Communication method, V2X platform, on-board device, and storage medium

Abstract

The embodiments of the present application relate to the technical field of V2X, and disclose a communication method, a V2X platform, an in-vehicle device, and a storage medium. In the present application, the communication method is applied to a V2X platform, and includes: determining an operation state of a roadside device RSU through a long-range communication interface for the RSU; when detecting that the operation state of the RSU is abnormal, determining a target OBU based on the location of the RSU and the location of the OBU reported through the long-range communication interface for the in-vehicle device OBU, and the OBU establishes a communication connection with the RSU through a short-range communication interface; and delivering V2X information to the target OBU through the long-range communication interface for the target OBU.

Description

[Technical Field]

[0001] This application is filed based on and claims priority to a Chinese patent application bearing application number "202110372317.8" and filed on April 7, 2021, the entire contents of which are hereby incorporated by reference into this application.

[0002] The embodiments of the present application relate to the technical field of V2X (vehicle to everything), and in particular to a communication method, a V2X platform, an in-vehicle device, and a storage medium. [Background technology]

[0003] Cellular V2X (cellular vehicle-to-everything, C-V2X) communication technology is a new V2X (vehicle-to-everything) communication technology based on cellular communication technology. V2X refers to wireless communication technology between vehicles, or between vehicles and pedestrians, riders, and roadside infrastructure, i.e., the exchange of messages between vehicles and the outside world. V2X organically connects traffic participants (people, vehicles, roads, and the cloud) and enables vehicles to obtain more information than they can sense alone. This not only promotes the innovation and application of autonomous driving technology, but also contributes to the creation of smart transportation systems and the development of new models and forms of automobiles and transportation services. This technology is significant for improving traffic efficiency, saving resources, reducing pollution, reducing accident rates, and improving traffic management. C-V2X is one of the main V2X technology routes. Compared to traditional V2X, C-V2X offers advantages such as wider coverage, support for high-density in-vehicle networks, smooth signal quality, and stable broadcast services, meeting the challenges of open in-vehicle communication services in high-mobility and high-density environments. Summary of the Invention [Problem to be solved by the invention]

[0004] C-V2X road-vehicle coordination is still in the market development stage, and the placement of roadside units (RSUs) for transmitting V2X information to onboard units (OBUs) in nearby passing vehicles is very limited. Therefore, if the RSUs near the road section where the OBUs are installed and the vehicles are traveling cannot operate normally, such as in the case of a power outage, shutdown, or abnormality, or if there are no RSUs nearby, the OBUs cannot obtain V2X information accurately and in a timely manner, resulting in poor C-V2X service quality. [Means for solving the problem]

[0005] An embodiment of the present application provides a communication method applicable to a V2X platform, including: determining an operation status of a roadside unit (RSU) via a long-range communication interface for the RSU; when detecting that the operation status of the RSU is abnormal, determining a target OBU based on the location of the RSU and the location of the OBU reported via the long-range communication interface for the in-vehicle unit (OBU); the OBU establishing a communication connection with the RSU via a short-range communication interface; and delivering V2X information to the target OBU via the long-range communication interface for the target OBU.

[0006] An embodiment of the present application further provides a communication method applicable to an on-board unit (OBU) mounted in a vehicle, the communication method including: determining an operation status of an RSU via a short-range communication interface for a roadside unit (RSU); if it is detected that the operation status of the RSU is normal, mutually transmitting V2X information with the RSU via the short-range communication interface for the RSU, and reporting vehicle information including the location of the vehicle to the V2X platform via a long-range communication interface for the V2X platform; whereby, if the operation status of the RSU is abnormal, the V2X platform distributes V2X information to the OBU based on the location of the vehicle and the pre-recorded location of the RSU; if it is detected that the operation status of the RSU is abnormal, mutually transmitting V2X information with the V2X platform via the long-range communication interface for the V2X platform.

[0007] An embodiment of the present application further provides a V2X platform, comprising: a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a communication method applied to the V2X platform described above.

[0008] An embodiment of the present application further provides an in-vehicle device, comprising a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a communication method applied to an in-vehicle device OBU mounted on the vehicle.

[0009] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, realizes the communication method applied to the V2X platform or the communication method applied to the on-board unit OBU mounted on a vehicle. [Brief explanation of the drawings]

[0010] One or more embodiments are illustrated by way of example only and not by way of limitation in the accompanying drawing figures corresponding thereto. [Figure 1] 1 is a schematic diagram of a process of a communication method according to a first embodiment of the present application; [Figure 2] FIG. 10 is a schematic diagram of a process of a communication method according to a second embodiment of the present application. [Figure 3] FIG. 10 is a schematic diagram of an OBU, an RSU, and a V2X platform communication related to a communication method according to a second embodiment of the present application. [Figure 4] FIG. 10 is a further schematic diagram of OBU, RSU and V2X platform communication related to a communication method according to a second embodiment of the present application; [Figure 5] FIG. 10 is a schematic diagram of a process of a communication method according to a third embodiment of the present application. [Figure 6] FIG. 10 is a schematic diagram of a process of a communication method according to a fourth embodiment of the present application. [Figure 7] FIG. 10 is a schematic diagram of a process of a communication method according to a fifth embodiment of the present application. [Figure 8] FIG. 10 is a schematic diagram of a process of a communication method according to a sixth embodiment of the present application. [Figure 9] FIG. 10 is a schematic diagram of a V2X platform according to a seventh embodiment of the present application / an in-vehicle device according to an eighth embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0011] To clarify the objectives, technical solutions, and advantages of the embodiments of the present application, each embodiment of the present application will be described in detail below with reference to the drawings. However, as will be understood by those skilled in the art, many technical details are proposed in each embodiment of the present application to help readers better understand the present application. However, the technical solutions to be protected by the present application can be realized without these technical details and various changes and modifications based on the following embodiments. The division of the following embodiments is made for the convenience of explanation and should not be construed as limiting the specific embodiments of the present application. Each embodiment can be combined with and referenced to each other as long as there is no contradiction.

[0012] The purpose of the embodiments of the present application is to provide a communication method, a V2X platform, an on-board device, and a storage medium to at least solve the technical problem that when an RSU does not operate normally, an OBU cannot obtain V2X information accurately and timely, and cannot provide high-quality C-V2X services.

[0013] In the communication method, V2X platform, on-board device, and storage medium proposed in the embodiments of the present application, the V2X platform and the on-board device OBU bidirectionally detect the operating status of the roadside device RSU. When the RSU is in an abnormal state, i.e., unable to deliver V2X information to the OBU via the PC5 interface and unable to report the V2X information provided by the OBU to the V2X platform via the Uu interface, the V2X platform directly determines the target OBU that is near the abnormal RSU and needs to send and receive V2X information based on the location of the abnormal RSU and the location reported by the OBU accessing the V2X platform, and then directly interacts with the target OBU via the Uu interface. This allows V2X information to be obtained even when the RSU is in an abnormal state or the vehicle is in a road section where no RSU is located, effectively improving the robustness of C-V2X and better meeting the needs of road-to-vehicle coordination.

[0014] Furthermore, the communication method, V2X platform, on-board device, and storage medium proposed in the embodiments of the present application enable C-V2X services to be used even in road sections where RSUs are not installed, so C-V2X-based road-vehicle coordination can be perfectly used even in environments where infrastructure such as RSUs is weak, thereby greatly accelerating the commercial application of road-vehicle coordination.

[0015] A first embodiment of the present application relates to a communication method applied to a V2X platform, the flowchart of which is shown in FIG. 1, and the communication method includes, but is not limited to, the following steps 101 to 103.

[0016] In step 101, the operation status of the roadside unit RSU is determined via a long-distance communication interface for the RSU.

[0017] In step 102, if it is detected that the operating status of the RSU is abnormal, a target OBU is determined based on the location of the RSU and the location of the OBU reported via the long-distance communication interface for the vehicle-mounted device OBU.

[0018] In addition, the OBU whose location is reported via the long-distance communication interface for the OBU in this embodiment specifically refers to the OBU that establishes a communication connection with the RSU via the short-distance communication interface.

[0019] In step 103, V2X information is delivered to the target OBU via a long-range communication interface for the target OBU.

[0020] In the communication method according to the embodiment of the present application, the V2X platform actively monitors the operation status of the RSU that provides V2X information in real time. If the RSU is operating normally, the RSU provides V2X information to the OBU to ensure fast, accurate, and efficient V2X services. If the V2X platform monitors that the RSU is operating abnormally, it directly determines the target OBU that needs to send and receive V2X information near the abnormal RSU based on the location of the abnormal RSU and the location reported by the OBU accessing the V2X platform. Then, it actively distributes the V2X information to the target OBU via the Uu interface according to the C-V2X communication method, so that the target OBU can obtain V2X information even when the RSU is operating abnormally. This method effectively improves the robustness of C-V2X and better meets the needs of road-vehicle coordination.

[0021] A second embodiment of the present application relates to a communication method applied to a V2X platform.

[0022] Specifically, the current vehicle-infrastructure coordination method based on the C-V2X communication method either directly specifies that the on-board unit (OBU) can only obtain V2X information from the roadside unit (RSU), or directly detaches from the RSU and specifies that the OBU can only obtain V2X information from the V2X platform.

[0023] In the case of a method that specifies that V2X information can only be obtained from RSUs, in actual applications it is necessary to deploy a sufficient number of RSUs on the road surface to cover all roads, which places very high requirements on infrastructure. However, the current number of RSU deployments is still very limited, so road coverage is limited. In the case of a method that specifies that V2X information can only be obtained from RSUs and V2X platforms, this solves the problem of the limited number of RSU deployments and the inability to cover as many roads as possible. However, if OBUs detach from RSUs directly and obtain V2X information from the V2X platform, there is a non-negligible problem that the V2X information cannot be delivered to OBUs in a timely manner. As a result, the OBUs cannot provide in-vehicle services to located vehicles in a timely and accurate manner.

[0024] Based on this, this embodiment takes into consideration the real-time nature of C-V2X services, while providing a communication method that can be applied when the number of RSUs deployed is limited, thereby ensuring that the OBU can still normally acquire V2X information even when the RSU's operating status is abnormal.

[0025] The implementation details of the communication method of this embodiment will be described below. However, the following content is merely implementation details provided for ease of understanding and is not essential for implementing the present technical solution.

[0026] A flowchart of the communication method according to this embodiment is shown in FIG. 2, and the communication method includes, but is not limited to, the following steps 201 to 204.

[0027] In step 201, the operation status of the roadside unit RSU is determined via a long-distance communication interface for the RSU.

[0028] Specifically, the communication method according to this embodiment is mainly related to C-V2X technology, that is, when determining the operating status of an RSU, specifically, the operating status of the RSU is determined based on the C-V2X communication method via a long-distance communication interface for a roadside device RSU.

[0029] It should be understood that the current C-V2X communication method provides two types of communication interfaces: a short-range communication interface between the vehicle, people and road, i.e., the PC5 interface, and a long-range communication interface between the vehicle, essentially the OBU on the vehicle, and the base station, which is the V2X platform, i.e., the Uu interface.

[0030] The PC5 interface communicates directly with road infrastructure such as RSUs, so the V2X information sent between them is fast and real-time. The Uu interface transmits V2X information between remote V2X platforms via the cellular network, so it has a wide coverage area and stable transmission, but there is a certain amount of delay.

[0031] Based on the two types of communication interfaces supported by C-V2X, if the RSU cannot operate normally, the OBU cannot obtain V2X information and cannot provide high-quality C-V2X services. In order to solve this technical problem, the communication links shown in Figure 3 are pre-established between the OBU, RSU and V2X platform in the communication method of this embodiment.

[0032] As shown in Figure 3, in a normal case, that is, after the OBU receives data broadcast by a nearby RSU, it establishes a PC5 two-way communication link with the identified RSU via the PC5 interface, which is a short-range communication interface for the RSU, and at the same time, it establishes a Uu two-way communication link with the V2X platform via the Uu interface, which is a long-range communication interface for the vehicular network platform.

[0033] At the same time, each RSU deployed on the road establishes a Uu bidirectional communication link with the V2X platform via the Uu interface, which is a long-range communication interface for the V2X platform.

[0034] In addition, to ensure that the V2X platform can monitor the operating status of the RSU through the Uu two-way communication link between the V2X platform and the RSU, in actual applications, the V2X platform can periodically send heartbeat information to each other to ensure that the Uu two-way communication link between the two is always connected.

[0035] Correspondingly, with regard to the PC5 bidirectional communication link between the OBU and the RSU and the Uu bidirectional communication link between the OBU and the V2X platform, the communication links between the two can be maintained in a connected state at all times by periodically transmitting heartbeat information to each other.

[0036] According to the communication method shown in FIG. 3, when the V2X platform determines the operating status of the RSU through the Uu interface based on the C-V2X communication method, specifically, based on the C-V2X communication method, it monitors whether the basic safety information (Basic Safety Message, BSM) of the OBU reported by the RSU and the heartbeat information sent by the RSU have been acquired through the Uu interface, i.e., the Uu bidirectional communication link between the V2X platform and the RSU. If neither the BSM of the OBU nor the heartbeat information sent by the RSU has been acquired, or if only the basic safety information has been acquired, or if only the heartbeat information has been acquired, it determines that the operating status of the RSU is abnormal, that is, both the Uu bidirectional communication link between the V2X platform and the RSU and the PC5 bidirectional communication link between the RSU and the OBU are abnormal and cannot communicate normally (see FIG. 4).

[0037] Regarding the abnormal operating state of the RSU, in this embodiment, specifically, the abnormal operating state refers to when the RSU is in a power outage state, a shutdown state, or an abnormal lighting state.

[0038] It should be understood that the above examples are only given to better understand the technical solutions of the present embodiment, and are not intended to limit the present embodiment.

[0039] In step 202, if it is detected that the operating status of the RSU is abnormal, a take OBU is determined based on the location of the RSU and the location of the OBU reported via the long-distance communication interface for the vehicle-mounted device OBU.

[0040] It can be understood that in practical applications, after an RSU deployed on a road starts to be used, it usually establishes a communication link with a V2X platform via a Uu interface, i.e., the V2X platform accesses multiple RSUs. Therefore, when it is determined that the operating status of one of the accessed RSUs is abnormal, the V2X platform can continue to provide C-V2X service to the OBU in place of the abnormal RSU, i.e., continue to deliver V2X information, by screening a target OBU from multiple OBUs whose locations satisfy the requirements of the OBU and the location of the RSU whose operating status is abnormal based on the location of the RSU whose operating status is abnormal and the locations reported by all OBUs accessed via the Uu interface.

[0041] For example, the location of the OBU with an abnormal operating state may be defined as the center of a circle, and OBUs within a circular area formed with a radius of a predetermined distance, for example, 500 meters, may be determined as target OBUs; in other words, there may be multiple target OBUs determined.

[0042] In step 203, V2X information is delivered to the target OBU via a long-range communication interface for the target OBU.

[0043] Specifically, if there are multiple determined target OBUs, the V2X platform distributes the V2X information to each target OBU via the Uu interface, for example, via the Uu bidirectional communication interface between the OBUs and the V2X platform in Figure 4.

[0044] The V2X information according to this embodiment includes, but is not limited to, a signal phase timing message (SPAT), a map message (MAP) describing road and lane related information, road side information (RAI) such as road construction, speed limit signs, speeding warnings, bus lane warnings, etc., and road side safety information (RSM) such as vehicle accidents, vehicle abnormalities, and foreign object intrusion.

[0045] In addition, in practical applications, the V2X information delivered by the V2X platform may further be generated by aggregating other road infrastructure such as cameras and traffic lights located around the road, information reported by OBUs of other vehicles on the current road section, information reported by RSUs before their operating status becomes abnormal, and information reported by RSUs in other road sections with normal operating status.

[0046] In addition, in actual applications, the V2X platform further distributes V2X information to the target OBU via the Uu interface for the target OBU, receives the BSM reported by the target OBU towards the Uu interface of the target OBU, adjusts the information related to the BSM in the V2X information based on the BSM, and finally distributes the adjusted V2X information to the target OBU via the long-distance communication interface for the target OBU.

[0047] Specifically, in practical applications, the BSM usually consists of two parts: one part contains instantaneous vehicle status information such as location, speed, and vehicle size, and the other part contains sensor data such as sunlight levels and event records such as tire punctures and light changes. Therefore, in order to ensure that the V2X information distributed by the V2X platform to the OBU is more consistent with the current status of the vehicle in which the OBU is installed and to better provide C-V2X services to the vehicle, the V2X information that needs to be distributed can be adjusted in real time based on the BSM reported by the OBU via the Uu interface during the process of the V2X platform transmitting V2X information to the OBU and vice versa via the Uu interface, thereby providing better C-V2X services.

[0048] Based on this, even when the working state of the RSU is abnormal, the target OBU can still obtain the V2X information normally, thereby ensuring the quality of the C-V2X service.

[0049] It can also be understood that when the RSU is in a normal operating state, the transmission and reception of V2X information with the OBU is performed by the RSU, not the V2X platform, thereby ensuring the real-time nature of the V2X information.

[0050] In step 204, if it is detected that the operating state of the RSU has returned to normal, the distribution of V2X information to the target OBU is stopped.

[0051] Specifically, although the V2X platform can provide V2X information to the OBU, to ensure the real-time nature of C-V2X services, when the V2X platform receives again the heartbeat information sent by the abnormal RSU via the Uu interface and the BSM of the target OBU reported by the abnormal RSU, it is considered that the RSU's operating state has returned to normal, that is, both the Uu bidirectional communication link between the RSU and the V2X platform and the PC5 bidirectional communication link between the RSU and the OBU have returned to normal, as shown in Figure 3. At this time, the V2X platform stops distributing V2X information to the target OBU, and instead, the RSU whose operating state has returned to normal quickly distributes V2X information to the target OBU in real time via the PC5 interface.

[0052] In the communication method according to the embodiment of the present application, dual links are used, including a PC5 two-way communication link between the OBU and the RSU and a Uu two-way communication link between the OBU and the V2X platform. When the V2X platform identifies that the operating status of the RSU is abnormal, it directly delivers V2X information to the OBU via the Uu interface. This ensures that even when the operating status of the RSU is abnormal or in a road section where no RSU is located, the OBU can obtain V2X information and provide C-V2X services to vehicles.

[0053] In addition, when the V2X work platform determines that the RSU is in a normal operating state or has returned to a normal operating state, it stops distributing V2X information to the OBU via the Uu interface. Instead, the RSU distributes V2X information to the OBU via the PC5 interface, thereby ensuring the timely arrival of V2X information at the OBU and ensuring the real-time nature of the C-V2X service.

[0054] Furthermore, based on the above-mentioned dual link method, the communication method according to the embodiments of the present application can be perfectly applied even in areas where road infrastructure is scarce, thereby further promoting the application of road-vehicle coordination based on the C-V2X communication method.

[0055] A third embodiment of the present application relates to a communication method applied to a V2X platform, the flowchart of which is shown in FIG. 5, and the communication method includes, but is not limited to, the following steps 501 to 504.

[0056] In step 501, the operation status of the roadside unit RSU is determined via a long-distance communication interface for the RSU.

[0057] In step 502, if it is detected that the operating status of the RSU is abnormal, a take OBU is determined based on the location of the RSU and the location of the OBU reported via the long-distance communication interface for the vehicle-mounted device OBU.

[0058] In step 503, vehicular network V2X information is delivered to the target OBU via a long-range communication interface for the target OBU.

[0059] Obviously, steps 501 to 503 of this embodiment are almost the same as steps 201 to 203 of the second embodiment, and therefore a detailed description thereof will be omitted here.

[0060] In step 504, if communication recovery information of the short-range communication interface reported by the target OBU is received via the long-range communication interface for the target OBU, the distribution of V2X information to the target OBU is stopped.

[0061] In practical applications, when the V2X platform receives communication recovery information from the target OBU via the short-range communication interface, i.e., the PC5 interface, the target OBU may have re-received the heartbeat information and V2X information distributed by the RSU identified as having an abnormal operating state via the PC5 interface, i.e., the operating state of the RSU identified as having an abnormal operating state may have returned to normal. Alternatively, the vehicle may have traveled through a road section where an available RSU is located, and the target OBU may have received V2X information distributed by another available RSU via the PC5 interface. In any case, as long as the V2X platform receives communication recovery information from the target OBU via the Uu interface, it can stop distributing V2X information to the target OBU. After that, the target OBU may transmit V2X information to and from the RSU via the PC5 interface.

[0062] In the communication method according to the embodiment of the present application, dual links are used, including a PC5 two-way communication link between the OBU and the RSU and a Uu two-way communication link between the OBU and the V2X platform. When the V2X platform identifies that the operating status of the RSU is abnormal, it directly delivers V2X information to the OBU via the Uu interface. This ensures that even when the operating status of the RSU is abnormal or in a road section where no RSU is located, the OBU can obtain V2X information and further provide C-V2X services to vehicles.

[0063] In addition, after the V2X platform receives the communication recovery information of the PC5 interface reported by the OBU, the RSU will instead deliver the V2X information to the OBU via the PC5 interface, so that the V2X information can arrive at the OBU in a timely manner, thereby ensuring the real-time nature of the C-V2X service.

[0064] Furthermore, based on the above-mentioned dual link method, the communication method according to the embodiments of the present application can be perfectly applied even in areas where road infrastructure is scarce, thereby further promoting the application of road-vehicle coordination based on the C-V2X communication method.

[0065] A fourth embodiment of the present application relates to a communication method applied to an on-board unit (OBU) mounted on a vehicle, including: determining an operation status of an RSU via a short-range communication interface for a roadside unit (RSU); if it is detected that the operation status of the RSU is normal, mutually transmitting V2X information with the RSU via the short-range communication interface for the RSU; and reporting vehicle information including the location of the vehicle to the V2X platform via a long-range communication interface for the V2X platform; whereby, if the operation status of the RSU is abnormal, the V2X platform distributes V2X information to the OBU based on the location of the vehicle and a pre-recorded location of the RSU; and if it is detected that the operation status of the RSU is abnormal, mutually transmitting V2X information with the V2X platform via the long-range communication interface for the V2X platform.

[0066] In practical application, the flow chart is shown in FIG. 6, and the communication method includes, but is not limited to, the following steps 601 to 603.

[0067] In step 601, the operation status of the roadside unit RSU is determined through a short-range communication interface for the RSU.

[0068] Specifically, if the operating status of the RSU is normal, the operation of step 602 is performed; if the operating status of the RSU is abnormal, the operation of step 603 is performed.

[0069] In step 602, the RSU transmits V2X information to each other via a short-range communication interface for the RSU, and reports vehicle information to the V2X platform via a long-range communication interface for the V2X platform.

[0070] Specifically, in this embodiment, the vehicle information includes the location of the vehicle.

[0071] Correspondingly, the OBU reports vehicle information to the V2X platform via a long-range communication interface for the V2X platform, so that when the operating status of the RSU is abnormal, the V2X platform delivers V2X information to the OBU based on the location of the vehicle and the pre-recorded location of the RSU.

[0072] In step 603, if it is detected that the operating status of the RSU is abnormal, it transmits V2X information to and from the V2X platform via a long-distance communication interface for the V2X platform.

[0073] In the communication method according to the embodiment of the present application, when an OBU acquires V2X information, it first detects the operating status of the RSU through the PC5 interface based on the C-V2X communication method. If it determines that the RSU is operating normally, it directly transmits V2X information to and from the RSU through the PC5 interface, thereby ensuring the real-time performance of C-V2X services. If the RSU is operating abnormally, it transmits V2X information to and from the V2X platform through the Uu interface, thereby enabling the target OBU to acquire V2X information even when the RSU is operating abnormally. This method effectively improves the robustness of C-V2X and better meets the needs of road-to-vehicle coordination.

[0074] The fifth embodiment of the present application relates to a communication method applied to an on-board unit OBU mounted on a vehicle, the flowchart of which is shown in FIG. 7, and the communication method includes, but is not limited to, the following steps 701 to 704.

[0075] In step 701, the operation status of the roadside unit RSU is determined via a short-range communication interface for the RSU.

[0076] Specifically, if the operating status of the RSU is normal, the operation of step 702 is performed; if the operating status of the RSU is abnormal, the operation of step 703 is performed.

[0077] It can also be understood that in actual applications, the communication method according to this embodiment is implemented in cooperation with the communication method applied to the V2X platform, and therefore the communication method provided in this embodiment is still implemented based on the C-V2X communication method, that is, the short-range communication interface for the RSU described below in this embodiment is still the PC5 interface in the communication method suitable for the V2X platform described above, and the long-range communication interface for the V2X platform is still the Uu interface.

[0078] In response to this, the method for determining the operating status of an RSU in this embodiment is still based on the C-V2X communication method and determines the operating status of the RSU via the PC5 interface, which is a short-range communication interface for roadside devices (RSUs).

[0079] Specifically, the operation of determining whether the operating status of an RSU is normal through the PC5 interface based on the C-V2X communication method is similar to the method by which the V2X platform determines the operating status of an RSU through the Uu interface. Both are performed by obtaining the heartbeat information sent by the RSU and the V2X information distributed by the RSU. If neither information can be obtained, the operating status of the RSU is considered to be abnormal; otherwise, the operating status of the RSU is considered to be normal.

[0080] In addition, in actual applications, there may be cases where an RSU is not located in the current road section. Therefore, before determining whether the operating status of the RSU is normal through the PC5 interface, it is necessary to first determine whether an RSU exists in the current road section. If an RSU exists, an operation to determine the operating status of the roadside device RSU through the PC5 interface based on the C-V2X communication method is performed; if an RSU does not exist, the operation of step 703 is directly performed.

[0081] In step 702, the RSU transmits V2X information to and from the RSU via a short-range communication interface for the RSU, and reports vehicle information to a V2X platform via a long-range communication interface for the V2X platform.

[0082] Specifically, in practical applications, when the RSU's operating state is normal, the OBU and the RSU directly transmit V2X information to each other through the PC5 interface, for example, the OBU transmits BSM to the RSU, and the RSU transmits V2X information such as SPAT, MAP, RSI, and RSM to the OBU. At the same time, when the RSU's operating state is abnormal, the OBU further reports vehicle information to the V2X platform through the Uu interface to facilitate the V2X platform to provide V2X information to the current OBU.

[0083] In this embodiment, the vehicle information includes at least the location of the vehicle in which the OBU is installed, so that when it is determined that the operating status of the RSU is abnormal, the V2X platform can distribute V2X information to the OBU based on the location of the RSU and the location of the vehicle.

[0084] In addition, in practical applications, the vehicle information reported by the OBU to the V2X platform may further include information such as the current vehicle speed and vehicle size so that the V2X platform can deliver appropriate V2X information to the OBU.

[0085] Based on this, when the operating status of the RSU is normal, the OBU directly obtains V2X information from the RSU through the PC5 interface, thereby ensuring the real-time nature of the V2X information.

[0086] In step 703, if it is detected that the operating status of the RSU is abnormal, it transmits V2X information to and from the V2X platform via a long-distance communication interface for the V2X platform.

[0087] Based on this, even when the working state of the RSU is abnormal, the OBU can still obtain V2X information normally, thereby ensuring the quality of C-V2X services.

[0088] In step 704, if it is detected that the operating status of the RSU has returned to normal, it reports communication recovery information of the short-range communication interface to the V2X platform via the long-range communication interface for the V2X platform, and stops distributing V2X information to the V2X cloud platform.

[0089] Specifically, the V2X platform can provide V2X information to the OBU. However, to ensure the real-time nature of C-V2X services, when the OBU determines that an RSU has returned to normal operation—for example, when it receives heartbeat information from an abnormal RSU again and V2X information from the abnormal RSU—it is considered that the RSU has returned to normal operation, i.e., both the Uu bidirectional communication link between the RSU and the V2X platform and the PC5 bidirectional communication link between the RSU and the OBU have returned to normal. At this time, the OBU can obtain more real-time V2X information from the RSU via the PC5 interface. At the same time, to prevent the V2X platform from continuing to distribute V2X information to the OBU via the Uu interface, the OBU can proactively report communication recovery information for the PC5 interface to the V2X platform via the Uu interface. This allows the V2X platform to stop distributing V2X information to the OBU, thereby releasing the current OBU from occupying V2X platform resources and enabling the V2X platform to provide better services to other OBUs.

[0090] In the embodiment of the present application, a dual link is used, including a PC5 two-way communication link between the OBU and the RSU and a Uu two-way communication link between the OBU and the V2X platform. When the OBU identifies that the operating status of the RSU is abnormal, it directly obtains V2X information from the V2X platform via the Uu interface. This ensures that even when the operating status of the RSU is abnormal or in a road section where no RSU is located, the OBU can obtain V2X information and still provide C-V2X services to vehicles.

[0091] In addition, when the OBU determines that the RSU's operating status is normal or has returned to normal, it stops obtaining V2X information from the V2X platform via the Uu interface and instead obtains V2X information from the RSU via the PC5 interface, so that the V2X information can arrive at the OBU in a timely manner, thereby ensuring the real-time nature of the C-V2X service.

[0092] Furthermore, based on the above-mentioned dual link method, the communication method according to the embodiments of the present application can be perfectly applied even in areas where road infrastructure is scarce, thereby further promoting the application of road-vehicle coordination based on the C-V2X communication method.

[0093] The sixth embodiment of the present application relates to a communication method applied to an on-board unit OBU mounted on a vehicle, the flowchart of which is shown in FIG. 8, and the communication method includes, but is not limited to, the following steps 801 to 804.

[0094] In step 801, the operation status of the roadside unit RSU is determined via a short-range communication interface for the RSU.

[0095] Specifically, if the operating status of the RSU is normal, the operation of step 802 is performed; if the operating status of the RSU is abnormal, the operation of step 803 is performed.

[0096] In step 802, the RSU transmits V2X information to and from the RSU via a short-range communication interface for the RSU, and reports vehicle information to the V2X platform via a long-range communication interface for the V2X platform.

[0097] In step 803, if it is detected that the operating status of the RSU is abnormal, it transmits V2X information to and from the V2X platform via a long-distance communication interface for the V2X platform.

[0098] Apparently, steps 801 to 803 of this embodiment are almost the same as steps 701 to 703 of the fifth embodiment, and therefore a detailed description thereof will be omitted here.

[0099] In step 804, if the vehicle detects that it is traveling near another RSU that is in a normal operating state, it transmits V2X information to the other RSU via a short-range communication interface, and reports communication recovery information of the short-range communication interface to the V2X platform via a long-range communication interface for the V2X platform, and stops distributing V2X information to the vehicle network cloud platform.

[0100] In the communication method according to the embodiment of the present application, dual links are used, including a PC5 bidirectional communication link between the OBU and the RSU and a Uu bidirectional communication link between the OBU and the V2X platform. When the OBU identifies that the operating status of the RSU is abnormal, it directly obtains V2X information from the V2X platform via the Uu interface. This ensures that even when the operating status of the RSU is abnormal or in a road section where no RSU is located, the OBU can obtain V2X information and still provide C-V2X services to vehicles.

[0101] In addition, when the OBU travels near other RSUs that are in normal operating condition, it changes from obtaining V2X information from the V2X platform via the Uu interface to obtaining V2X information from other nearby RSUs that are in normal operating condition via the PC5 interface, so that the V2X information can arrive at the OBU in a timely manner, ensuring the real-time nature of the C-V2X service.

[0102] Furthermore, based on the above-mentioned dual link method, the communication method according to the embodiments of the present application can be perfectly applied even in areas where road infrastructure is scarce, thereby further promoting the application of road-vehicle coordination based on the C-V2X communication method.

[0103] Obviously, in actual applications, the communication method applied to the onboard unit OBU installed in the vehicle is mutually linked with the communication method applied to the V2X platform, so the fourth, fifth, and sixth embodiments can be implemented in conjunction with the first, second, and third embodiments. The details of the related techniques in the first, second, and third embodiments remain valid for the fourth, fifth, and sixth embodiments, and to reduce repetition, detailed descriptions will be omitted here. Correspondingly, the details of the related techniques in the fourth, fifth, and sixth embodiments can also be applied to the first, second, and third embodiments.

[0104] It should be understood that the division of steps in each method described above is merely for the purpose of clarity, and that the steps may be combined into one step or divided into multiple steps when executed, as long as they contain the same logical relationship, and are within the scope of protection of this patent; making insignificant modifications to the algorithm or process or introducing insignificant designs, but not changing the core design of the algorithm or process, are all within the scope of protection of this patent.

[0105] A seventh embodiment of the present application relates to a V2X platform, which includes, as shown in FIG. 9 , at least one processor 901 and a memory 902 communicatively connected to the at least one processor 901, wherein the memory 902 stores instructions executable by the at least one processor 901, and the instructions are executed by the at least one processor 901 so that the at least one processor 901 can perform the communication method applied to the V2X platform described in the above method embodiment.

[0106] Here, the memory 902 and the processor 901 are connected by a bus, which may include any number of interconnected buses and bridges, connecting various circuits of one or more processors 901 and memories 902 together. The bus may also connect various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. A bus interface may provide an interface between the bus and a transceiver. The transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor 901 is transmitted over a wireless medium via an antenna, which in turn receives and transmits data to the processor 901.

[0107] The processor 901 is responsible for bus management and general processing, and may also provide various functions such as timing, peripheral interfacing, voltage regulation, power management, and other control functions. The memory 902 may be used to store data used by the processor 901 in performing operations.

[0108] An eighth embodiment of the present invention relates to an in-vehicle device.

[0109] Specifically, in one embodiment, the internal structure diagram of the V2X platform may be as shown in FIG. 9, and the operating principles and connection methods of each component are similar to those of the V2X platform in the seventh embodiment, except that the memory in the on-board device stores instructions for realizing the above-mentioned communication method for the on-board device, and the processor realizes the above-mentioned communication method for the on-board device based on the instructions stored in the memory.

[0110] A ninth embodiment of the present application relates to a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, realizes the communication method applied to the V2X platform in the above method embodiment or the communication method applied to the on-board unit OBU mounted on a vehicle.

[0111] That is, as can be understood by those skilled in the art, all or part of the steps in the above-described embodiment methods can be completed by issuing instructions to related hardware by a program, and the program is stored in a storage medium and includes multiple instructions for causing a device (which may be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The above-described storage medium includes various media capable of storing program code, such as a USB memory, a mobile disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0112] It will be understood by those skilled in the art that the above embodiments are specific examples for realizing the present application, and in actual applications, various changes in form and details may be made without departing from the spirit and scope of the present application.

Claims

1. A communication method applied to a V2X platform, the communication method comprising: When the operation status of a roadside unit RSU is abnormal, a target OBU is determined based on the location of the RSU and the location of the OBU reported through a long-range communication interface for an on-board unit OBU, and the OBU establishes a communication connection with the RSU through a short-range communication interface, and the operation status of the RSU is detected by the OBU; and delivering V2X information to the target object-to-buffer unit (OBU) via a long-range communication interface for the target object-to-buffer unit (OBU).

2. After delivering vehicular network V2X information to the target OBU via a long-range communication interface for the target OBU, the method further comprises: receiving basic safety information reported by the target OBU via a long-range communication interface for the target OBU; Adjusting information related to the basic safety information in the V2X information based on the basic safety information; 2. The communication method of claim 1, further comprising: delivering the adjusted V2X information to the target object broadcasting unit (OBU) via a long-range communication interface for the target object broadcasting unit (OBU).

3. The method comprises:

3. The communication method according to claim 1, further comprising: stopping distribution of the V2X information to the target OBU when detecting that the operation state of the RSU has returned to normal.

4. The communication method according to any one of claims 1 to 3, further comprising: stopping distribution of the V2X information to the target OBU when communication recovery information of a short-range communication interface reported by the target OBU is received via a long-range communication interface for the target OBU.

5. Determining the operation status of the roadside unit RSU via a long-distance communication interface for the roadside unit RSU includes: Acquiring, via a long-range communication interface for the RSU, basic safety information reported by the RSU and provided by an OBU that establishes a communication connection with the RSU via a short-range communication interface, and heartbeat information transmitted by the RSU; A communication method according to any one of claims 1 to 4, comprising determining that the operating status of the RSU is abnormal if the basic safety information is not acquired and / or if the heartbeat information is not acquired.

6. A communication method applied to an on-board unit (OBU) mounted in a vehicle, the communication method comprising: Determining the operational status of a roadside unit (RSU) via a short-range communication interface for the RSU; When detecting that the operating status of the RSU is normal, mutually transmit V2X information with the RSU through a short-range communication interface for the RSU, and report vehicle information including the location of the vehicle to the V2X platform through a long-range communication interface for the V2X platform, so that when the operating status of the RSU is abnormal, the V2X platform delivers V2X information to the OBU based on the location of the vehicle and the pre-recorded location of the RSU; and transmitting V2X information to and from the V2X platform via a long-range communication interface for the V2X platform when detecting that the RSU's operating status is abnormal.

7. The method comprises:

7. The communication method of claim 6, further comprising: when detecting that the operating state of the RSU has returned to normal, reporting communication recovery information of the short-range communication interface to the V2X platform via the long-range communication interface for the V2X platform, and causing the V2X platform to stop distributing V2X information.

8. The method comprises:

8. The communication method according to claim 6 or 7, further comprising, when detecting that the vehicle is traveling near another RSU whose operating state is normal, transmitting V2X information to the other RSU via a short-range communication interface, reporting communication recovery information of the short-range communication interface to the V2X platform via a long-range communication interface for the V2X platform, and causing the V2X platform to stop distributing the V2X information.

9. The method comprises: determining whether the RSU is present; If it is determined that the RSU exists, performing a step of determining an operation status of the RSU via a short-range communication interface for the roadside unit RSU; 9. The communication method according to claim 6, further comprising: when determining that the RSU is not present, performing a step of mutually transmitting V2X information with the V2X platform via a long-range communication interface for the V2X platform.

10. A V2X platform, at least one processor; a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the communication method of any one of claims 1 to 5.

11. An in-vehicle device, at least one processor; a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the communication method according to any one of claims 6 to 9.

12. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the communication method according to any one of claims 1 to 5 or the communication method according to any one of claims 6 to 9.

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