CN109672996A - One kind being based on V2X roadside device system and its information dispensing method - Google Patents
One kind being based on V2X roadside device system and its information dispensing method Download PDFInfo
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- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H04W72/56—Allocation or scheduling criteria for wireless resources based on priority criteria
- H04W72/566—Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient
- H04W72/569—Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient of the traffic information
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Abstract
One kind is claimed based on V2X roadside device system and information dispensing method in the present invention, specifically includes that communication network management module, Message Agent module, information security assembly module, log management assembly module, messaging bus interface module etc. form.RSU Message Agent module is responsible for the parsing for the message that application layer is sent through messaging bus interface, priority scheduling, is distributed to messaging bus.RSU communication network management module is responsible for shielding platform and RSU attaching communication device protocol otherness, is supplied to middleware Message Agent Unified Communication calling interface.The present invention is unified to V2X RSU to be managed to from heterogeneous networks multi-source informations such as path sensor, vehicle, cloud platform, Differential positioning base stations, and unified communication calling interface is provided to upper layer application, improves the efficiency and functional expansionary of application and development；Message is scheduled based on priority policy, to guarantee that the higher information of the tight degree of information is preferentially sent.
Description
Technical Field
The invention belongs to the technical field of V2X car networking and intelligent transportation, and particularly belongs to a road side equipment software architecture based on V2X communication and an information distribution method thereof.
Background
With the increasing income level and consumption level of residents, the automobile holding amount in China is increased sharply, and the problem of road traffic is increasingly highlighted. The V2X vehicle networking technology realizes the omnibearing connection and information interaction between vehicles (V2V), vehicles and roadside infrastructure (V2I), vulnerable traffic participants (V2P) such as vehicles and pedestrians, and vehicles and cloud platforms (V2N) through a new-generation communication technology (DSRC/C-V2X/5G and the like).
The V2X technology supports V2X vehicle networking to organically link the traffic participation elements such as people, vehicles, roads, clouds and the like by virtue of efficient wireless resource allocation and the characteristics of supporting high speed and seamless movement, can support vehicles to obtain more information than single vehicles to perceive, and solves the problems of traffic safety, traffic efficiency and the like.
In a V2X car networking system, Roadside devices (RSUs) are generally installed at intersections and important special roads, and local road MAPs (MapData, MAP), vehicle motion Information (BSM), Road Signs (RSI), signal phase and traffic Information (SPAT), traffic participant Information (RSM), and high-precision positioning difference data are collected and processed by managing and controlling attached sensors (cameras, radars, temperature sensors, humidity sensors, etc.) and traffic light controllers, and are communicated with vehicles equipped with V2X communication devices to provide drivers with real-time Information of road conditions, traffic conditions, and the like (V2I). In addition, the road side device sends road traffic and environment data (BGM) to the cloud platform in a mobile cellular communication mode, receives notification messages sent by the cloud platform, broadcasts the notification messages through the V2X device, and receives signal lamp control information to reversely and dynamically control the state of the signal lamp.
The RSU of the road side equipment sends messages through the V2X equipment and the messages sent by the mobile cellular communication comprise various types, the messages which need to be sent to the outside at different deployment places have different communication requirements, such as sending frequency, sending distance and urgency, for example, the RSU deployed at an intersection sends messages with fixed frequency through the V2X, the messages comprise local road messages, signal lamp messages, road sign messages and cloud background messages, the cloud platform sends emergency notification information to the RSU, the emergency notification information is sent to vehicles near the intersection through the RSU, and the emergency degree is very high. However, the communication channel resources of V2X or the mobile cellular network are limited, and priority allocation scheduling needs to be performed on information transmitted through V2X or the mobile cellular network, so that the message distribution efficiency is improved.
In the existing research on the RSU, the problems of deployment position, communication safety and networking among the RSUs are mostly concentrated. The Noor-A-Rahim et al uses the RSU of the intersection to forward basic safety information (BSM message) broadcast by the vehicle to the outside, and reduces the blockage of the building to the DSRC broadcast signal of the vehicle. Fogue et al use the RSU to forward traffic control information and provide Internet access for vehicles, drivers and passengers, overcome the problem of signal propagation and the problem of early warning notification time delay, and the function of the targeted traffic scene is very simple. Diversity of messages to be distributed, which need to be processed by the RSU, in a complex traffic scene is not considered, and priority problems of different messages in message distribution are not considered, for example, road emergency information sent by a cloud platform and vehicle accident information sent by nearby vehicles need to be transmitted by the RSU in a priority mode by occupying channels.
The invention provides a road side equipment software architecture based on V2X communication and an information distribution method thereof.A road side equipment RSU processes collected traffic data, encapsulates and encodes the traffic data into Internet of vehicles standard information, fills message attribute information into an application layer message frame, and sends the information to a local message agent program, the message agent program stores and dynamically distributes priorities of the received messages, and the messages of a message queue are extracted according to the priorities and sent to an intelligent Internet vehicle or a cloud platform provided with a V2X communication module through a V2X communication module, so that the extraction speed and the forwarding efficiency of the information are improved.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. The utility model provides a roadside device system based on V2X and information distribution method thereof, which improves the information extraction speed and the forwarding efficiency. The technical scheme of the invention is as follows:
a V2X-based roadside apparatus system comprising: the system comprises a communication network management module, a message agent module, an information security component module, a log recording component module and a message bus interface module; wherein,
a communication network management module: the system comprises a message-network mapping module, a channel interface selection module and a data protocol conversion module, wherein the message-network mapping module provides a uniform communication calling interface for application software using different network communications; the channel interface selection module is used for providing a communication channel interface corresponding to the topic message publishing; the data protocol conversion module converts the original data collected by the RSU communication module assembly into a message with a specified format and sends the message to the message bus interface module;
a message bus interface module; the system is in charge of providing interfaces for an application layer program and a communication network management module, receiving a theme message issued by application layer application and a message sent by a communication component and sent by the communication network management module, and sending the theme message and the message to a message agent module;
a message agent module: the system is responsible for reading the message of the message bus interface module, dynamically adjusting the priority of the message to be sent according to the publisher/subscriber information table and the read message attribute, and sending the message to an application layer application or communication component subscribed with the subject message;
an information security component module: the system is in charge of data encryption and identity authentication to guarantee communication safety, safety verification is carried out on remote connection communication between the RSU and the Internet of vehicles cloud platform, upgrading updating and remote control commands of internal applications of the RSU can be sent to application layer applications after safety and integrity verification is carried out according to stored local keys, and if abnormal verification information exists, the abnormal verification information is sent to the log management component module for recording;
a logging component module: the application layer software is responsible for recording the abnormal message operation and the occurrence date received by the information security component module, and regularly sending the log management file to the cloud platform for analysis.
Furthermore, the message agent module uses a topic subscription-publishing model based on messages, and comprises a message receiving module, a message storage management module, a message scheduling and distributing module and a publishing/subscription module, wherein the message receiving module is responsible for receiving message frames sent to the middleware by application layer software and a bottom layer communication component, the message storage management module stores each topic message and performs dynamic priority distribution on information needing to be sent to the outside through a bottom layer communication interface, and the message scheduling and distributing module preferentially extracts the message sending of a high-priority queue and ensures that the information with high urgency preferentially occupies a channel for sending; the topic message sent by the bottom communication component is sent to the application layer software subscribing the topic message by inquiring the subscriber information table; the publish/subscribe module of the message agent module is responsible for receiving registration and logout requests of message topics of connection of application layer software and the communication assembly, realizing dynamic addition and deletion of topic registry topics and addition and deletion of subscribers in a subscriber information table, and recording channels of the subscribers for receiving the topic messages.
Furthermore, the communication network management module establishes a message-channel mapping table, the table records the corresponding relationship between various communication channels and message types, and the message distribution module of the message agent module finds the corresponding communication channel through the mapping table for data distribution.
Further, the message storage management module of the message agent module stores the message M with the received message subject type i and the sending channel j according to the received message subject typeijWherein i is 1,2, …, N, j is 1,2, …, K, N establishes an independent message storage queue total number for each type of message, K is a communication channel total number for message transmission, and whether a message queue Q with a received message type i and a transmission channel j exists is judgedijIf yes, store the message into the message queue Qij(ii) a If not, then new message queue Q is createdijForming a message queue set:
Q＝{{Q11,Q21,…QN1},{Q12,Q22,…QN2},…{Q1K,Q2K,…QNK}}。
further, the message storage management module calculates the current priority of the message according to the attributes of the messages in the message queue,s represents the highest priority weight, T represents the effective existing time of the message, tau represents the information urgency coefficient, and f represents the information sending frequency. When the information has the breaking property IqWhen the priority is 1, the priority is set as the highest priority, q is an influence parameter of urgency on the urgency of information, a is an influence factor of message validity time on the priority, b is an influence factor of urgency on the priority, a < b, and a + b is 1.
Furthermore, the message scheduling and distributing module establishes K service sending threads according to the number K of the message sending channels, each sending thread establishes a sending queue, polls the priority of the message queue storing the subject message, inquires a message-channel mapping table established by the communication network management module, extracts the subject message from the high-priority queue and sends the subject message from the corresponding communication channel until the message of the high-priority queue is sent, extracts the message of the next priority queue to send, and sequentially extracts the data of each priority queue until the data of all queues are sent.
An information distribution method based on the system comprises the following steps:
s501, the message-network mapping module establishes a communication network-message theme mapping table and stores and manages the message theme relation corresponding to a communication component sending channel and a receiving channel of a bottom communication module; the channel interface selection module is used for providing a communication channel interface corresponding to the topic message publishing; the data protocol conversion module converts the original data collected by the RSU communication assembly into a message with a specified format and sends the message to the message bus interface module;
s502, receiving a theme message issued by application layer application and a message sent by a communication component and sent by a communication network management module, and sending the message to a message agent module;
s503, the message receiving module of the message agent module classifies and analyzes the message frame message collected by the message bus interface module, sends the subject message content of the message to the message storage management module of the message agent module, and stores the message attribute in the message into a local message attribute table;
s504, the message storage management module of the message agent module establishes an independent receiving queue for storing message content aiming at each topic message, analyzes the message attribute in the message attribute table, and dynamically allocates the message priority weight of different topic message queues according to the priority queue scheduling algorithm and the message source;
s505, the message dispatching and distributing module of the message agent module polls the priority of the message queue storing the subject message, inquires the message-channel mapping table established by the communication network management module, extracts the subject message from the high-priority queue and sends the subject message from the corresponding communication channel until the message of the high-priority queue is sent, extracts the message of the next priority queue and sends the message in sequence, and extracts the data of each priority queue;
s506, the message issued by the communication component is extracted by the message distribution module and sent to application layer software subscribing the subject message by inquiring a subscriber information table, if the message comes from the Internet of vehicles cloud platform, the information security component module conducts security and integrity check on remote connection communication between the RSU and the Internet of vehicles cloud platform, and sends abnormal message operation and occurrence date to the log management component module for storage.
Further, the message frame message of step S503 includes message content and attributes belonging to the message, and the attributes of the message include initial priority, dynamic priority, effective existence time, transmission period, preemptive action, and urgency.
Further, the priority queue scheduling algorithm in step S504 assigns different priority weights to the subject messages by analyzing and processing the message attributes of the subject messages, assigns the highest priority weight to the emergency messages sent from the cloud platform or the road hazard information detected by the road sensor, and ensures that the emergency messages are sent preferentially.
Further, the RSU directly broadcasts the differential message data from the high-precision positioning base station in a message transmission mode through V2X communication.
The invention has the following advantages and beneficial effects:
1. the method is suitable for complex traffic scenes, traffic scene functions of traditional research on the RSU are very simple, the problems of deployment position, communication safety and networking among the RSUs are mainly researched, and no further research is conducted on message processing of the RSU. Aiming at the research of diversity of distributed messages and heterogeneity of a communication network which need to be processed by the RSU in a complex traffic scene, the RSU can adapt to information processing of a complex traffic environment.
2. The invention considers the priority problem of different types of messages when RSU messages are distributed, the RSU stores the received messages, dynamically allocates the priority, preferentially extracts the high-priority messages and sends the high-priority messages, and improves the extraction speed and the utilization efficiency of the information.
3. The universality is good, all messages transmitted and received through the V2X equipment are defined by the Internet of vehicles standard, and the information transmitted and received through the cellular network equipment also adopts the standard protocol, so that the data interconnection and intercommunication with other unit equipment are ensured.
4. The communication safety of the equipment is high, when the RSU communicates with the cloud platform through the cellular network, the reliability and the safety of RSU communication data are guaranteed through authentication of the safety certificate, meanwhile, the log recording component records abnormal information operation during the operation of the RSU, and regularly transmits the abnormal information back to the cloud platform for analysis, and the information safety of the RSU is guaranteed.
5. The RSU sends self-collected high-precision differential data and stored road local map information in a remote deployment area to assist high-precision positioning of a vehicle when the vehicle runs in a differential signal blind area.
Drawings
FIG. 1 is a diagram of roadside device software architecture based on V2X communication according to a preferred embodiment of the present invention;
FIG. 2 is a message frame format definition sent by the application layer and communication layer component programs to the middleware;
FIG. 3 is an internal architecture of a communication network management module;
FIG. 4 is a message bus interface module work flow diagram;
FIG. 5 is a flow chart of message sending;
fig. 6 is a message priority assignment strategy diagram;
fig. 7 is a flow chart of the RSU receiving an external message through the communication module;
fig. 8 is a message distribution module distribution flow diagram.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
fig. 1 is a framework diagram of a software architecture of a V2X roadside device, including 5 modules: the system comprises a communication network management module, a message agent module, an information security component module, a log management component module and a message bus interface module.
The RSU Internet of vehicles application program acquires road traffic data through a sensor and a communication module, fills processed data into message body content of a message frame shown in fig. 2 according to a set protocol, refers to J2735 or T/CSAE-2017 Internet of vehicles application layer communication standard for data content transmitted and received through a V2X module, fills data transmitted and received through other communication modules according to a manufacturer defined or custom protocol, and distinguishes message types through message themes of the message frame.
The communication network management module comprises a message-network mapping module, a channel interface selection module and a data protocol conversion module. As shown in fig. 3, the message-network mapping module establishes a mapping table of message types and communication network types, where the table records the correspondence between various communication networks and topic message types, and provides a uniform communication call interface for application software using different network communications. The channel interface selection module is used for providing a communication channel interface corresponding to the theme message sending. The communication network management module sets up an independent communication monitoring thread for each communication module to process the acquisition and analysis work of the messages passing through the communication module. The data protocol conversion module converts the original data collected by the RSU communication module assembly into a message with a specified format and sends the message to the message bus interface module.
The message bus interface module is responsible for establishing a message channel for communication between the application program and the communication assembly, providing a communication interface for the application layer program and the communication network management module, receiving a subject message issued by the application layer program and a message sent by the communication assembly and sent by the communication network management module, and sending the subject message and the message to the message agent module. As shown in FIG. 4, the first time the application communicates, the application and communication component sends a request to the message bus interface module to establish a message channel. After the message bus receives the request, checking the message mapping table to check whether a message channel corresponding to the message exists, if so, directly returning a message channel number, if not, establishing the message channel, and establishing a communication channel between the application program and the message bus through a TCP or UDP protocol. After the application layer program and the communication component establish a message channel, the message topic subscription and topic publication type need to be stored in a message publisher/subscriber information table of the RSU local database.
The message agent module is responsible for reading the message of the message bus interface module, dynamically adjusting the priority of the message to be sent according to the publisher/subscriber information table of the RSU local database and the read message attribute, and sending the message to the application layer application or communication component subscribed with the subject message.
The information security component module is responsible for data encryption and identity authentication to guarantee communication security, security verification is conducted on remote connection communication between the RSU and the Internet of vehicles cloud platform, updating of internal application of the RSU and remote control instructions can be sent to application layer application after security and integrity verification is conducted according to a stored local secret key, and if verification abnormal information exists, the verification abnormal information is sent to the log management component module for recording;
the log management component module is responsible for recording abnormal message operation and occurrence date received by the information security component module, and the application layer software periodically sends log management files to the cloud platform for analysis.
For the message distribution process of the message agent layer, the invention provides a message distribution method based on dynamic priority distribution.
The message receiving module of the message agent module classifies and analyzes the message frame messages collected by the message bus interface module, sends the subject message content of the messages to the message storage management module of the message agent module, and stores the message attributes in the messages into a local message attribute table in a separating way.
As shown in FIG. 5, the message storage management module of the message broker module stores the message M with the received message topic type i and the sending channel jijWherein i is 1,2, …, N, j is 1,2, …, K, N establishes an independent message storage queue total number for each type of message, K is a communication channel total number for message transmission, and whether a message queue Q with a received message type i and a transmission channel j exists is judgedijIf yes, store the message into the message queue Qij(ii) a If not, then new message queue Q is createdijForming a message queue set:
Q＝{{Q11,Q21,…QN1},{Q12,Q22,…QN2},…{Q1K,Q2K,…QNK}}
as shown in fig. 6, the message store management module of the local message broker calculates the current priority of the message based on the attributes of the messages in the message queue,when the information has the breaking property IqWhen the priority is 1, the priority is set as the highest priority, q is an influence parameter of urgency on the urgency of information, a is an influence factor of message validity time on the priority, b is an influence factor of urgency on the priority, a < b, and a + b is 1.
As shown in fig. 7, the message scheduling and distributing module of the message broker establishes K service sending threads according to the number K of the message sending channels, each sending thread establishes a sending queue, polls the priority of the message queue storing the subject message, queries the message-channel mapping table established by the communication network management module, extracts the subject message from the high-priority queue and sends the subject message from the corresponding communication channel until the message sending of the high-priority queue is completed, starts to extract the message sending of the next priority queue, and sequentially extracts the data of each priority queue until the data sending of all queues is completed.
As shown in fig. 8, for the message published by the communication component, the message scheduling and distributing module does not perform priority assignment, and by querying the subscriber information table, the message distributing module extracts the message and sends the message to the application layer software subscribing the subject message, and if the message is from the car networking cloud platform, the information security component module performs security and integrity check on the remote connection communication between the RSU and the car networking cloud platform, and sends the abnormal message operation and the occurrence date to the log management component module for storage.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (10)
1. A V2X-based roadside device system, comprising: the system comprises a communication network management module, a message agent module, an information security component module, a log recording component module and a message bus interface module; wherein,
a communication network management module: the system comprises a message-network mapping module, a channel interface selection module and a data protocol conversion module, wherein the message-network mapping module provides a uniform communication calling interface for application software using different network communications; the channel interface selection module is used for providing a communication channel interface corresponding to the topic message publishing; the data protocol conversion module converts the original data collected by the RSU communication module assembly into a message with a specified format and sends the message to the message bus interface module;
a message bus interface module; the system is in charge of providing interfaces for an application layer program and a communication network management module, receiving a theme message issued by application layer application and a message sent by a communication component and sent by the communication network management module, and sending the theme message and the message to a message agent module;
a message agent module: the system is responsible for reading the message of the message bus interface module, dynamically adjusting the priority of the message to be sent according to the publisher/subscriber information table and the read message attribute, and sending the message to an application layer application or communication component subscribed with the subject message;
an information security component module: the system is in charge of data encryption and identity authentication to guarantee communication safety, safety verification is carried out on remote connection communication between the RSU and the Internet of vehicles cloud platform, upgrading updating and remote control commands of internal applications of the RSU can be sent to application layer applications after safety and integrity verification is carried out according to stored local keys, and if abnormal verification information exists, the abnormal verification information is sent to the log management component module for recording;
a logging component module: the application layer software is responsible for recording the abnormal message operation and the occurrence date received by the information security component module, and regularly sending the log management file to the cloud platform for analysis.
2. The V2X-based roadside device system according to claim 1, wherein the message broker module uses a message-based topic subscription-publication model, and comprises a message receiving module, a message storage management module, a message scheduling distribution module, and a publication/subscription module, the message receiving module is responsible for receiving message frames sent to middleware by application layer software and a bottom layer communication component, the message storage management module stores various topic messages and performs dynamic priority allocation on information to be sent to the outside through a bottom layer communication interface, the message scheduling distribution module preferentially extracts messages of a high priority queue to ensure that information with high urgency preferentially occupies a channel for sending; the topic message sent by the bottom communication component is sent to the application layer software subscribing the topic message by inquiring the subscriber information table; the publish/subscribe module of the message agent module is responsible for receiving registration and logout requests of message topics of connection of application layer software and the communication assembly, realizing dynamic addition and deletion of topic registry topics and addition and deletion of subscribers in a subscriber information table, and recording channels of the subscribers for receiving the topic messages.
3. The V2X-based roadside device system according to claim 1, wherein the communication network management module establishes a message-channel mapping table, the table records the correspondence between various communication channels and message types, and the message distribution module of the message agent module finds the corresponding communication channel through the mapping table for data distribution.
4. The V2X-based roadside device system according to claim 2, wherein the message storage management module of the message agent module is configured to store the message M with the message subject type i and the sending channel j according to the received message subject typeijWherein i is 1,2, …, N, j is 1,2, …, K, N establishes an independent message storage queue total number for each type of message, K is a communication channel total number for message transmission, and whether a message queue Q with a received message type i and a transmission channel j exists is judgedijIf yes, store the message into the message queue Qij(ii) a If not, then new message queue Q is createdijForming a message queue set:
Q＝{{Q11,Q21,…QN1},{Q12,Q22,…QN2},…{Q1K,Q2K,…QNK}}。
5. the V2X-based roadside device system according to claim 2, wherein the message storage management module calculates the current priority of the message according to the attributes of the message in the message queue,s represents the highest priority weight, T represents the effective existing time of the message, T represents the urgency coefficient of the message, f represents the sending frequency of the message, and when the message has the preemptive nature IqWhen the priority is 1, the priority is set as the highest priority, q is an influence parameter of urgency on the urgency of information, a is an influence factor of message validity time on the priority, b is an influence factor of urgency on the priority, a < b, and a + b is 1.
6. The V2X-based roadside device system according to claim 2, wherein the message scheduling and distributing module establishes K service transmission threads according to the number K of message transmission channels, each transmission thread establishes a transmission queue, polls the priority of a message queue storing subject messages, queries a message-channel mapping table established by the communication network management module, extracts the subject messages from a high-priority queue and transmits the subject messages from the corresponding communication channel until the transmission of the messages of the high-priority queue is completed, starts to extract the message transmission of the next priority queue, and sequentially extracts the data of each priority queue until the transmission of the data of all queues is completed.
7. An information distribution method based on the system of any one of claims 1 to 6, characterized by comprising the steps of:
s501, the message-network mapping module establishes a communication network-message theme mapping table and stores and manages the message theme relation corresponding to a communication component sending channel and a receiving channel of a bottom communication module; the channel interface selection module is used for providing a communication channel interface corresponding to the topic message publishing; the data protocol conversion module converts the original data collected by the RSU communication assembly into a message with a specified format and sends the message to the message bus interface module;
s502, receiving a theme message issued by application layer application and a message sent by a communication component and sent by a communication network management module, and sending the message to a message agent module;
s503, the message receiving module of the message agent module classifies and analyzes the message frame message collected by the message bus interface module, sends the subject message content of the message to the message storage management module of the message agent module, and stores the message attribute in the message into a local message attribute table;
s504, the message storage management module of the message agent module establishes an independent receiving queue for storing message content aiming at each topic message, analyzes the message attribute in the message attribute table, and dynamically allocates the message priority weight of different topic message queues according to the priority queue scheduling algorithm and the message source;
s505, the message dispatching and distributing module of the message agent module polls the priority of the message queue storing the subject message, inquires the message-channel mapping table established by the communication network management module, extracts the subject message from the high-priority queue and sends the subject message from the corresponding communication channel until the message of the high-priority queue is sent, extracts the message of the next priority queue and sends the message in sequence, and extracts the data of each priority queue;
s506, the message issued by the communication component is extracted by the message distribution module and sent to application layer software subscribing the subject message by inquiring a subscriber information table, if the message comes from the Internet of vehicles cloud platform, the information security component module conducts security and integrity check on remote connection communication between the RSU and the Internet of vehicles cloud platform, and sends abnormal message operation and occurrence date to the log management component module for storage.
8. The information distribution method according to claim 7, wherein the message frame message of step S503 includes message content and attributes attached to the message, and the attributes of the message include initial priority, dynamic priority, effective existence time, transmission period, preemptive action, and urgency.
9. The information distribution method according to claim 7, wherein the priority queue scheduling algorithm in step S504 assigns different priority weights to the subject messages by analyzing and processing message attributes of the subject messages, assigns a highest priority weight to the emergency messages sent from the cloud platform or the road hazard information detected by the road sensor, and ensures that the emergency messages are sent preferentially.
10. The information distribution method based on V2X road-side equipment according to claim 7, wherein the RSU directly broadcasts the differential text data from the high-precision positioning base station through V2X communication in a message-transparent manner.
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