Method for communication between on-board unit and infrastructure

Abstract

Provided in the embodiments of the present disclosure is a method for communication between an on-board unit (OBU) and infrastructure. The method comprises: receiving a first request message, which is sent by an OBU when it is detected that a communication channel of a proximity communication interface 5G (PC5) between the OBU and a roadside unit (RSU) is abnormal, wherein the first request message is used for requesting a V2X server to provide a vehicle-to-infrastructure (V2I) service for the OBU; or, receiving a first notification message, which is sent by an RSU when it is detected that a communication channel of PC5 is abnormal, wherein the first notification message is used for notifying a V2X server to provide a V2I service for an OBU; and providing the V2I service for the OBU by means of an air interface Uu.

Description

Method for communication between on-board unit and infrastructure

[0001] Cross-references to related publications

[0002] The present disclosure is based on Chinese Patent Publication No. 2023112156062 filed on September 19, 2023, entitled “Method for Communication between On-Board Unit and Infrastructure”, and claims the priority of the patent disclosure, all of which are incorporated into the present disclosure by reference. Technical Field

[0003] The present disclosure relates to the field of communications, and in particular to a method for communication between an on-board unit and an infrastructure. Background Art

[0004] Currently, there are two technical approaches for vehicle-to-everything (V2X). One is based on cellular vehicle-to-everything (C-V2X) technology. The vehicle's on-board unit (OBU) and the roadside communication unit (RSU) communicate directly via the PC5 direct communication interface. The RSU provides roadside services, supporting the OBU to implement vehicle-to-infrastructure (V2I) communications. The other is based on Long Term Evolution (LTE) / 5G. The vehicle's on-board unit (OBU) (or 5G terminal) and the V2X server communicate via the Uu air interface. The V2X server supports the OBU (or 5G terminal) to implement vehicle-to-infrastructure (V2I) communications / vehicle-to-network (V2N) applications.

[0005] These two communication methods each have their own advantages and disadvantages. The proximity communication interface 5G (PC5) offers low latency, low cost, and a limited coverage distance, while the air interface Uu offers wide-area coverage but high cost. They can be integrated to complement each other, with the proximity communication interface (5G, PC5) focusing on local traffic safety and efficiency, while the air interface Uu focuses on global traffic safety and efficiency. Furthermore, the air interface Uu provides wide-area coverage, while the PC5 direct communication interface enables local traffic offloading.

[0006] The on-board unit (OBU) and the roadside unit (RSU) typically communicate using the direct communication interface PC5. However, due to factors such as the environment and deployment location, the communication quality of the direct communication interface PC5 may be poor. In some cases, there may even be no RSU nearby, making communication via the direct communication interface PC5 impossible. In these cases, the OBU and RSU cannot communicate properly, affecting the user experience of vehicle-side connectivity features.

[0007] Summary of the Invention

[0008] According to one embodiment of the present disclosure, a method for communication between an on-board unit and an infrastructure is provided, which is applied to a vehicle-to-everything (V2X) server in a network of vehicles, and includes: receiving a first request message sent by an on-board unit (OBU) when detecting an abnormality in a communication channel of a direct communication interface PC5 between the OBU and a roadside communication unit (RSU), wherein the first request message is used to request the V2X server to provide a vehicle-to-infrastructure communication (V2I) service for the OBU; or receiving a first notification message sent by the RSU when detecting an abnormality in a communication channel of the PC5, wherein the first notification message is used to notify the V2X server to provide a vehicle-to-infrastructure communication (V2I) service for the OBU; and providing the V2I service to the OBU via an air interface Uu.

[0009] According to another embodiment of the present disclosure, a method for communication between an on-board unit and infrastructure is also provided, which is applied to an on-board unit OBU, including: detecting a direct communication interface PC5 between the on-board unit and the roadside communication unit RSU; when an abnormality is detected in the communication channel of the PC5, sending a first request message to a vehicle-to-infrastructure (V2I) server, wherein the first request message is used to request the V2X server to provide the OBU with a vehicle-to-infrastructure communication (V2I) service via an air interface Uu; and receiving the V2I service provided by the V2X server via the Uu.

[0010] According to another embodiment of the present disclosure, a method for communication between an on-board unit and infrastructure is also provided, which is applied to a roadside communication unit RSU and is characterized in that it includes: detecting a direct communication interface PC5 between the on-board unit OBU; when an abnormality is detected in the communication channel of the PC5, sending a first notification message to a vehicle network V2X server, wherein the first notification message is used to notify the V2X server to provide vehicle-to-infrastructure communication V2I services for the OBU via an air interface Uu; and sending relevant information of the OBU to the V2X server.

[0011] According to another embodiment of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to execute the steps of any one of the above method embodiments when running.

[0012] According to another embodiment of the present disclosure, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 1 is a hardware structure block diagram of a computer terminal of a method for communicating between an on-board unit and an infrastructure according to an embodiment of the present disclosure;

[0014] FIG2 is a schematic diagram of a structure of communication between an on-board unit and an infrastructure according to an embodiment of the present disclosure;

[0015] 3 is a flow chart of a method for communicating between an on-board unit and an infrastructure according to an embodiment of the present disclosure;

[0016] 4 is a flow chart of a method for communication between an on-board unit and an infrastructure according to yet another embodiment of the present disclosure;

[0017] 5 is a flowchart of a method for communication between an on-board unit and an infrastructure according to yet another embodiment of the present disclosure;

[0018] 6 is a structural block diagram of an apparatus for communicating between an on-board unit and an infrastructure according to an embodiment of the present disclosure;

[0019] 7 is a structural block diagram of an apparatus for communicating between an on-board unit and an infrastructure according to yet another embodiment of the present disclosure;

[0020] 8 is a structural block diagram of an apparatus for communicating between an on-board unit and an infrastructure according to yet another embodiment of the present disclosure;

[0021] 9 is a flow chart of a method for communicating between an on-board unit and an infrastructure according to a first embodiment of the present disclosure;

[0022] 10 is a flowchart of a method for communicating between an on-board unit and an infrastructure according to a second embodiment of the present disclosure;

[0023] 11 is a flowchart of a method for communication between an on-board unit and an infrastructure according to a third embodiment of the present disclosure;

[0024] FIG12 is a flowchart of a method for communicating between an on-board unit and an infrastructure according to a fourth embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings and in conjunction with embodiments.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0027] The method embodiments provided in the embodiments of the present disclosure can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 is a hardware structure block diagram of a computer terminal of a method for communicating between an on-board unit and an infrastructure in an embodiment of the present disclosure. As shown in Figure 1, the computer terminal may include one or more (only one is shown in Figure 1) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the above-mentioned computer terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that the structure shown in Figure 1 is only for illustration and does not limit the structure of the above-mentioned computer terminal. For example, the computer terminal may also include more or fewer components than those shown in Figure 1, or have a configuration different from that shown in Figure 1.

[0028] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the method for communication between the vehicle-mounted unit and the infrastructure in the embodiment of the present disclosure. The processor 102 executes the computer program stored in the memory 104 to execute various functional applications and data processing, thereby implementing the above-mentioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0029] The transmission device 106 is used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by a communications provider of a computer terminal. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] The embodiment of the present disclosure can run on the network architecture shown in Figure 2. As shown in Figure 2, the network architecture includes: a roadside communication unit, a vehicle-mounted unit, and an Internet of Vehicles server, wherein the roadside communication unit and the Internet of Vehicles server can communicate through a wired or wireless manner, the roadside communication unit and the vehicle-mounted unit can communicate through a direct communication interface, and the vehicle-mounted unit and the Internet of Vehicles server can communicate through an air interface.

[0031] In this embodiment, a method for communicating between an onboard unit (OBU) and an infrastructure running on the above-mentioned network architecture is provided. FIG3 is a flow chart of the method for communicating between an OBU and an infrastructure according to an embodiment of the present disclosure. The method is applied to a V2X server in a connected vehicle network. As shown in FIG3 , the process includes the following steps:

[0032] Step S302: receiving a first request message sent by an on-board unit (OBU) when detecting an abnormality in a communication channel of a direct communication interface PC5 between the OBU and a roadside communication unit (RSU), wherein the first request message is used to request the V2X server to provide a vehicle-to-infrastructure communication (V2I) service for the OBU; or receiving a first notification message sent by the RSU when detecting an abnormality in the communication channel of the PC5, wherein the first notification message is used to notify the V2X server to provide a vehicle-to-infrastructure communication (V2I) service for the OBU;

[0033] In step S302 of this embodiment, receiving the first request message sent by the OBU when detecting that the communication channel of the PC5 is abnormal includes: receiving the first request message sent by the OBU when detecting that the communication channel of the PC5 is abnormal, wherein the first request message is used to request to obtain the V2I service through the Uu; sending a third request message to the RSU, wherein the third request message is used to request to obtain relevant information of the OBU; and receiving the relevant information of the OBU sent by the RSU in response to the third request message.

[0034] In the embodiment of the present disclosure, the relevant information of the OBU includes the basic vehicle information, driving intention, message data and collaborative decision-making information data of the OBU.

[0035] It should be noted that, in this embodiment, it is necessary to obtain the relevant information of the OBU by sending a third request message for requesting to obtain the relevant information message of the OBU. In an exemplary embodiment, the RSU actively sends the relevant information of the OBU to the V2X server.

[0036] In step S302 of this embodiment, receiving the first notification message sent by the RSU when detecting that the communication channel of the PC5 is abnormal includes: receiving the first notification message sent by the RSU when detecting that the communication channel of the PC5 is abnormal and relevant information of the OBU, wherein the first notification message is used to notify the V2X server to provide the V2I service to the OBU through the Uu.

[0037] In an exemplary embodiment, receiving the second request message sent by the OBU when detecting that the communication channel of the PC5 has returned to normal, and sending the relevant information of the OBU to the RSU so that the RSU provides the V2I service for the OBU includes: receiving the second request message sent by the OBU when detecting that the PC5 channel has returned to normal, wherein the second request message is used to request to obtain the V2I service through the PC5; sending a third notification message to the RSU, wherein the third notification message is used to notify the RSU to provide the V2I service for the OBU; receiving a fourth notification message and a fourth request message sent by the RSU in response to the third notification message, wherein the fourth notification message is used to notify the V2X server to stop providing the V2I service for the OBU, and the fourth request message is used to request the relevant information of the OBU; stopping providing the V2I service for the OBU and sending the relevant information of the OBU to the RSU.

[0038] In an exemplary embodiment, receiving the second notification message sent by the RSU when detecting that the communication channel of the PC5 has returned to normal, and sending relevant information of the OBU to the RSU so that the RSU provides V2I services for the OBU, includes: receiving the second notification message sent by the RSU when detecting that the PC5 channel has returned to normal, wherein the second notification message is used to notify the OBU to receive the V2I service through the PC5 channel; forwarding the second notification message to the OBU; receiving a fifth notification message and a fifth request message sent by the OBU in response to the second notification message, wherein the fifth notification message is used to notify the V2X server to end providing the V2I service to the OBU, and the fifth request message is used to request the V2X server to send the relevant information of the OBU to the RSU; sending relevant information of the OBU to the RSU so that the RSU provides V2I services for the OBU.

[0039] Step S304: Provide the V2I service to the OBU via the air interface Uu.

[0040] After step S304 of this embodiment, the method further includes: receiving a second request message sent by the OBU when detecting that the communication channel of the PC5 has returned to normal, wherein the second request message is used to request to obtain the V2I service through the PC5; or receiving a second notification message sent by the RSU when detecting that the communication channel of the PC5 has returned to normal, wherein the second notification message is used to notify the V2X server to end providing V2I services for the OBU; and sending relevant information of the OBU to the RSU so that the RSU can provide V2I services for the OBU.

[0041] After step S304 of this embodiment, the method further includes: receiving, within a preset time interval, a first message sent by the OBU when detecting that the PC5 channel has returned to normal and a second message sent by the RSU when detecting that the PC5 channel has returned to normal; sending relevant information of the OBU to the RSU so that the RSU provides V2I services for the OBU; wherein the second message is used to request to obtain the V2I service through the PC5, and the second message is used to notify the V2X server to stop providing the V2I service to the OBU and request to obtain the relevant information of the OBU.

[0042] It should be noted that in the disclosed embodiment, the first message can also be sent by the RSU, while the second message is sent by the OBU. The first and second messages are time-sensitive. The V2X server starts counting when it receives the first message from one party (such as the OBU). It resumes counting when it receives the second message from the other party within a preset time. If it fails to receive the second message within the preset time, it does not resume counting and the OBU will send a new second message, restarting the counting.

[0043] It should be noted that, in this embodiment, it is necessary to obtain the relevant information of the OBU by sending a second message for requesting to obtain the relevant information of the OBU. In an exemplary embodiment, the V2X server actively sends the relevant information of the OBU to the RSU.

[0044] In an exemplary embodiment, the first request message is sent by the OBU when it determines that the communication channel of the PC5 is abnormal after detecting one or more of the packet loss rate of the message sent by the RSU, the transmission power of the RSU, and the module working status of the PC5 on the OBU end.

[0045] In an exemplary embodiment, the first notification message is sent by the RSU when it determines that the communication channel of the PC5 is abnormal after detecting one or more of the packet loss rate of the message sent by the OBU, the transmission power of the OBU, the working status of the PC5 module on the RSU end, and whether the RSU load is overloaded.

[0046] In an exemplary embodiment, the first request message is sent by the OBU when it is determined that the communication channel of the PC5 is abnormal after the OBU detects the packet loss rate of the message sent by the RSU, the transmission power of the RSU, and the module working status of the PC5 at the OBU end to generate a first detection value, and the first detection value does not meet a preset first threshold;

[0047] In an exemplary embodiment, the first notification message is sent when the RSU generates a first detection value after detecting the packet loss rate of the message sent by the OBU, the transmission power of the OBU, the working status of the PC5 module at the RSU end, and whether the RSU load is overloaded, and the first detection value does not meet the preset first threshold value, and determines that the communication channel of the PC5 is abnormal.

[0048] The RSU load is detected. If it exceeds a certain index, it will be switched to the air interface Uu channel. The monitoring judgment methods include:

[0049] (1) When the busy rate of the PC5 channel of the direct communication interface reaches a certain value, it is considered to be overloaded;

[0050] (2) The roadside communication unit (RSU) receives the Basic Safety Message (BSM) messages from all vehicle onboard units (OBUs) and can sense nearby vehicles. The vehicle identification in the BSM message and the message with a signature certificate can distinguish different vehicles. When the number of nearby vehicles exceeds a certain number, it is considered overloaded.

[0051] (3) High hardware load of the roadside communication unit (RSU), such as excessive CPU and RAM resource usage, is considered overloaded.

[0052] In an exemplary embodiment, the relevant information of the OBU synchronously sent by the RSU is received.

[0053] To keep V2I services uninterrupted, when providing V2I services to OBU, RSU will synchronously send the OBU's basic vehicle information, driving intentions, message data and collaborative decision-making information data to the V2X server in real time, so that the V2X server can perform cross-domain collaboration and global collaboration.

[0054] FIG4 is a flow chart of a method for communicating between an on-board unit and an infrastructure according to yet another embodiment of the present disclosure. The method is applied to an on-board unit (OBU). As shown in FIG4 , the flow chart includes the following steps:

[0055] Step S402, detecting the direct communication interface PC5 with the roadside communication unit RSU;

[0056] In step S402 of this embodiment, it includes detecting one or more of the packet loss rate of the message sent by the RSU, the transmission power of the RSU, and the module working status of the PC5 at the OBU end.

[0057] Step S404: When detecting that the communication channel of the PC 5 is abnormal, sending a first request message to a vehicle-to-infrastructure (V2I) server, wherein the first request message is used to request the V2X server to provide a vehicle-to-infrastructure (V2I) service for the OBU via an air interface (Uu);

[0058] Step S406: Receive the V2I service provided by the V2X server through the Uu.

[0059] After step S406 of this embodiment, the further step includes detecting the PC5; when it is detected that the communication channel of the PC5 has returned to normal, sending a second request message to the V2X server, wherein the second request message is used to request the RSU to provide the V2I service to the OBU through the V2X server; when the OBU receives the notification message forwarded by the V2X server that the RSU determines to provide the V2I service to the OBU, the OBU receives the V2I service through the PC5.

[0060] FIG5 is a flow chart of a method for communicating between an on-board unit and infrastructure according to another embodiment of the present disclosure. The method is applied to a roadside communication unit (RSU). As shown in FIG5 , the process includes the following steps:

[0061] Step S502, detecting the direct communication interface PC5 with the onboard unit OBU;

[0062] In step S502 of this embodiment, one or more of the following is detected: a packet loss rate of the message sent by the OBU, a transmission power of the OBU, a working state of the PC5 module at the RSU end, and whether the RSU is overloaded.

[0063] Step S504: When detecting that the communication channel of the PC 5 is abnormal, sending a first notification message to a vehicle-to-infrastructure (V2I) server, wherein the first notification message is used to notify the V2X server to provide a vehicle-to-infrastructure (V2I) service for the OBU via an air interface (Uu);

[0064] Step S506: Send relevant information of the OBU to the V2X server.

[0065] Through the disclosed embodiments, since both the OBU and the RSU detect the communication channel of PC5, if the OBU detects an anomaly in the communication channel of PC5, it requests the V2X server to provide V2I services for the OBU. If the RSU detects an anomaly in the communication channel of PC5, it requests the V2X server to provide V2I services for the OBU. In other words, once an anomaly occurs in the communication channel of PC5, the V2X server will receive the message and then provide V2I services to the OBU via Uu. This solves the problem that V2I services provided by only the RSU or V2X server may not meet the needs of the OBU, thereby ensuring that the OBU receives continuous V2I services.

[0066] After step S506 of this embodiment, the method further includes detecting the PC5 between the RSU and the OBU; when it is detected that the communication channel of the PC5 has returned to normal, sending a second notification message to the V2X server, wherein the second notification message is used to notify the OBU through the V2X server to receive the V2I service through the PC5 channel; when the RSU receives a third notification message forwarded by the V2X server and the OBU determines to receive the V2I service through the PC5 channel, the RSU provides the V2I service to the OBU.

[0067] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0068] This embodiment also provides a device for communicating between an on-board unit and infrastructure. This device is used to implement the above-mentioned embodiments and preferred implementations, and details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0069] FIG6 is a structural block diagram of a device for communicating between an on-board unit and an infrastructure according to an embodiment of the present disclosure. The device is applied to a V2X server of a vehicle network. As shown in FIG6 , the device includes: a first receiving module 10 and a service module 20 .

[0070] The first receiving module 10 is configured to receive a first request message sent by an on-board unit (OBU) when detecting an abnormality in a communication channel of a direct communication interface PC5 between the OBU and a roadside communication unit (RSU), wherein the first request message is used to request the V2X server to provide a vehicle-to-infrastructure communication (V2I) service for the OBU; or receive a first notification message sent by the RSU when detecting an abnormality in the communication channel of the PC5, wherein the first notification message is used to notify the V2X server to provide a vehicle-to-infrastructure communication (V2I) service for the OBU;

[0071] The service module 20 is configured to provide the V2I service to the OBU via the air interface Uu.

[0072] Figure 7 is a structural block diagram of a device for communicating between an on-board unit and infrastructure according to another embodiment of the present disclosure. The device is applied to an on-board unit OBU. As shown in Figure 7, the device includes: a first detection module 30, a first sending module 40, and a second receiving module 50.

[0073] A first detection module 30 is configured to detect the direct communication interface PC5 with the roadside communication unit RSU;

[0074] a first sending module 40 configured to send a first request message to a vehicle-to-infrastructure (V2I) server when detecting an abnormality in the communication channel of the PC 5 , wherein the first request message is used to request the V2X server to provide a vehicle-to-infrastructure (V2I) service for the OBU via an air interface Uu;

[0075] The second receiving module 50 is configured to receive the V2I service provided by the V2X server through the Uu.

[0076] FIG8 is a structural block diagram of an apparatus for communicating between an on-board unit and infrastructure according to yet another embodiment of the present disclosure. The apparatus is applied to a roadside communication unit (RSU). As shown in FIG8 , the apparatus includes:

[0077] The second detection module 60 is configured to detect the direct communication interface PC5 with the onboard unit OBU;

[0078] A second sending module 70 is configured to send a first notification message to a vehicle-to-infrastructure (V2I) server when an abnormality in the communication channel of the PC 5 is detected, wherein the first notification message is used to notify the V2X server to provide a vehicle-to-infrastructure (V2I) service for the OBU via an air interface Uu;

[0079] The third sending module 80 is configured to send relevant information of the OBU to the V2X server.

[0080] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0081] An embodiment of the present disclosure further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps of any one of the above method embodiments when run.

[0082] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0083] An embodiment of the present disclosure further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0084] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0085] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail here.

[0086] To facilitate understanding of the technical solutions provided by the present disclosure, embodiments of the present disclosure will be described in detail below with reference to specific scenarios.

[0087] If either the OBU or the RSU detects that the direct communication interface PC5 link is unavailable, the OBU switches to the air interface Uu channel, and the OBU's V2I services are all derived from the V2X server. The availability of the direct communication interface PC5 link is determined by the OBU and the RSU, respectively, using the same methods as described in the OBU-to-infrastructure communication methods according to Embodiment 1 and Embodiment 2 of the present disclosure.

[0088] FIG9 is a flow chart of a method for communicating between an on-board unit and an infrastructure according to a first embodiment of the present disclosure. As shown in FIG9 , the method includes the following steps:

[0089] Step S902: The OBU obtains the V2I service provided by the RSU through the PC5 communication channel;

[0090] Step S904, the OBU detects whether the PC5 communication channel is abnormal;

[0091] Specifically, if the PC5 communication channel is abnormal, the process proceeds to step S906; if the PC5 communication channel is not abnormal, the process proceeds to step S902;

[0092] Among them, the detection and judgment basis of the on-board unit OBU is: the message packet loss rate of the roadside communication unit RSU (RSI, MAP, SPAT should be sent periodically with continuous sequence numbers), measuring the RSRP (transmission power) of the roadside communication unit RSU, the working status of the direct communication interface PC5 module of the on-board unit OBU (normal / abnormal), etc. If these indicators reach a certain limit value, it is judged that the direct communication interface PC5 path is abnormal.

[0093] Step S906: The OBU requests the V2X server to obtain V2I services.

[0094] Step S908: The V2X server requests the RSU for information about a certain OBU.

[0095] Step S910: The V2X server provides V2I services to the OBU through the Uu channel.

[0096] FIG10 is a flow chart of a method for communicating between an on-board unit and an infrastructure according to a second embodiment of the present disclosure. As shown in FIG10 , the method includes the following steps:

[0097] Step S1002: The RSU provides V2I services to an OBU via the PC5 communication channel.

[0098] Step S1004, the RSU detects whether the PC5 communication channel with a certain OBU is abnormal;

[0099] Specifically, if the PC5 communication channel is abnormal, the process proceeds to step S1006; if the PC5 communication channel is not abnormal, the process proceeds to step S1002;

[0100] Specifically, the detection and judgment basis of the roadside communication unit RSU is: the packet loss rate of the BSM message sent by the on-board unit OBU (BSM should be sent periodically and have a continuous serial number), the measurement of the RSRP (transmission power) of the on-board unit OBU, the working status of the direct communication interface PC5 module of the roadside communication unit RSU (normal / abnormal), whether the load of the roadside communication unit RSU is overloaded, etc. When these indicators reach a certain limit value, it is judged that the direct communication interface PC5 path is abnormal.

[0101] Step S1006: The RSU notifies the V2X server to provide V2I services to an OBU.

[0102] Step S1008: The RSU synchronizes the relevant information of the OBU to the V2X server;

[0103] Step S1010: The V2X server provides V2I services to the OBU via the Uu channel.

[0104] After the OBU switches to the Uu channel of the air interface for V2X service communication, the RSU and the OBU continue to check whether the PC5 channel of the direct communication interface is available. If the recovery conditions are met, they switch back to the PC5 channel of the direct communication interface. The specific method is shown in the method for communication between the OBU and the infrastructure according to the third embodiment of the present disclosure and the fourth embodiment of the present disclosure.

[0105] FIG11 is a flow chart of a method for communicating between an onboard unit and an infrastructure according to a third embodiment of the present disclosure. As shown in FIG11 , the method includes the following steps:

[0106] Step S1102: The OBU obtains the V2I service provided by the RSU through the Uu communication channel;

[0107] Step S1104, the OBU detects whether the PC5 communication channel has returned to normal;

[0108] Specifically, if the communication channel of PC5 returns to normal, the process proceeds to step S1106; if the communication channel of PC5 does not return to normal, the process proceeds to step S1102;

[0109] Step S1106: The OBU requests the V2X server to switch to the PC5 channel.

[0110] Step S1108: The V2X server notifies the RSU to provide V2I services to an OBU.

[0111] Step S1110, the RSU determines whether to confirm providing V2I service to a certain OBU;

[0112] Specifically, if the judgment result is yes, proceed to step S1112, and if the judgment result is no, proceed to step S1102;

[0113] Step S1112: The V2X server synchronizes the OBU-related information to the RSU and terminates the V2I service of the Uu channel.

[0114] In step S1114, the RSU provides V2I services to an OBU through the PC5 communication channel.

[0115] It should be noted that in the disclosed embodiment, confirmation from the roadside communication unit (RSU) is required before switching back to the direct communication interface PC5 channel. The OBU sends a switching notification to the RSU via the V2X server. The RSU then determines whether to switch to the direct communication interface PC5 based on its own judgment. After receiving the RSU's confirmation, the V2X server notifies the OBU. Only then can the direct communication interface PC5 channel between the RSU and the OBU be restored. Although the OBU considers the direct communication interface PC5 channel to be recoverable, the RSU may have other considerations. For example, if the RSU is overloaded, the V2X server will share the load, while the OBU still needs to maintain the air interface Uu link.

[0116] FIG12 is a flow chart of a method for communicating between an on-board unit and an infrastructure according to a fourth embodiment of the present disclosure. As shown in FIG12 , the method includes the following steps:

[0117] Step S1202: The RSU provides V2I services to an OBU via the PC5 communication channel.

[0118] Step S1204, the RSU detects whether the PC5 communication channel with a certain OBU has returned to normal;

[0119] Specifically, if the communication channel of PC5 returns to normal, the process proceeds to step S1206; if the communication channel of PC5 does not return to normal, the process proceeds to step S1202;

[0120] Specifically, the detection and judgment of the roadside communication unit RSU is based on the following conditions: the working status of the direct communication interface PC5 module of the roadside communication unit RSU returns to normal, the load of the roadside communication unit RSU is low, etc., that is, it is judged that the direct communication interface PC5 channel is available.

[0121] Step S1206: The RSU notifies the V2X server that an OBU switches to the PC5 channel.

[0122] Step S1208: The V2X server notifies the OBU to switch to the PC5 channel.

[0123] Step S1210, the OBU determines whether to confirm receiving the V2I service provided by the RSU through the PC5 channel;

[0124] Specifically, if the judgment result is yes, proceed to step S1212, and if the judgment result is no, proceed to step S1202;

[0125] Step S1212: The V2X server synchronizes the OBU-related information to the RSU and terminates the V2I service of the Uu channel.

[0126] In step S1214, the RSU provides V2I services to an OBU through the PC5 communication channel.

[0127] It should be noted that in the disclosed embodiment, confirmation from the onboard unit (OBU) is required before switching back to the direct communication interface PC5 channel. The roadside communication unit (RSU) sends a switching notification to the OBU via the V2X server. The OBU then determines whether to switch to the direct communication interface PC5 based on its own judgment. After receiving the OBU's confirmation, the V2X server notifies the roadside communication unit (RSU). Only then can the roadside communication unit (RSU) and the OBU restore the direct communication interface PC5 channel. Although the roadside communication unit (RSU) determines that the direct communication interface PC5 channel can be restored, the OBU may be unable to perform direct communication interface PC5 communication due to reasons such as the direct communication interface PC5 module not being able to function.

[0128] In the disclosed embodiment, regardless of whether the on-board unit OBU is in the direct communication interface PC5 channel or the air interface Uu channel, the roadside communication unit RSU and the V2X server synchronize the vehicle information, intention, collaboration and other information of the on-board unit OBU with each other in real time, so that the two channels can perceive the on-board unit OBU served by each other, and the on-board unit OBU can still collaborate across channels.

[0129] In the embodiment of the present disclosure, regardless of switching from the direct communication interface PC5 channel to the air interface Uu channel, or switching from the air interface Uu channel to the direct communication interface PC5 channel, the V2I service must remain uninterrupted, and the message data, collaborative decision-making information, vehicle information, etc. of the on-board unit OBU must be synchronized to the new V2I ​​service provider (roadside communication unit RSU or V2X server).

[0130] In the embodiment of the present disclosure, the synchronization information strategy is divided into two types: real-time synchronization and pre-switching synchronization. The specific synchronization methods are as follows:

[0131] Real-time synchronization: When the roadside communication unit (RSU) provides V2I services, the vehicle basic information, driving intention, message data, and collaborative decision-making information data of the on-board unit (OBU) are synchronized to the V2X server in real time, so that the V2X server can carry out cross-domain and global collaboration. When the V2X server provides V2I services, the vehicle basic information, driving intention, message data, and collaborative decision-making information data of the on-board unit (OBU) are synchronized to the roadside communication unit (RSU) in real time.

[0132] Synchronization during channel switching: When the channel switches between the air interface Uu and the direct communication interface PC5, the roadside communication unit RSU and the V2X server synchronize the basic vehicle information, message data, collaborative decision-making information, and other data of the on-board unit OBU to each other to ensure business continuity.

[0133] A vehicle (the main vehicle, with an on-board unit (OBU)) is traveling on a ramp and about to merge onto the main road. The OBU initiates a collaboration request to the roadside communication unit (RSU) to enable the vehicle to pass safely and efficiently. After the main vehicle (OBU) requests collaboration from the RSU via the direct communication interface PC5, the RSU makes a decision based on traffic dynamics, allowing the main vehicle (ramp vehicle) to enter the main road and the auxiliary vehicle (main road vehicle) to slow down and yield. This is the collaborative process in this scenario. At this time, due to network reasons and other factors, the main vehicle's communication link must switch to the air interface Uu. To ensure business continuity, the RSU must synchronize the decision-making control information given to the current RSU, the driving intention information of the main vehicle and auxiliary vehicle, and the vehicle status information of the main vehicle and auxiliary vehicle to the V2X server. The V2X server makes decisions based on this information, thus ensuring business continuity.

[0134] In an embodiment of the present disclosure, the following method is used to select roadside communication units (RSUs): When an on-board unit (OBU) uses the V2I service provided by a V2X server via the Uu channel of the air interface, the V2X server synchronizes the OBU-related information to the RSU in real time. The specific RSU to be sent needs to be selected. The selection method is as follows: based on the geographic location of the OBU (the BSM message sent by the OBU to the V2X server contains latitude and longitude), a certain distance range is set, and all RSUs within this geographic range should be selected (the V2X server knows the locations of all RSUs). When the Uu air interface switches to the PC5 channel of the direct communication interface, the V2X server selects the specific RSU that will serve the OBU. The selection method is as follows: based on the geographic location of the OBU, a certain distance range is set, and combined with the driving direction of the OBU (the BSM message contains a heading angle), an appropriate RSU is selected.

[0135] Obviously, those skilled in the art should understand that the modules or steps of the present disclosure described above can be implemented using a general-purpose computing device, they can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices, they can be implemented using program code executable by the computing device, and thus, they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be performed in a different order than herein, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present disclosure is not limited to any particular combination of hardware and software.

[0136] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations of the present disclosure are possible. Any modifications, equivalent substitutions, or improvements made within the principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A method for communication between a vehicle-mounted unit and an infrastructure, applied to a vehicle network V2X server, comprising: Receiving a first request message sent by an on-board unit OBU when detecting that a communication channel of a direct communication interface PC5 between the OBU and a roadside communication unit RSU is abnormal, wherein the first request message is used to request the V2X server to provide a vehicle-to-infrastructure communication V2I service for the OBU; or, receiving a first notification message sent by the RSU when detecting that a communication channel of the PC5 is abnormal, wherein the first notification message is used to notify the V2X server to provide a vehicle-to-infrastructure communication V2I service for the OBU; The V2I service is provided to the OBU via an air interface Uu.

2. The method according to claim 1, wherein: After providing the V2I service to the OBU through the air interface Uu, the method further includes: receiving a second request message sent by the OBU when detecting that the communication channel of the PC5 returns to normal, wherein the second request message is used to request to obtain the V2I service through the PC5; or, receiving a second notification message sent by the RSU when detecting that the communication channel of the PC5 returns to normal, wherein the second notification message is used to notify the V2X server to end providing the V2I service for the OBU; Send relevant information of the OBU to the RSU so that the RSU provides V2I service for the OBU.

3. The method according to claim 1, wherein: Receiving a first request message sent by the OBU when detecting that the communication channel of the PC5 is abnormal, comprises: receiving a first request message sent by the OBU when detecting that the communication channel of the PC5 is abnormal, wherein the first request message is used to request to obtain the V2I service through the Uu; Sending a third request message to the RSU, wherein the third request message is used to request to obtain relevant information of the OBU; receiving the relevant information of the OBU sent by the RSU in response to the third request message.

4. The method according to claim 1, wherein: Receiving the first notification message sent by the RSU when detecting that the communication channel of the PC5 is abnormal includes: Receive a first notification message and related information of the OBU sent by the RSU when detecting that the communication channel of the PC5 is abnormal, wherein the first notification message is used to notify the V2X server to provide the V2I service to the OBU through the Uu.

5. The method according to claim 2, wherein: Receiving the second request message sent by the OBU when detecting that the communication channel of the PC5 returns to normal, and sending the relevant information of the OBU to the RSU so that the RSU provides the V2I service for the OBU, including: receiving a second request message sent by the OBU when detecting that the PC5 channel returns to normal, wherein the second request message is used to request to obtain the V2I service through the PC5; Send a third notification message to the RSU, wherein the third notification message is used to notify the RSU that the OBU Providing the V2I service; receiving a fourth notification message and a fourth request message sent by the RSU in response to the third notification message, wherein the fourth notification message is used to notify the V2X server to stop providing the V2I service for the OBU, and the fourth request message is used to request the relevant information of the OBU; Stop providing the V2I service for the OBU and send the relevant information of the OBU to the RSU.

6. The method according to claim 2, wherein: Receiving the second notification message sent by the RSU when detecting that the communication channel of the PC5 returns to normal, and sending the relevant information of the OBU to the RSU so that the RSU provides the V2I service for the OBU, including: Receiving a second notification message sent by the RSU when detecting that the PC5 channel returns to normal, wherein the second notification message is used to notify the OBU to receive the V2I service through the PC5 channel; Forwarding the second notification message to the OBU; receiving a fifth notification message and a fifth request message sent by the OBU in response to the second notification message, wherein the fifth notification message is used to notify the V2X server to end providing the V2I service for the OBU, and the fifth request message is used to request the V2X server to send the relevant information of the OBU to the RSU; Send relevant information of the OBU to the RSU so that the RSU provides V2I service for the OBU.

7. The method according to claim 1, wherein: After providing the V2I service to the OBU through the air interface Uu, the method further includes: Receiving within a preset time interval a first message sent by the OBU when detecting that the PC5 channel has returned to normal and a second message sent by the RSU when detecting that the PC5 channel has returned to normal; Sending relevant information of the OBU to the RSU so that the RSU provides V2I services for the OBU; The second message is used to request to obtain the V2I service through the PC5, and the second message is used to notify the V2X server to stop providing the V2I service to the OBU and request to obtain the relevant information of the OBU.

8. The method according to any one of claims 1 to 7, wherein: The first request message is sent by the OBU when it determines that the communication channel of the PC5 is abnormal after detecting one or more of the packet loss rate of the message sent by the RSU, the transmission power of the RSU and the module working status of the PC5 at the OBU end.

9. The method according to any one of claims 1 to 7, wherein: The first notification message is sent by the RSU when it determines that the communication channel of the PC5 is abnormal after detecting one or more of the packet loss rate of the message sent by the OBU, the transmission power of the OBU, the working status of the PC5 module at the RSU end, and whether the RSU load is overloaded.

10. The method according to claim 1, wherein: The method further comprises: Receive the relevant information of the OBU sent synchronously by the RSU.

11. A method for communication between an on-board unit and an infrastructure, applied to an on-board unit OBU, comprising: Detecting the direct communication interface PC5 with the roadside communication unit RSU; When detecting that the communication channel of the PC5 is abnormal, sending a first request message to a vehicle network V2X server, wherein the first request message is used to request the V2X server to provide a vehicle-to-infrastructure communication V2I service for the OBU through an air interface Uu; The V2I service provided by the V2X server is received through the Uu.

12. The method according to claim 11, wherein: The direct communication interface PC5 between the detection and the roadside communication unit RSU includes: One or more of the packet loss rate of the message sent by the RSU, the transmission power of the RSU, and the module working state of the PC5 at the OBU end are detected.

13. The method according to claim 11, wherein: After receiving the V2I service provided by the V2X server through the Uu, the method further includes: detecting the PC5; When it is detected that the communication channel of the PC5 returns to normal, a second request message is sent to the V2X server, wherein the second request message is used to request the RSU to provide the V2I service for the OBU through the V2X server; In a case where the OBU receives the notification message forwarded by the V2X server that the RSU determines to provide the V2I service to the OBU, the OBU receives the V2I service through the PC5.

14. A method for communication between a vehicle-mounted unit and an infrastructure, applied to a roadside communication unit RSU, comprising: Detection of direct communication interface PC5 with on-board unit OBU; When detecting that the communication channel of the PC5 is abnormal, sending a first notification message to a vehicle network V2X server, wherein the first notification message is used to notify the V2X server to provide the OBU with a vehicle-to-infrastructure communication V2I service through an air interface Uu; Send relevant information of the OBU to the V2X server.

15. The method according to claim 14, wherein: Detecting the PC5 between the OBU, comprising: One or more of the packet loss rate of the message sent by the OBU, the transmission power of the OBU, the working state of the PC5 module at the RSU end, and whether the RSU load is overloaded are detected.

16. The method according to claim 14, wherein: After sending the relevant information of the OBU to the V2X server, the method further includes: Detecting the PC5 between the PC5 and the OBU; When it is detected that the communication channel of the PC5 returns to normal, a second notification message is sent to the V2X server, wherein the second notification message is used to notify the OBU through the V2X server to receive the V2I service through the PC5 channel; In a case where the RSU receives the third notification message forwarded by the V2X server that the OBU determines to receive the V2I service through the PC5 channel, the RSU provides the V2I service to the OBU.

17. A computer-readable storage medium having a computer program stored therein, wherein: When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7, 11 to 13 or 14 to 16 are implemented.

18. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method described in any one of claims 1 to 7, 11 to 13 or 14 to 16 are implemented.

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