that the message received by the first vehicle unit of the first vehicle satisfies that the message is a duplicate message sent by the second vehicle unit of the second vehicle. The sixth determining module is used to determine that the message received by the first vehicle unit of the first vehicle does not satisfy that the message is a duplicate message sent by the second vehicle unit of the second vehicle.

[0093] In this scheme, the first onboard unit of the first vehicle continuously receives broadcast messages from the second onboard unit. By comparing the similarity between two consecutive messages received, and combining this with a preset similarity threshold, it determines whether the message is a duplicate message from the second vehicle. Thus, when duplicate messages are identified, they are actively filtered and deleted, avoiding incorrect sending unit switching decisions or unnecessary processing resource consumption caused by duplicate messages being misjudged as valid new messages. This mechanism works in conjunction with the timestamp-based sending unit switching logic, effectively improving the accuracy of message filtering without changing the timestamp-driven switching mechanism. It ensures that subsequent decisions are only made when a truly new message is received, significantly reducing the bandwidth load caused by redundant communication in the PC5 channel and improving the stability and resource utilization efficiency of the formation communication system.

[0094] In some embodiments, the above-described apparatus further includes an extraction unit, a calculation unit, and a third determination unit. The extraction unit is used to extract the timestamp of the last received message from the second vehicle-mounted unit of the first vehicle before the first vehicle-mounted unit of the first vehicle receives a message sent by the second vehicle-mounted unit in a broadcast manner, to obtain a reception timestamp. The calculation unit is used to calculate the difference between the reception timestamp and the current timestamp to obtain a time difference. The third determination unit is used to determine that the first vehicle-mounted unit of the first vehicle and the second vehicle-mounted unit of the first vehicle simultaneously broadcast the message of the first vehicle in a broadcast manner if the time difference is greater than a preset duration threshold and / or if the message sent by the second vehicle-mounted unit of the first vehicle has never been received.

[0095] This scheme extracts the timestamp of the last message received from the second vehicle's onboard unit and calculates the time difference between the timestamp and the current timestamp. Combined with the judgment of whether no message has been received, it can proactively identify anomalies when the communication link times out or is interrupted. This triggers both onboard units of the first vehicle to simultaneously broadcast messages, effectively avoiding communication gaps caused by single-point transmission failures. After communication is restored, the optimal sending unit is dynamically selected based on the timestamp order to ensure the orderliness and bandwidth efficiency of subsequent communication. Therefore, it can significantly improve the reliability and stability of vehicle formations in complex communication environments, achieve intelligent switching and seamless connection of communication redundancy, and ensure the continuity and safety of formation collaborative operation.

[0096] The communication device for the aforementioned vehicle convoy includes a processor and a memory. The receiving unit, the first determining unit, and the transmitting unit are all stored as program units in the memory, and the processor executes these program units to achieve their respective functions. All of the above modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0097] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problems of frequent communication interruptions and low reliability in existing vehicle platooning communication technologies.

[0098] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0099] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the communication method of the vehicle platoon.

[0100] This invention provides a processor for running a program, wherein the program executes the communication method of the vehicle formation.

[0101] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements at least the steps of a communication method for vehicle platooning. The device described herein may be a server, PC, PAD, mobile phone, etc.

[0102] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform steps of initializing a communication method with at least a vehicle platoon.

[0103] This application also provides a vehicle that includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include a communication method for performing any of the above-described vehicle formations.

[0104] This application also provides a vehicle platoon communication system, including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any of the above-described vehicle platoon communication methods.

[0105] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0106] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0110] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0111] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0112] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0115] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A communication method for vehicle platooning, characterized in that, include: The first vehicle-mounted unit of the first vehicle receives messages sent by the second vehicle-mounted unit via broadcast. The second vehicle-mounted unit is either another vehicle-mounted unit of the first vehicle other than the first vehicle-mounted unit or a vehicle-mounted unit of the second vehicle. The first vehicle-mounted unit and the second vehicle-mounted unit of the first vehicle can simultaneously receive messages and simultaneously broadcast messages. If the first vehicle unit of the first vehicle receives a message from the second vehicle, and the timestamp of the first vehicle unit receiving the message from the second vehicle is less than the timestamp of the second vehicle unit receiving the same message from the second vehicle, then it is determined that the second vehicle unit of the first vehicle will send the next message of the first vehicle via broadcast. If the first vehicle-mounted unit of the first vehicle receives a message from the second vehicle, and the timestamp of the first vehicle-mounted unit receiving the message from the second vehicle is greater than the timestamp of the second vehicle-mounted unit receiving the same message from the second vehicle, the first vehicle-mounted unit of the first vehicle shall broadcast the next message from the first vehicle.

2. The method according to claim 1, characterized in that, The first on-board unit of the first vehicle receives messages transmitted via broadcast by the second on-board unit, including at least one of the following: The first on-board unit of the first vehicle is used to receive messages sent by the second on-board unit of the first vehicle in a broadcast manner; The first on-board unit of the first vehicle receives messages sent by the second on-board unit of the second vehicle in a broadcast manner.

3. The method according to claim 1, characterized in that, After receiving a message broadcast by a second vehicle-mounted unit using a first vehicle-mounted unit of the first vehicle, and before determining that the second vehicle-mounted unit of the first vehicle will broadcast the next message of the first vehicle, the method further includes: Determine whether the message received by the first vehicle unit of the first vehicle satisfies at least one of the following: the message is a message of the first vehicle sent by the second vehicle unit of the first vehicle, the message is an old message of the second vehicle sent by the second vehicle unit of the second vehicle, and the message is a duplicate message of the second vehicle sent by the second vehicle unit of the second vehicle. If the message received by the first vehicle unit of the first vehicle is a message of the first vehicle sent by the second vehicle unit of the first vehicle, a message received by the first vehicle unit of the first vehicle is an old message of the second vehicle sent by the second vehicle unit of the second vehicle, or a message received by the first vehicle unit of the first vehicle is a duplicate message of the second vehicle sent by the second vehicle unit of the second vehicle, then the message received by the first vehicle unit of the first vehicle is deleted, and the first vehicle unit of the first vehicle continues to receive messages.

4. The method according to claim 3, characterized in that, Determining whether the message received by the first on-board unit of the first vehicle satisfies that the message is a message sent by the second on-board unit of the first vehicle from the first vehicle includes: Extract the vehicle identifier from the message received by the first vehicle unit of the first vehicle to obtain the first vehicle identifier; Extract the pre-stored vehicle identifier of the first vehicle to obtain the second vehicle identifier; If the first vehicle identifier and the second vehicle identifier are different, the message is determined to be a message of the second vehicle, and the message received by the first vehicle unit of the first vehicle does not meet the requirement that the message is a message of the first vehicle sent by the second vehicle unit of the first vehicle. If the first vehicle identifier and the second vehicle identifier are the same, the message is determined to be a message of the first vehicle, and the message received by the first vehicle unit of the first vehicle satisfies that the message is a message of the first vehicle sent by the second vehicle unit of the first vehicle.

5. The method according to claim 3, characterized in that, Determining whether the message received by the first on-board unit of the first vehicle satisfies that the message is an old message of the second vehicle sent by the second on-board unit of the second vehicle, includes: Extract the timestamp from the Nth message received by the first vehicle unit of the first vehicle to obtain the first timestamp, where N≥2; Extract the timestamp from the (N-1)th message received by the first vehicle unit of the first vehicle to obtain the second timestamp; If the first timestamp is less than the second timestamp, it is determined that the message received by the first vehicle unit of the first vehicle satisfies that the message is an old message of the second vehicle sent by the second vehicle unit of the second vehicle; If the first timestamp is greater than the second timestamp, it is determined that the message received by the first vehicle unit of the first vehicle does not meet the requirement that the message is an old message of the second vehicle sent by the second vehicle unit of the second vehicle.

6. The method according to claim 3, characterized in that, Determining whether the message received by the first on-board unit of the first vehicle satisfies that the message is a duplicate message sent by the second on-board unit of the second vehicle to the second vehicle includes: Compare the similarity between the message received by the first vehicle unit of the first vehicle for the Mth time and the message received by the first vehicle unit of the first vehicle for the (M+1)th time to obtain the message similarity, where M≥1; If the message similarity is greater than or equal to a preset similarity threshold, it is determined that the message received by the first vehicle unit of the first vehicle satisfies that the message is a duplicate message sent by the second vehicle unit of the second vehicle to the second vehicle. If the message similarity is less than the preset similarity threshold, it is determined that the message received by the first vehicle unit of the first vehicle does not meet the requirement that the message is a duplicate message sent by the second vehicle unit of the second vehicle.

7. The method according to any one of claims 1 to 6, characterized in that, Before the first on-board unit of the first vehicle receives the message transmitted by the second on-board unit via broadcast, the method further includes: Extract the timestamp of the last received message from the second vehicle's onboard unit to obtain the receiving timestamp; Calculate the difference between the received timestamp and the current timestamp to obtain the time difference; If the time difference is greater than a preset duration threshold and / or no message has been received from the second vehicle unit of the second vehicle, it is determined that the first vehicle unit of the first vehicle and the second vehicle unit of the first vehicle shall simultaneously broadcast the message of the first vehicle.

8. A communication device for vehicle platooning, characterized in that, include: The receiving unit is used to receive messages sent by the second vehicle unit in a broadcast manner using the first vehicle unit of the first vehicle. The second vehicle unit is either the vehicle unit of the first vehicle other than the first vehicle unit or the vehicle unit of the second vehicle. The first vehicle unit of the first vehicle and the second vehicle unit of the first vehicle can simultaneously receive messages and simultaneously broadcast messages. The first determining unit is configured to determine, when the first vehicle-mounted unit of the first vehicle receives a message from the second vehicle and the timestamp of the first vehicle-mounted unit receiving the message from the second vehicle is less than the timestamp of the second vehicle-mounted unit receiving the same message from the second vehicle, to use the second vehicle-mounted unit of the first vehicle to broadcast the next message of the first vehicle. The sending unit is configured to, when the first vehicle-mounted unit of the first vehicle receives a message from the second vehicle, and the timestamp of the first vehicle-mounted unit receiving the message from the second vehicle is greater than the timestamp of the second vehicle-mounted unit receiving the same message from the second vehicle, send the next message of the first vehicle via broadcast using the first vehicle-mounted unit of the first vehicle.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the communication method for vehicle formation according to any one of claims 1 to 7.

10. A communication system for vehicle platooning, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a communication method for performing a vehicle platooning as described in any one of claims 1 to 7.

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