Time-sensitive network-based internet of vehicles message scheduling method, device and medium

Abstract

This invention discloses a method, device, and medium for scheduling vehicle-to-everything (V2X) messages based on time-sensitive networking (TSN), relating to the field of communication technology. The method includes: prioritizing V2X messages according to their service type, security level, and latency requirements, and mapping them to different priority queues in the TSN; enabling time-aware shaping scheduling for high-priority queues and configuring periodic time-gated windows; enabling credit-based shaping scheduling for medium- and low-priority queues, managing transmission based on credit limits, and enabling frame preemption scheduling when high-priority messages arrive to interrupt the transmission of medium- and low-priority messages; acquiring base station coverage and channel status, and switching between base station collaborative scheduling mode and pure TSN autonomous scheduling mode. This solution transforms the differentiated quality of service requirements of V2X messages into priority identifiers recognizable by the TSN, comprehensively utilizing the synergistic effect of three scheduling mechanisms to provide deterministic transmission guarantees for messages of different priorities.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a method, device and medium for vehicle-to-everything (V2X) message scheduling based on time-sensitive networking. Background Technology

[0002] With the continuous development of intelligent connected vehicles and vehicle-road cooperative technologies, vehicle-to-everything (V2X) communication has become a key support for ensuring driving safety and improving traffic efficiency. In V2X communication, different types of application messages have significantly different quality of service (QoS) requirements for transmission latency and reliability. For example, safety-related messages such as collision warnings and emergency braking require extremely low transmission latency and extremely high reliability, while non-safety-related messages such as traffic information and entertainment services have relatively relaxed requirements for latency and reliability.

[0003] In existing technologies, vehicle-to-everything (V2X) communication systems typically allocate channels and resources based on priority parameters identified by the application layer during wireless resource scheduling. However, due to a lack of deep integration with the underlying deterministic scheduling mechanism, high-priority security messages and low-priority ordinary messages still experience resource contention and transmission conflicts in shared wireless channels, making it difficult to guarantee the deterministic transmission latency and reliability of security messages. Furthermore, existing scheduling mechanisms handle message priority with relatively coarse granularity, failing to provide layered and precise transmission resource isolation for messages of different priorities in the complex and ever-changing vehicle communication environment, thus affecting the overall communication performance stability of the V2X system. Summary of the Invention

[0004] This invention provides a method, device, and medium for scheduling messages in the Internet of Vehicles (IoV) based on time-sensitive networking (TSN). The technical problem it aims to solve is: how to provide a hierarchical scheduling solution that can provide deterministic transmission guarantees for messages of different priorities in the IoV.

[0005] In a first aspect, the present invention provides a vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking, comprising:

[0006] In response to receiving the vehicle network message to be transmitted, the vehicle network message is divided into multiple priorities according to the service type, security level and latency requirements of the vehicle network message, and mapped to different priority queues of the time-sensitive network respectively;

[0007] The vehicle network messages in the priority queue are transmitted in a hierarchical scheduling manner. Specifically, time-aware shaping scheduling is enabled for the queues corresponding to high priorities, and periodic time gating windows are configured and allocated for the high-priority messages in the queues corresponding to high priorities. Credit shaping scheduling is enabled for the queues corresponding to medium and low priorities, and the transmission of medium and low priority messages in the queues corresponding to medium and low priorities is controlled based on credit limits. When a high-priority message arrives and a medium and low priority message is being transmitted, frame preemption scheduling is enabled to interrupt the transmission of the medium and low priority message in order to prioritize the transmission of the high-priority message.

[0008] The system obtains the current base station coverage status and channel status, and switches between the base station collaborative scheduling mode and the pure time-sensitive network autonomous scheduling mode based on the base station coverage status and channel status to adapt to the current scenario for the hierarchical scheduling transmission.

[0009] Optionally, dividing the vehicle network messages into multiple priorities and mapping them to different priority queues in a time-sensitive network includes:

[0010] The vehicle network messages are divided into a four-level priority system. The highest priority level corresponds to emergency safety messages and is mapped to the time-sensitive network priority seven queue. The high priority level corresponds to regular safety messages and is mapped to the time-sensitive network priority five to six queues. The medium priority level corresponds to control signaling messages and is mapped to the time-sensitive network priority three to four queues. The low priority level corresponds to non-safety service messages and is mapped to the time-sensitive network priority zero to two queues.

[0011] The queues corresponding to the highest priority level 1 and the high priority level 2 constitute the queues corresponding to the high priority level, and the queues corresponding to the medium priority level 3 and the low priority level 4 constitute the queues corresponding to the medium-low priority level.

[0012] Optionally, enabling time-aware shaping scheduling for the queues corresponding to high priorities, and configuring and allocating periodic time-gated windows for high-priority messages in the queues corresponding to high priorities, includes:

[0013] Based on the sending cycle requirements of the highest priority level 1 and the highest priority level 2 messages, the cycle and duration of the time gating window are determined.

[0014] The link time used for message transmission is divided into multiple consecutive gating periods. Within each gating period, a dedicated transmission time slot is allocated for the highest priority message (Level 1) and the highest priority message (Level 2), serving as the time gating window.

[0015] Within the transmission time slot corresponding to the time-gated window, only the queues corresponding to the highest priority level 1 and the high priority level 2 messages are allowed to transmit, while the queues corresponding to the medium priority level 3 and the low priority level 4 messages are prohibited from transmitting.

[0016] Optionally, enabling frame preemption scheduling, interrupting the transmission of low-priority messages to prioritize the transmission of high-priority messages, includes:

[0017] When the highest priority message of level 1 or the high priority message of level 2 arrives in the transmission queue, and the medium priority message of level 3 or the low priority message of level 4 is currently being transmitted, a frame preemption instruction is generated.

[0018] According to the frame preemption instruction, interrupt the current transmission frame of the third-level medium-priority message or the fourth-level low-priority message, and record the breakpoint position;

[0019] Prioritize transmitting data frames corresponding to the highest priority first-level or the high priority second-level messages;

[0020] After the transmission of the highest priority message at level 1 or the high priority message at level 2 is completed, the transmission of the interrupted medium priority message at level 3 or the low priority message at level 4 is resumed from the breakpoint position.

[0021] The activation of credit-based reshaping scheduling, which controls the transmission of low-priority messages in the queues corresponding to low-priority messages based on credit limits, includes:

[0022] Initial credit limits are allocated to each queue corresponding to the middle priority level of the third level and the low priority level of the fourth level.

[0023] When messages are transmitted in each queue, the credit limit corresponding to each queue is deducted based on the amount of data transmitted.

[0024] When each queue is idle, the credit limit corresponding to each queue is restored according to a preset rate;

[0025] Determine whether the current credit limit of each queue meets the preset transmission threshold;

[0026] If the current credit limit of each queue meets the preset transmission threshold, then each queue is allowed to transmit messages;

[0027] If the current credit limit of each queue does not meet the preset transmission threshold, then the transmission of messages by each queue is prohibited until the credit limit is restored to above the transmission threshold.

[0028] Optionally, the step of obtaining the current base station coverage status and channel status, and switching between the base station cooperative scheduling mode and the pure time-sensitive network autonomous scheduling mode based on the base station coverage status and channel status, includes:

[0029] Obtain network coverage parameters, including reference signal received power and signal-to-interference-plus-noise ratio;

[0030] Obtain scheduling link status parameters, including license jitter, channel busy rate, and scheduling conflict rate;

[0031] Obtain security message transmission performance parameters, including packet loss rate and end-to-end latency for emergency security messages and basic security messages;

[0032] Determine whether a Level 1 trigger condition is met. The Level 1 trigger condition includes at least one of the following conditions: the reference signal received power is lower than a first preset threshold and the duration exceeds a first duration; no cellular network signal is detected continuously for more than a second duration; the scheduling link times out and the number of out-of-step events reaches a first preset threshold; no semi-persistent scheduling authorization is received continuously for more than a third duration; the packet loss rate exceeds a second preset threshold; the end-to-end delay exceeds a third preset threshold and continues for more than a first preset number of transmission cycles.

[0033] If at least one of the first-level triggering conditions is met, the system switches from the base station cooperative scheduling mode to the pure time-sensitive network autonomous scheduling mode.

[0034] If all the conditions in the first-level triggering condition are not met, then it is determined whether the second-level triggering condition is met. The second-level triggering condition includes simultaneously meeting at least two of the following conditions for a duration exceeding the fourth time period: the reference signal received power is greater than the fourth preset threshold and less than the fifth preset threshold, and the signal-to-interference-plus-noise ratio is less than the sixth preset threshold for a duration exceeding the fifth time period; the license jitter exceeds the seventh preset threshold; the channel busy rate exceeds the eighth preset threshold and the base station scheduling conflict rate exceeds the ninth preset threshold; the average end-to-end delay exceeds the tenth preset threshold; the message transmission reliability is lower than the eleventh preset threshold; the roadside unit is out of contact for more than the sixth time period; and the update cycle of the cooperative sensing message exceeds the seventh time period.

[0035] If the secondary triggering condition is met, the system switches from the base station collaborative scheduling mode to the pure time-sensitive network autonomous scheduling mode.

[0036] If the secondary triggering condition is not met, the base station collaborative scheduling mode is maintained.

[0037] Optionally, after switching to the pure time-sensitive network autonomous scheduling mode, the method further includes:

[0038] Stop receiving scheduling instructions from the base station and clear the resource pool in the base station scheduling mode;

[0039] Based on the timing signals from the Global Navigation Satellite System, time synchronization is performed across the entire network to obtain a unified time reference;

[0040] Under the unified time reference, full-band sensing is performed on the communication channel to obtain the busy / idle status of the channel, interference intensity, and resource occupancy of surrounding nodes, thereby obtaining the channel sensing results.

[0041] Based on the channel perception results and the time gating window, idle time-frequency transmission resources are reserved for the vehicle network messages to be transmitted, and resource reservation information is obtained.

[0042] The resource reservation information is broadcast to surrounding nodes via sidechain control information.

[0043] Optionally, after broadcasting the resource reservation information to surrounding nodes, the method further includes:

[0044] Perform physical layer collision detection, including monitoring channel received power and signal distortion, and determining whether the channel received power exceeds a preset power threshold and the sidechain control information cannot be decoded, or whether the data cyclic redundancy check is continuously incorrect. If the channel received power exceeds the preset power threshold and the sidechain control information cannot be decoded, or the data cyclic redundancy check is continuously incorrect, a physical layer collision alarm is generated.

[0045] Perform protocol layer conflict detection, including performing cyclic redundancy check and sequence number verification on received messages. If the verification fails or the sequence number is missing, a protocol layer conflict alarm is generated.

[0046] In response to generating the physical layer conflict alarm or the protocol layer conflict alarm, the priority of the conflicting vehicle-to-everything (V2X) messages is determined;

[0047] If the conflicting vehicle network message is a level 4 low priority message, then the conflicting vehicle network message is discarded.

[0048] If the conflicting vehicle network message is a Level 1 highest priority message, a Level 2 high priority message, or a Level 3 medium priority message, then the step of performing full-band awareness on the communication channel is re-executed, a new time-sensitive network scheduling time slot is allocated to the conflicting vehicle network message, and the conflicting vehicle network message is retransmitted within the new time-sensitive network scheduling time slot according to the preset retransmission limit.

[0049] Optionally, the method further includes:

[0050] Get the current channel busy rate value;

[0051] Determine the congestion interval in which the channel busy rate value is located;

[0052] If the channel busy rate value is in the preset first congestion interval, the current transmission strategy of the fourth-level low-priority message, the third-level medium-priority message, the second-level high-priority message and the first-level highest-priority message remains unchanged.

[0053] If the channel busy rate value is in the preset second congestion interval, the transmission of the fourth-level low-priority messages is restricted, the transmission period of the fourth-level low-priority messages is extended, and the transmission strategies of the third-level medium-priority messages, the second-level high-priority messages, and the first-level highest-priority messages remain unchanged.

[0054] If the channel busy rate value is in the preset third congestion interval, the transmission of the fourth-level low-priority messages is suspended, the transmission bandwidth of the third-level medium-priority messages is compressed, and the transmission strategies of the second-level high-priority messages and the first-level highest-priority messages remain unchanged.

[0055] Wherein, the upper limit of the first congestion interval is less than the lower limit of the second congestion interval, and the upper limit of the second congestion interval is less than the lower limit of the third congestion interval.

[0056] Secondly, the present invention also provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0057] Thirdly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0058] This invention provides a method, device, and medium for vehicular network (V2V) message scheduling based on time-sensitive networking (TSN). By prioritizing V2V messages according to their service type, security level, and latency requirements, and establishing a mapping relationship with different priority queues in the TSN, differentiated quality of service (QoS) requirements are transformed into network-identifiable and schedulable priority identifiers. Based on this, a hybrid hierarchical scheduling mechanism combining time-aware shaping, credit shaping, and frame preemption is employed. High-priority messages are configured and allocated periodic time-gated windows, ensuring contention-free transmission within their dedicated transmission slots. Mid- and low-priority messages are subject to bandwidth constraints based on credit limits. Upon arrival of a high-priority message, the transmission of mid- and low-priority messages is immediately interrupted through frame preemption. The synergistic effect of these mechanisms ensures that the end-to-end latency of high-priority security messages is no longer affected by fluctuations in low-priority service traffic, achieving deterministic low-latency transmission guarantees. Furthermore, by acquiring base station coverage and channel status in real time, adaptive switching is performed between base station collaborative scheduling mode and pure TSN autonomous scheduling mode, further ensuring the continuity and robustness of scheduling strategies across different deployment scenarios. Attached Figure Description

[0059] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A flowchart illustrating a vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking provided in an embodiment of the present invention;

[0061] Figure 2 This is a diagram illustrating the relationship between vehicle network message priority allocation and time-sensitive network mapping provided in an embodiment of the present invention.

[0062] Figure 3 A flowchart of a time-sensitive network-based vehicle-to-everything (V2X) message hierarchical scheduling system provided in this embodiment of the invention;

[0063] Figure 4 This is a flowchart of vehicle network message conflict avoidance and processing provided in an embodiment of the present invention;

[0064] Figure 5 An architecture diagram of a vehicle-to-everything (V2X) message scheduling and conflict avoidance system based on time-sensitive networking is provided in an embodiment of the present invention.

[0065] Figure 6 This is a schematic diagram of the structure of the TSN-V2X vehicle-mounted unit and the TSN-V2X roadside unit provided in the embodiments of the present invention;

[0066] Figure 7 This is a schematic block diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0067] 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, not all, of the embodiments of the present invention. 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.

[0068] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0069] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0070] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0071] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0072] Please see Figure 1 This invention provides a vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking (TSN). The method divides V2X messages into multiple priority levels and maps them to TSN queues. It combines a hybrid hierarchical scheduling mechanism of time-aware shaping, frame preemption, and credit shaping. Furthermore, it adaptively switches between cooperative scheduling and autonomous scheduling modes based on base station coverage and channel conditions. This provides deterministic transmission guarantees for V2X messages of different priorities. Specifically, the method includes the following steps:

[0073] S1, in response to obtaining the vehicle network message to be transmitted, the vehicle network message is divided into multiple priorities according to the service type, security level and latency requirements of the vehicle network message, and mapped to different priority queues of the time-sensitive network respectively.

[0074] In practical implementation, Time-Sensitive Networking (TSN) and Vehicle-to-Everything (V2X) are the various wireless communication messages exchanged between vehicles, between vehicles and roadside infrastructure, and between vehicles and pedestrians in a V2X communication system.

[0075] First, in response to receiving the vehicle-to-everything (V2X) messages to be transmitted, this invention first performs priority classification and queue mapping processing on the V2X messages. The received V2X messages originate from various applications at the vehicle's upper layer, such as emergency braking warnings issued by collision avoidance applications, basic safety messages issued by vehicle status perception applications, map data requests issued by infotainment systems, etc., which are not specifically limited by this invention.

[0076] Furthermore, this invention extracts information such as the service type carried by each vehicle-to-everything (V2X) message, the security level associated with that service, and the end-to-end latency requirements of the message. Based on the service type, security level, and latency requirements, the V2X messages are divided into multiple different priorities. Further, each priority level is mapped to a queue corresponding to a different priority level in a time-sensitive network switch (TSS). The TSS maintains multiple priority queues internally, each queue corresponding to a priority level; the higher the queue number, the higher the transmission priority. The message enqueueing operation is completed by storing the V2X message in the queue corresponding to its priority.

[0077] In some preferred embodiments, the step of dividing the vehicle network messages into multiple priorities and mapping them to different priority queues of the time-sensitive network includes: dividing the vehicle network messages into a four-level priority system, wherein the highest priority level corresponds to emergency safety messages and is mapped to the time-sensitive network priority queue seven; the high priority level corresponds to regular safety messages and is mapped to the time-sensitive network priority queues five to six; the medium priority level corresponds to control signaling messages and is mapped to the time-sensitive network priority queues three to four; and the low priority level corresponds to non-security service messages and is mapped to the time-sensitive network priority queues zero to two; wherein the queues corresponding to the highest priority level and the high priority level constitute the queues corresponding to the high priorities, and the queues corresponding to the medium priority level and the low priority level constitute the queues corresponding to the medium-low priorities.

[0078] In specific implementation, this embodiment clarifies the division criteria of the four-level priority system and its precise correspondence with the eight-level priority queue of the time-sensitive network.

[0079] In this embodiment, the identifier field for the time-sensitive network priority queue is the Priority Code Point field, abbreviated as PCP. The PCP field is located in the VLAN tag, is three bits long, and ranges from zero to seven, with higher values ​​indicating higher priority. In the time-sensitive network standard, eight priority queues are assigned PCP values ​​from zero to seven.

[0080] Specifically, in classifying the vehicle network messages into multiple priority levels, this embodiment employs a four-level priority system to categorize the vehicle network messages. The four-level priority system specifically includes Level 1 (highest priority), Level 2 (high priority), Level 3 (medium priority), and Level 4 (low priority).

[0081] The highest priority level corresponds to the transmission of emergency safety messages. Typical emergency safety messages include Decentralized Environmental Notification Messages (DENM), used to transmit information about road hazard warnings, emergency braking, and other events; and Emergency Electronic Brake Light (EEBL) messages. Once these messages are generated, they indicate that the vehicle or road user is in a potentially dangerous situation and must be reliably delivered to relevant surrounding nodes within a very short time.

[0082] Furthermore, the secondary high-priority level corresponds to the transmission of regular safety messages. Typical regular safety messages include Basic Safety Messages (BSM), Cooperative Awareness Messages (CAM), and Roadside Safety Messages (RSM). These messages are used to periodically or event-triggeredly report the vehicle's own motion status or safety-related information perceived by the roadside.

[0083] Furthermore, the priority in the three levels corresponds to the transmission of control signaling messages. Typical control signaling messages include radio resource scheduling request messages, time synchronization signaling messages, and traffic light phase and timing messages, abbreviated as SPAT.

[0084] Furthermore, the fourth-level low-priority transmission corresponds to the transmission of insecure service messages. Typical insecure service messages include in-vehicle infotainment data streams, high-precision map download and update data, and in-vehicle software over-the-air firmware upgrade packages.

[0085] Furthermore, after completing the four-level priority division, each priority in the four-level priority system is mapped to different priority queues in the Time-Sensitive Network (TSN). Specifically, the highest priority at level one is mapped to the TSN priority queue of priority seven, which corresponds to a PCP value of seven and is the highest priority queue in the TSN. Further, the high priority at level two is mapped to the TSN priority queues of priorities five to six, which correspond to PCP values ​​of five and six and are the second highest priority queues. Further, the medium priority at level three is mapped to the TSN priority queues of priorities three to four, which correspond to PCP values ​​of three and four. Further, the low priority at level four is mapped to the TSN priority queues of priorities zero to two, which correspond to PCP values ​​of zero, one, and two.

[0086] Through the above mapping, in this embodiment, the queues corresponding to the highest priority level 1 and the high priority level 2 together constitute the queues corresponding to high priority, and the queues corresponding to the medium priority level 3 and the low priority level 4 together constitute the queues corresponding to medium and low priority.

[0087] Furthermore, it should be noted that the transmission latency requirement for the highest priority level message is no more than 5 milliseconds, and the transmission reliability requirement is no less than 99.999%; the transmission latency requirement for the high priority level message is no more than 10 milliseconds, and the transmission reliability requirement is no less than 99.99%; the transmission latency requirement for the medium priority level message is no more than 50 milliseconds, and the transmission reliability requirement is no less than 99.9%; and the transmission latency requirement for the low priority level message is no more than 200 milliseconds.

[0088] See Figure 2 , Figure 2 This is a diagram illustrating the relationship between vehicle network message priority allocation and time-sensitive network mapping, provided in an embodiment of the present invention. For example... Figure 2As shown in a specific example, in the four-level priority system, from top to bottom, the order is as follows: Level 1, the highest priority, corresponds to emergency safety messages, such as collision warning messages, and is mapped to the highest priority queue with a PCP value of seven; Level 2, the high priority, corresponds to real-time control messages, such as autonomous driving instructions, and is mapped to the second highest priority queue with a PCP value of six; Level 3, the medium priority, corresponds to non-real-time information, such as traffic status update messages, and background data, such as software update data, and is mapped to the medium priority queue with a PCP value of five; Level 4, the low priority, corresponds to messages with high latency tolerance and is mapped to the queue with a PCP value of four. This division is merely an example, and the present invention does not specifically limit the specific division method. The specific mapping method can be flexibly configured according to actual business needs. Through the above mapping relationship, the time-sensitive network scheduler can directly and accurately identify the urgency of a message based on its queue number and execute the corresponding scheduling strategy.

[0089] This embodiment provides a more refined level of differentiated service by refining vehicle-to-everything (V2X) messages into a four-level priority system and clearly defining their precise mapping relationship with the eight-level priority queues and PCP values ​​of the Time-Sensitive Network (TSN). Emergency safety messages are mapped to the highest priority queue (queue seven), regular safety messages to the second-highest priority queues (queues five and six), control signaling messages to the medium priority queues (queues three and four), and non-safety service messages to the low priority queues (queues zero and two). This allows the TSN scheduler to directly and accurately identify the urgency of messages based on queue numbers and execute corresponding scheduling strategies.

[0090] S2, perform hierarchical scheduling transmission of vehicle network messages in the priority queue, wherein time-aware shaping scheduling is enabled for the queue corresponding to high priority, periodic time gating windows are configured and allocated for high priority messages in the queue corresponding to high priority, credit shaping scheduling is enabled, the transmission of medium and low priority messages in the queue corresponding to medium and low priority is controlled based on credit limit, and when the high priority message arrives and the medium and low priority message is currently being transmitted, frame preemption scheduling is enabled to interrupt the transmission of the medium and low priority message in order to prioritize the transmission of the high priority message.

[0091] In practice, after priority allocation and queue mapping are completed, hierarchical scheduling and transmission are performed on the vehicle network messages waiting to be transmitted in each priority queue. The hierarchical scheduling and transmission comprehensively utilizes the coordinated operation of three scheduling mechanisms.

[0092] The overall process of the above-mentioned hierarchical scheduling transmission can be referred to Figure 3 . Figure 3 This is a flowchart illustrating the hierarchical scheduling process for vehicle-to-everything (V2X) messages based on time-sensitive networking, provided as an embodiment of the present invention. Figure 3As shown, the hierarchical scheduling transmission process begins with message collection and data input by sensors or communication modules. Subsequently, the collected vehicle network messages are prioritized, and the prioritized messages are stored in the corresponding time-sensitive network priority queues to complete queue caching. Specifically, the hierarchical scheduling transmission comprehensively utilizes the following three scheduling mechanisms: time-aware shaping scheduling provides periodic deterministic transmission windows for time-sensitive high-priority messages, ensuring contention-free transmission within dedicated time slots; frame preemption scheduling allows emergency messages to preempt transmission resources for low-priority messages, immediately interrupting the currently transmitting low-priority message upon arrival and prioritizing the transmission of the emergency message; credit shaping scheduling adjusts the transmission order of medium and low-priority messages based on credit values, allowing transmission when the credit limit meets preset conditions and prohibiting transmission when the credit limit is insufficient. The specific implementation methods of the above three scheduling mechanisms are described in detail below.

[0093] First, for queues corresponding to high-priority messages, time-aware shaping scheduling is enabled. Time-Aware Shaper (TAS) is a scheduling mechanism that uses pre-planned time gating windows to provide periodic, contention-free transmission opportunities for traffic of specific priorities.

[0094] In this embodiment, time-aware shaping scheduling is enabled for the queues corresponding to high-priority messages, and periodic time-gated windows are configured and allocated for the high-priority messages. The time-gated windows open periodically on the link transmission timeline. During the window opening period, link transmission resources are specifically allocated to the queues corresponding to the high-priority messages, and the high-priority messages enjoy exclusive transmission rights within the window, thereby avoiding contention and interference from low- and medium-priority messages.

[0095] Furthermore, for queues corresponding to low- and medium-priority messages, credit-based shaving (CBS) scheduling is enabled. This scheduling mechanism is a traffic control method based on credit accounts. In this embodiment, an initial credit limit is allocated to each queue corresponding to the low- and medium-priority messages. When transmitting messages, the corresponding credit limit is consumed based on the amount of data transmitted. When the queue is idle, the credit limit is restored at a preset constant rate. Only when the current credit limit of a queue meets a preset transmission threshold is the queue allowed to send messages. Through the dynamic balance between credit limit consumption and restoration, the long-term occupation of link bandwidth by low- and medium-priority messages is limited, reserving sufficient burst transmission space for high-priority messages.

[0096] Furthermore, when the high-priority message arrives in the transmission queue, if the current link is in the process of transmitting the medium- or low-priority messages, frame preemption scheduling is enabled. Frame preemption allows a high-priority message to immediately interrupt the transmission of the medium- or low-priority messages without waiting for the current low-priority messages to complete. The transmission status and breakpoint of the interrupted message are recorded, and the remaining part of the interrupted message is resumed from the breakpoint after the high-priority message transmission is completed. Through the frame preemption mechanism, the transmission waiting time of high-priority messages is compressed to a minimum, further reducing its end-to-end latency.

[0097] In some preferred embodiments, enabling time-aware shaping scheduling for the queues corresponding to high priorities, and configuring and allocating periodic time gating windows for high-priority messages in the queues corresponding to high priorities, includes: determining the period and duration of the time gating window based on the transmission period requirements of the highest priority level and the second-level high-priority messages; dividing the link time used for message transmission into multiple consecutive gating periods; allocating a dedicated transmission time slot for the highest priority level and the second-level high-priority messages within each gating period as the time gating window; and allowing only the queues corresponding to the highest priority level and the second-level high-priority messages to transmit within the transmission time slot corresponding to the time gating window, while prohibiting the queues corresponding to the medium priority level and the low priority level messages from transmitting.

[0098] In specific implementation, the core control data structure of the time-aware shaping scheduling involved in this embodiment is a gate control list, abbreviated as GCL. The gate control list defines a set of ordered gate entries, and each gate entry specifies the gate status of each priority queue within a time window, that is, which queues have their transmission gates open and which queues have their transmission gates closed.

[0099] First, based on the respective transmission cycle requirements of the highest-priority (Level 1) and high-priority (Level 2) messages, the period and duration of the time-gating window are determined. In practical vehicle-to-everything (V2X) applications, the typical broadcast cycle for basic safety messages is 100 milliseconds. Emergency safety messages are event-triggered messages, whose generation does not have a fixed cycle but requires extremely low latency once generated. Therefore, the period of the time-gating window needs to be adapted to the transmission frequency of the aforementioned periodic messages to ensure that there is a dedicated transmission opportunity within each transmission cycle. For example, the period for regular safety messages can be set to 100 milliseconds, and the period for emergency safety messages can be set to 20 milliseconds. The duration of the time-gating window must be sufficient to complete the full transmission of at least one highest-priority message.

[0100] Furthermore, the link time used for message transmission is divided into multiple consecutive gating periods. Link time refers to the continuous time axis followed by the output port of a time-sensitive network switch or the wireless transmission module. The time axis is divided according to the aforementioned determined period, with each period being one gating period. Within each gating period, a dedicated transmission time slot is allocated to both the highest priority (Level 1) and high priority (Level 2) messages; this transmission time slot constitutes the time gating window. During this time period, the corresponding entries in the gating list will set the transmission gate of the queues corresponding to the highest priority (Level 1) and high priority (Level 2) messages to the open state, while simultaneously setting the transmission gate of the queues corresponding to the medium priority (Level 3) and low priority (Level 4) messages to the closed state.

[0101] Furthermore, within the transmission time slot corresponding to the time-gated window, strict transmission isolation control is implemented. Specifically, only data frames awaiting transmission in the queues corresponding to the highest priority (Level 1) and high priority (Level 2) messages are allowed to be retrieved and sent to the physical link, while the queues corresponding to the medium priority (Level 3) and low priority (Level 4) messages are prohibited from any transmission operations during this time period, even if there is already data waiting to be sent in these medium and low priority queues. Through this time isolation mechanism, high-priority messages obtain a contention-free and interference-free deterministic transmission channel.

[0102] This embodiment makes the application of time-aware shaping scheduling in the vehicle-to-everything (V2X) scenario clearly operable by specifying the period and duration of the time gating window, the method of dividing link time, and strict transmission isolation rules within the window. Setting the gating period based on the sending period requirements of the highest priority (Level 1) and high priority (Level 2) messages ensures the periodic sending opportunity for each high-priority message, aligning with the transmission characteristics of V2X services. Dividing the link time into continuous gating periods and allocating dedicated transmission time slots within each period establishes a periodic deterministic transmission channel. Furthermore, the isolation control that allows only high-priority queues to transmit while prohibiting medium and low-priority queues within the gating window completely eliminates the contention and interference of medium and low-priority messages on high-priority messages from a time perspective, providing a core technical guarantee for the deterministic low-latency transmission of high-priority messages.

[0103] In some preferred embodiments, enabling frame preemption scheduling to interrupt the transmission of low-priority messages in order to prioritize the transmission of high-priority messages includes: generating a frame preemption instruction when the highest priority message (Level 1) or the highest priority message (Level 2) arrives in the transmission queue and the middle-priority message (Level 3) or the low-priority message (Level 4) is currently being transmitted; interrupting the current transmission frame of the middle-priority message (Level 3) or the low-priority message (Level 4) according to the frame preemption instruction, and recording the breakpoint position; prioritizing the transmission of the data frame corresponding to the highest priority message (Level 1) or the highest priority message (Level 2); and resuming the transmission of the interrupted middle-priority message (Level 3) or low-priority message (Level 4) from the breakpoint position after the transmission of the highest priority message (Level 1) or the highest priority message (Level 2) is completed.

[0104] In practice, the basic principle of frame preemption is to allow the transmission of a low-priority frame to be paused during transmission, and one or more high-priority frames to be transmitted in turn. After the high-priority frames have been transmitted, the remaining part of the paused low-priority frame is resumed.

[0105] Specifically, when a data frame from either the highest-priority Level 1 message or the high-priority Level 2 message arrives at the transmission queue exit of the time-sensitive network switch, and the physical link is currently transmitting a data frame from either the medium-priority Level 3 message or the low-priority Level 4 message, the scheduling decision logic immediately generates a frame preemption instruction. This frame preemption instruction is used to notify the link layer controller to suspend the currently ongoing transmission of low-priority frames.

[0106] Furthermore, based on the frame preemption command, the link layer controller immediately interrupts the transmission of the current frame of the level 3 medium-priority message or the level 4 low-priority message. For Ethernet frames, interruption can occur at any byte position within the frame. Simultaneously, the link layer controller records the breakpoint location of the interrupted frame and the context state information associated with that frame, such as intermediate values ​​of the frame check sequence calculation, so that transmission can be correctly resumed from that breakpoint later. This recording operation is crucial to ensuring the integrity of the interrupted frame data.

[0107] Furthermore, after completing the interruption and breakpoint recording, the link layer controller immediately switches transmission resources to the data frame corresponding to the first-level highest priority message or the second-level high priority message that triggered preemption, and begins to prioritize the transmission of that high-priority data frame. The entire transmission process of the high-priority frame is unaffected by the previous interruption event and proceeds at full speed.

[0108] Furthermore, after the complete data frame transmission of the highest priority message (Level 1) or the high priority message (Level 2) is completed, the link layer controller, based on the previously recorded breakpoint location and context state information, resumes transmission of the remaining portion of the previously interrupted medium priority message (Level 3) or low priority message (Level 4) starting from the breakpoint location. When the receiving end receives a low-priority frame that has been split into two segments, it can reassemble the two segments into a complete original frame according to the frame reassembly mechanism specified in the standard protocol.

[0109] Furthermore, in wireless broadcasting scenarios, the frame preemption mechanism at the receiving end manifests as follows: the receiving end determines the processing order of messages based on the priority information carried by the received messages. High-priority messages are delivered to the upper-layer application for processing first.

[0110] This embodiment achieves extreme compression of the waiting time for high-priority message transmission by defining the triggering conditions, interruption and breakpoint recording, priority transmission, and breakpoint recovery process of frame preemption scheduling. When a high-priority message arrives, it no longer passively waits for a potentially long low-priority message to complete, but actively generates a preemption command to interrupt its transmission. Furthermore, the mechanism of recording the breakpoint position and recovering from the breakpoint after the high-priority message transmission is completed ensures both rapid response to high-priority messages and avoids the bandwidth waste caused by the need to retransmit the entire frame due to the interruption of low-priority messages. This mechanism works in conjunction with time-aware shaping scheduling to jointly guarantee the latency and jitter performance of high-priority security messages at different time scales.

[0111] In some preferred embodiments, enabling credit-shaping scheduling to manage the transmission of low-priority messages in the queues corresponding to low-priority messages based on credit limits includes: allocating initial credit limits to each queue corresponding to the third-level medium priority and the fourth-level low priority; deducting the credit limit corresponding to each queue based on the amount of data transmitted when messages are transmitted in each queue; restoring the credit limit corresponding to each queue at a preset rate when each queue is idle; determining whether the current credit limit of each queue meets a preset transmission threshold; if the current credit limit of each queue meets the preset transmission threshold, allowing each queue to transmit messages; if the current credit limit of each queue does not meet the preset transmission threshold, prohibiting each queue from transmitting messages until the credit limit is restored to above the transmission threshold.

[0112] In practice, the core of credit-shaping scheduling is the state variable of the credit value. The credit value increases at a preset idle slope rate when the queue is idle and decreases at a preset sending slope rate when the queue is sending data. When the credit value is negative, the queue is prohibited from sending; when the credit value is positive, the queue is eligible to send.

[0113] First, an initial credit limit is assigned to each time-sensitive network queue corresponding to the third-level medium-priority queue and the fourth-level low-priority queue. The initial credit limit can be statically configured based on the expected traffic load and guaranteed bandwidth requirements of each queue; this invention is not specifically limited, but it is typically set to a small positive value. The unit of the credit limit is bytes.

[0114] Furthermore, when messages in each queue are actually transmitted, for every certain amount of data sent, such as for every successfully transmitted Ethernet frame, the scheduler deducts a credit value equal to the amount of data sent from the credit limit currently held by that queue. The deducted credit value is proportional to the actual amount of data sent.

[0115] Furthermore, during the period when each queue is idle, i.e., when no data frames are waiting to be sent, the scheduler continuously restores the credit limit of that queue according to a preset constant recovery rate. The setting of the recovery rate determines the maximum average bandwidth that the queue can obtain during long-term operation. The longer the idle time, the more credit limit the queue accumulates.

[0116] Furthermore, each time a data frame is waiting to be sent, the scheduler determines whether the current credit limit of each queue meets a preset transmission threshold. This transmission threshold is typically set to zero. If the current credit limit of each queue meets the preset transmission threshold (i.e., the credit limit is greater than or equal to zero), the scheduler allows the data frames in that queue to participate in subsequent transmission contention and send them according to strict priority or time-gated window rules. Further, if the current credit limit of each queue does not meet the preset transmission threshold (i.e., the credit limit is negative), the scheduler temporarily prohibits that queue from performing any transmission operations, even if the link is currently idle and no other higher-priority queues have data to send. This queue must wait for its credit limit to accumulate back to a non-negative value through an idle time recovery mechanism before it can obtain a transmission permission again.

[0117] This embodiment provides an effective means of fine-grained traffic control for low- and medium-priority queues by detailing the credit allocation, consumption, recovery, and threshold judgment steps in credit shaping scheduling. The dynamic balancing mechanism of credit consumption during transmission and recovery during idle periods limits the long-term average occupancy rate of link bandwidth for low- and medium-priority queues to below a level determined by a preset recovery rate. Furthermore, when a queue's credit limit becomes negative due to sudden traffic surges, the queue will be temporarily prohibited from transmission until the credit limit recovers to a non-negative value. This mechanism effectively prevents non-security-related big data services from greedily occupying shared channel resources, ensuring bandwidth fairness between low- and medium-priority services while guaranteeing high-priority message resources, thus achieving a balance between overall system throughput and the determinism of critical services.

[0118] S3. Obtain the current base station coverage status and channel status, and based on the base station coverage status and channel status, switch between base station cooperative scheduling mode and pure time-sensitive network autonomous scheduling mode to adapt to the current scenario for the hierarchical scheduling transmission.

[0119] In specific implementation, during the execution of the aforementioned hierarchical scheduling transmission, this invention simultaneously acquires the current base station coverage status and channel status. The base station coverage status reflects whether the vehicle is currently within the effective signal coverage range of the cellular network base station and signal quality indicators such as reference signal received power. The channel status reflects the current busy level and interference level of the vehicle-to-everything (V2X) direct communication channel. Furthermore, based on the real-time monitoring results of the base station coverage status and channel status, this invention dynamically switches between a base station collaborative scheduling mode and a purely time-sensitive network autonomous scheduling mode.

[0120] Furthermore, when the base station coverage is good and the channel status is stable, it operates in the base station collaborative scheduling mode, where the base station coordinates the allocation of wireless resources. The vehicle-mounted time-sensitive network scheduling module performs collaborative scheduling based on the resource authorization information issued by the base station and its own time gating window, thereby improving the overall resource utilization efficiency.

[0121] Furthermore, when situations such as base station coverage loss, severe signal attenuation, or scheduling link failure are detected, the system switches to a pure time-sensitive network (TSN) autonomous scheduling mode. In this mode, vehicles rely entirely on the distributed time synchronization and autonomous resource selection mechanisms of the TSN to complete message scheduling and transmission, without the need for base station involvement, thus ensuring communication continuity. This scenario-adaptive mode switching enables the hierarchical scheduling transmission to continuously adapt to various complex road traffic and network deployment environments.

[0122] This embodiment establishes a mapping relationship between vehicle-to-everything (V2X) message priorities and time-sensitive network (TSN) queues, transforming the differentiated quality of service requirements of V2X services into priority identifiers that can be identified and scheduled by TSN, thus laying a unified data foundation for subsequent deterministic scheduling. Furthermore, by comprehensively utilizing a hybrid hierarchical scheduling mechanism—which allocates periodic contention-free transmission windows for high-priority messages using time-aware shaping scheduling, imposes upper limits on bandwidth usage for medium- and low-priority messages using credit shaping scheduling, and allows high-priority messages to immediately interrupt the transmission of low-priority messages—V2X messages of different priorities receive deterministic transmission services commensurate with their importance in the shared wireless channel. The end-to-end latency of high-priority security messages is no longer affected by the blocking of low-priority, high-volume services, achieving predictable deterministic low-latency transmission. Furthermore, by dynamically switching between cooperative and autonomous scheduling modes in real-time sensing of base station coverage and channel status, this invention can seamlessly adapt to various practical deployment scenarios, from well-covered cellular networks to areas with no coverage, and from lightly loaded to heavily loaded channels, ensuring the continuity and robustness of V2X communication services.

[0123] In some preferred embodiments, the step of obtaining the current base station coverage status and channel status, and switching between base station cooperative scheduling mode and pure time-sensitive network autonomous scheduling mode based on the base station coverage status and channel status, includes: obtaining network coverage parameters, including reference signal received power and signal-to-interference-plus-noise ratio; obtaining scheduling link status parameters, including grant jitter, channel busy rate and scheduling conflict rate; obtaining security message transmission performance parameters, including packet loss rate and end-to-end delay of emergency security messages and basic security messages; determining whether a first-level trigger condition is met, the first-level trigger condition including at least one of the following conditions: the reference signal received power is lower than a first preset threshold and the duration exceeds a first duration; no cellular network signal is detected continuously for more than a second duration; the scheduling link times out and the number of out-of-step events reaches a first preset threshold; no semi-persistent scheduling grant is received continuously for more than a third duration; the packet loss rate exceeds a second preset threshold; the end-to-end delay exceeds a third preset threshold and the duration exceeds a first preset threshold. A preset number of transmission cycles are defined. If at least one of the first-level trigger conditions is met, the system switches from the base station cooperative scheduling mode to the pure time-sensitive network autonomous scheduling mode. If all of the first-level trigger conditions are not met, it is determined whether a second-level trigger condition is met. The second-level trigger condition includes simultaneously meeting at least two of the following conditions for a duration exceeding a fourth time period: the reference signal received power is greater than a fourth preset threshold and less than a fifth preset threshold, and the signal-to-interference-plus-noise ratio is less than a sixth preset threshold for a duration exceeding a fifth time period; the license jitter exceeds a seventh preset threshold; the channel busy rate exceeds an eighth preset threshold and the base station scheduling conflict rate exceeds a ninth preset threshold; the average end-to-end delay exceeds a tenth preset threshold; the message transmission reliability is lower than an eleventh preset threshold; the roadside unit is out of contact for more than a sixth time period; the update cycle of the cooperative sensing message exceeds a seventh time period. If the second-level trigger condition is met, the system switches from the base station cooperative scheduling mode to the pure time-sensitive network autonomous scheduling mode. If the second-level trigger condition is not met, the base station cooperative scheduling mode is maintained.

[0124] In specific implementation, the vehicle-to-everything (V2X) communication resource scheduling modes involved in this embodiment include Mode 3 and Mode 4. Mode 3 is a mode in which resources are centrally scheduled by base stations; Mode 4 is a distributed scheduling mode in which vehicles autonomously select resources. The base station collaborative scheduling mode corresponds to Mode 3, and the pure time-sensitive network autonomous scheduling mode corresponds to the working mode that combines autonomous resource selection by vehicles with time-sensitive network scheduling when there is no base station coverage or base station scheduling fails.

[0125] First, obtain multi-dimensional status monitoring parameters to provide a data foundation for subsequent handover decisions.

[0126] Specifically, network coverage parameters are acquired, which are used to quantitatively characterize the quality of the wireless link between the vehicle and the cellular network base station. These parameters include reference signal received power (RSRP) and signal-to-interference-plus-noise ratio (SINR). RSRP reflects the strength of the reference signal received by the vehicle from the serving base station. SINR reflects the ratio of the useful signal to environmental interference and noise floor. When the vehicle is within the base station's coverage area, the onboard communication module continuously measures and records the values ​​of RSRP and SINR.

[0127] Further, scheduling link status parameters are obtained, which are used to quantitatively characterize the scheduling stability and congestion level of the current vehicle-to-everything (V2X) direct communication links. Specifically, the scheduling link status parameters include grant jitter, channel busy rate, and scheduling conflict rate. Grant jitter refers to the degree of fluctuation in the period or resource location of the semi-persistent scheduling grant issued by the base station relative to the expected pattern. Excessive grant jitter can cause periodic messages to fail to obtain stable transmission resources within the expected time window. Further, the full English name of channel busy rate is Channel Busy Ratio, abbreviated as CBR, which refers to the number or time proportion of sub-channels in the side link resource pool where the received signal strength measured by the vehicle exceeds a preset busy threshold within an observation time window. The higher the CBR value, the heavier the communication load in the current wireless environment. Further, the scheduling conflict rate refers to the probability of transmission failure when the vehicle autonomously selects resources or the base station allocates resources, due to selecting the same resources as other nodes, reflecting the intensity of channel resource competition.

[0128] Furthermore, secure message transmission performance parameters are obtained, including packet loss rate and end-to-end latency for emergency secure messages and basic secure messages. Emergency secure messages are, for example, Decentralized Environmental Notification Messages (DENM); basic secure messages are Basic Safety Messages (BSM). Packet loss rate refers to the proportion of secure messages sent by the sender but not successfully received by the receiver within a certain observation period. End-to-end latency refers to the time elapsed from the generation of a secure message at the sender's application layer to its successful delivery at the receiver's application layer. These two parameters directly reflect the reliability of secure message transmission under current communication conditions and are key criteria for determining whether to switch to autonomous scheduling mode.

[0129] Furthermore, based on the above parameters, a first-level trigger condition is determined. Each first-level trigger condition corresponds to an emergency requiring immediate switching; meeting any one of these conditions triggers the switch. The first-level trigger condition includes at least one of the following six conditions:

[0130] The first condition is that the received power of the reference signal is lower than a first preset threshold, and this state of being below the threshold lasts for more than a first duration. This condition indicates that the vehicle has entered a deep coverage blind zone, the base station signal is extremely weak, and continued reliance on base station scheduling will lead to communication interruption. As an example, the first preset threshold can be set to -125 milliwatt decibels, and the first duration can be set to 200 milliseconds.

[0131] Furthermore, the second condition is: no cellular network signal is detected for more than a second duration. This condition indicates that the vehicle has completely left cellular network coverage, for example, by entering a tunnel or remote area, and is unable to receive any base station signaling via the Uu interface. As an example, the second duration can be set to three seconds, meaning that if no cellular network signal is detected for three consecutive seconds, the condition is considered met.

[0132] Furthermore, the third condition is: the scheduling link times out and the number of missed steps reaches a first preset threshold. This condition indicates that the scheduling synchronization link between the vehicle and the base station has completely failed. For example, a scheduling link timeout can correspond to a T310 timer timeout, with the timeout duration set to two seconds; the number of missed steps can correspond to the N310 counter reaching a preset number, for example, N310 equals ten missed steps. When T310 times out and N310 reaches ten, this condition is considered met.

[0133] Furthermore, the fourth condition: No semi-persistent scheduling authorization is received for more than a third duration. This condition indicates that the base station's resource authorization function has failed, and the vehicle cannot obtain the SPS resources required to periodically send security messages. Continuing to wait for base station authorization will lead to a backlog of security messages. As an example, the third duration can be set to 500 milliseconds.

[0134] Furthermore, the fifth condition is that the packet loss rate exceeds the second preset threshold. This condition directly indicates that the transmission reliability of security messages has seriously failed to meet the standards; even if network coverage is still acceptable, channel congestion or scheduling conflicts have led to a large number of security messages being lost. As an example, the second preset threshold can be set to 40%, meaning that the condition is met when the packet loss rate of high-priority security messages such as DENM or BSM exceeds 40%.

[0135] Furthermore, the sixth condition is: the end-to-end latency exceeds a third preset threshold, and this state of exceeding the threshold persists for more than a first preset number of transmission cycles. This condition indicates that the transmission latency of the security message has severely exceeded the limit and shows a continuous deterioration trend, rather than a momentary fluctuation. As an example, the third preset threshold can be set to one hundred milliseconds, and the first preset number can be set to three transmission cycles; that is, when the latency exceeds one hundred milliseconds and persists for more than three transmission cycles, the condition is determined to be met.

[0136] Furthermore, if at least one of the above six conditions is met, it is determined that the current network and channel conditions can no longer meet the stable operation requirements of the base station cooperative scheduling mode, and an immediate switching action is required. Therefore, the system switches from the base station cooperative scheduling mode to the pure time-sensitive network autonomous scheduling mode. In the pure time-sensitive network autonomous scheduling mode, the vehicle stops receiving scheduling instructions issued by the base station, clears the Mode 3 resource pool, starts the time-sensitive network autonomous scheduling stack, and relies on its own perception and distributed coordination capabilities to complete message scheduling and transmission.

[0137] Furthermore, if all six conditions in the first-level triggering condition are not met, it is determined that there is no emergency requiring immediate switching, but the possibility of gradual degradation in communication quality cannot be ruled out. In this case, it is further determined whether the second-level triggering condition is met. The second-level triggering condition corresponds to a situation where communication quality has significantly deteriorated but has not yet reached a complete failure level. It requires a combination of multiple conditions to confirm the degradation trend and avoid unnecessary switching due to instantaneous fluctuations in a single parameter. The second-level triggering condition requires that at least two of the following seven conditions be met simultaneously, and the duration of this simultaneous satisfaction exceeds the fourth time interval:

[0138] The first condition is that the received reference signal power is greater than a fourth preset threshold and less than a fifth preset threshold, and the signal-to-interference-plus-noise ratio (SINR) is less than a sixth preset threshold, and this state lasts for more than a fifth duration. This condition indicates that the vehicle is in a coverage edge area, where the signal strength, although not completely lost, is weak and the signal quality has severely degraded. For example, the fourth preset threshold can be set to -120 mW / dB, the fifth preset threshold can be set to -110 mW / dB, the sixth preset threshold can be set to 3 dB, and the fifth duration can be set to 300 milliseconds. That is, when the RSRP is between -120 and -110 mW / dB, and the SINR is less than 3 dB and lasts for more than 300 milliseconds, this condition is considered met.

[0139] Furthermore, the second condition is that the authorization jitter exceeds a seventh preset threshold. This condition indicates a decrease in the stability of the base station's resource authorization, making the timing of periodic message transmission unpredictable. For example, the seventh preset threshold can be set to 50%, meaning that the condition is met when the fluctuation of the authorization period or resource location exceeds 50%.

[0140] Furthermore, the third condition is: the channel busy rate exceeds an eighth preset threshold and the base station scheduling conflict rate exceeds a ninth preset threshold. This condition indicates that the channel load is heavy and the base station scheduling effect is poor, with a large number of scheduling grants colliding. As an example, the eighth preset threshold can be set to 50%, and the ninth preset threshold can be set to 20%. That is, when the CBR exceeds 50% and the base station scheduling conflict rate exceeds 20%, the condition is considered met.

[0141] Furthermore, the fourth condition is: the average end-to-end latency exceeds the tenth preset threshold. This condition indicates that the overall communication latency has significantly deteriorated, and the timeliness of all types of messages has been affected. As an example, the tenth preset threshold can be set to eighty milliseconds.

[0142] Furthermore, the fifth condition is: message transmission reliability is below the eleventh preset threshold. This condition indicates that the probability of successful message delivery has dropped to an unacceptable level. For example, the eleventh preset threshold can be set to 90%, meaning that the condition is met when the reliability is below 90%.

[0143] Furthermore, the sixth condition: the roadside unit is out of contact for more than a sixth duration. The full name of the roadside unit is Roadside Unit, abbreviated as RSU. RSU outage means that the source of roadside cooperative sensing information is interrupted, and the vehicle loses an important supplementary means of environmental perception. For example, the sixth duration can be set to one second.

[0144] Furthermore, the seventh condition: the update cycle of the collaborative sensing message exceeds the seventh duration. The full English name for collaborative sensing message is Road Side Message, abbreviated as RSM. An excessively long RSM update cycle means that the timeliness of roadside sensing information can no longer meet the requirements of safety applications. For example, the seventh duration can be set to 500 milliseconds.

[0145] Furthermore, if at least two of the above seven conditions are met simultaneously, and the duration of this simultaneous satisfaction exceeds the fourth duration, then it is determined that multiple indicators of communication quality have shown coordinated degradation, and the base station cooperative scheduling mode is unable to maintain the required service quality. For example, the fourth duration can be set to 500 milliseconds. In this case, the system switches from the base station cooperative scheduling mode to the pure time-sensitive network autonomous scheduling mode.

[0146] Furthermore, if at least two of the secondary triggering conditions are not met simultaneously, or if they were met simultaneously but the duration did not exceed the fourth duration, it is determined that the current communication quality is still within an acceptable range or the degradation is only a temporary phenomenon. Therefore, the base station collaborative scheduling mode remains unchanged, and the wireless resource allocation information sent by the base station continues to be received, and collaborative scheduling is performed with the time-sensitive network scheduling window.

[0147] This embodiment constructs a two-level triggering system, dividing the handover decision into two levels: emergency triggering and comprehensive judgment. This ensures rapid response in extreme situations while avoiding erroneous handovers caused by instantaneous fluctuations in a single indicator through the dual constraints of multiple condition combinations and duration. The first-level triggering conditions cover three dimensions: network coverage loss, scheduling link failure, and severe degradation of security message transmission performance. This ensures that an immediate switch to autonomous mode can be initiated when any dimension experiences extreme degradation, guaranteeing uninterrupted security message communication. Furthermore, the second-level triggering conditions require multiple indicators to degrade simultaneously and for a certain period of time. Through cross-dimensional comprehensive judgment, a trend of declining communication quality is confirmed, improving the accuracy and stability of the judgment while maintaining handover sensitivity. By introducing security message packet loss rate and end-to-end latency as handover decision parameters, the handover decision is directly linked to the service quality requirements of security applications, further enhancing the adaptability of this method to core vehicle-to-everything (V2X) scenarios.

[0148] In some preferred embodiments, after switching to the pure time-sensitive network autonomous scheduling mode, the method further includes: stopping the reception of scheduling instructions issued by the base station and clearing the resource pool in the base station scheduling mode; performing network-wide time synchronization based on the global navigation satellite system timing signal to obtain a unified time reference; performing full-band sensing on the communication channel under the unified time reference to obtain the busy / idle status of the channel, interference intensity, and resource occupancy of surrounding nodes to obtain channel sensing results; filtering and reserving idle time-frequency transmission resources for the vehicle network messages to be transmitted based on the channel sensing results and the time gating window to obtain resource reservation information; and broadcasting the resource reservation information to surrounding nodes through sidechain control information.

[0149] In this specific implementation, the precise time synchronization protocol involved in this embodiment is the generalized precision time synchronization protocol, abbreviated as gPTP. gPTP can provide sub-microsecond or even nanosecond-level time synchronization accuracy for distributed network nodes. Furthermore, semi-persistent scheduling, abbreviated as SPS, is the core mechanism for reserving periodic message resources in vehicle-to-everything (V2X) direct communication.

[0150] Specifically, after switching from the base station collaborative scheduling mode to the pure time-sensitive network autonomous scheduling mode, the present invention further includes the following processing steps.

[0151] First, stop receiving any scheduling instructions from the base station, including dynamic authorization and semi-persistent scheduling activation or release signaling, and clear the authorized resource pool maintained in the base station scheduling mode (Mode 3). This operation ensures that resource allocation information between the old and new modes is not confused, achieving a complete reset of the scheduling state. Simultaneously, start the time-sensitive network autonomous scheduling stack and load locally pre-configured autonomous scheduling parameters.

[0152] Furthermore, network-wide time synchronization is performed based on timing signals from Global Navigation Satellite Systems (GNSS). GNSS systems, such as the Global Positioning System (GPS) or the BeiDou Navigation Satellite System (BDS), provide timing signals with extremely high long-term stability and global consistency. The vehicle-mounted time-sensitive network module receives the timing signals and extracts integer-second pulses and absolute time information, using this information to calibrate the local clock. Further, gPTP protocol messages are exchanged between vehicles or between vehicles and roadside units. The gPTP protocol, through mechanisms such as master clock election, link delay measurement, and time synchronization message exchange, achieves high-precision phase alignment and time base unification across all network nodes, ultimately resulting in a unified time base with an error at the nanosecond level.

[0153] Furthermore, under the unified time reference, full-band sensing is performed on the communication channel. Full-band sensing refers to the vehicle first listening on the frequency band corresponding to the pre-configured sidelink communication resource pool before sending a message. The listening window length is, for example, one thousand subframes. During the listening process, the received signal strength indication and reference signal received power on each candidate subchannel or resource block are measured and recorded, while simultaneously attempting to decode sidelink control information sent by other surrounding vehicles. Sidelink control information, abbreviated as SCI, is used to parse the SCI. By parsing the SCI, information such as the resource reservation plan of surrounding nodes, the priority of messages to be sent (PPPP value), and the resource reservation interval can be obtained. Combining the above sensing data, a channel sensing result reflecting the current channel busy / idle status, interference intensity distribution, and details of resource occupancy by surrounding nodes is obtained.

[0154] Furthermore, based on the channel perception results and the time gating window configured in the aforementioned embodiments, idle time-frequency transmission resources are reserved for the vehicle-to-everything (V2X) messages to be transmitted. The filtering process first performs a resource exclusion step according to the 300-point two-way link resource allocation algorithm defined in the 3GPP standard: excluding resources with simultaneous transmit / receive slot conflicts caused by half-duplex limitations, excluding high-interference resources with RSRP measurements exceeding a preset threshold, and excluding resources already reserved for higher-priority messages. After exclusion, from the remaining candidate resource pool, combined with the constraints of the time gating window on the timing of high-priority message transmission, one or more resources are randomly selected within a selection window that meets the delay budget. For the selected resources, the vehicle marks them as reserved and generates corresponding resource reservation information. The resource reservation information includes key fields such as the time-frequency location of the reserved resource, the resource reservation interval, the transmission priority, and the reservation location indication for the next cycle.

[0155] Furthermore, the resource reservation information is broadcast to surrounding nodes within the communication range via sidechain control information (SCI). Upon receiving the resource reservation information, the surrounding nodes update their respective channel occupancy maps and actively avoid these reserved resources during subsequent resource selection processes, thereby achieving proactive conflict avoidance in a distributed environment.

[0156] This embodiment details the complete workflow from time synchronization, channel awareness, resource reservation to broadcast announcement in a purely time-sensitive network autonomous scheduling mode. By ceasing to receive base station scheduling and clearing the resource pool, a complete state reset is achieved during mode switching. Network-wide time synchronization via Global Navigation Satellite System (GNSS) time synchronization combined with the gPTP protocol provides a unified time reference with nanosecond-level precision for distributed nodes, a fundamental prerequisite for the effectiveness of subsequent time-gated scheduling and resource reservation. Furthermore, through full-band channel awareness and SCI parsing, vehicles can obtain real-time channel occupancy maps of their surroundings, providing a basis for autonomous resource selection. Resource selection and reservation based on the combined constraints of channel awareness results and time-gated windows ensure that resource selection in autonomous mode considers both channel idleness and message latency budgets and priority requirements. Finally, implicit coordination among distributed nodes is achieved through SCI broadcast reservation information, proactively avoiding numerous potential message conflicts at the source.

[0157] Furthermore, in some preferred embodiments, after switching to the pure time-sensitive network autonomous scheduling mode, the method further includes: real-time monitoring of whether preset back-off conditions are met, and switching back from the pure time-sensitive network autonomous scheduling mode to the base station cooperative scheduling mode when the back-off conditions are met. The back-off conditions include: the reference signal received power continuously exceeding a first preset threshold, and the signal-to-interference-plus-noise ratio continuously exceeding a preset quality threshold, and neither the first-level trigger condition nor the second-level trigger condition is triggered, and the duration of the above state exceeds an eighth time period. After switching back to the base station cooperative scheduling mode, receiving scheduling instructions issued by the base station resumes, restoring cooperative scheduling based on base station resource authorization and the time-gating window.

[0158] In some preferred embodiments, after broadcasting the resource reservation information to surrounding nodes, the method further includes: performing physical layer collision detection, including monitoring channel received power and signal distortion, and determining whether the channel received power exceeds a preset power threshold and the sidechain control information cannot be decoded, or whether the data cyclic redundancy check has consecutive errors; if the channel received power exceeds the preset power threshold and the sidechain control information cannot be decoded, or the data cyclic redundancy check has consecutive errors, then a physical layer collision alarm is generated; performing protocol layer collision detection, including performing cyclic redundancy check and sequence number verification on the received message; if the verification fails or the sequence number is missing, then a protocol layer collision alarm is generated. A sudden alarm is triggered; in response to generating the physical layer conflict alarm or the protocol layer conflict alarm, the priority of the conflicting vehicular network message is determined; if the conflicting vehicular network message is a level four low-priority message, the conflicting vehicular network message is discarded; if the conflicting vehicular network message is a level one highest-priority message, a level two high-priority message, or a level three medium-priority message, the step of performing full-band sensing on the communication channel is re-executed, a new time-sensitive network scheduling time slot is allocated for the conflicting vehicular network message, and the conflicting vehicular network message is retransmitted within the new time-sensitive network scheduling time slot according to a preset retransmission count limit.

[0159] In specific implementation, the collision detection methods involved in this embodiment include energy detection and cyclic redundancy check. Energy detection is abbreviated as ED. Cyclic redundancy check is abbreviated as CRC.

[0160] Specifically, after broadcasting the resource reservation information to surrounding nodes via the sidechain control information (SCI), the present invention further includes steps related to conflict detection and conflict handling.

[0161] The overall mechanism for conflict detection and conflict resolution described above can be referred to Figure 4 . Figure 4 This is a flowchart illustrating the vehicle-to-everything (V2X) message conflict avoidance and processing provided in an embodiment of the present invention. Figure 4As shown, the process includes two parallel processing paths: proactive avoidance and reactive handling. In the proactive avoidance path, channel awareness is first implemented to monitor channel occupancy in real time and allocate transmission time slots based on message priority. Then, resource reservation is performed, dividing time and frequency domain resources to reserve dedicated transmission resources for high-priority messages. Normal message transmission occurs after resource reservation is complete. In the reactive handling path, messages are first transmitted normally in the absence of collisions, while collision detection is continuously performed. The received signal is monitored to determine if the collision triggering conditions are met. If a signal collision is detected, a rescheduling process is triggered, reallocating time and frequency domain resources for the conflicting message and retransmitting the high-priority message. Through this combination of proactive avoidance and reactive handling, this solution provides reliable transmission guarantees for vehicle-to-everything (V2X) messages from both collision prevention and collision recovery perspectives. The specific implementation methods of collision detection and rescheduling are detailed below.

[0162] First, physical layer collision detection is performed. Physical layer collision detection primarily relies on real-time monitoring of the received signal energy and characteristics. Specifically, this includes continuously monitoring the channel's received power and determining whether the channel's received power exceeds a preset power threshold, while simultaneously attempting blind decoding of the SCI carried in the received signal. If the channel's received power significantly exceeds the preset power threshold, for example, -90 milliwatt-decibels, it indicates strong signal activity in the channel, but the SCI cannot be successfully decoded, suggesting a collision likely caused by multiple signals superimposed on the same time-frequency resource. Furthermore, physical layer collision detection also includes CRC checking of the received data portion. If the CRC of the data portion shows multiple consecutive errors, a physical layer collision can also be determined. When either of the above conditions is met—that is, the channel's received power exceeds the preset power threshold and the SCI cannot be decoded, or the data CRC shows consecutive errors—a physical layer collision alarm is generated.

[0163] Furthermore, protocol layer collision detection is performed. Protocol layer collision detection operates at a higher level of abstraction than the physical layer. Specifically, it includes CRC checksum verification and sequence number verification for received and successfully decoded messages. Even if the physical layer does not detect a collision, if the protocol layer finds that a message's CRC checksum fails, it indicates that the data was corrupted during transmission; or if it finds that the received message sequence number is discontinuous, it indicates that a message was lost during transmission. Both of these situations may be caused by transient collisions. Once a checksum failure or a missing sequence number is detected, a protocol layer collision alarm is generated.

[0164] Furthermore, in response to the generation of the physical layer conflict alarm or the protocol layer conflict alarm, the present invention immediately determines the priority of the conflicting vehicle-to-everything (V2X) messages. The priority can be determined based on the priority information of messages sent within the current cycle recorded by the vehicle itself, or by inference based on partial information parsed from the conflict alarm.

[0165] Furthermore, different processing strategies are executed based on the priority of the conflicting vehicle-to-everything (V2X) messages. If the conflicting V2X message is determined to be a low-priority (Level 4) message, since such messages do not have strict requirements for latency and reliability, retransmission would consume valuable channel resources. Therefore, the conflicting V2X message is directly discarded, and no retransmission is attempted.

[0166] Furthermore, if the conflicting vehicular network message is determined to be a Level 1 highest priority message, a Level 2 high priority message, or a Level 3 medium priority message, it indicates that important information failed to be delivered successfully and transmission must be resumed. In this case, the present invention re-executes the steps described above for performing full-band sensing of the communication channel to obtain the latest channel state. Based on the latest channel sensing results, a new time-sensitive network scheduling slot is reallocated to the conflicting vehicular network message. This new time-sensitive network scheduling slot must also meet the message's delay budget requirements and be aligned with the time gating window. Then, within the newly allocated time-sensitive network scheduling slot, the conflicting vehicular network message is retransmitted according to a preset retransmission limit. For example, a Level 1 highest priority message is allowed to be retransmitted a maximum of three times, a Level 2 high priority message a maximum of two times, and a Level 3 medium priority message a maximum of one time. If the transmission still fails after reaching the retransmission limit, a transmission failure is reported, triggering an exception handling process in the upper-layer application or network layer.

[0167] This embodiment improves the detection rate and accuracy of various collision events in the wireless environment by constructing a dual collision detection mechanism that combines physical layer energy detection with SCI decoding judgment and protocol layer CRC verification with sequence number checking. Physical layer detection is sensitive to energy anomalies and decoding failures, and can quickly detect underlying collisions; protocol layer detection verifies data integrity and continuity, and can detect packet loss and errors visible at the upper layer. The two complement each other, making collision alarms more timely and reliable. Furthermore, after detecting a collision, this embodiment performs differentiated processing based on the priority of the conflicting messages. Low-priority messages (level 4) are directly discarded without retransmission, avoiding the negative effect of exacerbating collisions by retransmitting non-critical data when the channel is already congested. Furthermore, for the highest priority (level 1), high priority (level 2), and medium priority (level 3) messages, channel awareness is re-executed and new time-sensitive network scheduling slots are allocated for a limited number of retransmissions. This priority-based retransmission strategy concentrates valuable channel resources and retransmission opportunities on ensuring the reliable delivery of security-related messages, significantly improving the transmission success rate of critical messages in high-density scenarios with frequent channel collisions.

[0168] In some preferred embodiments, the method further includes: obtaining the current channel busy rate value; determining the congestion interval in which the channel busy rate value is located; if the channel busy rate value is in a preset first congestion interval, maintaining the current transmission strategy of the fourth-level low-priority messages, the third-level medium-priority messages, the second-level high-priority messages, and the first-level highest-priority messages unchanged; if the channel busy rate value is in a preset second congestion interval, restricting the transmission of the fourth-level low-priority messages, extending the transmission period of the fourth-level low-priority messages, and maintaining the transmission strategy of the third-level medium-priority messages, the second-level high-priority messages, and the first-level highest-priority messages unchanged; if the channel busy rate value is in a preset third congestion interval, suspending the transmission of the fourth-level low-priority messages, compressing the transmission bandwidth of the third-level medium-priority messages, and maintaining the transmission strategy of the second-level high-priority messages and the first-level highest-priority messages unchanged; wherein, the upper limit of the first congestion interval is less than the lower limit of the second congestion interval, and the upper limit of the second congestion interval is less than the lower limit of the third congestion interval.

[0169] In specific implementation, the vehicle-to-everything (V2X) message scheduling method further includes a hierarchical congestion control mechanism based on channel busy rate (CBR). First, the current channel busy rate value is obtained. Channel busy rate refers to the proportion of sub-channels in the sidelink resource pool where the received signal strength measured by the vehicle exceeds a preset busy threshold within an observation time window. A higher CBR value indicates a heavier communication load in the current wireless environment, and a correspondingly higher probability of message collisions.

[0170] Further, it is determined which preset congestion interval the obtained channel busy rate value currently falls within. This embodiment presets three consecutive congestion intervals: a first congestion interval, a second congestion interval, and a third congestion interval. The upper limit of the first congestion interval is less than the lower limit of the second congestion interval, and the upper limit of the second congestion interval is less than the lower limit of the third congestion interval. In some optional implementations, the first congestion interval is set as the interval where the CBR is less than 30%, corresponding to a light congestion state; the second congestion interval is set as the interval where the CBR is between 30% and 60%, corresponding to a moderate congestion state; and the third congestion interval is set as the interval where the CBR is greater than or equal to 60%, corresponding to a heavy congestion state.

[0171] Furthermore, based on the congestion interval where the channel busy rate value is located, the corresponding transmission strategy adjustment is performed.

[0172] If the channel busy rate value is within the preset first congestion interval, it indicates that the current channel load is relatively light, and no congestion control intervention is required. Therefore, the current transmission strategies for the fourth-level low-priority messages, the third-level medium-priority messages, the second-level high-priority messages, and the first-level highest-priority messages remain unchanged, and each priority message is sent normally according to its original period, rate, and scheduling method. Within this interval, the transmission rate of low-priority messages can also be moderately optimized to balance the channel load.

[0173] Furthermore, if the channel busy rate value is within the preset second congestion interval, it indicates that the channel is moderately congested, requiring appropriate restrictions on non-critical services to release some channel resources. In this case, the transmission of the fourth-level low-priority messages is restricted, specifically by extending the transmission period of these messages. For example, the map download data request, originally sent every 200 milliseconds, is extended to be sent every 500 milliseconds or longer, or its transmission rate is reduced. Simultaneously, the transmission strategies for the third-level medium-priority messages, the second-level high-priority messages, and the first-level highest-priority messages remain unchanged to ensure that control signaling and security-related messages are not affected.

[0174] Furthermore, if the channel busy rate value is within the preset third congestion interval, it indicates that the channel is in a state of severe congestion, and more stringent control measures must be taken to fully guarantee the most critical communication needs. At this time, the transmission of all fourth-level low-priority messages is suspended, meaning any non-security service messages are prohibited from entering the transmission queue. Simultaneously, the transmission bandwidth of the third-level medium-priority messages is compressed, for example, by reducing the credit recovery rate in their credit shaping scheduling or lowering their transmission rate ceiling. For the second-level high-priority messages and the first-level highest-priority messages, their original transmission strategies remain unchanged, and their transmission power can be increased if necessary to enhance anti-interference capabilities.

[0175] Furthermore, the upper limit of the first congestion interval is less than the lower limit of the second congestion interval, and the upper limit of the second congestion interval is less than the lower limit of the third congestion interval. The first congestion interval, the second congestion interval, and the third congestion interval can all be set by those skilled in the art according to actual needs, and this invention does not specifically limit them.

[0176] The technical advantage of this embodiment lies in the introduction of a hierarchical congestion control mechanism based on Channel Busy Rate (CBR), enabling the invention to proactively and dynamically respond to the congestion level of the wireless channel. By dividing the CBR into three consecutive congestion intervals and setting progressively increasing control measures for each interval, a smooth transition is achieved, from no intervention during light load, to limiting low-priority services during moderate congestion, to suspending low-priority services and compressing medium-priority services during severe congestion. Furthermore, this hierarchical strategy only mildly limits the rate of non-security services in the early stages of congestion, maximizing the overall service carrying capacity of the system; when congestion intensifies, it decisively sacrifices non-critical services to fully guarantee the transmission resources of high-priority security messages. The entire process requires no central node coordination; vehicles can make autonomous decisions based solely on local CBR measurements, exhibiting high scalability and deployment flexibility. This mechanism ensures that even in communication hotspots such as extremely dense urban congested intersections or areas around large event venues, emergency security messages can still be transmitted with extremely low latency and extremely high reliability, fundamentally improving the security guarantee capability of the vehicle-to-everything (V2X) system under the worst operating conditions.

[0177] Further, see Figure 5 , Figure 5 This is an architecture diagram of a vehicle-to-everything (V2X) message scheduling and conflict avoidance system based on time-sensitive networking, provided as an embodiment of the present invention. Figure 5As shown, the system includes a TSN-V2X onboard unit and a TSN-V2X roadside unit, which are directly connected via a PC5 interface, forming the basic link for direct communication in the vehicle-to-everything (V2X) network. The TSN-V2X onboard unit is deployed on the vehicle and serves as the core execution module of the system, responsible for hierarchical caching, deterministic scheduling, transmission, and reception of V2X messages. The TSN-V2X roadside unit is deployed on roadside infrastructure to coordinate the TSN scheduling windows of all vehicles within the coverage area, issuing unified scheduling commands to coordinate message transmission among multiple vehicles and avoid message conflicts within the area. Furthermore, the TSN-V2X onboard unit also connects to roadside facilities such as electronic billboards and traffic lights via an RS232 interface to achieve real-time interaction of vehicle-road cooperative information. The system also includes a time synchronization switch and a detection unit. The time synchronization switch is connected to both the TSN-V2X onboard unit and the TSN-V2X roadside unit via a communication network, providing a high-precision time synchronization reference for all network nodes. The detection unit is connected to the time synchronization switch and performs channel state monitoring and message conflict detection. Both the TSN-V2X on-board unit and the TSN-V2X roadside unit are equipped with a video vehicle detection module, a video monitoring module, a multi-target ranging module, and a video radar module to collect environmental perception data around the vehicle and on the roadside. The system also connects to a database, application server, operation server, and client via QNSG devices and a communication network to support data storage, business processing, and human-machine interaction functions for vehicle-to-everything (V2X) applications. Based on the above system architecture, the method of this embodiment is executed collaboratively by the TSN-V2X on-board unit and the TSN-V2X roadside unit.

[0178] Furthermore, during the execution of the above method, the internal structures of the TSN-V2X on-board unit and the TSN-V2X roadside unit are as follows: Figure 6 As shown. Figure 6This is a schematic diagram of the structure of the TSN-V2X vehicle-mounted unit and the TSN-V2X roadside unit provided in an embodiment of the present invention. The TSN-V2X vehicle-mounted unit includes a V2X module, a computing unit, a GNSS antenna, a GNSS module, and a TSN switching module. The V2X module performs message transmission and reception and channel awareness functions via the PC5 interface. The computing unit integrates a collision detection unit, a priority mapping unit, a scheduling decision unit, and an application computing unit, and performs message collision detection, priority allocation and mapping, scheduling strategy generation, and data processing for upper-layer applications. The GNSS antenna and the GNSS module receive timing signals from the Global Navigation Satellite System, providing a reference clock source for time synchronization. The TSN switching module performs priority queue management and deterministic scheduling and forwarding of messages based on the Time-Sensitive Networking Protocol (TSP). The TSN-V2X vehicle-mounted unit is also connected to a 5G antenna for communication with cellular network base stations via a Uu interface. The structure of the TSN-V2X roadside unit is similar to that of the TSN-V2X vehicle-mounted unit, including a V2X module, a computing unit, a GNSS antenna, a GNSS module, and a TSN switching module, and is connected to a V2X antenna for direct vehicle-to-everything (V2X) communication. The TSN-V2X vehicle-mounted unit and the TSN-V2X roadside unit communicate directly via their respective V2X modules through a PC5 interface. Based on the above structure, this method first performs priority allocation and queue mapping processing for V2X messages.

[0179] Further, please refer to Figure 7 , Figure 7 This is a schematic block diagram of a computer device 500 provided in an embodiment of this application. The computer device 500 can be a terminal or a server.

[0180] The computer device 500 includes a processor 502, a memory, and a network interface 505 connected via a system bus 501. The memory may include a non-volatile storage medium 503 and internal memory 504.

[0181] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, it enables the processor 502 to execute a vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking.

[0182] The processor 502 provides computing and control capabilities to support the operation of the entire computer device 500.

[0183] The internal memory 504 provides an environment for the execution of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking.

[0184] The network interface 505 is used for network communication with other devices. Those skilled in the art will understand that the above structure is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 500 to which the present application is applied. A specific computer device 500 may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements.

[0185] The processor 502 is used to run a computer program 5032 stored in a memory to implement the steps of any of the above method embodiments.

[0186] It should be understood that in the embodiments of this application, the processor 502 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0187] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0188] Therefore, the present invention also provides a storage medium. This storage medium may be a computer-readable storage medium. The storage medium stores a computer program. When executed by a processor, the computer program causes the processor to perform the steps of any of the above-described method embodiments.

[0189] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), magnetic disk, or optical disk, or any other physical storage medium capable of storing program code. The computer-readable storage medium can be non-volatile or volatile.

[0190] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0191] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0192] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0193] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0194] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0195] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0196] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking, characterized in that, include: In response to receiving the vehicle network message to be transmitted, the vehicle network message is divided into multiple priorities according to the service type, security level and latency requirements of the vehicle network message, and mapped to different priority queues of the time-sensitive network respectively; The vehicle network messages in the priority queue are transmitted in a hierarchical scheduling manner. Specifically, time-aware shaping scheduling is enabled for the queues corresponding to high priorities, and periodic time gating windows are configured and allocated for the high-priority messages in the queues corresponding to high priorities. Credit shaping scheduling is enabled for the queues corresponding to medium and low priorities, and the transmission of medium and low priority messages in the queues corresponding to medium and low priorities is controlled based on credit limits. When a high-priority message arrives and a medium and low priority message is being transmitted, frame preemption scheduling is enabled to interrupt the transmission of the medium and low priority message in order to prioritize the transmission of the high-priority message. The system obtains the current base station coverage status and channel status, and switches between the base station collaborative scheduling mode and the pure time-sensitive network autonomous scheduling mode based on the base station coverage status and channel status to adapt to the current scenario for the hierarchical scheduling transmission.

2. The vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking according to claim 1, characterized in that, The step of dividing the vehicle network messages into multiple priorities and mapping them to different priority queues in a time-sensitive network includes: The vehicle network messages are divided into a four-level priority system. The highest priority level corresponds to emergency safety messages and is mapped to the time-sensitive network priority seven queue. The high priority level corresponds to regular safety messages and is mapped to the time-sensitive network priority five to six queues. The medium priority level corresponds to control signaling messages and is mapped to the time-sensitive network priority three to four queues. The low priority level corresponds to non-safety service messages and is mapped to the time-sensitive network priority zero to two queues. The queues corresponding to the highest priority level 1 and the high priority level 2 constitute the queues corresponding to the high priority level, and the queues corresponding to the medium priority level 3 and the low priority level 4 constitute the queues corresponding to the medium-low priority level.

3. The vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking according to claim 2, characterized in that, The step of enabling time-aware shaping scheduling for high-priority queues, and configuring and allocating periodic time-gated windows for high-priority messages in the high-priority queues, includes: Based on the sending cycle requirements of the highest priority level 1 and the highest priority level 2 messages, the cycle and duration of the time gating window are determined. The link time used for message transmission is divided into multiple consecutive gating periods. Within each gating period, a dedicated transmission time slot is allocated for the highest priority message (Level 1) and the highest priority message (Level 2), serving as the time gating window. Within the transmission time slot corresponding to the time-gated window, only the queues corresponding to the highest priority level 1 and the high priority level 2 messages are allowed to transmit, while the queues corresponding to the medium priority level 3 and the low priority level 4 messages are prohibited from transmitting.

4. The vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking according to claim 2, characterized in that, The activation of frame preemption scheduling, interrupting the transmission of low-priority messages to prioritize the transmission of high-priority messages, includes: When the highest priority message of level 1 or the high priority message of level 2 arrives in the transmission queue, and the medium priority message of level 3 or the low priority message of level 4 is currently being transmitted, a frame preemption instruction is generated. According to the frame preemption instruction, interrupt the current transmission frame of the third-level medium-priority message or the fourth-level low-priority message, and record the breakpoint position; Prioritize transmitting data frames corresponding to the highest priority first-level or the high priority second-level messages; After the transmission of the highest priority message at level 1 or the high priority message at level 2 is completed, the transmission of the interrupted medium priority message at level 3 or the low priority message at level 4 is resumed from the breakpoint position. The activation of credit-based reshaping scheduling, which controls the transmission of low-priority messages in the queues corresponding to low-priority messages based on credit limits, includes: Initial credit limits are allocated to each queue corresponding to the middle priority level of the third level and the low priority level of the fourth level. When messages are transmitted in each queue, the credit limit corresponding to each queue is deducted based on the amount of data transmitted. When each queue is idle, the credit limit corresponding to each queue is restored according to a preset rate; Determine whether the current credit limit of each queue meets the preset transmission threshold; If the current credit limit of each queue meets the preset transmission threshold, then each queue is allowed to transmit messages; If the current credit limit of each queue does not meet the preset transmission threshold, then the transmission of messages by each queue is prohibited until the credit limit is restored to above the transmission threshold.

5. The vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking according to claim 2, characterized in that, The step of obtaining the current base station coverage status and channel status, and switching between the base station cooperative scheduling mode and the pure time-sensitive network autonomous scheduling mode based on the base station coverage status and channel status, includes: Obtain network coverage parameters, including reference signal received power and signal-to-interference-plus-noise ratio; Obtain scheduling link status parameters, including license jitter, channel busy rate, and scheduling conflict rate; Obtain security message transmission performance parameters, including packet loss rate and end-to-end latency for emergency security messages and basic security messages; Determine whether a Level 1 trigger condition is met. The Level 1 trigger condition includes at least one of the following conditions: the reference signal received power is lower than a first preset threshold and the duration exceeds a first duration; no cellular network signal is detected continuously for more than a second duration; the scheduling link times out and the number of out-of-step events reaches a first preset threshold; no semi-persistent scheduling authorization is received continuously for more than a third duration; the packet loss rate exceeds a second preset threshold; the end-to-end delay exceeds a third preset threshold and continues for more than a first preset number of transmission cycles. If at least one of the first-level triggering conditions is met, the system switches from the base station cooperative scheduling mode to the pure time-sensitive network autonomous scheduling mode. If all the conditions in the first-level triggering condition are not met, then it is determined whether the second-level triggering condition is met. The second-level triggering condition includes simultaneously meeting at least two of the following conditions for a duration exceeding the fourth time period: the reference signal received power is greater than the fourth preset threshold and less than the fifth preset threshold, and the signal-to-interference-plus-noise ratio is less than the sixth preset threshold for a duration exceeding the fifth time period; the license jitter exceeds the seventh preset threshold; the channel busy rate exceeds the eighth preset threshold and the base station scheduling conflict rate exceeds the ninth preset threshold; the average end-to-end delay exceeds the tenth preset threshold; the message transmission reliability is lower than the eleventh preset threshold; the roadside unit is out of contact for more than the sixth time period; and the update cycle of the cooperative sensing message exceeds the seventh time period. If the secondary triggering condition is met, the system switches from the base station collaborative scheduling mode to the pure time-sensitive network autonomous scheduling mode. If the secondary triggering condition is not met, the base station collaborative scheduling mode is maintained.

6. The vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking according to claim 5, characterized in that, After switching to the pure time-sensitive network autonomous scheduling mode, the method further includes: Stop receiving scheduling instructions from the base station and clear the resource pool in the base station scheduling mode; Based on the timing signals from the Global Navigation Satellite System, time synchronization is performed across the entire network to obtain a unified time reference; Under the unified time reference, full-band sensing is performed on the communication channel to obtain the busy / idle status of the channel, interference intensity, and resource occupancy of surrounding nodes, thereby obtaining the channel sensing results. Based on the channel perception results and the time gating window, idle time-frequency transmission resources are reserved for the vehicle network messages to be transmitted, and resource reservation information is obtained. The resource reservation information is broadcast to surrounding nodes via sidechain control information.

7. The vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking according to claim 6, characterized in that, After broadcasting the resource reservation information to surrounding nodes, the method further includes: Perform physical layer collision detection, including monitoring channel received power and signal distortion, and determining whether the channel received power exceeds a preset power threshold and the sidechain control information cannot be decoded, or whether the data cyclic redundancy check is continuously incorrect. If the channel received power exceeds the preset power threshold and the sidechain control information cannot be decoded, or the data cyclic redundancy check is continuously incorrect, a physical layer collision alarm is generated. Perform protocol layer conflict detection, including performing cyclic redundancy check and sequence number verification on received messages. If the verification fails or the sequence number is missing, a protocol layer conflict alarm is generated. In response to generating the physical layer conflict alarm or the protocol layer conflict alarm, the priority of the conflicting vehicle-to-everything (V2X) messages is determined; If the conflicting vehicle network message is a level 4 low priority message, then the conflicting vehicle network message is discarded. If the conflicting vehicle network message is a Level 1 highest priority message, a Level 2 high priority message, or a Level 3 medium priority message, then the step of performing full-band awareness on the communication channel is re-executed, a new time-sensitive network scheduling time slot is allocated to the conflicting vehicle network message, and the conflicting vehicle network message is retransmitted within the new time-sensitive network scheduling time slot according to the preset retransmission limit.

8. The vehicle-to-everything (V2X) message scheduling method based on time-sensitive networking according to claim 2, characterized in that, The method further includes: Get the current channel busy rate value; Determine the congestion interval in which the channel busy rate value is located; If the channel busy rate value is in the preset first congestion interval, the current transmission strategy of the fourth-level low-priority message, the third-level medium-priority message, the second-level high-priority message and the first-level highest-priority message remains unchanged. If the channel busy rate value is in the preset second congestion interval, the transmission of the fourth-level low-priority messages is restricted, the transmission period of the fourth-level low-priority messages is extended, and the transmission strategies of the third-level medium-priority messages, the second-level high-priority messages, and the first-level highest-priority messages remain unchanged. If the channel busy rate value is in the preset third congestion interval, the transmission of the fourth-level low-priority messages is suspended, the transmission bandwidth of the third-level medium-priority messages is compressed, and the transmission strategies of the second-level high-priority messages and the first-level highest-priority messages remain unchanged. Wherein, the upper limit of the first congestion interval is less than the lower limit of the second congestion interval, and the upper limit of the second congestion interval is less than the lower limit of the third congestion interval.

9. A computer device, characterized in that, The computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, can implement the method as described in any one of claims 1-8.

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