Low-altitude RSU equipment

Abstract

The utility model relates to low-altitude RSU equipment, which comprises a low-altitude carrier, an RSU unit and a high-speed communication bus, the RSU unit is in two-way communication with the vehicle-mounted equipment; and the low-altitude carrier moves to a target position and performs signal transmission with the RSU unit through the high-speed communication bus. According to the utility model, the RSU is combined with the low-altitude vehicle, so that direct communication with a ground vehicle is realized, road condition information, traffic signal lamp states, road construction information, public traffic scheduling information and the like are transmitted in real time, a driver is helped to make a safer driving decision, the road traffic efficiency is improved, and the occurrence rate of traffic accidents is reduced. And bidirectional communication is carried out through the RSU and the vehicle-mounted equipment, so that a vehicle-road cooperation function is realized. In addition, the system can also be applied to the field of emergency rescue, provides guarantee for emergency communication, can be widely applied to urban management, realizes real-time monitoring of urban environment, and assists urban planning and management.

Description

Technical Field

[0001] This utility model relates to the field of low-altitude transportation technology, and more specifically, to a low-altitude RSU device. Background Technology

[0002] With the rapid development of the low-altitude economy, low-altitude vehicles (such as drones and flying cars) are increasingly used in logistics, urban patrol, and emergency rescue. However, current communication for these vehicles largely relies on dedicated base stations or 5G networks, which are prone to problems such as insufficient signal coverage and high costs. Moreover, in complex urban environments, signals are easily blocked or interfered with, leading to unstable communication and high latency, making it difficult to meet the real-time and reliable communication requirements of low-altitude vehicles. For example, in urban areas with numerous high-rise buildings, communication between drones and ground control centers often experiences interruptions or data packet loss.

[0003] At the same time, there are still many gaps in the application and management of low-altitude vehicles in the transportation field. Infrastructure such as roadside units (RSUs) has not been fully and effectively integrated with low-altitude vehicles, making it impossible to achieve collaborative management and information exchange between ground traffic and low-altitude flight. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a low-altitude RSU device to address the problems existing in the prior art.

[0005] The technical solution adopted by this utility model to solve its technical problem is: to construct a low-altitude RSU device, including: a low-altitude vehicle, an RSU unit and a high-speed communication bus;

[0006] The high-speed communication bus is located between the low-altitude vehicle and the RSU unit;

[0007] The RSU unit is used for bidirectional communication with the vehicle-mounted equipment;

[0008] The low-altitude vehicle is used to move to the target location and transmit signals to the RSU unit via the high-speed communication bus.

[0009] In the low-altitude RSU device described in this utility model, the high-speed communication bus adopts any one or more of serial communication, network communication, and PCIe communication methods.

[0010] In the low-altitude RSU device described in this utility model, the RSU unit includes any one of the following: ETC RSU unit, V2X RSU unit, and Star Flash RSU unit.

[0011] In the low-altitude RSU device of this utility model, the ETC RSU unit includes: a first main controller, a first mobile communication module, a first WIFI module, a first positioning module, an ETC1.0 module, an ETC2.0 module, and an ETC serial port module;

[0012] The first main controller is connected to the low-altitude vehicle through the ETC serial port module, and the first mobile communication module, the first WIFI module, the first positioning module, the ETC1.0 module and the ETC2.0 module are respectively connected to the first main controller.

[0013] In the low-altitude RSU device described in this utility model, the ETC1.0 module includes: a first MCU, a first highly integrated unit, a first digitally controlled attenuator, a first low-noise amplifier, an attenuation circuit, a first power amplifier, a high-power amplifier, a first power detection circuit, a second digitally controlled attenuator, a second low-noise amplifier, a first directional coupler, and an RF switch.

[0014] The first MCU is connected to the first main controller. The transmitting end of the first highly integrated unit is connected to the input end of the first digitally controlled attenuator. The output end of the first digitally controlled attenuator is sequentially connected to the input ends of the first low-noise amplifier, the attenuation circuit, the first power amplifier, the high-power amplifier, and the first directional coupler. The output end of the first directional coupler is connected to the first connection end of the RF switch. The second connection end of the RF switch is connected to the RF antenna. The third connection end of the RF switch is connected to the input end of the second low-noise amplifier. The output end of the second low-noise amplifier is connected to the receiving end of the first highly integrated unit through the second digitally controlled attenuator. The detection end of the first directional coupler is connected to the first MCU through the first power detection circuit.

[0015] In the low-altitude RSU device of this utility model, the ETC2.0 module includes: a transmission link for transmitting signals and a receiving link for receiving signals;

[0016] The transmit link includes: a second MCU, a second highly integrated unit, a third digitally controlled attenuator, a second power amplifier, a third MCU, a third highly integrated unit, a fourth digitally controlled attenuator, a third power amplifier, a power combiner, a first bandpass filter, and a second directional coupler;

[0017] The receiving link includes: a fourth MCU, a fourth highly integrated unit, a fifth digitally controlled attenuator, a third low-noise amplifier, a fifth MCU, a fifth highly integrated unit, a sixth digitally controlled attenuator, a fourth low-noise amplifier, a power divider, a second bandpass filter, and a fifth low-noise amplifier.

[0018] The second MCU is connected to the first main controller. The second highly integrated unit, the third digitally controlled attenuator, and the second power amplifier are sequentially connected between the second MCU and the power combiner, and the third digitally controlled attenuator is also connected to the second MCU. The third MCU is connected to the first main controller. The third highly integrated unit, the fourth digitally controlled attenuator, and the third power amplifier are sequentially connected between the third MCU and the power combiner, and the fourth digitally controlled attenuator is also connected to the third MCU. The input terminal of the first bandpass filter is connected to the power combiner, and the output terminal of the first bandpass filter is connected to the first ETC antenna through the second directional coupler. The second directional coupler is also connected to the first main controller through the second power detection circuit.

[0019] Both the fourth MCU and the fifth MCU are connected to the first main controller. The fourth highly integrated unit, the fifth digitally controlled attenuator, and the third low-noise amplifier are sequentially connected between the fourth MCU and the power divider, and the fifth digitally controlled attenuator is also connected to the fourth MCU. The fifth highly integrated unit, the sixth digitally controlled attenuator, and the fourth low-noise amplifier are sequentially connected between the fifth MCU and the power divider, and the sixth digitally controlled attenuator is also connected to the fifth MCU. The input terminal of the second bandpass filter is connected to the output terminal of the fifth low-noise amplifier, the output terminal of the second bandpass filter is connected to the power divider, and the input terminal of the fifth low-noise amplifier is connected to the second ETC antenna.

[0020] In the low-altitude RSU device described in this utility model, the V2X RSU unit includes: a second main controller, a second mobile communication module, a second WIFI module, a second positioning module, a V2X communication module, a power conversion module, a hardware encryption chip, an embedded multimedia card, a first memory, a power management chip, a low-frequency clock circuit, a system clock circuit, and an Ethernet interface.

[0021] The second main controller is connected to the low-altitude vehicle via the high-speed communication bus. The Ethernet interface, the second mobile communication module, the second WIFI module, the second positioning module, the V2X communication module, the hardware encryption chip, the embedded multimedia card, the first memory, the power management chip, the low-frequency clock circuit, and the system clock circuit are respectively connected to the second main controller. The power conversion module is used to provide power to the V2X RSU unit and to provide power management and protection.

[0022] In the low-altitude RSU device described in this utility model, the star-flash RSU unit includes: a third main controller, a third mobile communication module, a third positioning module, a second memory, an obstacle avoidance radar module, a star-flash module, and a communication interface module;

[0023] The third main controller is connected to the corresponding interface of the low-altitude vehicle through the communication interface module. The third mobile communication module, the third positioning module, the second memory, the obstacle avoidance radar module, and the star flash module are respectively connected to the third main controller.

[0024] In the low-altitude RSU device described in this utility model, the communication interface module includes: a USB interface or an Ethernet interface;

[0025] The star flash module includes: a star flash chip, a first switch, a second switch, a first filter, a second filter, a third filter, a sixth low-noise amplifier, and a third power amplifier;

[0026] The stroboscopic chip is connected to the third main controller. The first terminal of the first switch is connected to the stroboscopic chip. The second terminal of the first switch is connected to the input terminal of the third power amplifier. The third terminal of the first switch is connected to the output terminal of the third filter. The output terminal of the third power amplifier is connected to the first terminal of the second switch through the first filter. The second terminal of the second switch is connected to the stroboscopic antenna. The third terminal of the second switch is connected to the input terminal of the sixth low-noise amplifier through the second filter. The output terminal of the sixth low-noise amplifier is connected to the input terminal of the third filter.

[0027] The low-altitude RSU device described in this utility model also includes: a charging management module, a battery, and a power management module;

[0028] The battery is connected to the charging management module and the power management module respectively. The power management module is connected to the low-altitude vehicle and the RSU unit respectively. The charging management module is used to perform charging management control, the battery is used to provide power, and the power management module is used to distribute and regulate power.

[0029] The low-altitude RSU device of this invention has the following beneficial effects: The low-altitude RSU device includes a low-altitude vehicle, an RSU unit, and a high-speed communication bus; the high-speed communication bus is located between the low-altitude vehicle and the RSU unit; the RSU unit communicates bidirectionally with the vehicle-mounted equipment; the low-altitude vehicle moves to the target location and transmits signals to the RSU unit via the high-speed communication bus. This invention, by combining the RSU with the low-altitude vehicle, enables direct communication with ground vehicles, transmitting real-time road condition information, traffic light status, road construction information, public transportation dispatch information, etc., helping drivers make safer driving decisions, improving road traffic efficiency, and reducing the incidence of traffic accidents. Bidirectional communication between the RSU and the vehicle-mounted equipment enables vehicle-road cooperative functions. Furthermore, this invention can also be applied to the field of emergency rescue, providing support for emergency communication, and can be widely used in urban management to achieve real-time monitoring of the urban environment, assisting in urban planning and management. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0031] Figure 1 This is a schematic block diagram of an embodiment of the low-altitude RSU device provided by this utility model;

[0032] Figure 2 This is a schematic diagram of the structure of an embodiment of the low-altitude RSU device provided by this utility model;

[0033] Figure 3 This is a schematic block diagram of an embodiment of the ETC RSU unit provided by this utility model;

[0034] Figure 4 This is a schematic block diagram of another embodiment of the ETC RSU unit provided by this utility model;

[0035] Figures 5-8 This is a circuit diagram of an embodiment of the ETC1.0 module provided by this utility model;

[0036] Figures 9-11 This is a circuit diagram of an embodiment of the transmission link of the ETC2.0 module provided by this utility model;

[0037] Figure 12 and Figure 13 This is a circuit diagram of an embodiment of the receiving link of the ETC2.0 module provided by this utility model;

[0038] Figure 14 This is a circuit diagram of an embodiment of serial communication between the ETC RSU unit and a low-altitude vehicle provided by this utility model;

[0039] Figure 15This is a schematic block diagram of an embodiment of the V2X RSU unit provided by this utility model;

[0040] Figure 16 This is a schematic block diagram of an embodiment of the star-flash RSU unit provided by this utility model;

[0041] Figure 17 This is a flowchart illustrating the operation of an embodiment of the low-altitude RSU device provided by this utility model. Detailed Implementation

[0042] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0043] To address the problems of insufficient coverage, high cost, poor real-time information accuracy, and limited application scope of existing low-altitude vehicles (LAVs), this invention provides a low-altitude Roadside Unit (RSU) device. This RSU device integrates LAVs with the vehicle-mounted unit (RSU), providing more accurate information and more stable services for LAVs. High-precision positioning of LAVs in complex traffic environments is of significant practical importance. It also allows for the full utilization of ETC system resources, such as in intelligent traffic management, vehicle-road cooperation, emergency rescue, and urban management. In this invention, LAVs include, but are not limited to, drones, aircraft, and low-altitude flying cars—tools / equipment capable of rapid low-altitude movement. The RSU (Road Side Unit) is a roadside unit installed on the roadside in the ETC system. It uses DSRC (Dedicated Short Range Communication) technology to communicate with the on-board unit (OBU) to achieve vehicle identification and electronic point deduction.

[0044] refer to Figure 1 In one embodiment, the low-altitude RSU device includes: a low-altitude vehicle 400, an RSU unit 500, and a high-speed communication bus 600. The high-speed communication bus 600 is disposed between the low-altitude vehicle 400 and the RSU unit 500; the RSU unit 500 is used for bidirectional communication with onboard equipment; the low-altitude vehicle 400 is used to move to a target location and transmit signals with the RSU unit 500 via the high-speed communication bus 600. Figure 2As shown, the low-altitude RSU equipment also includes a charging management module 100, a battery 200, and a power management module 300. The battery 200 is connected to both the charging management module 100 and the power management module 300. The power management module 300 is connected to both the low-altitude vehicle 400 and the RSU unit 500. The charging management module 100 performs charging management control, the battery 200 provides power, and the power management module 300 distributes and regulates power. Specifically, the charging management module 100 is primarily responsible for the charging control of the equipment to ensure the safe charging of the battery 200. The battery 200 provides power support for the entire system / equipment, ensuring normal operation of the equipment when there is no external power source. The power management module 300 is primarily responsible for distributing and regulating power to ensure that each module receives stable voltage and current.

[0045] In one embodiment, such as Figure 1 As shown, the RSU unit 500 and the low-altitude vehicle 400 can be connected via a connecting structure, for example, by a gimbal linkage. In some embodiments, the fuselage of the low-altitude vehicle 400 can be provided with screw holes for external support equipment, and the RSU device can be fixed to the screw holes of the low-altitude vehicle 400 by a bracket. The form of the bracket is not limited in this invention (it is determined by the position, weight, and size supported by the low-altitude vehicle 400), but a carbon fiber composite material bracket is used, with both ends bonded with epoxy adhesive, thereby achieving a high-strength connection while providing stronger shock resistance. It is understood that in other embodiments, the RSU unit 500 and the low-altitude vehicle 400 can also be connected and fixed in other ways, not limited to the embodiments listed in this invention, as long as it satisfies the requirement of connecting and fixing the two.

[0046] In some embodiments, the high-speed communication bus 600 can use engineering plastic (e.g., Wintone T31 material) cable chain rails. Using engineering plastics as the structural material of the high-speed communication bus 600 provides it with high impact resistance and fatigue resistance. Optionally, the cable chain rails can be cascaded using, but not limited to, a tank clip connection, maintaining toughness at low temperatures and being lighter than traditional metal hinges. The rails internally contain power cables and high-speed data communication cables (e.g., gigabit or 100 Mbps Ethernet cables). The two ends of the cable chain rails are connected to the low-altitude vehicle 400 and the RSU unit 500 respectively using corrosion-resistant and waterproof connectors K1. Optionally, the high-speed communication bus 600 can employ any one or more of serial communication, Ethernet communication, and PCIe communication methods.

[0047] Optionally, in this embodiment of the present invention, the RSU unit 500 includes any one or more of the following: ETC RSU unit 10, V2X RSU unit 20, and StarLight RSU unit 30. That is, the RSU unit 500 can employ any one or more of the following: ETC RSU unit 10, V2X RSU unit 20, and StarLight RSU unit 30. Specifically, when using ETC RSU unit 10, the RSU unit 500 communicates with the low-altitude vehicle 400 via serial communication, Ethernet communication, or PCIe communication. When using V2X RSU unit 20 or StarLight RSU unit 30, the RSU unit 500 communicates with the low-altitude vehicle 400 via Ethernet communication or PCIe communication.

[0048] The following explanation uses different roadside units for RSU unit 500.

[0049] Application 1: RSU unit 500 is ETC RSU unit 10.

[0050] like Figure 3As shown, in some embodiments, the ETC RSU unit 10 includes: a first main controller 11, a first mobile communication module 12, a first WIFI module 13, a first positioning module 14, an ETC 1.0 module 15, an ETC 2.0 module 16, and an ETC serial port module 17. The first main controller 11 is connected to the low-altitude vehicle 400 through the ETC serial port module 17, and the first mobile communication module 12, the first WIFI module 13, the first positioning module 14, the ETC 1.0 module 15, and the ETC 2.0 module 16 are respectively connected to the first main controller 11. The first mobile communication module 12 is mainly used to realize wireless communication, mobile internet communication, etc., and can adopt, but is not limited to, 4G and 5G communication modules, and is backward compatible with 3G / 2G. It can provide cellular network connectivity, realize functions such as remote communication, data transmission, or software updates, and realize data interaction between the ETC RSU unit 10 and the low-altitude vehicle 400. The first WIFI module 13 is mainly used to provide WIFI hotspot (WIFI5 / 6) services to users, and also to enable remote device login and software upgrades for roadside base stations. The first positioning module 14 is a global positioning navigation system module, which can realize high-precision positioning receiver and RTK differential positioning data output. It is mainly used to provide the device's own real-time positioning information to various applications and supports high-precision RTK differential positioning data output. The ETC1.0 module 15 is used to implement traditional ETC functions, is compatible with the existing ETC system, and ensures basic toll collection functions. The ETC2.0 module 16 is a new generation ETC function module, which can support more advanced electronic toll collection protocols or extended functions (such as voice and text broadcast, video transmission, etc.). The first main controller 11, as the core controller of the ETC RSU unit 10, is mainly used to coordinate the work of each module, process data, and execute logical operations. Preferably, the first main controller 11 can use a multi-core high-performance processor, which mainly undertakes the main control work. The software running includes, but is not limited to: Linux operating system, main control program, protocol stack processing program, communication processing program, CPE extended service program, etc.

[0051] like Figure 4As shown, in some embodiments, the ETC1.0 module 15 includes: a first MCU, a first highly integrated unit, a first digitally controlled attenuator, a first low-noise amplifier, an attenuation circuit, a first power amplifier, a high-power amplifier, a first power detection circuit, a second digitally controlled attenuator, a second low-noise amplifier, a first directional coupler, and an RF switch. The first MCU is connected to the first main controller 11. The transmitting end of the first highly integrated unit is connected to the input end of the first digitally controlled attenuator. The output end of the first digitally controlled attenuator is sequentially connected to the input ends of the first low-noise amplifier, the attenuation circuit, the first power amplifier, the high-power amplifier, and the first directional coupler. The output end of the first directional coupler is connected to the first connection end of the RF switch. The second connection end of the RF switch is connected to the RF antenna. The third connection end of the RF switch is connected to the input end of the second low-noise amplifier. The output end of the second low-noise amplifier is connected to the receiving end of the first highly integrated unit through the second digitally controlled attenuator. The detection end of the first directional coupler is connected to the first MCU through the first power detection circuit. The first highly integrated unit is a highly integrated RF chip.

[0052] Specifically, the first MCU is a microcontroller primarily used to control the operation of the first highly integrated unit and to control the direction of the first numerically controlled attenuator, the second numerically controlled attenuator, and the RF switch in the link. The first highly integrated unit is used to receive and transmit ETC1.0 RF link signals. The first and second low-noise amplifiers are amplifiers with very low noise figures, generally used as high-frequency or intermediate-frequency preamplifiers in various types of radios. In this embodiment, the first low-noise amplifier is used to amplify the transmitted signal, and the second low-noise amplifier is used to amplify the received signal. The first numerically controlled attenuator is used to adjust the attenuation of the transmitted signal according to the control of the first MCU, and the second numerically controlled attenuator is used to adjust the attenuation of the received signal according to the control of the first MCU. The attenuation circuit is a π attenuation circuit used to adjust the signal attenuation. The first power amplifier is used to amplify the RF signal, and the high-power amplifier (i.e., a 5W power amplifier) ​​is a power amplifier with a higher output power than the first power amplifier, used to further amplify the RF signal. The first directional coupler is used to separate the incident wave and the reflected wave, realizing directional transmission and acquisition of the signal while ensuring high efficiency of the main transmission path. Through this first directional coupler, the output power can be guaranteed while monitoring the power of the link. An RF switch is used to isolate the transmit and receive links. The direction of the RF switch is controlled by a first MCU, thereby controlling the circuit's operating state (e.g., transmit or receive). A first power detection circuit detects the power level and inputs it to the first MCU, allowing the MCU to monitor the output signal strength in real time. A second digitally controlled attenuator adjusts the attenuation of the received signal according to the control of the first MCU.

[0053] Furthermore, such as Figure 4As shown, in some embodiments, the ETC2.0 module 16 includes a transmit link for transmitting signals and a receive link for receiving signals. The transmit link includes: a second MCU, a second highly integrated unit, a third digitally controlled attenuator, a second power amplifier, a third MCU, a third highly integrated unit, a fourth digitally controlled attenuator, a third power amplifier, a power combiner, a first bandpass filter, and a second directional coupler. The receive link includes: a fourth MCU, a fourth highly integrated unit, a fifth digitally controlled attenuator, a third low-noise amplifier, a fifth MCU, a fifth highly integrated unit, a sixth digitally controlled attenuator, a fourth low-noise amplifier, a power divider, a second bandpass filter, and a fifth low-noise amplifier.

[0054] The second MCU is connected to the first main controller 11. The second highly integrated unit, the third digitally controlled attenuator, and the second power amplifier are sequentially connected between the second MCU and the power combiner, and the third digitally controlled attenuator is also connected to the second MCU. The third MCU is connected to the first main controller 11. The third highly integrated unit, the fourth digitally controlled attenuator, and the third power amplifier are sequentially connected between the third MCU and the power combiner, and the fourth digitally controlled attenuator is also connected to the third MCU. The input terminal of the first bandpass filter is connected to the power combiner, and the output terminal of the first bandpass filter is connected to the first ETC antenna through the second directional coupler. The second directional coupler is also connected to the second power detection circuit. The first main controller 11 is connected; the fourth MCU and the fifth MCU are both connected to the first main controller 11. The fourth highly integrated unit, the fifth digitally controlled attenuator, and the third low-noise amplifier are sequentially connected between the fourth MCU and the power divider, and the fifth digitally controlled attenuator is also connected to the fourth MCU. The fifth highly integrated unit, the sixth digitally controlled attenuator, and the fourth low-noise amplifier are sequentially connected between the fifth MCU and the power divider, and the sixth digitally controlled attenuator is also connected to the fifth MCU. The input terminal of the second bandpass filter is connected to the output terminal of the fifth low-noise amplifier, the output terminal of the second bandpass filter is connected to the power divider, and the input terminal of the fifth low-noise amplifier is connected to the second ETC antenna.

[0055] Specifically, the second, third, fourth, and fifth MCUs are all microcontrollers. The second MCU controls the operation of the second highly integrated unit and the third digitally controlled attenuator in the transmit link. The second highly integrated unit is used to transmit the ETC2.0 RF link signal. The second power amplifier amplifies the transmitted signal, and the third digitally controlled attenuator adjusts the attenuation of the RF signal according to the control of the second MCU. The third MCU controls the operation of the third highly integrated unit and the fourth digitally controlled attenuator in the transmit link. The third highly integrated unit is used to transmit the ETC2.0 RF link signal. The third power amplifier amplifies the transmitted signal, and the fourth digitally controlled attenuator adjusts the attenuation of the RF signal according to the control of the third MCU. The power combiner combines the two input signals into one output, while avoiding mutual interference between signals at different ports. The first bandpass filter is a bandpass cavity filter, which can filter out signals of other frequencies and reduce interference to the receiving system caused by the transmitted signal coupling to the receiving port. The second directional coupler can separate the incident wave and the reflected wave, realizing directional transmission and sampling of the signal, while ensuring the high efficiency of the main transmission path. Directional control allows for monitoring link power while ensuring output power.

[0056] The fourth MCU controls the operation of the fourth highly integrated unit and the fifth digitally controlled attenuator in the receiving link. The fourth highly integrated unit is used to transmit the ETC2.0 RF link signal. The third low-noise amplifier amplifies the received signal, and the fifth digitally controlled attenuator adjusts the attenuation of the received signal according to the control of the fourth MCU. The fifth MCU controls the operation of the fifth highly integrated unit and the sixth digitally controlled attenuator in the receiving link. The fifth highly integrated unit is used to receive the ETC2.0 RF link signal. The fourth low-noise power amplifier amplifies the received signal, and the sixth digitally controlled attenuator adjusts the attenuation of the received signal according to the control of the fifth MCU. The power divider splits the input signal into two output signals, and the second bandpass filter is a bandpass cavity filter that can filter out signals of other frequencies.

[0057] refer to Figures 5 to 8In a preferred embodiment, the first highly integrated unit includes: chip U4 and its peripheral circuitry; the first numerically controlled attenuator includes: chip U11 and its peripheral circuitry; the first low-noise amplifier includes: chip U14 and its peripheral circuitry; the attenuation circuit includes: resistors R44, R43, and R45; the first power amplifier includes: chip U16 and its peripheral circuitry; the high-power amplifier includes: power amplifier M10 and its peripheral circuitry; the first power detection circuit includes: chip U7 and its peripheral circuitry; the RF switch includes: chip U30 and its peripheral circuitry; the second numerically controlled attenuator includes: chip U10 and its peripheral circuitry; and the second low-noise amplifier includes: chip U13 and its peripheral circuitry. The first MCU is not shown in the diagram. Specifically, pin 43 of chip U4 is connected to pin 2 of chip U11 via capacitor C22. Pin 14 of chip U11 is connected to pin 3 of chip U14 via capacitors C53 and C206. Pin 4 of chip U14 is connected to the first terminal of resistor R43 and the second terminal of resistor R44 via capacitor C38. The first terminal of resistor R44 is grounded. The second terminals of resistors R43 and R45 are connected and then connected to the first terminal of capacitor C196. The second terminal of resistor R45 is grounded. The second terminal of capacitor C196 is connected to pin 3 of chip U16. Pin 13 of chip U16 is connected to pin 2 of power amplifier M10 via capacitors C185, C229, and C223. Power amplifier M10... Pin 6 of the first directional coupler is connected to the first end of the first directional coupler through capacitor C226. The second end of the first directional coupler is connected to pin 15 of chip U30. The fourth end of the first directional coupler is grounded through resistor R3. Resistor R140 is connected in parallel with resistor R3. The third end of the first directional coupler is connected to pin 1 of chip U7 through capacitor C228, resistor R37, and capacitor C33. Pin 5 of chip U7 outputs a signal to the first MCU. Pin 14 of chip U10 is connected to pin 39 of chip U4 through capacitors C10 and C144. Pin 2 of chip U10 is connected to pin 7 of chip U13 through capacitor C2. Pin 2 of chip U13 is connected to pin 6 of chip U30 through capacitors C14 and C73.

[0058] refer to Figures 9 to 11In a preferred embodiment, the second power detection circuit includes: chip U9 and its peripheral circuits; the first bandpass filter includes: chip U4; the power combiner includes: resistor R19; the second power amplifier includes: chip U1 and its peripheral circuits; the third digitally controlled attenuator includes: chip U3 and its peripheral circuits; the third highly integrated unit includes: chip U2 and its peripheral circuits; the third power amplifier includes: chip U6 and its peripheral circuits; the fourth digitally controlled attenuator includes: chip U8 and its peripheral circuits; the third highly integrated unit includes: chip U7 and its peripheral circuits; the second MCU and the third MCU are not shown in the figure. Specifically, the first pin of chip U9 is connected to the fourth terminal of the second directional coupler through capacitor C71, resistor R23, and capacitor C55; the third terminal of the second directional coupler is grounded through resistor R21; resistor R20 is connected in parallel with resistor R21; the first terminal of the second directional coupler is connected to the first ETC antenna; the second terminal of the second directional coupler is connected to the first terminal of chip U4 through capacitor C52; the second terminal of chip U4 is connected to the first terminal of resistor R19 and the second terminal of resistor R19 respectively; the first terminal of resistor R19 is connected to capacitor C22. Connect pin 13 of chip U1. The second end of resistor R19 is connected to pin 13 of chip U6 via capacitor C79. Pin 3 of chip U1 is connected to pin 13 of chip U3 via capacitor C23. Pin 6 of chip U13 is connected to pin 2 of chip U2 via capacitor C24, inductor L2, and capacitor C25. Pin 3 of chip U6 is connected to pin 13 of chip U8 via capacitor C80. Pin 6 of chip U8 is connected to pin 2 of chip U7 via capacitor C81, inductor L7, and capacitor C82.

[0059] refer to Figure 12 and Figure 13In a preferred embodiment, the fifth low-noise amplifier includes: chip U14 and its peripheral circuitry; the second bandpass filter includes: chip U13; the power divider includes: resistor R59; the third low-noise amplifier includes: chip U12 and its peripheral circuitry; the fifth digitally controlled attenuator includes: chip U11 and its peripheral circuitry; the fourth highly integrated unit includes: chip U10 and its peripheral circuitry; the fourth low-noise amplifier includes: chip U17 and its peripheral circuitry; the sixth digitally controlled attenuator includes: chip U16 and its peripheral circuitry; the fifth highly integrated unit includes: chip U15 and its peripheral circuitry; the fourth MCU and the fifth MCU are not shown. Specifically, pin 3 of chip U14 is connected to the second ETC antenna via capacitor C161. Pin 4 of chip U14 is connected to the first terminal of chip U13 via capacitor C162. The second terminal of chip U13 is connected to both the first and second terminals of resistor R59. The first terminal of resistor R59 is also connected to pin 3 of chip U12 via capacitor C132. Pin 4 of chip U12 is connected to pin 6 of chip U11 via capacitors C133 and C134. Pin 13 of chip U11 is connected to pin 3 of chip U10 via capacitors C135, C136, and C137. The second terminal of resistor R59 is also connected to pin 3 of chip U17 via capacitor C184. Pin 4 of chip U17 is connected to pin 6 of chip U16 via capacitors C185 and C186. Pin 13 of chip U16 is connected to pin 3 of chip U15 via capacitors C187 and C188.

[0060] refer to Figure 14 In a preferred embodiment, the ETC serial port module 17 includes: a chip U2 and its peripheral circuitry; the low-altitude serial port module is a serial port circuit disposed in the low-altitude vehicle 400 and communicating with the ETC serial port module 17. Figure 14 As shown, the low-altitude serial port module includes: chip U1 and its peripheral circuitry. (As shown...) Figure 14 As shown, pin 14 of chip U1 is connected to pin 13 of chip U2 through resistors R1 and R4, and pin 13 of chip U1 is connected to pin 14 of chip U2 through resistors R2 and R3. Figure 14 It can be seen that the ETC RSU unit 10 and the low-altitude vehicle 400 can communicate via serial communication.

[0061] In a preferred embodiment, such as Figure 17As shown, the low-altitude vehicle 400 is an unmanned example. When the drone starts and moves to the preset target position, it first checks whether the drone has reached the target position. If it has not reached the target position, the drone continues to adjust its position or retry. If the drone reaches the target position, the ETC RSU unit 10 is activated, and the DSRC module (i.e., professional short-range communication module) in the ETC system is activated. After the DSRC module is activated, it scans the vehicle OBU (on-board unit) to detect whether it has received OBU information. If no OBU information is detected, the drone dynamically adjusts its position and retryes scanning until OBU information is detected. If OBU information is detected, the scanned OBU information is uploaded to the cloud platform for processing. After uploading the data, it checks whether the cloud platform has completed the ETC transaction. If the ETC transaction has not been completed, the data is sent back to the cloud platform again to confirm whether to continue the transaction. If the ETC transaction is completed, it determines whether to end the task. If the task is confirmed to be ended, the drone returns to charge. If the task is not ended, it returns to the scanning step or the transaction step.

[0062] By integrating ETC RSUs with low-altitude vehicles, the problems of insufficient coverage and high costs caused by the reliance on dedicated base stations or 5G networks for low-altitude economic development can be solved. At the same time, the high reliability, low latency and wide coverage of the ETC system can be fully utilized, effectively expanding the resource reuse of the ETC system.

[0063] Application 2: RSU unit 500 is V2X RSU unit 20.

[0064] like Figure 15 As shown, in a preferred embodiment, the V2X RSU unit 20 includes: a second main controller 21, a second mobile communication module 22, a second WIFI module 23, a second positioning module 24, a V2X communication module 25, a power conversion module 26, a hardware encryption chip 27, an embedded multimedia card 28, a first memory 29, a power management chip 201, a low-frequency clock circuit 202, a system clock circuit 203, and an Ethernet interface 204. The second main controller 21 is connected to the low-altitude vehicle 400 via a high-speed communication bus 600. The Ethernet interface 204, the second mobile communication module 22, the second WIFI module 23, the second positioning module 24, the V2X communication module 25, the hardware encryption chip 27, the embedded multimedia card 28, the first memory 29, the power management chip 201, the low-frequency clock circuit 202, and the system clock circuit 203 are all connected to the second main controller 21. The power conversion module 26 provides power to the V2X RSU unit 20 and provides power management and protection. In this embodiment, the V2X RSU unit 20 can communicate with the core processor of the low-altitude vehicle 400 motherboard via a network port (such as a 100 Mbps / 1 Gbps network port) or PCIe.

[0065] Specifically, the second main controller 21 can employ a multi-core high-performance processor, primarily responsible for main control operations. Its running software includes, but is not limited to, a Linux operating system, main control program, protocol stack processing program, communication processing program, and CPE extended service program. It provides one gigabit Ethernet port, I2C, SPI, USB, and UART interfaces to communicate with various functional modules. The i.MX6Q chip is preferred. The second mobile communication module 22 can include, but is not limited to, a 4G / 5G communication module, backward compatible with 3G / 2G, enabling wireless communication and mobile internet applications. It can facilitate data exchange between the V2X RSU unit 20 and the low-altitude vehicle 400; the EC20 model is preferred. The power conversion module 26 is responsible for converting DC power into the various voltage levels required by the system, providing overvoltage protection, overcurrent protection, and short-circuit protection. The second WIFI module 23 is a wireless local area network module, providing users with WiFi hotspot (WiFi 5 / 6) services and enabling remote device login and software upgrades for roadside base stations. The ELLA-W131 module is preferred. The second positioning module 24 (GNSS module) is a global positioning and navigation system module, capable of providing high-precision positioning receivers and RTK differential positioning data output. It is responsible for providing real-time positioning information to various applications and supports high-precision RTK differential positioning data output. The preferred module model is ZED-F9P. The V2X communication module 25 is a vehicle-to-everything (V2X) module responsible for short-range communication with other C-V2X devices. It connects to the core control processor via a high-speed communication interface (PCIe or USB 3.0 / USB 2.0). The module receives and processes V2X-related service information, analyzes and processes it, and then transmits it wirelessly. It connects to an external V2X antenna. The preferred V2X communication module 25 is UMV9150. The hardware encryption chip 27 (HSM chip) is responsible for data encryption and decryption in V2X communication to ensure communication security. It supports hardware encryption, working in conjunction with software and platform encryption algorithms to effectively authenticate access devices and encrypt transmitted information, meeting communication reliability and security requirements. The preferred chip model is XDSM3276. The embedded multimedia card 28 (eMMC) is used to store local data and system configuration files. It enables high-real-time data reading and writing for operating system startup and application loading. The first memory 29 (DDR3) is third-generation double data rate synchronous dynamic random access memory, used to improve the main processor's data transfer rate and system performance. The power management chip 201 (PMIC) distributes power to the various module circuits of the second main controller 21. The low-frequency clock circuit 202 (RTC CLK) provides a low-frequency clock for the main controller wake-up circuit, low-speed system, and watchdog counter, etc. Its input can be connected to an external oscillator or crystal through an internal oscillator amplifier.The system clock circuit 203 (MCLK) is the master system clock, a single system clock input used to generate the master system clock. It provides a phase-locked loop and other peripherals; the input can be connected to an external oscillator or crystal via an internal oscillator amplifier. The Ethernet interface 204 (PHY) is the Ethernet physical layer chip, responsible for transmitting and receiving network data between the LAF 400 control center and the onboard RSU processor. The Gigabit Ethernet Media Independent Interface 205 (RGMI) is the standard interface for connecting the Ethernet controller and the RSU physical layer chip.

[0066] By integrating the V2X RSU unit 20 with the low-altitude vehicle 400, more accurate information and more stable services can be provided to the low-altitude vehicle 400, which is of significant practical importance for high-precision positioning of the low-altitude vehicle 400 in complex traffic environments. Simultaneously, integrating the V2X RSU unit 20 with the low-altitude vehicle 400 can also realize intelligent traffic management, such as direct communication with ground vehicles to transmit real-time road condition information, traffic light status, road construction information, and public transportation scheduling information, helping drivers make safer driving decisions, improving road traffic efficiency, and reducing the incidence of traffic accidents. It can also realize vehicle-to-infrastructure (V2I) communication, such as enabling autonomous driving assistance and emergency response. Through real-time interaction with vehicles, the low-altitude RSU device can provide more accurate navigation services, optimize route planning, and improve the safety and reliability of autonomous driving. It can also be used for rescue applications, serving as a temporary base station for rapid deployment and providing emergency communication support. For example, in the event of natural disasters or accidents, the low-altitude RSU device can assist drones in data collection, real-time monitoring, reconnaissance and search and rescue, and transmit critical information to the rescue command center, improving rescue efficiency. It is also widely used in urban management, such as aerial surveillance and air traffic management. By working with drones, low-altitude RSU equipment can achieve real-time monitoring of the urban environment, assisting in urban planning and management.

[0067] Application 3: Star Flash RSU Unit 30.

[0068] like Figure 16As shown, in a preferred embodiment, the Star Flash RSU unit 30 includes: a third main controller 31, a third mobile communication module 32, a third positioning module 33, a second memory 37, an obstacle avoidance radar module 34, a Star Flash module 35, and a communication interface module 36. The third main controller 31 is connected to the corresponding interface of the low-altitude vehicle 400 via the communication interface module 36. The third mobile communication module 32, the third positioning module 33, the second memory 37, the obstacle avoidance radar module 34, and the Star Flash module 35 are respectively connected to the third main controller 31. Optionally, the communication interface module 36 includes a USB interface or an Ethernet interface. In some embodiments, the star-flash module 35 includes: a star-flash chip, a first switch, a second switch, a first filter, a second filter, a third filter, a sixth low-noise amplifier, and a third power amplifier; the star-flash chip is connected to the third main controller 31, the first terminal of the first switch is connected to the star-flash chip, the second terminal of the first switch is connected to the input terminal of the third power amplifier, the third terminal of the first switch is connected to the output terminal of the third filter, the output terminal of the third power amplifier is connected to the first terminal of the second switch through the first filter, the second terminal of the second switch is connected to the star-flash antenna, the third terminal of the second switch is connected to the input terminal of the sixth low-noise amplifier through the second filter, and the output terminal of the sixth low-noise amplifier is connected to the input terminal of the third filter.

[0069] By integrating the StarScan RSU unit 30 with the low-altitude vehicle 400, direct communication via StarScan communication technology can be achieved between low-altitude vehicles 400 and between the low-altitude vehicle 400 and the ground RSU. Due to the low latency, high speed, and multi-device concurrent connection characteristics of StarScan technology, it enables network communication and collaborative operation between multiple low-altitude vehicles 400 (such as drones), as well as effective coordination between low-altitude flight and ground traffic. StarScan technology is a new generation of short-range wireless communication technology that overcomes the limitations of traditional wireless technologies such as Bluetooth and WiFi in low-latency, high-reliability, and high-concurrency scenarios. The StarSpeed ​​technology boasts advantages such as low latency (response latency of only 0.25ms), high reliability (reliability up to 99.999%), high transmission rate (transmission rate 6 times higher than traditional Bluetooth), low power consumption (power consumption 60% lower than traditional Bluetooth while maintaining low latency and long coverage), high concurrent connections (supporting connections of tens to hundreds of devices), and high-precision positioning (positioning accuracy more than five times that of traditional solutions). Specifically, the StarSpeed ​​RSU unit 30 connects to the Low Altitude Aircraft Vehicle 400 system via USB or Ethernet. Upon power-up, the StarSpeed ​​RSU unit 30 actively establishes a connection with the Low Altitude Aircraft Vehicle 400 system. The Low Altitude Aircraft Vehicle 400 system transmits its flight status and various sensor data to the StarSpeed ​​RSU unit 30 in real time via USB or Ethernet. The StarSpeed ​​RSU unit 30 has a built-in 5G / 4G module, connecting to a cloud management platform via a 5G / 4G network for centralized management and monitoring of both the StarSpeed ​​RSU unit 30 and the Low Altitude Aircraft Vehicle 400.

[0070] In a preferred embodiment, the third main controller 31 is a high-performance processor, and the third mobile communication module 32 may include, but is not limited to, a 4G / 5G communication module, and is backward compatible with 3G / 2G, enabling wireless communication, mobile internet, and other applications, and facilitating data interaction between the Star Flash RSU unit 30 and the low-altitude vehicle 400. The 5G communication module may be, but is not limited to, models such as SRM825 and SRM817. The second memory 37 (DDR3) is a third-generation double data rate synchronous dynamic random access memory, used to improve the main processor's data transmission rate and system performance. The third positioning module 33 is a global positioning and navigation system module, capable of high-precision positioning receiver and RTK differential positioning data output, responsible for providing the device's own real-time positioning information to various applications, and supporting high-precision RTK differential positioning data output. The third positioning module 33 may be, but is not limited to, models such as M8Q and F9P.

[0071] Specifically, the third main controller 31 and the second memory 37 are used to process and store data from interfaces such as the low-altitude vehicle 400 and the star flash module 35; the third positioning module 33 is used to achieve high-precision positioning, enabling real-time acquisition of the precise location of the current low-altitude vehicle 400; the third mobile communication module 32 is used to communicate with the cloud-based control platform to achieve control and scheduling of the low-altitude vehicle 400; the obstacle avoidance radar module 34 is used to perceive the surrounding environment and avoid obstacles and other low-altitude aircraft; the star flash module 35 is used to conduct low-latency, high-speed communication with the star flash modules 35 of other low-altitude vehicles 400 and ground RSUs; the communication interface module 36 adopts a USB or Ethernet interface, connects to the corresponding interface of the low-altitude vehicle 400, and can interact with the internal system of the UAV in real time and quickly.

[0072] The StarScan module 35 integrates a StarScan chip, a first switch, a third power amplifier, a first filter, a second switch, a second filter, a sixth low-noise amplifier, and a third filter. The StarScan chip is used for data transmission and reception processing. The StarScan chip can be, but is not limited to, models such as TR5510 and DX-T600. The first and second switches are used for switching between transmission and reception. The third power amplifier amplifies the StarScan signal, improving its coverage. The first filter removes spurious signals from the transmitted StarScan signal, reducing interference to other frequency bands. The second filter filters out signals other than the StarScan signal, preventing other 5.8GHz or 5.9GHz signals from entering the StarScan and causing interference. The sixth low-noise amplifier amplifies the received valid StarScan signal, improving the reception range. The third filter further filters out signals other than the StarScan signal, reducing the impact of interference signals.

[0073] This invention connects the StarLight RSU unit 30 to the low-altitude vehicle 400 via a USB / Ethernet interface. Utilizing the low latency, high speed, multi-device concurrent connection, anti-interference, high reliability, and low power consumption characteristics of the StarLight RSU unit 30, it enables network communication and collaborative operation among multiple low-altitude vehicles 400, as well as effective coordination between low-altitude flight of the low-altitude vehicle 400 and ground transportation. Through dynamic network construction and efficient data transmission, it supports mission execution in complex environments.

[0074] This invention achieves the following effects by integrating the RSU with a low-altitude vehicle:

[0075] 1. Achieve intelligent traffic management:

[0076] Low-altitude RSU equipment can serve as an important component of intelligent transportation systems. It can communicate directly with ground vehicles to transmit real-time road condition information, traffic light status, road construction information, public transportation scheduling information, etc., helping drivers make safer driving decisions, improving road traffic efficiency, and reducing the incidence of traffic accidents.

[0077] 2. Achieve vehicle-road cooperation:

[0078] Low-altitude RSU devices can communicate bidirectionally with onboard units to enable vehicle-to-infrastructure (V2I) functions, such as autonomous driving assistance and emergency response. Through real-time interaction with vehicles, low-altitude ETC RSUs can provide more accurate navigation services, optimize route planning, and improve the safety and reliability of autonomous driving.

[0079] 3. Emergency Rescue:

[0080] In emergency rescue scenarios, low-altitude RSU equipment can serve as a temporary base station, which can be quickly deployed to provide emergency communication support. For example, when a natural disaster or accident occurs, low-altitude RSU equipment can assist drones in data collection, real-time monitoring, reconnaissance and search and rescue, and transmit key information to the rescue command center to improve rescue efficiency.

[0081] 4. Urban Management:

[0082] Low-altitude radio monitoring units (RSUs) are also widely used in urban management, such as aerial surveillance and air traffic management. By working in conjunction with drones, RSUs can achieve real-time monitoring of the urban environment, assisting in urban planning and management.

[0083] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They do not limit the scope of protection of this utility model. All equivalent changes and modifications made within the scope of the claims of this utility model should fall within the scope of the claims of this utility model.

Claims

1. A low-altitude RSU device, characterized by, The application relates to a low-altitude vehicle, an RSU unit and a high-speed communication bus. The high-speed communication bus is arranged between the low-altitude vehicle and the RSU unit. The RSU unit is used for bidirectional communication with a vehicle-mounted device. The low-altitude vehicle is used for moving to a target position and transmitting signals to the RSU unit through the high-speed communication bus. The high-speed communication bus adopts any one or more of a serial communication mode, a network port communication mode and a PCIe communication mode.

2. The low-altitude RSU device of claim 1, wherein, The RSU unit comprises any one or more of an ETC RSU unit, a V2X RSU unit and a star flash RSU unit.

3. The low-altitude RSU device of claim 1, wherein, The ETC RSU unit comprises a first main controller, a first mobile communication module, a first WIFI module, a first positioning module, an ETC1.0 module, an ETC2.0 module and an ETC serial port module.

4. The low-altitude RSU device of claim 3, wherein, The first main controller is connected with the low-altitude vehicle through the ETC serial port module, and the first mobile communication module, the first WIFI module, the first positioning module, the ETC1.0 module and the ETC2.0 module are connected with the first main controller. The ETC1.0 module comprises a first MCU, a first high-integration unit, a first digital control attenuator, a first low-noise amplifier, an attenuation circuit, a first power amplifier, a high-power amplifier, a first power detection circuit, a second digital control attenuator, a second low-noise amplifier, a first directional coupler and a radio frequency switch.

5. The low-altitude RSU device of claim 4, wherein, The first MCU is connected with the first main controller, the transmitting end of the first high-integration unit is connected with the input end of the first digital control attenuator, the output end of the first digital control attenuator is sequentially connected with the first low-noise amplifier, the attenuation circuit, the first power amplifier, the high-power amplifier and the input end of the first directional coupler, the output end of the first directional coupler is connected with the first connecting end of the radio frequency switch, the second connecting end of the radio frequency switch is connected with a radio frequency antenna, the third connecting end of the radio frequency switch is connected with the input end of the second low-noise amplifier, the output end of the second low-noise amplifier is connected with the receiving end of the first high-integration unit through the second digital control attenuator, and the detection end of the first directional coupler is connected with the first MCU through the first power detection circuit. The ETC2.0 module comprises a transmitting link for transmitting signals and a receiving link for receiving signals.

6. The low-altitude RSU device of claim 4, wherein, The transmitting link comprises a second MCU, a second high-integration unit, a third digital control attenuator, a second power amplifier, a third MCU, a third high-integration unit, a fourth digital control attenuator, a third power amplifier, a power combiner, a first band-pass filter and a second directional coupler. The receiving link comprises a fourth MCU, a fourth high-integration unit, a fifth digital control attenuator, a third low-noise amplifier, a fifth MCU, a fifth high-integration unit, a sixth digital control attenuator, a fourth low-noise amplifier, a power divider, a second band-pass filter and a fifth low-noise amplifier. ​ The second MCU is connected with the first main controller, the second highly integrated unit, the third digitally controlled attenuator and the second power amplifier are sequentially connected between the second MCU and the power combiner, and the third digitally controlled attenuator is further connected with the second MCU; the third MCU is connected with the first main controller, the third highly integrated unit, the fourth digitally controlled attenuator and the third power amplifier are sequentially connected between the third MCU and the power combiner, and the fourth digitally controlled attenuator is further connected with the third MCU; the input end of the first band-pass filter is connected with the power combiner, the output end of the first band-pass filter is connected with a first ETC antenna through the second directional coupler, and the second directional coupler is further connected with the first main controller through a second power detection circuit. The fourth MCU and the fifth MCU are both connected with the first main controller, the fourth highly integrated unit, the fifth digitally controlled attenuator and the third low-noise amplifier are sequentially connected between the fourth MCU and the power distributor, and the fifth digitally controlled attenuator is further connected with the fourth MCU; the fifth highly integrated unit, the sixth digitally controlled attenuator and the fourth low-noise amplifier are sequentially connected between the fifth MCU and the power distributor, the sixth digitally controlled attenuator is further connected with the fifth MCU, the input end of the second band-pass filter is connected with the output end of the fifth low-noise amplifier, the output end of the second band-pass filter is connected with the power distributor, and the input end of the fifth low-noise amplifier is connected with a second ETC antenna.

7. The low-altitude RSU device of claim 3, wherein, The V2X RSU unit comprises a second main controller, a second mobile communication module, a second WIFI module, a second positioning module, a V2X communication module, a power conversion module, a hardware encryption chip, an embedded multimedia card, a first memory, a power management chip, a low-frequency clock circuit, a system clock circuit and an Ethernet interface. The second main controller is connected with the low-altitude vehicle through the high-speed communication bus, the Ethernet interface, the second mobile communication module, the second WIFI module, the second positioning module, the V2X communication module, the hardware encryption chip, the embedded multimedia card, the first memory, the power management chip, the low-frequency clock circuit and the system clock circuit are all connected with the second main controller; and the power conversion module is used for providing power supply, power management and protection for the V2X RSU unit.

8. The low-altitude RSU device of claim 3, wherein, The star flash RSU unit comprises a third main controller, a third mobile communication module, a third positioning module, a second memory, an obstacle avoidance radar module, a star flash module and a communication interface module. The third main controller is connected with the corresponding interface of the low-altitude vehicle through the communication interface module, and the third mobile communication module, the third positioning module, the second memory, the obstacle avoidance radar module and the star flash module are all connected with the third main controller.

9. The low-altitude RSU device of claim 8, wherein, The communication interface module comprises a USB interface or an Ethernet interface; The star flash module comprises a star flash chip, a first switch, a second switch, a first filter, a second filter, a third filter, a sixth low noise amplifier and a third power amplifier; The star flash chip is connected with the third main controller, the first end of the first switch is connected with the star flash chip, the second end of the first switch is connected with the input end of the third power amplifier, the third end of the first switch is connected with the output end of the third filter, the output end of the third power amplifier is connected with the first end of the second switch through the first filter, the second end of the second switch is connected with a star flash antenna, the third end of the second switch is connected with the input end of the sixth low noise amplifier through the second filter, and the output end of the sixth low noise amplifier is connected with the input end of the third filter.

10. The low-altitude RSU device of any one of claims 1-9, wherein, Further comprising: a charging management module, a battery and a power management module; The battery is connected with the charging management module and the power management module respectively, and the power management module is connected with the low-altitude carrier and the RSU unit respectively; The charging management module is used for performing charging management control, the battery is used for providing power, and the power management module is used for distributing and adjusting power.

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