Faulty road side unit information acquisition method, server, road side unit, vehicle-mounted unit, internet of vehicles system, and readable medium

Abstract

The present disclosure provides a faulty road side unit information acquisition method, a server, a road side unit, a vehicle-mounted unit, an Internet of vehicles system, and a readable medium. The faulty road side unit information acquisition method is applied to a server, and comprises: when it is determined that there is a faulty road side unit, determining a first transit road side unit and a first forwarding strategy; sending to the first transit road side unit a first control message carrying a control instruction and the first forwarding strategy, such that the first transit road side unit sends the first control message to the faulty road side unit on the basis of the first forwarding strategy; and when a first response message is received within a first failure duration, obtaining a processing result carried in the first response message, wherein the processing result is a processing result of the faulty road side unit executing the control instruction in the first control message.

Description

Faulty roadside unit information acquisition method, server, roadside unit, onboard unit, vehicle networking system and readable medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to patent application No. 202310790249.6 filed with the China Patent Office on June 29, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to, but is not limited to, the field of vehicle networking technology. Background Art

[0004] The Internet of Vehicles (IoV) is a concept that connects vehicles with external traffic information based on the internet and sensor technology. V2X (V2X) is a key technology direction within IoV, encompassing four scenarios: vehicle-to-vehicle (V2V), vehicle-to-roadside infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-cloud (V2N). Roadside units (RSUs) serve as the communication link between vehicles and infrastructure, transmitting real-time traffic information, optimizing traffic flow, improving driving safety, and accelerating the implementation of intelligent transportation systems. RSUs enable V2I, support V2V, and exchange information with cloud servers, playing a crucial role in the development of an IoV technology ecosystem and smart transportation.

[0005] RSU is a key device for realizing smart roads. It is arranged on the roadside and has a certain failure rate. In addition, manual maintenance of roadside equipment is difficult and costly.

[0006] Some RSU faults can be discovered through self-testing, such as software task anomalies or hardware module anomalies, and can be reported to the cloud server for processing. However, faults that cannot be discovered through self-testing, such as RSU-server communication failures, can cause the cloud server to lose control of the RSU and its ability to detect its status. Therefore, when RSU-server communication fails, restoring the cloud server's ability to remotely control the RSU is crucial.

[0007] Summary of the Invention

[0008] The present disclosure provides a method for acquiring information of a faulty roadside unit, a server, a roadside unit, an on-board unit, a vehicle networking system, and a readable medium.

[0009] In the first aspect, an embodiment of the present disclosure provides a method for obtaining information of a faulty roadside unit, which is applied to a server. The method includes: when it is determined that there is a faulty roadside unit, determining a first transit roadside unit and a first forwarding strategy; sending a first control message to the first transit roadside unit, the first control message carrying a control instruction and the first forwarding strategy, for instructing the first transit roadside unit to send the first control message to the faulty roadside unit according to the first forwarding strategy; when a first response message is received within a first failure time, obtaining a processing result carried in the first response message, the processing result being the processing result of the faulty roadside unit executing the control instruction in the first control message.

[0010] On the other hand, an embodiment of the present disclosure also provides a method for obtaining information of a faulty roadside unit, which is applied to a roadside unit, and the method includes: receiving a first control message sent by a server, and obtaining a first forwarding strategy carried in the first control message; when it is determined that the first control message has not timed out, determining a target device according to the first forwarding strategy, the target device being the faulty roadside unit or a vehicle-mounted unit connected to the roadside unit and the faulty roadside unit; sending the first control message to the target device so that the first control message is sent to the faulty roadside unit; receiving a first response message sent by the target device, and sending the first response message to the server.

[0011] On the other hand, an embodiment of the present disclosure also provides a method for obtaining information of a faulty roadside unit, which is applied to a roadside unit. The method includes: receiving a first control message, obtaining a control instruction carried in the first control message; when it is determined that the first control message is valid and has not timed out, executing the control instruction to obtain a processing result; and sending a first response message carrying the processing result to the server.

[0012] On the other hand, an embodiment of the present disclosure also provides a method for obtaining information of a faulty roadside unit, which is applied to a vehicle-mounted unit, and the method includes: receiving a first control message, obtaining the location and second failure duration of the faulty roadside unit carried in the first control message; when it is determined that the vehicle-mounted unit is connected to the faulty roadside unit corresponding to the location, and when it is determined that the first control message is valid and has not timed out, sending the first control message to the faulty roadside unit, and the first control message is used to instruct the faulty roadside unit to execute the control instructions in the first control message; when a first response message sent by the faulty roadside unit is received within the second failure duration, sending the first response message to the transit roadside unit that sent the first control message.

[0013] On the other hand, an embodiment of the present disclosure also provides a server, comprising: one or more processors; a memory on which one or more programs are stored; when the one or more programs are executed by the one or more processors, the one or more processors implement any method for obtaining fault roadside unit information as described herein; and at least one input and output (I / O) interface, connected between the processor and the memory, configured to implement information interaction between the processor and the memory.

[0014] On the other hand, an embodiment of the present disclosure also provides a roadside unit, comprising: one or more processors; a memory on which one or more programs are stored; when the one or more programs are executed by the one or more processors, the one or more processors implement any method for obtaining information of a faulty roadside unit as described herein; and at least one I / O interface connected between the processor and the memory, configured to implement information interaction between the processor and the memory.

[0015] On the other hand, an embodiment of the present disclosure also provides a vehicle-mounted unit, comprising: one or more processors; a memory on which one or more programs are stored; when the one or more programs are executed by the one or more processors, the one or more processors implement any method for obtaining information of a faulty roadside unit as described herein; and at least one I / O interface connected between the processor and the memory, configured to implement information interaction between the processor and the memory.

[0016] On the other hand, an embodiment of the present disclosure further provides a vehicle networking system, comprising at least one of the following: the server as described above, the roadside unit as described above, and the vehicle-mounted unit as described above.

[0017] On the other hand, an embodiment of the present disclosure further provides a computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, any method for obtaining faulty roadside unit information as described herein is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a schematic diagram of a V2X system architecture according to an embodiment of the present disclosure;

[0019] FIG2 is a schematic diagram of a process for obtaining faulty roadside unit information with a server as the execution body provided by an embodiment of the present disclosure;

[0020] FIG3 is a schematic structural diagram of a first control message provided by an embodiment of the present disclosure;

[0021] FIG4 is a schematic diagram of a data processing flow with a server as the execution subject provided by an embodiment of the present disclosure;

[0022] FIG5 is a schematic diagram of a transmission range of a first control message provided by an embodiment of the present disclosure;

[0023] FIG6 is a schematic diagram of a process for obtaining faulty roadside unit information with a transit roadside unit as the execution subject provided by an embodiment of the present disclosure;

[0024] FIG7 is a schematic diagram of a process for obtaining faulty roadside unit information with the faulty roadside unit as the execution subject provided by an embodiment of the present disclosure;

[0025] FIG8 is a schematic diagram of a process for obtaining information of a faulty roadside unit with the vehicle-mounted unit as the execution subject provided by an embodiment of the present disclosure;

[0026] FIG9 is a schematic diagram of a process for obtaining faulty roadside unit information provided by an example of the present disclosure;

[0027] FIG10 is a schematic diagram of the structures of the server, roadside unit, and vehicle-mounted unit provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the scope of this disclosure to those skilled in the art.

[0029] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0030] The terms used herein are used only to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a," "an," and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements, and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups thereof is not excluded.

[0031] The embodiments described herein may be described with reference to plan views and / or cross-sectional views, with the aid of idealized schematic diagrams of the present disclosure. Accordingly, the example illustrations may be modified based on manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings are schematic in nature, and the shapes of the regions shown in the drawings illustrate the shapes of the regions of the elements, but are not intended to be limiting.

[0032] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless expressly defined as such herein.

[0033] The present disclosure provides a method for obtaining information about a faulty roadside unit (RSU). The method can be applied to the V2X system shown in Figure 1. As shown in Figure 1, the V2X system includes a cloud server, an RSU, and an OBU (On-Board Unit). The cloud server is configured to detect the RSU status and, upon detecting a device anomaly, select the optimal relay RSU based on the RSU distribution network topology to transmit control information. The cloud server then sets a task failure duration and terminates the task upon receiving a response message.

[0034] After receiving the control message from the cloud server, the RSU is configured to determine whether the target address carried therein (for example, the location of the faulty RSU, the RSU device identification, etc.) is consistent with the local machine. If consistent, the control instructions in the control message are executed; if inconsistent, the control message is forwarded according to the network topology and forwarding strategy.

[0035] OBU is configured to forward the control message sent by RSU. The forwarding target address can be RSU or other OBU. OBU will judge the transmission range of the control message to be forwarded. If the target address exceeds the transmission range, the control message will be discarded.

[0036] The V2X system, leveraging network communication infrastructure, can be applied in the following scenarios: V2V scenarios, for vehicle-to-vehicle warnings, such as forward collisions, intersection collisions, and wrong-way overtaking; V2I scenarios, for vehicle-to-roadside information devices, such as traffic lights and roadside sensor information; V2P scenarios, for vehicle-to-pedestrian messaging, such as pedestrian warnings; and V2N scenarios, for vehicle-to-cloud messaging. The present disclosure addresses both V2V and V2I scenarios.

[0037] According to national standards, V2X messages are categorized into BSM (Basic Safety Message), which reports the vehicle's latitude, longitude, heading, speed, and other information; RSM (Road Side Message), which transmits information about non-motorized vehicles and people through sensor recognition; and RSI (Road Side Information), which transmits messages based on roadside unit events. This disclosure relates to the communication links for BSM reporting and RSI transmission.

[0038] The networking mode of the RSU may be a direct communication mode or an indirect communication mode. The embodiments of the present disclosure provide differentiated control links according to different RSU networking modes.

[0039] Figure 2 is a schematic diagram of a process for obtaining faulty roadside unit information using a server as the execution subject, according to an embodiment of the present disclosure. The method for obtaining faulty roadside unit information is applied to a server, which may be the aforementioned cloud server. As shown in Figure 2, in some embodiments, the method may include the following steps S11 to S13.

[0040] In step S11 , when it is determined that a faulty roadside unit exists, a first transit roadside unit and a first forwarding strategy are determined.

[0041] When a roadside unit fails, the cloud server determines a first relay roadside unit and a first forwarding strategy for forwarding a control message to the failed roadside unit. The first forwarding strategy is a forwarding method for the first relay roadside unit to send the first control message to the failed roadside unit.

[0042] In step S12, a first control message is sent to the first transit roadside unit. The first control message carries a control instruction and a first forwarding strategy, which is used to instruct the first transit roadside unit to send the first control message to the faulty roadside unit according to the first forwarding strategy.

[0043] The control instruction may include at least one of the following: a control path detection instruction, a device restart instruction, a device parameter acquisition instruction, a device parameter setting instruction, a device log capture instruction, a device fault information acquisition instruction, etc.

[0044] FIG3 is a schematic diagram of the structure of the first control message provided by an embodiment of the present disclosure. As shown in FIG3 , the first control message may carry a control instruction (control message) and a first forwarding strategy (strategy), and the control instruction is an encrypted annotation message. The first control message may also carry a message type identifier (flag) and a device identifier (device id) of the faulty roadside unit. The message type identifier indicates whether the message is a normal message or a control message sent to the faulty roadside unit. The device identifier may be a unique identifier of the faulty roadside unit, and may be, for example, an IMEI (International Mobile Equipment Identity), an IP address, an SN (serial number), etc.

[0045] After receiving the first control message, the faulty roadside unit executes the control instruction and returns the processing result. Therefore, the control instruction is used to instruct the faulty roadside unit that has lost connection with the cloud server to return fault information to provide support for remote repair, etc.

[0046] In step S13, when the first response message is received within the first failure duration, a processing result carried in the first response message is obtained, where the processing result is the processing result of the faulty roadside unit executing the control instruction in the first control message.

[0047] The first expiration time (expire) can be set in advance. The initial first expiration time can be set according to the traffic flow and vehicle speed, and should be at least longer than the time required for the cloud server to send the message to the faulty roadside unit to receive the message and execute the message.

[0048] If the time period from sending the first control message to the first transit roadside unit to receiving the first response message is less than the first failure duration, it means that the first response message is valid, and the processing result carried in the first response message is obtained. It should be noted that if the faulty roadside unit restores communication with the cloud server after executing the control instruction, the processing result may include not only information indicating that the faulty roadside unit has been successfully restarted, but also information indicating that the communication between the faulty roadside unit and the server has been restored to normal. For example, if the control instruction is a device restart instruction, and the faulty roadside unit re-establishes a communication connection with the server after restarting, the processing result also includes information that the communication connection has been re-established.

[0049] The disclosed embodiment provides a method for obtaining information about a faulty roadside unit, applied to a server. The method includes: upon determining the presence of a faulty roadside unit, determining a first transit roadside unit and a first forwarding strategy; sending a first control message carrying a control instruction and a first forwarding strategy to the first transit roadside unit, so that the first transit roadside unit sends the first control message to the faulty roadside unit according to the first forwarding strategy; upon receiving a first response message within a first failure duration, obtaining a processing result carried in the first response message, the processing result being the result of the faulty roadside unit executing the control instruction; the disclosed embodiment establishes a backup communication link between the server and the faulty roadside unit when the server abnormally controls the faulty roadside unit, to obtain relevant information about the faulty roadside unit, thereby enabling repair and diagnosis of the faulty roadside unit and other operations, reducing the cost and time of manual on-site maintenance of equipment and improving the stability of the entire system. More equipment fault information can be obtained before maintenance personnel repair the faulty roadside unit, providing support for on-site repairs.

[0050] In some embodiments, the determining of the first transit roadside unit and the first forwarding strategy (ie, step S11 ) includes the following steps: determining the first transit roadside unit and the first forwarding strategy according to the network topology.

[0051] The network topology includes roadside units and on-board units, and the connection type between the two roadside units in the network topology includes one of the following: direct connection, connection through an on-board unit, and the coexistence of direct connection and connection through an on-board unit. Accordingly, the first forwarding strategy includes one of the following: direct forwarding from the roadside unit to the roadside unit, forwarding from the roadside unit to the roadside unit through the on-board unit, and the coexistence of direct forwarding from the roadside unit to the roadside unit and forwarding from the roadside unit to the roadside unit through the on-board unit. Among them, the coexistence of direct forwarding from the roadside unit to the roadside unit and forwarding from the roadside unit to the roadside unit through the on-board unit means that when the transit roadside receives a control message, it can simultaneously send the control message to the adjacent faulty roadside unit and the on-board units within the forwarding range, that is, use two paths to forward the control message at the same time.

[0052] In the disclosed embodiments, it is necessary to locate a transit roadside unit that meets the forwarding strategy based on the location of the faulty roadside unit. Therefore, a network topology for the distribution of roadside units must be constructed based on the deployment locations of the roadside units. In this network topology, the roadside units are nodes in the network topology, and the communication links between roadside units are directed connections between nodes. Connections between roadside units are categorized into two types based on the roadside unit networking method. The first type involves a direct connection between adjacent roadside units, in which case the connection type between nodes is RSU-RSU. If there is no direct connection between roadside units, the connection type between nodes is RSU-OBU-RSU. If the RSU-RSU connection type does not exist, only the RSU-OBU-RSU forwarding path can be used to forward messages. If the RSU-RSU connection type exists, one of the following three forwarding strategies can be selected: direct forwarding from roadside unit to roadside unit, forwarding from roadside unit to roadside unit via an onboard unit (OBU), or a combination of direct forwarding from roadside unit to roadside unit and forwarding from roadside unit to roadside unit via an OBU. In the network topology, node information can include the location of the roadside unit (RSU), for example, the GPS coordinates of the RSU. The connection type between nodes can be identified by a connection flag. For example, a connection flag of 1 indicates RSU-RSU, a connection flag of 2 indicates RSU-OBU-RSU, and a connection flag of 3 indicates both connection types. The network topology can dynamically add nodes and their connection relationships based on the addition, removal, or failure of RSUs.

[0053] In some embodiments, determining the first transit roadside unit based on the network topology includes the following steps: calculating the accessible distance (AD) between the faulty roadside unit and each other roadside unit based on the network topology; and determining the first transit roadside unit based on the accessible distance. In the disclosed embodiment, the accessible distance refers to the length of the communication link for message transmission between roadside units. With the faulty roadside unit as the center, the roadside unit with the shortest accessible distance to the faulty roadside unit in the topological network is selected as the first transit roadside unit.

[0054] In some embodiments, calculating the reachable distances between the faulty roadside unit and each other roadside unit based on the network topology includes the following steps: for each other roadside unit, calculating the direct distance and indirect distance between the faulty roadside unit and the other roadside units, where the direct distance is the distance between the two roadside units, and the indirect distance is the distance between the faulty roadside unit and the other roadside units through the onboard unit. The reachable distances between the faulty roadside unit and the other roadside units are calculated based on preset weights, the direct distance, and the indirect distance.

[0055] Since there are two ways to connect adjacent roadside units in the network topology, the reachable distance d between roadside units is defined as follows: d = αd1 + βd2 α + β = 1

[0056] Where d1 represents the direct distance between RSUs for direct communication (RSU-RSU), and d2 represents the indirect distance between RSUs for communication via OBUs (RSU-OBU-RSU). α and β are weights, ranging from 0 to 1. When there is no direct connection link between RSUs, α = 0 and β = 1.

[0057] In some embodiments, as shown in FIG4 , after determining the first transit roadside unit and the first forwarding strategy (i.e., step S11 ) and before sending the first control message to the first transit roadside unit (i.e., step S12 ), the method for obtaining information of the faulty roadside unit may further include the following steps S21 and S22 .

[0058] In step S21 , the distance between the faulty RSU and the first transfer RSU is calculated.

[0059] In step S22, the message transmission range is determined according to the distance and the forwarding radius of the roadside unit.

[0060] As shown in Figure 5, the distance between the faulty RSU and the first transit RSU is d, the forwarding radius of the RSU is r, and the message transmission range between the RSU and the OMU is range (i.e., the arc shown by the dotted line between the two OMUs), where range ≥ r + d.

[0061] As shown in Figure 3, the first control message also carries the message transmission range and the location of the faulty RSU (target GPS). This allows the OMU receiving the first control message to determine whether it is within the faulty RSU's transmission range based on its own location, transmission range, and the location of the faulty RSU. Since RSUs are typically deployed several hundred meters apart, the OMU needs to calculate whether the control message is invalid based on the various RSUs and their forwarding radii. Invalid control messages are discarded.

[0062] In some embodiments, as shown in Figure 3, the first control message also carries a second expiration time (expire) and a timestamp (timestamp). Thus, the transit roadside unit and the onboard unit that receive the first control message can determine whether the first control message has timed out based on the second expiration time and timestamp. It should be noted that the second expiration time can be equal to or less than the first expiration time.

[0063] After sending the first control message to the first transit roadside unit (i.e., step S12), the method for obtaining information of the faulty roadside unit may further include the following steps: step S12', when no first response message is received within the first failure duration, updating the second failure duration and sending the first control message to the first transit roadside unit again; wherein the updated second failure duration is greater than the second failure duration before the update.

[0064] After the cloud server constructs the first control message and sends it to the first transit roadside unit, if it times out without receiving the first response message, it will retry, resending the first control message and extending the second expiration period. Properly extending the second expiration period ensures a smooth process.

[0065] In some embodiments, after updating the second failure duration and sending the first control message to the first transit RSU again (ie step S12'), the method for obtaining faulty RSU information may further include the following steps S13' to S16'.

[0066] In step S13', when the first control message is sent a preset number of times and no first response message is received within the first failure time, a second transit roadside unit and a second forwarding strategy are determined, wherein the second transit roadside unit is different from the first transit roadside unit.

[0067] Since the failure to receive the first response message due to a timeout may be due to a failure of the first transit RSU, to reduce the probability of this situation recurring, the switched forwarding path may avoid the transit RSU in the previous forwarding path. For example, the second transit RSU after switching may be determined based on the reachable distances between the faulty RSU and the other RSUs. For example, the RSU with the second shortest reachable distance may be selected as the second transit RSU.

[0068] The second forwarding strategy may be the same as or different from the first forwarding strategy.

[0069] In step S14', a second control message is sent to the second transit RSU, where the second control message carries a control instruction and a second forwarding strategy, for instructing the second transit RSU to send the second control message to the faulty RSU according to the second forwarding strategy.

[0070] The structure of the second control message is the same as that of the first control message, and will not be repeated here.

[0071] In step S15', when the second response message is received within the third failure duration, the processing result carried in the second response message is obtained, where the processing result is the processing result obtained by the faulty roadside unit executing the control instruction in the second control message.

[0072] In step S16', if the second response message is not received within the third expiration time, the second expiration time is updated and the second control message is sent to the second transit roadside unit again; wherein the updated second expiration time is greater than the second expiration time before the update.

[0073] After the forwarding path is switched, if the second response message is not received within a timeout period, a retry is performed, that is, the second control message is resent and the second expiration time is extended.

[0074] It can be seen from the above steps S13'-S16' that after the cloud server constructs the first control message and sends it down to the first transit roadside unit, if the first response message is not received within the timeout, the first control message is resent, the second expiration time is extended, and the number of retries is set. If the first response message is still not received within the number of retries, the forwarding path is switched to send the second control message.

[0075] In some embodiments, as shown in FIG3 , the first control message and the first response message carry a session identifier (session ID), and the session identifier is used to prevent the control message from being repeatedly executed.

[0076] After sending the first control message to the first transit RSU (i.e., step 12), the method for obtaining faulty RSU information may further include the following steps: terminating the session task corresponding to the session ID if a first response message is received within a first expiration period. In other words, after the cloud server constructs the first control message and sends it to the first transit RSU, if a reply packet to the first control message with the session ID is received within the first expiration period, the session task is terminated.

[0077] In some embodiments, the second control message and the second response message carry a session identifier. After sending the second control message to the second transit RSU, the method for obtaining information about the faulty RSU may further include the following steps: if the second control message has been sent a preset number of times and no second response message has been received within a third expiration time, terminating the session task corresponding to the session identifier; or, if the second response message has been received within the third expiration time, terminating the session task corresponding to the session identifier. In other words, if the cloud server fails to send the first control message multiple times and switches the forwarding path to send the second control message, and sets a retry limit for the second control message, terminating the session task after the retry limit is reached, and may also send an email to notify the administrator that the RSU device is faulty and requires offline maintenance. If the cloud server receives a reply packet to the second control message with the session ID within the third expiration time, the session task is terminated.

[0078] From this, it can be seen that there are two situations in which a session task ends: one is normal termination, that is, after sending the first / second control message, if the first / second response message is received within the expiration time, the session task ends; the other is abnormal termination, that is, after changing the forwarding path and resending the second control message a preset number of times, if the second response message is still not received, the session task ends.

[0079] An embodiment of the present disclosure also provides a method for obtaining information of a faulty roadside unit, which is applied to a roadside unit, and the roadside unit is a first transit roadside unit. As shown in FIG6 , in some embodiments, the method for obtaining information of a faulty roadside unit may include the following steps S31 to S34.

[0080] In step S31, a first control message sent by a server is received, and a first forwarding policy carried in the first control message is acquired.

[0081] In step S32, when it is determined that the first control message has not timed out, a target device is determined according to the first forwarding strategy, where the target device is the faulty roadside unit or an onboard unit connected to the roadside unit and the faulty roadside unit.

[0082] The first forwarding strategy is a forwarding method in which the first transit roadside unit sends the first control message to the faulty roadside unit. The first transit roadside unit determines to send the first control message to other roadside units or onboard units according to the first forwarding strategy.

[0083] It should be noted that, when it is determined that the first control message has timed out, the first control message is discarded.

[0084] In step S33, a first control message is sent to the target device so that the first control message is sent to the faulty roadside unit.

[0085] The first transit roadside unit sends a first control message to the target device determined in step S32. If the target device is a faulty roadside unit, the faulty roadside unit no longer forwards the first control message. If the target device is a vehicle-mounted unit, the vehicle-mounted unit forwards the first control message to the faulty roadside unit after receiving the first control message.

[0086] It should be noted that after receiving the first control message, the faulty roadside unit executes the control instruction carried therein, obtains the processing result, and then sends the processing result to the cloud server in a first response message. If the faulty roadside unit restores communication with the cloud server after executing the control instruction, the first response message is directly sent to the cloud server; if the faulty roadside unit still does not restore communication with the cloud server after executing the control instruction, the first response message can be sent to the first transit roadside unit, which then sends the first response message to the cloud server. Alternatively, the faulty roadside unit sends the first response message to the onboard unit, which then sends it to the first transit roadside unit, which then sends the first response message to the cloud server. The faulty roadside unit can determine the sending path of the first response message based on the sending path of the first control message.

[0087] In step S34, a first response message sent by the target device is received, and the first response message is sent to the server.

[0088] If the faulty roadside unit has not restored communication with the cloud server after executing the control instruction, a first response message carrying the processing result is sent to the first transit roadside unit, and the first transit roadside unit sends the first response message to the cloud server.

[0089] The method for obtaining information about a faulty roadside unit provided in an embodiment of the present disclosure is applied to a transit roadside unit and includes: receiving a first control message sent by a server and obtaining a first forwarding strategy carried in the first control message; determining a target device according to the first forwarding strategy when it is determined that the first control message has not timed out, the target device being the faulty roadside unit or an on-board unit connected to the roadside unit and the faulty roadside unit; sending the first control message to the target device so that the first control message is sent to the faulty roadside unit; receiving a first response message sent by the target device, and sending the first response message to the server. In an embodiment of the present disclosure, when the server abnormally controls the faulty roadside unit, a backup communication link is established between the server and the server to obtain relevant information about the faulty roadside unit so as to perform repair and diagnosis operations on the faulty roadside unit, thereby reducing the cost and time of manual on-site maintenance of equipment and improving the stability of the entire system. More equipment failure information can be obtained before maintenance personnel repair the faulty roadside unit to provide support for on-site repairs.

[0090] In some embodiments, the first control message also carries a timestamp and a second expiration time. After receiving the first control message sent by the server (i.e., step S31), the method for obtaining the fault roadside unit information also includes the following steps: obtaining the timestamp and the second expiration time carried in the first control message.

[0091] Determining that the first control message has not timed out (i.e., step S32) includes the following steps: calculating the sum of the timestamp and the second expiration time, and determining that the first control message has not timed out if the current time is less than the sum of the timestamp and the second expiration time. That is, after receiving the first control message, the first transit roadside unit calculates the sum of the timestamp and the second expiration time. If the current time is less than the sum of the timestamp and the second expiration time, it indicates that the first control message has not timed out; if the current time is greater than or equal to the sum of the timestamp and the second expiration time, it indicates that the first control message has timed out, and the first control message is directly discarded. The current time refers to the time when the first control message was received.

[0092] In some embodiments, the first forwarding strategy includes one of the following: direct forwarding from roadside unit to roadside unit, forwarding from roadside unit to roadside unit through vehicle-mounted unit, and the simultaneous existence of direct forwarding from roadside unit to roadside unit and forwarding from roadside unit to roadside unit through vehicle-mounted unit.

[0093] The determining of the target device according to the first forwarding strategy (i.e., step S32) includes the following steps: when the first forwarding strategy is that the roadside unit directly forwards to the roadside unit, determining the target device to be the faulty roadside unit; when the first forwarding strategy is that the roadside unit forwards to the roadside unit via the vehicle-mounted unit, determining the target device to be the vehicle-mounted unit connected to the roadside unit and the faulty roadside unit; when the first forwarding strategy is that both the roadside unit directly forwards to the roadside unit and the roadside unit forwards to the roadside unit via the vehicle-mounted unit exist at the same time, the target device is the faulty roadside unit and the vehicle-mounted unit connected to the roadside unit and the faulty roadside unit.

[0094] In some embodiments, the first control message and the first response message also carry a session identifier (session ID), so that the cloud server can end the corresponding session task according to the session identifier.

[0095] The embodiments of the present disclosure also provide a method for obtaining information of a faulty roadside unit, which is applied to a roadside unit. The roadside unit is a faulty roadside unit. As shown in FIG7 , in some embodiments, the method may include the following steps S41 to S43.

[0096] In step S41, a first control message is received, and a control instruction carried in the first control message is acquired.

[0097] It should be noted that the first control message may be sent directly from the transit roadside unit to the faulty roadside unit, or may be sent from the transit roadside unit to the faulty roadside unit via the onboard unit.

[0098] In step S42, when it is determined that the first control message is valid and has not timed out, the control instruction is executed to obtain a processing result.

[0099] As shown in Figure 3, the first control message also carries the location of the faulty RSU (target GPS). After receiving the first control message, the RSU obtains the location of the faulty RSU and determines whether it is the faulty RSU based on the location of the faulty RSU. If so, it then determines whether the first control message is valid and whether it has timed out.

[0100] The control instruction may include at least one of the following: a control path detection instruction, a device restart instruction, a device parameter acquisition instruction, a device parameter setting instruction, a device log capture instruction, a device fault information acquisition instruction, etc.

[0101] In step S43, a first response message carrying the processing result is sent to the server.

[0102] The faulty roadside unit may send the first response message directly to the server, or the faulty roadside unit may send the first response message to the relay roadside unit that sent the first control message, and the relay roadside unit may forward the first response message to the cloud server. The faulty roadside unit may send the first response message directly to the first relay roadside unit, or may send the first response message to the onboard unit, and the onboard unit may forward the first response message to the first relay roadside unit.

[0103] The disclosed embodiments provide a method for obtaining information about a faulty roadside unit, which is applied to a roadside unit and includes: receiving a first control message and obtaining the control instructions carried therein; upon determining that the first control message is valid and has not timed out, executing the control instructions to obtain a processing result, and sending a first response message carrying the processing result to a server. The disclosed embodiments establish a backup communication link between the server and the faulty roadside unit when the server abnormally controls the faulty roadside unit, thereby obtaining relevant information about the faulty roadside unit and enabling repair and diagnosis operations on the faulty roadside unit, thereby reducing the cost and time of manual on-site maintenance of the equipment and improving the stability of the entire system. Before maintenance personnel repair the faulty roadside unit, they can obtain more equipment failure information to provide support for on-site repairs.

[0104] In some embodiments, the sending of the first response message carrying the processing result to the server (i.e., step S43) includes the following steps: when the communication failure between the roadside unit and the server is restored, sending the first response message carrying the processing result to the server; when the communication failure between the roadside unit and the server is not restored, sending the first response message carrying the processing result to the transit roadside unit that sent the first control message, so that the transit roadside unit can send the first response message to the server.

[0105] After the faulty roadside unit executes the control instruction and obtains the processing result, it is possible that the communication with the cloud server is restored. For example, after the faulty roadside unit executes the control instruction to restart the equipment and restores the communication connection with the cloud server, the first response message can be directly sent to the cloud server; if the faulty roadside unit still has not restored the communication with the cloud server after executing the control instruction, the first response message can be sent to the transit roadside unit that sent the first control message, and the transit roadside unit will send the first response message to the cloud server, or the first response message can be sent to the vehicle-mounted unit, and the vehicle-mounted unit sends it to the transit roadside unit that sent the first control message, and then the transit roadside unit will send the first response message to the cloud server.

[0106] In some embodiments, the receiving of the first control message (i.e., step S41) includes the following steps: receiving the first control message sent by the transit roadside unit; or receiving the first control message sent by the vehicle-mounted unit, wherein the first control message is sent by the transit roadside unit to the vehicle-mounted unit.

[0107] Correspondingly, the sending of the first response message carrying the processing result to the transit roadside unit that sends the first control message includes: directly sending the first response message carrying the processing result to the transit roadside unit that sends the first control message; or, sending the first response message carrying the processing result to the vehicle-mounted unit connected to the roadside unit and the transit roadside unit that sends the first control message, so that the vehicle-mounted unit sends the first response message to the transit roadside unit that sends the first control message.

[0108] The forwarding path for the transit roadside unit to send the first control message is different, and the path for the faulty roadside unit to receive the first control message is different. The faulty roadside unit can determine whether to send the first response message directly to the transit roadside unit or to send the first response message to the transit roadside unit through the on-board unit based on the forwarding path of the first control message.

[0109] In some embodiments, as shown in FIG3 , the first control message also carries a session identifier (session ID). After receiving the first control message (i.e., step S41), the method for obtaining information about the faulty roadside unit may further include the following steps: obtaining the session identifier carried in the first control message and caching the session identifier. Determining that the first control message is valid includes: determining that the first control message is valid if the session identifier is not found in the cache. It should be noted that if the faulty unit finds the session identifier in the cache, the first control message is discarded.

[0110] In some embodiments, as shown in FIG3 , the first control message further carries a timestamp and a second expiration time. After receiving the first control message (i.e., step S41 ), the method for obtaining faulty roadside unit information may further include the following steps: obtaining the timestamp and the second expiration time carried in the first control message, and caching the timestamp and the second expiration time.

[0111] After caching the session identifier, timestamp and second expiration time, the method for obtaining fault roadside unit information also includes the following steps: calculating the life cycle of the session identifier based on the timestamp, second expiration time and a preset extension factor, and clearing the cached session identifier when the current time is greater than the life cycle of the session identifier.

[0112] After decrypting the first control message and executing the control command, the faulty RSU caches the session ID, timestamp, and expiration date. The RSU can calculate the lifetime of the current session ID using the following formula: timestamp + n * expiration, where n is the extension factor and n >= 1. If the current time is greater than the lifetime of the session ID, indicating that the session ID has expired, the session ID is cleared from the cache.

[0113] In some cases, such as when the network condition is bad, the faulty roadside unit executes the control instruction and returns the first response message to the cloud server, but the cloud server times out and retries before receiving the first response message, which increases network overhead. In order to solve this problem, in the embodiment of the present disclosure, by setting the extension factor n, the expiration time can be appropriately extended, and the cache time of the session identifier can be increased accordingly, thereby ensuring that in most cases the first control message will not be repeatedly sent due to timeout retries. It should be noted that even if the extension factor n is set, the cloud server cannot be prevented from repeatedly sending the first control message, the embodiment of the present disclosure also sets a session task termination mechanism, which terminates all session tasks corresponding to the corresponding session identifier after the cloud server receives the first response message, and can also promptly terminate the repeated sending of the first control message. It should be noted that the initial expiration time in the next first control message can be set with reference to the expiration time in the previous first control message.

[0114] In some embodiments, determining that the first control message has not timed out (i.e., step S42) includes the following steps: calculating the sum of a timestamp and an expiration time, and determining that the first control message has not timed out if the current time is less than the sum of the timestamp and the expiration time. It should be noted that if the current time is greater than or equal to the sum of the timestamp and the expiration time, the first control message is determined to have timed out, and the first control message is discarded.

[0115] The embodiments of the present disclosure also provide a method for obtaining information of a faulty roadside unit, which is applied to a vehicle-mounted unit. As shown in FIG8 , in some embodiments, the method may include the following steps S51 to S53 .

[0116] In step S51, a first control message is received, and the location of the faulty roadside unit and the second failure duration carried in the first control message are acquired.

[0117] The first control message may be sent by other on-board units or by the first transit roadside unit.

[0118] In step S52, when it is determined that the on-board unit is connected to the faulty roadside unit corresponding to the location, and when it is determined that the first control message is valid and has not timed out, the first control message is sent to the faulty roadside unit. The first control message is used to instruct the faulty roadside unit to execute the control instructions in the first control message.

[0119] The first control message carries the location of the faulty roadside unit. After receiving the first control message sent by the first transit roadside unit, if the on-board unit determines that the faulty roadside unit corresponding to the location of the faulty roadside unit carried in the message is the roadside unit to which it is connected, it determines whether the first control message is valid and whether it has timed out. If the first control message is valid and has not timed out, the first control message is sent to the faulty roadside unit so that the faulty roadside unit executes the control instructions in the first control message.

[0120] It should be noted that if the first control message is invalid or times out, or if the onboard unit is not connected to the faulty roadside unit, the first control message will be discarded.

[0121] In step S53, when a first response message sent by the faulty roadside unit is received within the second failure time, the first response message is sent to the transit roadside unit that sent the first control message.

[0122] The method for obtaining information about a faulty roadside unit provided in an embodiment of the present disclosure is applied to an on-board unit and includes: receiving a first control message to obtain the location of the faulty roadside unit and a second failure duration carried therein; upon determining that the on-board unit is connected to the faulty roadside unit corresponding to the location, and upon determining that the first control message is valid and has not timed out, sending the first control message to the faulty roadside unit so that the faulty roadside unit executes the control instructions in the first control message; upon receiving a first response message sent by the faulty roadside unit within the second failure duration, sending the first response message to the transit roadside unit that sent the first control message. In an embodiment of the present disclosure, when the server abnormally controls the faulty roadside unit, a backup communication link is established between the server and the server to obtain relevant information about the faulty roadside unit so as to perform repair and diagnosis operations on the faulty roadside unit, thereby reducing the cost and time of manual on-site maintenance of equipment and improving the stability of the entire system. More equipment failure information can be obtained before maintenance personnel repair the faulty roadside unit to provide support for on-site repairs.

[0123] In some embodiments, as shown in Figure 3, the first control message also carries a transmission range. After receiving the first control message (ie, step S51), the method for obtaining faulty roadside unit information further includes: obtaining the transmission range carried in the first control message.

[0124] Determining the validity of the first control message (i.e., step S52) includes the following steps: calculating the distance between the onboard unit and the faulty roadside unit based on the location of the onboard unit and the location of the faulty roadside unit; and determining the first control message to be valid if the distance is less than the transmission range. For example, the Euclidean distance between the onboard unit and the faulty roadside unit may be calculated; if the Euclidean distance is less than the range, the first control message is deemed to be valid.

[0125] It should be noted that if the first control message is invalid, the first control message is discarded. In this way, the forwarding range of the message can be controlled within a control range with the faulty roadside unit as the center and range as the radius.

[0126] To clearly illustrate the technical solution of the embodiment of the present disclosure, the process of obtaining the faulty roadside unit information is described below in conjunction with Figure 9. As shown in Figure 9, the process of obtaining the faulty roadside unit information may include the following steps S01 to S012.

[0127] In steps S01-S02, if the cloud server detects a communication anomaly with the RSU, it determines the transit RSU and forwarding strategy based on the network topology and sends a control message to the transit RSU.

[0128] The control message carries information such as session identifier, forwarding strategy, faulty RSU location, transmission range, timestamp, second failure duration, and control instructions.

[0129] Step S03: The transfer RSU parses the control message.

[0130] Step S04: If the control message has not timed out, the transit RSU determines the forwarding path according to the forwarding strategy. If the forwarding path is RSU-OBU-RSU, step S05 is executed; if the forwarding path is RSU-RSU, step S08 is executed.

[0131] If the current time is less than the timestamp plus the second expiration time, the transit RSU determines that the control message has not timed out.

[0132] Step S05: The transit RSU sends a control message to the OBU, and the OBU parses the control message.

[0133] In step S06, the OBU determines whether the control message has timed out and is valid. If the control message has not timed out and is valid, step S07 is executed; if the control message has timed out or is invalid, the process ends.

[0134] Among them, if the current time < timestamp + second failure duration, the OBU determines that the control message has not timed out. The OBU calculates the distance D between the device and the faulty RSU based on the location of the device and the location of the faulty RSU. If D < transmission range, the OBU determines that the control message is valid.

[0135] Step S07: The OBU buffers the control message and sends the control message to the faulty RSU.

[0136] Step S08: The RSU that receives the control message determines whether the device is a faulty RSU. If so, step S09 is executed; otherwise, the process ends.

[0137] Step S09 , when the faulty RSU determines that the control message is valid, it parses the control message to obtain a control instruction, executes the control instruction, and obtains a processing result.

[0138] The faulty RSU determines whether the session identifier in the control message hits the cache. If so, the control message is determined to be invalid. If not, the control message is determined to be valid.

[0139] In step S010, the faulty RSU directly returns a response message carrying the processing result to the cloud server, or the faulty RSU returns a response message carrying the processing result to the cloud server through the OBU and the transit RSU.

[0140] Step S011: The cloud server receives a response message within the first failure duration and obtains the processing result carried therein.

[0141] Step S012: A communication link is established between the cloud server and the faulty RSU to start exchanging information.

[0142] The embodiment of the present disclosure proposes a method for restoring the remote control capability of a cloud server over a faulty RSU by using an OBU and an RSU. After the cloud server's control over the RSU becomes abnormal, a backup communication link is established between the cloud server and the faulty RSU to restore the cloud server's remote control capability over the faulty RSU.

[0143] The disclosed embodiments utilize OBUs and RSUs to transmit information between the cloud server and the faulty RSU. This information can be control messages sent from the cloud server to the faulty RSU or fault information reported by the faulty RSU to the cloud server. A network topology for RSU distribution is constructed based on the networking information between the RSUs and the road information between the RSUs. Based on this network topology and the set forwarding strategy, a normally operating RSU with the best distance from the faulty RSU can be selected to transmit the control information sent by the cloud server. This network topology can be dynamically adjusted. If an RSU service is abnormal or scrapped, or if an RSU service is restored or increased, the nodes in the network topology will be dynamically adjusted.

[0144] The embodiments of the present disclosure can achieve but are not limited to the following technical effects:

[0145] 1. Based on the network topology of RSU distribution, the optimal transit RSU is selected. According to the location of transit RSU, faulty RSU, OBU and the forwarding radius of RSU, the forwarding of the first control message can be controlled within a smaller range, thereby increasing the forwarding efficiency of the transit control message.

[0146] 2. When the communication link between the RSU and the cloud server is interrupted or the control is abnormal, a new control link can be established. The faulty RSU can be repaired and diagnosed, reducing the cost and time of manual on-site maintenance of equipment and improving the stability of the entire system.

[0147] 3. Before repairing the RSU on site, as much equipment failure information as possible can be provided to support on-site repairs.

[0148] As shown in Figure 10, an embodiment of the present disclosure also provides a server, which includes: at least one processor 101; a memory 102, on which at least one program is stored, and when the at least one program is executed by the at least one processor, the at least one processor implements the method for obtaining fault roadside unit information as described above; at least one I / O interface 103, connected between the processor and the memory, and configured to implement information interaction between the processor and the memory.

[0149] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, such as SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize information exchange between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0150] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other via a bus, and further connected to other components of the computing device.

[0151] As shown in Figure 10, an embodiment of the present disclosure also provides a roadside unit, which includes: at least one processor 101; a memory 102, on which at least one program is stored, when the at least one program is executed by the at least one processor, the at least one processor implements the method for obtaining fault roadside unit information as described above; at least one I / O interface 103, connected between the processor and the memory, and configured to realize information interaction between the processor and the memory.

[0152] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, such as SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus), etc.

[0153] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other via a bus, and further connected to other components of the computing device.

[0154] As shown in Figure 10, an embodiment of the present disclosure also provides a vehicle-mounted unit, which includes: at least one processor 101; a memory 102, on which at least one program is stored, and when the at least one program is executed by the at least one processor, the at least one processor implements the fault roadside unit information acquisition method as described above; at least one I / O interface 103, connected between the processor and the memory, and configured to realize information interaction between the processor and the memory.

[0155] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, such as SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize information exchange between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0156] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other via a bus, and further connected to other components of the computing device.

[0157] An embodiment of the present disclosure further provides a vehicle networking system, which includes at least one of the following: the server as described above, the roadside unit as described above, and the vehicle-mounted unit as described above.

[0158] An embodiment of the present disclosure further provides a computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method for obtaining faulty roadside unit information as provided in the aforementioned embodiments is implemented.

[0159] It will be appreciated by those skilled in the art that all or some of the steps in the method disclosed above, and the functional modules / units in the device can be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0160] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly indicated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method for obtaining faulty roadside unit information, applied to a server, comprising: In the case where it is determined that there is a faulty roadside unit, determining a first transit roadside unit and a first forwarding strategy; Sending a first control message to the first transit roadside unit, where the first control message carries a control instruction and the first forwarding strategy, and is used to instruct the first transit roadside unit to send the first control message to the faulty roadside unit according to the first forwarding strategy; In the case where a first response message is received within the first failure duration, a processing result carried in the first response message is obtained, where the processing result is a processing result of the faulty roadside unit executing the control instruction in the first control message.

2. The method of claim 1, wherein: The determining of the first transit roadside unit and the first forwarding strategy includes: Determine the first transit roadside unit and the first forwarding strategy according to the network topology; The network topology includes a roadside unit and an onboard unit, and the connection type between two roadside units in the network topology includes one of the following: direct connection, connection through an onboard unit, or both direct connection and connection through an onboard unit; The first forwarding strategy includes one of the following: forwarding directly from one roadside unit to another, forwarding from one roadside unit to another via an onboard unit, and the coexistence of direct forwarding from one roadside unit to another and forwarding from one roadside unit to another via an onboard unit.

3. The method of claim 2, wherein: The determining of the first transit roadside unit according to the network topology includes: Calculate the reachable distances between the faulty roadside unit and other roadside units respectively according to the network topology; A first transit roadside unit is determined according to the reachable distance.

4. The method of claim 1, wherein: After determining the first transit roadside unit and the first forwarding strategy and before sending the first control message to the first transit roadside unit, the method further includes: Calculating the distance between the faulty roadside unit and the first transit roadside unit; Determining a message transmission range according to the distance and a forwarding radius of the roadside unit; The first control message also carries the message transmission range and the location of the faulty roadside unit.

5. The method of claim 1, wherein: The first control message also carries a second expiration time and a timestamp. After sending the first control message to the first transit roadside unit, the method further includes: If the first response message is not received within the first expiration time, the second expiration time is updated and the first control message is sent to the first transit road side unit again; wherein the updated second expiration time is greater than the second expiration time before the update.

6. The method of claim 5, wherein: After updating the second failure duration and sending the first control message to the first transit roadside unit again, the method further includes: When the first control message is sent a preset number of times and the first response message is not received within the first failure time, determining a second transit roadside unit and a second forwarding strategy, wherein the second transit roadside unit is different from the first transit roadside unit; Sending a second control message to the second transit roadside unit, where the second control message carries the control instruction and the second forwarding strategy, and is used to instruct the second transit roadside unit to send the second control message to the faulty roadside unit according to the second forwarding strategy; When the second response message is received within the third failure duration, obtaining a processing result carried in the second response message, where the processing result is a processing result obtained by the faulty roadside unit executing the control instruction in the second control message; If the second response message is not received within the third invalid period, The second expiration time is updated and the second control message is sent to the second transit road side unit again; wherein the updated second expiration time is greater than the second expiration time before the update.

7. The method of claim 6, wherein: The first control message and the first response message carry a session identifier. After sending the first control message to the first transit roadside unit, the method further includes: when the first response message is received within the first expiration time, terminating the session task corresponding to the session identifier; or The second control message and the second response message carry a session identifier. After sending the second control message to the second transit road side unit, the method further includes: when the second control message is sent a preset number of times and the second response message is not received within the third expiration time, terminating the session task corresponding to the session identifier, or when the second response message is received within the third expiration time, terminating the session task corresponding to the session identifier.

8. A method for obtaining information of a faulty roadside unit, applied to a roadside unit, comprising: Receive a first control message sent by the server, and obtain a first forwarding strategy carried in the first control message; In the case where it is determined that the first control message has not timed out, determining a target device according to the first forwarding strategy, the target device being a faulty roadside unit or an on-board unit connected to the roadside unit and the faulty roadside unit; Sending the first control message to the target device so that the first control message is sent to the faulty roadside unit; A first response message sent by the target device is received, and the first response message is sent to the server.

9. The method of claim 8, wherein: The first control message also carries a timestamp and a second expiration time. After receiving the first control message sent by the server, the method further comprises: acquiring the timestamp and the second expiration time carried in the first control message; The determining that the first control message has not timed out includes: The sum of the timestamp and the second expiration time is calculated, and when the current time is less than the sum of the timestamp and the second expiration time, it is determined that the first control message has not timed out.

10. A method for obtaining faulty roadside unit information, applied to a roadside unit, comprising: Receiving a first control message, and acquiring a control instruction carried in the first control message; If it is determined that the first control message is valid and has not timed out, executing the control instruction to obtain a processing result; A first response message carrying the processing result is sent to the server.

11. The method of claim 10, wherein: The sending a first response message carrying the processing result to the server includes: When the communication failure between the roadside unit and the server is restored, sending a first response message carrying the processing result to the server; When the communication failure between the roadside unit and the server has not been restored, the first response message carrying the processing result is sent to the transit roadside unit that sent the first control message, so that the transit roadside unit can send the first response message to the server.

12. The method of claim 10, wherein: The first control message also carries a session identifier. After receiving the first control message, the method further includes: acquiring the session identifier carried in the first control message, and caching the session identifier; The determining that the first control message is valid includes: determining that the first control message is valid when the session identifier is not found in a cache.

13. The method of claim 12, wherein: The first control message also carries a timestamp and a second expiration time. After receiving the first control message, the method further includes: obtaining the timestamp and the second expiration time carried in the first control message, and caching the timestamp and the second expiration time; After caching the session identifier, the timestamp and the second expiration time, The method further includes: calculating the life cycle of the session identifier according to the timestamp, the second expiration time and a preset extension factor, and clearing the cached session identifier when the current time is greater than the life cycle of the session identifier.

14. A method for obtaining information of a faulty roadside unit, applied to a vehicle-mounted unit, comprising: Receive a first control message, and obtain a location of a faulty roadside unit and a second failure duration carried in the first control message; When it is determined that the on-board unit is connected to the faulty roadside unit corresponding to the position, and when it is determined that the first control message is valid and has not timed out, the first control message is sent to the faulty roadside unit, where the first control message is used to instruct the faulty roadside unit to execute a control instruction in the first control message; In case that a first response message sent by the faulty roadside unit is received within the second failure time, the first response message is sent to the transit roadside unit that sent the first control message.

15. The method of claim 14, wherein: The first control message also carries a transmission range. After receiving the first control message, the method further comprises: acquiring the transmission range carried in the first control message; The determining that the first control message is valid includes: Calculating the distance between the onboard unit and the faulty roadside unit according to the position of the onboard unit and the position of the faulty roadside unit; When the distance is smaller than the transmission range, it is determined that the first control message is valid.

16. A server, comprising: one or more processors; a memory having one or more programs stored therein; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining faulty roadside unit information according to any one of claims 1 to 7; At least one I / O interface is connected between the processor and the memory and is configured to implement information interaction between the processor and the memory.

17. A roadside unit, comprising: one or more processors; a memory having one or more programs stored therein; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining faulty roadside unit information according to any one of claims 8 or 9, or the method for obtaining faulty roadside unit information according to any one of claims 10-13; At least one I / O interface is connected between the processor and the memory and is configured to implement information interaction between the processor and the memory.

18. A vehicle-mounted unit, comprising: one or more processors; a memory having one or more programs stored therein; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining faulty roadside unit information according to claim 14 or 15; At least one I / O interface is connected between the processor and the memory and is configured to implement information interaction between the processor and the memory.

19. A vehicle networking system, comprising at least one of the following: a server as claimed in claim 16, a roadside unit as claimed in claim 17, and a vehicle-mounted unit as claimed in claim 18.

20. A computer readable medium having a computer program stored thereon, wherein: When the computer program is executed by the processor, it implements the method for obtaining the faulty roadside unit information as described in any one of claims 1 to 7, or the method for obtaining the faulty roadside unit information as described in claim 8 or 9, or the method for obtaining the faulty roadside unit information as described in any one of claims 10 to 13, or the method for obtaining the faulty roadside unit information as described in claim 14 or 15.

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