CN110769363A

CN110769363A - Method, device, system and storage medium for peer-to-peer communication between vehicles

Info

Publication number: CN110769363A
Application number: CN201910877493.XA
Authority: CN
Inventors: 尹江波
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2019-09-17
Filing date: 2019-09-17
Publication date: 2020-02-07
Also published as: WO2021052304A1

Abstract

The application provides a method, a device, a system and a storage medium for peer-to-peer communication between vehicles, wherein the method comprises the following steps: the host vehicle obtaining a first message from at least one first vehicle, the first message including identification information of the first vehicle and position and orientation information of the first vehicle; and determining a second vehicle from the at least one first vehicle based on the obtained position and orientation information of each first vehicle, and carrying the identification information and the first information of the second vehicle in a second message for transmission. Thus, when the second vehicle detects that the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle, the first information is obtained from the second message. According to the method and the device, the host vehicle carries the identification information of the second vehicle and the first information to be sent in the second message and sends the second message to the second vehicle, the second vehicle can obtain the first information sent by the host vehicle, and other vehicles cannot obtain the first information, so that point-to-point communication between the host vehicle and the second vehicle is achieved.

Description

Method, device, system and storage medium for peer-to-peer communication between vehicles

Technical Field

The present application relates to the field of vehicle networking technologies, and in particular, to a method, an apparatus, a system, and a storage medium for peer-to-peer communication between vehicles.

Background

The Vehicle to Vehicle (V2X) provides Vehicle information through sensors, Vehicle terminals, and the like mounted on the Vehicle, and realizes mutual communication between vehicles (V2V), between vehicles and roads (V2I), between vehicles and people (V2P), and between vehicles and networks (V2N) through various communication technologies.

At present, the interaction between vehicles can adopt a vehicle-cloud-vehicle mode. The vehicle transmits the information of the vehicle to the cloud server through the internet, and then the information is transmitted to other vehicles through the cloud server, so that the interaction between the vehicle and the vehicle is indirectly realized.

However, in the above interaction method, the vehicle first needs to register vehicle information with the cloud server, and when the information between vehicles is transferred through the cloud server, the quality of information interaction depends on the quality of the internet connected to the vehicle, and the time delay is large.

Disclosure of Invention

The embodiment of the application provides a method, a device and a system for point-to-point communication between vehicles and a storage medium.

In a first aspect, an embodiment of the present application provides a peer-to-peer communication method between vehicles, which is applied to a host vehicle, and the method includes:

the host vehicle obtains a first message from at least one first vehicle, the first message comprising: identification information of the first vehicle and position and orientation information of the first vehicle; determining a second vehicle from the at least one first vehicle based on the position and orientation information of each first vehicle, the second vehicle being an intended recipient of a first message to be sent by the host vehicle; then sending a second message, the second message comprising: identification information of the second vehicle and the first information. After the second vehicle receives the second message sent by the host vehicle, whether the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle is detected, if so, the second message is determined to be sent to the second vehicle, and the second vehicle obtains the first information from the second message.

In other words, according to the embodiment of the application, the host vehicle determines that the vehicle expected to communicate is the second vehicle, and carries the identification information of the second vehicle and the first information to be sent in the second message to be sent to the second vehicle, so that the second vehicle can obtain the first information sent by the host vehicle according to the identification information of the second vehicle carried in the second message, and other vehicles cannot obtain the first information in the second message, and further point-to-point communication between the host vehicle and the second vehicle is realized, and the cloud server is not required for transferring in the whole communication process, so that the communication time delay is greatly reduced, and the efficiency of the point-to-point communication between the vehicles is improved.

In a first possible implementation, the host vehicle determining a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles includes: the host vehicle obtains a third message input by the user, wherein the third message comprises: the first information and the second vehicle's heading information; comparing the orientation information of the second vehicle with the position and orientation information of each of the first vehicles to determine the second vehicle from the at least one first vehicle.

Optionally, the direction information of the second vehicle is direction information of the second vehicle relative to the host vehicle.

In some examples of this implementation, the host vehicle comparing the orientation information of the second vehicle to the position and orientation information of each of the first vehicles, the second vehicle determined from the at least one first vehicle, includes: determining, by the host vehicle, orientation information of each of the first vehicles relative to the host vehicle based on the position information of each of the first vehicles and the position information of the host vehicle; comparing the orientation information of the second vehicle with the orientation information of each of the first vehicles relative to the host vehicle, the second vehicle being determined from the at least one first vehicle.

In one particular example, a host vehicle compares orientation information of the second vehicle to orientation information of each of the first vehicles relative to the host vehicle, the second vehicle being determined from the at least one first vehicle, including: comparing the orientation information of the second vehicle with the orientation information of each of the first vehicles with respect to the host vehicle, and determining at least one third vehicle from the at least one first vehicle that is consistent with the orientation information of the second vehicle; determining a third vehicle of the at least one third vehicle whose distance from the host vehicle is smallest as the second vehicle.

In a second possible implementation, the host vehicle determining a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles includes: determining orientation information of each of the first vehicles with respect to the host vehicle based on the position information of each of the first vehicles and the position information of the host vehicle; determining a second vehicle from the at least one first vehicle based on the positional information of each of the first vehicles relative to the host vehicle.

In some examples of the second implementation, the determining, by the host vehicle, a second vehicle from the at least one first vehicle according to the orientation information of each of the first vehicles with respect to the host vehicle includes: displaying orientation information of each of the first vehicles relative to the host vehicle; detecting a selection operation of the user on the displayed orientation information of each of the first vehicles with respect to the host vehicle; in response to the selecting operation, a second vehicle is determined from the at least one first vehicle.

In the first implementation manner and the second implementation manner described above, determining, by a host vehicle, orientation information of each of the first vehicles with respect to the host vehicle based on the position information of each of the first vehicles and the position information of the host vehicle includes: establishing a rectangular coordinate system by taking the main vehicle as a center and taking the course angle direction of the main vehicle as the x-axis direction, wherein the position information of the main vehicle comprises a course angle and a position coordinate; converting the position coordinates of each first vehicle and the position coordinates of the host vehicle into the rectangular coordinate system; determining orientation information of each of the first vehicles relative to the host vehicle based on position coordinates of each of the first vehicles and the host vehicle in the rectangular coordinate system.

In some examples, determining, by a host vehicle, orientation information of each of the first vehicles relative to the host vehicle based on the position coordinates of each of the first vehicles and the host vehicle in the rectangular coordinate system includes: according to the position coordinates of each first vehicle and the host vehicle under the rectangular coordinate system, taking the host vehicle as the center, carrying out region division on the first vehicles and the host vehicle according to a nine-square mode, and determining the direction information of each first vehicle relative to the host vehicle.

Optionally, the second message further includes identification information of the host vehicle.

In a possible implementation manner, the method further includes: the host vehicle receives a fourth message from the second vehicle, wherein the fourth message comprises identification information of the host vehicle and second information to be sent to the host vehicle by the second vehicle, and the fourth message is sent by the second vehicle when the second vehicle detects that the identification information of the second vehicle carried by the second information is consistent with the identification information of the second vehicle.

Optionally, the fourth message further includes identification information of the second vehicle.

In some examples, the primary vehicle obtains a third message input by the user, including: the main vehicle receives voice information input by the user, wherein the voice information comprises: first information and orientation information of the second vehicle; and recognizing the first information and the direction information of the second vehicle from the voice information to obtain the third message.

Optionally, the first message, the second message, and the fourth message are all broadcast messages.

Optionally, the first vehicle is a vehicle within a preset range around the host vehicle.

In a second aspect, an embodiment of the present application provides a peer-to-peer communication method between vehicles, which is applied to a second vehicle, and the method includes:

a second vehicle receives a second message, the second message comprising: identification information and first information of the second vehicle; and if the identification information of the second vehicle carried by the second message is detected to be consistent with the identification information of the second vehicle, analyzing the second message to obtain the message to be sent.

In a possible implementation manner, if the second vehicle detects that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle, the second message is discarded.

In one possible implementation, the second vehicle also sends a fourth message that includes identification information of the host vehicle and second information that the second vehicle is to send to the host vehicle.

Optionally, the fourth message and the second message are both broadcast messages.

In a third aspect, an embodiment of the present application provides an apparatus for peer-to-peer communication between vehicles, which is applied to a host vehicle, and the apparatus includes:

a receiving unit, configured to obtain a first message from at least one first vehicle, where the first message includes: identification information of the first vehicle and position and orientation information of the first vehicle;

a processing unit, configured to determine, based on the position and orientation information of each of the first vehicles, a second vehicle from the at least one first vehicle, the second vehicle being an intended recipient of a first message to be sent by the host vehicle;

a sending unit, configured to send a second message, where the second message includes: identification information of the second vehicle and the first information.

In a possible implementation manner, the processing unit is specifically configured to acquire a third message input by a user, where the third message includes: the first information and the second vehicle's heading information; comparing the orientation information of the second vehicle with the position and orientation information of each of the first vehicles to determine the second vehicle from the at least one first vehicle.

Optionally, the orientation information of the second vehicle is orientation information of the second vehicle relative to the host vehicle.

In a possible implementation, the processing unit is specifically configured to determine, based on the position information of each of the first vehicles and the position information of the host vehicle, orientation information of each of the first vehicles with respect to the host vehicle; comparing the orientation information of the second vehicle with the orientation information of each of the first vehicles relative to the host vehicle, the second vehicle being determined from the at least one first vehicle.

In a possible implementation, the processing unit is specifically configured to compare the orientation information of the second vehicle with the orientation information of each of the first vehicles with respect to the host vehicle, and to determine, from the at least one first vehicle, at least one third vehicle that is consistent with the orientation information of the second vehicle; determining a third vehicle of the at least one third vehicle whose distance from the host vehicle is smallest as the second vehicle.

In a possible implementation, the processing unit is specifically configured to determine, based on the position information of each of the first vehicles and the position information of the host vehicle, orientation information of each of the first vehicles with respect to the host vehicle; determining a second vehicle from the at least one first vehicle based on the positional information of each of the first vehicles relative to the host vehicle.

In one possible implementation, the apparatus further includes a display unit:

the display unit is used for displaying the position information of each first vehicle relative to the main vehicle;

the processing unit is used for detecting the selection operation of the user on the displayed position information of each first vehicle relative to the main vehicle; in response to the selecting operation, a second vehicle is determined from the at least one first vehicle.

In a possible implementation manner, the processing unit is specifically configured to establish a rectangular coordinate system with the host vehicle as a center and with the heading angle direction of the host vehicle as an x-axis direction, where the position information of the host vehicle includes a heading angle and a position coordinate; converting the position coordinates of each first vehicle and the position coordinates of the host vehicle into the rectangular coordinate system; determining orientation information of each of the first vehicles relative to the host vehicle based on position coordinates of each of the first vehicles and the host vehicle in the rectangular coordinate system.

In a possible implementation manner, the processing unit is specifically configured to, based on the position coordinates of each of the first vehicle and the host vehicle in the rectangular coordinate system, perform area division on the first vehicle and the host vehicle in a nine-grid manner with the host vehicle as a center, and determine the orientation information of each of the first vehicles with respect to the host vehicle.

In a possible implementation manner, the receiving unit is further configured to receive, from the second vehicle, a fourth message, where the fourth message includes identification information of the host vehicle and second information to be sent to the host vehicle by the second vehicle, and the fourth message is sent by the second vehicle when it is detected that the identification information of the second vehicle carried by the second information is consistent with the identification information of the second vehicle itself.

In a possible implementation manner, the receiving unit is further configured to receive voice information input by the user, where the voice information includes: first information and orientation information of the second vehicle;

the processing unit is further configured to recognize the first information and the direction information of the second vehicle from the voice information, and obtain the third message.

In a fourth aspect, an embodiment of the present application provides an inter-vehicle peer-to-peer communication apparatus, which is applied to a second vehicle, and includes:

a receiving unit, configured to receive a second message, where the second message includes: identification information and first information of the second vehicle;

and the processing unit is used for analyzing the second message to obtain the message to be sent if the identification information of the second vehicle carried by the second message is detected to be consistent with the identification information of the second vehicle.

In a possible implementation manner, the processing unit is further configured to discard the second message if it is detected that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle.

In one possible implementation manner, the apparatus further includes a sending unit:

the sending unit is used for sending a fourth message, and the fourth message comprises identification information of the host vehicle and second information to be sent to the host vehicle by the second vehicle.

In a fifth aspect, an embodiment of the present application provides an on-vehicle device, including: a processor and a transceiver for performing a method of implementing the point-to-point communication between vehicles as claimed in any one of the first or second aspects.

In a sixth aspect, the present application provides a computer storage medium, where the storage medium includes computer instructions, and when the instructions are executed by a computer, the computer is enabled to implement the method for peer-to-peer communication between vehicles in the first aspect or/and the second aspect.

In a seventh aspect, the present application provides a computer program product, where the computer program is stored in a readable storage medium, and the network device or the caller device can read the computer program from the readable storage medium and execute the computer program to make the network device or the caller implement the above-mentioned peer-to-peer communication method between vehicles.

According to the method, the device, the system and the storage medium for point-to-point communication between vehicles, the host vehicle obtains a first message from at least one first vehicle, wherein the first message comprises identification information of the first vehicle and position and orientation information of the first vehicle; then, the host vehicle determines a second vehicle from the at least one first vehicle based on the obtained position and orientation information of each first vehicle, wherein the second vehicle is a target receiving party of the first information to be sent by the host vehicle. And the host vehicle carries the identification information of the second vehicle and the first information in a second message and sends the second message. And after receiving a second message sent by the host vehicle, the second vehicle detects whether the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle, if so, the second vehicle determines that the second message is sent to the second vehicle, and the second vehicle obtains the first information from the second message. In other words, according to the embodiment of the application, the host vehicle determines that the vehicle expected to communicate is the second vehicle, and carries the identification information of the second vehicle and the first information to be sent in the second message to be sent to the second vehicle, so that the second vehicle can obtain the first information sent by the host vehicle according to the identification information of the second vehicle carried in the second message, and other vehicles cannot obtain the first information in the second message, and further point-to-point communication between the host vehicle and the second vehicle is realized, and the cloud server is not required for transferring in the whole communication process, so that the communication time delay is greatly reduced, and the efficiency of the point-to-point communication between the vehicles is improved.

Drawings

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 2 is a flow chart of a method for peer-to-peer communication between vehicles according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of inter-vehicle communication according to an embodiment of the present application;

FIG. 4 is a flowchart of a method for peer-to-peer communication between vehicles according to an embodiment of the present disclosure;

FIG. 5 is a flowchart of a method for peer-to-peer communication between vehicles according to an embodiment of the present disclosure;

FIG. 6 is a flowchart of a method for peer-to-peer communication between vehicles according to an embodiment of the present disclosure;

FIG. 7 is a schematic illustration of the position of the host vehicle and the first vehicle in the geocentric coordinate system;

FIG. 8 is a schematic position diagram of the host vehicle and the first vehicle in a Cartesian orthogonal coordinate system;

FIG. 9 is a schematic view of an orientation division according to an embodiment of the present application;

FIG. 10 is a flowchart of a method for peer-to-peer communication between vehicles according to an embodiment of the present disclosure;

FIG. 11 is a flowchart of a method for peer-to-peer communication between vehicles according to an embodiment of the present disclosure;

FIG. 12 is a diagram of user interface interactions involved in an embodiment of the present application;

fig. 13 is a schematic structural diagram of an on-board device according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of a communication device according to an embodiment of the present application;

FIG. 15 is a schematic structural diagram of an inter-vehicle peer-to-peer communication device according to an embodiment of the present disclosure;

fig. 16 is a schematic structural diagram of an inter-vehicle peer-to-peer communication device according to an embodiment of the present disclosure;

fig. 17 is a schematic structural diagram of an inter-vehicle peer-to-peer communication device according to an embodiment of the present application;

FIG. 18 is a schematic structural diagram of an on-board device according to an embodiment of the present disclosure;

FIG. 19 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure;

fig. 20 is a schematic structural diagram of a communication system between vehicles according to an embodiment of the present application.

Detailed Description

In order to facilitate understanding of the embodiments of the present application, the related concepts related to the embodiments of the present application are first briefly described as follows:

an Intelligent Transportation System (ITS) is an informationized, intelligentized and socialized novel transportation System formed by modifying a traditional transportation System by applying advanced information, communication, control and other high-tech technologies.

Dedicated Short Range Communication (DSRC) is an efficient wireless Communication technology, can realize real-time and reliable bidirectional transmission of small-Range images, voice and data, organically connects vehicles and roads, and becomes an important Communication platform of ITS.

An On Board Unit (OBU) broadcasts status information of a vehicle itself, such as ID information, real-time location information, motion status information, vehicle body status information, and historical route information of the vehicle, to vehicles within a preset distance (for example, 300m) around the vehicle according to a certain protocol format (such as BSM message defined by national standard) based On DSRC technology or LTE-V technology.

It should be understood that, in the present embodiment, "B corresponding to a" means that B is associated with a. In one implementation, B may be determined from a. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

In the description of the present application, "plurality" means two or more than two unless otherwise specified.

In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

Fig. 1 is a schematic view of an application scenario provided by an embodiment of the present application, and as shown in fig. 1, an OBU is installed on each vehicle, and mutual communication between the vehicles can be realized within a certain distance. I.e., information broadcast by one vehicle to the outside, can be received by other vehicles within a certain distance of the surroundings. For example, a message broadcast to the outside by vehicle A, both vehicle B and vehicle C may be received.

However, at present, communication between vehicles needs to be relayed through a cloud server, the mode depends on the quality of the internet connected with the vehicles, and time delay is large.

In order to solve the technical problem, the application provides a peer-to-peer communication method between vehicles, which can realize fast peer-to-peer high-quality communication between vehicles.

The method for peer-to-peer communication between vehicles proposed in the present application is described in detail below with reference to specific embodiments.

Fig. 2 is a flowchart of a peer-to-peer communication method between vehicles according to an embodiment of the present application, and as shown in fig. 2, the method according to the embodiment of the present application includes:

s101, the host vehicle acquires a first message from at least one first vehicle.

The host vehicle to which the embodiment of the present application relates is a vehicle that desires to send a message to a certain vehicle, for example, as shown in fig. 3, assuming that a vehicle a desires to send a message to a vehicle B, the vehicle a may be understood as the host vehicle.

Continuing with FIG. 3, the message sent by vehicle A can be received by vehicle B, vehicle C, and vehicle E, as well as by vehicle A, which is a message sent by any one of vehicle B, vehicle C, and vehicle E. Here, the vehicle B, the vehicle C, and the vehicle E are understood as first vehicles.

Alternatively, the first vehicle may be a vehicle within a preset range around the host vehicle, for example, a vehicle within a range of 300m from the host vehicle may be the first vehicle.

Alternatively, the preset range may be a circular area with the host vehicle as a center of circle, for example, a circular area with the host vehicle as a center of circle and a radius of 300m as a preset range.

Alternatively, the preset range may be a rectangular area, for example, a rectangular area around the front and rear of the main vehicle of 300m and around the left and right of 100 m.

The embodiment of the application does not limit the preset range, and is determined according to the actual situation, wherein the first vehicle in the preset range can communicate with the host vehicle.

Optionally, the first message is a broadcast message, for example, the first vehicle broadcasts the state of the first vehicle periodically in the form of a Blind spot monitoring system (BSM) message. Other vehicles within a preset range of the surroundings can receive the broadcast information.

For example, after the host receives the first message sent by at least one first vehicle, the first message sent by each first vehicle may be analyzed, and the first vehicle threatening the host to collide may be screened out, and the driver may be warned.

Optionally, the first message may further include identification information of the first vehicle and position and orientation information of the first vehicle. For example, the vehicle B carries the identification information of the vehicle B and the position and orientation information of the vehicle B at the current time in a first message and transmits the same to the surrounding vehicles, and the vehicle C carries the identification information of the vehicle C and the position and orientation information of the vehicle C at the current time in a first message and transmits the same to the surrounding vehicles. The host vehicle obtains the identification information of the vehicle B and the position and orientation information of the vehicle B from the first message sent by the vehicle B, and obtains the identification information of the vehicle C and the position and orientation information of the vehicle C from the first message sent by the vehicle C.

Optionally, the identification information of the vehicle is information that can uniquely identify the vehicle, such as a license plate number of the vehicle, an engine number of the vehicle, and the like.

S102, the host vehicle determines a second vehicle from the at least one first vehicle based on the position and the direction information of each first vehicle.

And the second vehicle is a target receiver of the first information to be sent by the main vehicle.

Continuing with the illustration of fig. 3, assume that vehicle a is the host vehicle and vehicle B is the target recipient of the first information to be sent by the host vehicle, i.e., the host vehicle desires to send the first information to be sent to vehicle B, and thus, the vehicle B can be understood as the second vehicle.

The second vehicle of the embodiment of the present application is a certain vehicle of at least one first vehicle around the host vehicle. Thus, before the host vehicle sends the first information to the second vehicle, the second vehicle needs to be determined from the at least one second vehicle according to the obtained position and orientation information of each first vehicle. For example, as shown in fig. 3, the host vehicle determines to transmit the first information to the vehicle B in the front left based on the position and orientation information of each first vehicle, so that it can be determined that the vehicle B is the second vehicle.

S103, the host sends a second message.

The second message includes: identification information of the second vehicle and the first information.

In the embodiment of the application, after the host vehicle determines the second vehicle from the at least one first vehicle, the identification information of the second vehicle can be obtained from the first message sent by the second vehicle. The host vehicle can carry the identification information of the second vehicle and the first information to be sent in the second message and send the second message.

Optionally, the second message is a broadcast message, that is, the second message sent by the host vehicle may be received by other vehicles within a preset range around the host vehicle, in addition to the second vehicle.

In one example, the second message may also include identification information of the host vehicle, which facilitates peer-to-peer communication of the second vehicle with the host vehicle upon receipt of the second message.

S104, the second vehicle receives the second message and detects whether the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle.

And S105, if the second vehicle detects that the identification information carried by the second message is consistent with the identification information of the second vehicle, analyzing the second message to obtain the first information.

In the embodiment of the application, after receiving the second message, the second vehicle detects the second message to obtain the identification information of the second vehicle carried by the second message. And comparing the identification information of the second vehicle carried by the second message with the identification information of the second vehicle, and judging whether the identification information of the second vehicle and the identification information of the second vehicle are consistent. And if the second vehicle detects that the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle, determining that the second message is sent to the second vehicle. At this time, the second vehicle analyzes the first information sent by the host vehicle from the second message.

In the embodiment of the application, although other vehicles except the second vehicle in the preset range of the host vehicle also receive the second message, the other vehicles detect that the identification information of the vehicle carried by the second message is inconsistent with the identification information of the vehicle, that is, the other vehicles can determine that the second message is not sent to the other vehicles, and then the first information carried by the second message cannot be analyzed, so that the communication with the host vehicle cannot be realized.

Optionally, in this embodiment of the application, in order to facilitate that the second vehicle quickly parses the identification information of the second vehicle from the second message, the identification information of the second vehicle may be carried at a header of the second message, so that after the second vehicle receives the second message, the identification information of the second vehicle may be obtained by parsing the header of the second message, and further, a parsing speed of the identification information of the second vehicle is increased.

According to the embodiment of the application, the identification information of the second vehicle is carried in the second message, so that the second vehicle can obtain the first information in the second message according to the identification information of the second vehicle carried in the second message, and communication with the host vehicle is achieved. And other vehicles cannot obtain the first information in the second message and cannot realize communication with the host vehicle.

Therefore, in the embodiment of the application, when the main vehicle is in communication with the second vehicle, the main vehicle and the second vehicle do not need to register vehicle information with the cloud server, transfer is not needed by the cloud server, the main vehicle directly sends the second message to the second vehicle by carrying the identification information of the second vehicle in the second message, point-to-point direct communication between the main vehicle and the second vehicle is achieved, the dependence of the mutual communication between the main vehicle and the second vehicle on the internet is reduced, the communication time delay between the two vehicles is greatly reduced, and the efficiency of the point-to-point communication between the vehicles is improved.

According to the method for point-to-point communication between vehicles, the host vehicle obtains a first message from at least one first vehicle, wherein the first message comprises identification information of the first vehicle and position and orientation information of the first vehicle; then, the host vehicle determines a second vehicle from the at least one first vehicle based on the obtained position and orientation information of each first vehicle, wherein the second vehicle is a target receiving party of the first information to be sent by the host vehicle. And the host vehicle carries the identification information of the second vehicle and the first information in a second message and sends the second message. And after receiving a second message sent by the host vehicle, the second vehicle detects whether the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle, if so, the second vehicle determines that the second message is sent to the second vehicle, and the second vehicle obtains the first information from the second message. In other words, according to the embodiment of the application, the host vehicle determines that the vehicle expected to communicate is the second vehicle, and carries the identification information of the second vehicle and the first information to be sent in the second message to be sent to the second vehicle, so that the second vehicle can obtain the first information sent by the host vehicle according to the identification information of the second vehicle carried in the second message, and other vehicles cannot obtain the first information in the second message, and further point-to-point communication between the host vehicle and the second vehicle is realized, and the cloud server is not required for transferring in the whole communication process, so that the communication time delay is greatly reduced, and the efficiency of the point-to-point communication between the vehicles is improved.

Fig. 4 is a flowchart of a peer-to-peer communication method between vehicles according to an embodiment of the present application, where on the basis of the foregoing embodiment, as shown in fig. 4, the method according to the embodiment of the present application includes:

s201, the host vehicle acquires a first message from at least one first vehicle.

The first message includes: identification information of the first vehicle and position and orientation information of the first vehicle.

S202, based on the position and the orientation information of each first vehicle, the host vehicle determines a second vehicle from the at least one first vehicle.

The second vehicle is a target receiver of the first message to be sent by the main vehicle.

S203, the host sends a second message.

Wherein the second message comprises: identification information of the second vehicle and the first information.

The specific implementation process of steps S201 to S203 refers to the specific description of steps S101 to S103, which is not described herein again.

S204, the second vehicle receives the second message and detects whether the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle.

S205, if the second vehicle detects that the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle, the second message is analyzed to obtain the first information.

S206, if the second vehicle detects that the identification information of the second vehicle carried by the second message is inconsistent with the identification information of the second vehicle, discarding the second message.

In the embodiment of the application, after the second vehicle receives the second message, the identification information of the second vehicle carried by the second message is obtained. And comparing the identification information of the second vehicle carried by the second message with the identification information of the second vehicle, and judging whether the identification information of the second vehicle and the identification information of the second vehicle are consistent. And if the second vehicle detects that the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle, the second message is determined to be sent to the second vehicle, and the second vehicle analyzes the first information sent by the host vehicle from the second message.

If the second vehicle detects that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle, it may be determined that the second message is not sent to the second vehicle or the second message is damaged, and the second vehicle may discard the second message at this time.

In some embodiments, the second message further includes identification information of the host vehicle, and after S205, embodiments of the present application further include:

and S207, the second vehicle sends a fourth message.

Wherein the fourth message includes identification information of the host vehicle and second information that the second vehicle is to be transmitted to the host vehicle.

S208, the host vehicle receives the fourth message and detects whether the identification information of the host vehicle carried by the fourth message is consistent with the identification information of the host vehicle.

S209, if the host vehicle detects that the identification information of the host vehicle carried by the fourth message is consistent with the identification information of the host vehicle, analyzing the fourth message to obtain the second information.

In the embodiment of the present application, after the second vehicle obtains the first information transmitted by the host vehicle and the identification information of the host vehicle, a fourth message may be transmitted to the host vehicle, for example, the first information transmitted by the host vehicle to the second vehicle is that the trunk is not closed, and after the second vehicle receives the first information, second information of thank you or the like may be transmitted to the host vehicle.

Specifically, the second vehicle transmits a fourth message that can be received by vehicles within a preset area around the second vehicle, where the vehicles within the preset area around the second vehicle include the host vehicle. After receiving the fourth message, the master vehicle detects that the identification information of the master vehicle carried by the fourth message is consistent with the identification information of the master vehicle, determines that the fourth message is sent to the master vehicle, analyzes the fourth message, obtains second information carried by the fourth message, and realizes communication between the second vehicle and the master vehicle. If the host vehicle detects that the identification information of the host vehicle carried by the fourth message does not coincide with the identification information of the host vehicle itself, it is determined that the fourth message is not sent to itself, or that the fourth message is damaged, at which point the host vehicle may discard the fourth message.

And comparing the identification information of the host vehicle carried by the fourth message with the identification information of the own vehicle by other vehicles in the preset area around the second vehicle, and determining that the fourth message does not occur to the own vehicle if the fact that the identification information of the host vehicle carried by the fourth message is inconsistent with the identification information of the own vehicle is detected, and discarding the fourth message.

Optionally, the fourth message may further include identification information of the second vehicle, so that the host vehicle knows the sender of the fourth message.

According to the point-to-point communication method between vehicles, the first information, the identification information of the second vehicle and the identification information of the main vehicle are carried in the second message sent by the main vehicle, so that the main vehicle can send the second message to the second vehicle, and the second vehicle can send the fourth message to the main vehicle, wherein the fourth message comprises the identification information of the main vehicle and the second information to be sent to the main vehicle by the second vehicle, and further point-to-point information interaction between the main vehicle and the second vehicle is realized.

Fig. 5 is a flowchart of a peer-to-peer communication method between vehicles according to an embodiment of the present application, where on the basis of the foregoing embodiment, as shown in fig. 5, the method according to the embodiment of the present application includes:

s301, the host vehicle acquires a first message from at least one first vehicle.

Wherein the first message comprises: identification information of the first vehicle and position and orientation information of the first vehicle.

The above S301 is consistent with the implementation processes of S101 and S201, and reference may be made to the above description, which is not described herein again.

S302, the host vehicle acquires a third message input by the user.

Wherein the third message comprises: the first information and the second vehicle orientation information.

In an embodiment of the present application, the user inputs a third message to the host vehicle, the third message including orientation information of the second vehicle. The host vehicle determines the second vehicle from the at least one first vehicle that sent the first message by the user inputting the orientation information of the second vehicle.

For example, the third message input by the user is: and sending a message that the trunk is not closed to the left front vehicle, and after the host vehicle receives the third message, determining that the direction information of the second vehicle is the left front of the host vehicle and the first message is that the trunk is not closed.

In one possible implementation, the user inputs the third message to the host vehicle by voice, specifically: the main vehicle receives voice information input by a user, and the voice information comprises: first information and orientation information of a second vehicle; then, the host vehicle recognizes the first information and the direction information of the second vehicle from the voice information, and obtains a third message.

For example, the driver of the host vehicle (assumed to be vehicle a) wishes to transmit information to the driver of the second vehicle (assumed to be vehicle B), and the driver of vehicle a speaks into the microphone to input a third message including information that needs to be transmitted to vehicle B (i.e., the first information) and an orientation in which the recipient vehicle desires the first information (i.e., the orientation information of the second vehicle). And the OBU installed in the vehicle A records the third message input by the microphone voice and transmits the recorded third message to the AI voice intelligent recognition module. The AI voice intelligent recognition module recognizes the directional information (e.g., front left) and the first information of the second vehicle from the recorded third message.

S303, the host vehicle compares the orientation information of the second vehicle with the position and the orientation information of each first vehicle, and determines the second vehicle from the at least one first vehicle.

In this embodiment of the application, after the host vehicle acquires the third message, the direction information of the second vehicle carried in the third message is acquired, and the direction information of the second vehicle carried in the third message is compared with the direction information of the first vehicle carried in each first message acquired in the above step S301, so as to determine the second vehicle from at least one first vehicle.

In a possible implementation manner, as shown in fig. 6, the above S303 may include the following steps S3031 to S3032:

3031, the host vehicle determines the orientation information of each first vehicle relative to the host vehicle based on the position information of each first vehicle and the position information of the host vehicle.

Optionally, the position information of the host vehicle includes a heading angle and position coordinates of the host vehicle, and the position information of the first vehicle includes a heading angle and position coordinates of the first vehicle. Thus, the heading angle and the position coordinates of each first vehicle can be compared with the heading angle and the position coordinates of the host vehicle to determine the direction information of each first vehicle relative to the host vehicle.

In one possible implementation manner, S3031 includes: establishing a rectangular coordinate system by taking the main vehicle as a center and taking the course angle direction of the main vehicle as the x-axis direction; converting the position coordinates of each first vehicle and the position coordinates of the host vehicle into the rectangular coordinate system; determining orientation information of each of the first vehicles relative to the host vehicle based on position coordinates of each of the first vehicles and the host vehicle in the rectangular coordinate system.

Specifically, referring to fig. 7 and 8, fig. 7 is a schematic position diagram of the host vehicle and the first vehicle under a world geodetic System-1984 Coordinate System (WGS 84), and fig. 8 is a schematic position diagram of the host vehicle and the first vehicle under a cartesian Coordinate System. In order to determine the direction information of each first vehicle relative to the host vehicle, the position information of the host vehicle is used as a coordinate origin, that is, the position information of each first vehicle and the Global Navigation Satellite System (GNSS) position information of the host vehicle are converted into coordinate systems by taking the heading angle direction of the host vehicle as the x-axis direction and the lateral left side of the host vehicle as the y-axis forward direction, and the coordinate systems are converted into (x, y) coordinate values of each first vehicle relative to the origin (that is, the host vehicle), so as to obtain the direction information of each first vehicle corresponding to the host vehicle.

In one example, the above-mentioned determining the orientation information of each first vehicle relative to the host vehicle according to the position coordinates of each first vehicle and the host vehicle in the rectangular coordinate system may include step a:

and step A, the host vehicle divides the areas of the first vehicles and the host vehicle according to the position coordinates of each first vehicle and the host vehicle under the rectangular coordinate system by taking the host vehicle as the center and in a nine-square-grid mode, and determines the direction information of each first vehicle relative to the host vehicle.

Specifically, referring to fig. 9, fig. 9 is a schematic view of orientation division according to an embodiment of the present application, position coordinates of the host vehicle and the first vehicle shown in fig. 9 are both coordinates under rectangular coordinates, and by taking the host vehicle as a center, and by performing area division on the first vehicle and the host vehicle in a manner of a nine-square grid, orientation information of each first vehicle relative to the host vehicle can be obtained.

For example, as shown in fig. 9, where RV denotes a first vehicle, HV denotes a host vehicle, vehicle RV1 is located at the front left of the host vehicle, vehicle RV2 is located at the front right of the host vehicle, vehicle RV3 is located at the right left of the host vehicle, vehicle RV4 is located at the right of the host vehicle, vehicle RV5 is located at the rear left of the host vehicle, vehicle RV7 is located at the right rear of the host vehicle, and vehicle RV8 is located at the rear right of the host vehicle.

Optionally, in the embodiment of the present application, the direction of the clock may also be used to represent the direction information of the vehicle, for example, the direction of the right front may be represented by 12 o 'clock, the direction of the right left may be represented by 9 o' clock, the direction of the right may be represented by 3 o 'clock, and the direction of the right rear may be represented by 6 o' clock.

3032, the host vehicle compares the orientation information of the second vehicle with the orientation information of each first vehicle relative to the host vehicle, and determines the second vehicle from the at least one first vehicle.

In the embodiment of the present application, the host vehicle determines the orientation information of each first vehicle with respect to the host vehicle based on the position information of each first vehicle and the position information of the host vehicle. Then, the host vehicle compares the orientation information of the second vehicle carried in the third message with the orientation information of each first vehicle relative to the host vehicle, and determines the second vehicle from at least one first vehicle. For example, the orientation information of the second vehicle is compared with the orientation information of each of the first vehicles with respect to the host vehicle, and the first vehicle whose orientation information coincides with the orientation information of the second vehicle is determined as the second vehicle from among the at least one first vehicle.

Optionally, in an implementation manner, S3032 may be: the host vehicle compares the orientation information of the second vehicle with the orientation information of each first vehicle relative to the host vehicle, and determines at least one third vehicle of which the orientation information is consistent with the orientation information of the second vehicle from the at least one first vehicle; then, determining the distance between each third vehicle and the host vehicle according to the position coordinates of each third vehicle and the host vehicle under the rectangular coordinate system; and determining a third vehicle with the smallest distance to the host vehicle as the second vehicle.

In the embodiment of the present application, based on the steps S3031 and S3032 described above, the host vehicle determines the second vehicle from the at least one first vehicle.

S304, the host sends a second message.

According to the steps of S301 to S303 described above, the host vehicle determines the second vehicle from the at least one first vehicle, and the host vehicle may obtain the identification information of the second vehicle from the first message sent by the second vehicle. Then, the host vehicle carries the identification information of the second vehicle and the first information to be sent to the second vehicle in the second message for sending.

S305, the second vehicle receives the second message and detects whether the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle.

S306, if the second vehicle detects that the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle, the second message is analyzed to obtain the first information.

The specific implementation process of steps S304 to S306 refers to the specific description of steps S103 to S105, which is not described herein again.

According to the point-to-point communication method between vehicles, a host vehicle acquires a third message input by a user, the third message comprises azimuth information of a second vehicle and first information to be sent, the host vehicle compares the azimuth information of the second vehicle carried by the third message with the position and the azimuth information of at least one first vehicle, and the second vehicle is determined from the at least one first vehicle; then, the host vehicle carries the identification information of the second vehicle and the first information in a second message and sends the second message to the second vehicle, so that when the second vehicle detects that the identification information carried in the second message is consistent with the identification information of the second vehicle, the second message is analyzed, the first information carried in the second message is obtained, and point-to-point communication between the host vehicle and the second vehicle is achieved.

Fig. 10 is a flowchart of a peer-to-peer communication method between vehicles according to an embodiment of the present application, where on the basis of the foregoing embodiment, as shown in fig. 10, the method according to the embodiment of the present application includes:

s401, the host vehicle acquires a first message from at least one first vehicle.

S402, determining the direction information of each first vehicle relative to the host vehicle by the host vehicle based on the position information of each first vehicle and the position information of the host vehicle.

The specific implementation process of the step S402 refers to the specific description of the step S3031, and is not described herein again.

S403, determining a second vehicle from the at least one first vehicle by the host vehicle according to the direction information of each first vehicle relative to the host vehicle.

In the embodiment of the present application, after the host vehicle obtains the orientation information of each first vehicle with respect to the host vehicle, one first vehicle may be selected as the second vehicle from among the at least one first vehicle, based on the orientation information of each first vehicle with respect to the host vehicle.

In one example, a host vehicle captures an environment around the host vehicle through an onboard camera to obtain a road image including at least one first vehicle around the host vehicle. The host vehicle recognizes the photographed road image, recognizes the orientation information of the vehicle that needs to transmit the first information from the road image, compares the orientation information of the recognized vehicle with the orientation information of each first vehicle with respect to the host vehicle determined in the above step S402, determines a first vehicle that matches the orientation information of the recognized vehicle from among at least one vehicle, and regards the first vehicle as the second vehicle. For example, the host vehicle recognizes the captured road image, recognizes that the trunk of the vehicle on the upper left of the host vehicle in the road image is not closed, and thus, the host vehicle can obtain the first vehicle matching the upper left from the orientation information of each first vehicle with respect to the host vehicle, and take the matched first vehicle as the second vehicle.

In another example, as shown in fig. 11, S403 may include steps S4031 to S4033:

s4031, the host vehicle displays the orientation information of each first vehicle relative to the host vehicle.

The host vehicle of the embodiment of the application includes at least one display device at which the orientation information of each first vehicle determined in the above-described step S402 with respect to the host vehicle is drawn and displayed, as shown in fig. 12, where HV denotes the host vehicle and RV denotes the first vehicles within a preset range around the host vehicle.

S4032, the host vehicle detects a selection operation by the user on the displayed orientation information of each first vehicle with respect to the host vehicle.

S4033, the host vehicle determines a second vehicle from the at least one first vehicle in response to the selection operation.

The host vehicle displays the positional information of each first vehicle relative to the host vehicle as shown in fig. 12 to the user, and the user performs a selection operation on the displayed positional information of each first vehicle relative to the host vehicle. The host vehicle detects a selection operation by a user on the displayed orientation information of each first vehicle relative to the host vehicle, and determines a second vehicle from the at least one first vehicle in response to the selection operation. As shown in FIG. 12, when the user clicks on RV1 vehicle and the host vehicle detects that the user clicks on RV1 vehicle, it may be determined that the RV1 vehicle is the second vehicle selected by the user.

Optionally, after the user clicks on RV1, as shown in fig. 12, a pop-up menu may be further provided to display the manner in which the user inputs the second message, where the input manner includes: sending text messages and sending voice messages. Optionally, the menu may also display other information, such as identification information of the selected second vehicle, etc. When the user selects the mode of inputting the second message to be the text message sending mode, a text box can pop up, and the user can input the first information to be sent and the identification information of the second vehicle in the text box. If the mode that the user selects to input the second message is to send the voice message, the main vehicle starts a microphone and records the voice message input by the user, wherein the voice message comprises the first information to be sent and the identification information of the second vehicle.

Optionally, in forming the second message, the identification information of the second vehicle does not need to be input by the user, and the host vehicle may be added automatically.

In one possible implementation manner of the embodiment of the present application, the host vehicle may transmit the orientation information of each first vehicle relative to the host vehicle determined in S402 above to the user terminal device, and the user terminal device draws and displays the orientation information of each first vehicle relative to the host vehicle. The user selects a second vehicle on the user terminal device and enters a second message. The user terminal device sends the identification information of the second vehicle selected by the user at the terminal device and the mode of inputting the second message to the host vehicle. And the main vehicle displays a text box or starts a microphone according to the input mode of the second message selected by the user, receives the first information input by the user and the identification information of the second vehicle, and further forms the second message.

S404, the host sends a second message.

S405, the second vehicle receives the second message and detects whether the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle.

S406, if the second vehicle detects that the identification information of the second vehicle carried by the second message is consistent with the identification information of the second vehicle, the second message is analyzed to obtain the first information.

The specific implementation process of steps S404 to S406 refers to the specific description of steps S103 to S105, which is not described herein again.

According to the point-to-point communication method between vehicles, a host determines the orientation information of each first vehicle relative to the host based on the position information of each first vehicle and the position information of the host; the second vehicle is determined from the at least one first vehicle according to the orientation information of each first vehicle relative to the host vehicle, for example, according to the orientation information of each first vehicle relative to the host vehicle and the selection operation of the second vehicle by the user. Then, the host vehicle carries the identification information of the second vehicle and the first information in a second message and sends the second message to the second vehicle, so that when the second vehicle detects that the identification information carried in the second message is consistent with the identification information of the second vehicle, the second message is analyzed, the first information carried in the second message is obtained, and point-to-point communication between the host vehicle and the second vehicle is achieved.

The above embodiments are all described with respect to point-to-point communication between one vehicle and one vehicle, that is, identification information of the second vehicle carried by the second message sent by the host vehicle is identification information of one vehicle.

Optionally, in some embodiments, the host vehicle may further send the first information to a plurality of vehicles at the same time, in this case, the second message may include identification information of the plurality of vehicles, for example, when the vehicle a finds that neither the trunk of the vehicle B nor the trunk of the vehicle C is closed, the vehicle a may send the second message to the vehicle B and the vehicle C at the same time, in this case, the second message carries the identification information of the vehicle B, the identification information of the vehicle C, and the first information.

Namely, the method of the embodiment of the application can also realize point-to-multipoint communication between vehicles.

Fig. 13 is a schematic structural diagram of an on-vehicle device according to an embodiment of the present application. As shown in fig. 13, the on-board device 500 according to the present embodiment may be an on-board unit on the host vehicle (or a component of an on-board unit available to the host vehicle) or an on-board unit on the first vehicle (or a component of an on-board unit available to the first vehicle) mentioned in the foregoing method embodiment. The vehicle-mounted device may be used to implement the method corresponding to the primary vehicle or the second vehicle described in the above method embodiments, specifically referring to the description in the above method embodiments.

The vehicle-mounted device 500 may include one or more processors 501, where the processors 501 may also be referred to as processing units and may implement certain control or processing functions. The processor 501 may be a general purpose processor or a special purpose processor, etc. For example, a baseband processor, or a central processor. The baseband processor may be configured to process a communication protocol and communication data, and the central processor may be configured to control the vehicle-mounted device, execute a software program, and process data of the software program.

In one possible design, processor 501 may also have stored instructions 503 or data (e.g., intermediate data). Wherein the instructions 503 may be executable by the processor to cause the onboard apparatus 500 to perform a method corresponding to the primary vehicle or the secondary vehicle described in the above method embodiments.

In yet another possible design, the in-vehicle device 500 may include circuitry that may implement the functionality of transmitting or receiving or communicating in the foregoing method embodiments.

Optionally, the vehicle-mounted device 500 may include one or more memories 502, on which instructions 504 may be stored, and the instructions may be executed on the processor, so that the vehicle-mounted device 500 performs the method described in the above method embodiments.

Alternatively, the processor 501 and the memory 502 may be provided separately or integrated together.

Optionally, the vehicle-mounted device 500 may further include a transceiver 505 and/or an antenna 506. The processor 501 may be referred to as a processing unit and controls the in-vehicle device. The transceiver 505 may be referred to as a transceiver unit, a transceiver, a transceiving circuit, a transceiver, or the like, and is used for implementing transceiving functions of the in-vehicle device.

In one design, if the onboard apparatus 500 is used to implement operations corresponding to the host vehicle in the embodiments described above, for example, the transceiver 505 may obtain a first message from at least one first vehicle, the first message including: identification information of the first vehicle and position and orientation information of the first vehicle; determining, by the processor 501, a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles, the second vehicle being an intended recipient of a first message to be sent by the host vehicle; transmitting, by the transceiver 505, a second message comprising: identification information of the second vehicle and the first information.

For specific implementation processes of the transceiver 505 and the processor 501, reference may be made to the related descriptions of the embodiments, and details are not described herein.

In another design, if the vehicle-mounted device is used to implement the operation corresponding to the second vehicle in the foregoing embodiments, for example, the transceiver 505 may receive a second message, where the second message includes: identification information and first information of the second vehicle; when the processor 501 detects that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle, the second message is analyzed to obtain the message to be sent.

The processor 501 and transceiver 505 described herein may be implemented on an Integrated Circuit (IC), an analog IC, a Radio Frequency Integrated Circuit (RFIC), a mixed signal IC, an Application Specific Integrated Circuit (ASIC), a Printed Circuit Board (PCB), an electronic device, or the like. The processor 501 and the transceiver 505 may also be fabricated using various 1C process technologies, such as Complementary Metal Oxide Semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (PMOS), Bipolar Junction Transistor (BJT), silicon germanium CMOS (Bipolar), CMOS (SiGe), gallium arsenide (GaAs), and the like.

Although in the above description of the embodiment, the in-vehicle apparatus 500 is described taking the host vehicle or the first vehicle as an example, the scope of the in-vehicle apparatus described in the present application is not limited to the above host vehicle or the above first vehicle, and the structure of the in-vehicle apparatus may not be limited to the above host vehicle or the above first vehicle

The limitations of fig. 13.

The vehicle-mounted device of the embodiment of the application can be used for executing the technical scheme of the main vehicle (or the first vehicle) in the above method embodiments, and the implementation principle and the technical effect are similar, and are not described herein again.

Fig. 14 is a schematic structural diagram of a communication device according to an embodiment of the present application. The communication device 700 is in the form of a chip product, and the communication device has a structure including a processor 701 and a memory 702, the memory 702 is configured to be coupled with the processor 701, the memory 702 stores program instructions and data necessary for the communication device, and the processor 701 is configured to execute the program instructions stored in the memory 702, so that the communication device performs the functions of the primary vehicle or the secondary vehicle in the above-mentioned method embodiments.

The communication device of the embodiment of the application can be used for executing the technical scheme of the main vehicle or the second vehicle in the above method embodiments, and the implementation principle and the technical effect are similar, and are not described herein again.

Fig. 15 is a schematic structural diagram of an inter-vehicle peer-to-peer communication device according to an embodiment of the present application. The peer-to-peer communication device 800 may include, as shown in fig. 15, a host vehicle, which may be an on-board unit of the host vehicle, or a component (e.g., an integrated circuit, a chip, etc.) of the on-board unit of the host vehicle:

a receiving unit 801, configured to obtain a first message from at least one first vehicle, where the first message includes: identification information of the first vehicle and position and orientation information of the first vehicle;

a processing unit 802, configured to determine, based on the position and orientation information of each of the first vehicles, a second vehicle from the at least one first vehicle, the second vehicle being an intended recipient of a first message to be sent by the host vehicle;

a sending unit 803, configured to send a second message, where the second message includes: identification information of the second vehicle and the first information.

In a possible implementation manner, the processing unit 802 is specifically configured to obtain a third message input by a user, where the third message includes: the first information and the second vehicle's heading information; comparing the orientation information of the second vehicle with the position and orientation information of each of the first vehicles to determine the second vehicle from the at least one first vehicle.

In one possible implementation, the processing unit 802 is specifically configured to determine, based on the position information of each of the first vehicles and the position information of the host vehicle, orientation information of each of the first vehicles with respect to the host vehicle; comparing the orientation information of the second vehicle with the orientation information of each of the first vehicles relative to the host vehicle, the second vehicle being determined from the at least one first vehicle.

In a possible implementation, the processing unit 802 is specifically configured to compare the orientation information of the second vehicle with the orientation information of each of the first vehicles with respect to the host vehicle, and determine at least one third vehicle from the at least one first vehicle that is consistent with the orientation information of the second vehicle; determining a third vehicle of the at least one third vehicle whose distance from the host vehicle is smallest as the second vehicle.

In one possible implementation, the processing unit 802 is specifically configured to determine, based on the position information of each of the first vehicles and the position information of the host vehicle, orientation information of each of the first vehicles with respect to the host vehicle; determining a second vehicle from the at least one first vehicle based on the positional information of each of the first vehicles relative to the host vehicle.

The communication device of the embodiment of the application can be used for executing the technical scheme of the main vehicle in the embodiments of the methods, the implementation principle and the technical effect are similar, and details are not repeated here.

Fig. 16 is a schematic structural diagram of a peer-to-peer communication device between vehicles according to an embodiment of the present application, and as shown in fig. 16, the communication device further includes a display unit 804:

the display unit 804 is used for displaying the orientation information of each first vehicle relative to the main vehicle;

the processing unit 802, configured to detect a selection operation by the user on the displayed orientation information of each of the first vehicles with respect to the host vehicle; in response to the selecting operation, a second vehicle is determined from the at least one first vehicle.

In a possible implementation manner, the processing unit 802 is specifically configured to establish a rectangular coordinate system with the host vehicle as a center and with the heading angle direction of the host vehicle as an x-axis direction, where the position information of the host vehicle includes a heading angle and a position coordinate; converting the position coordinates of each first vehicle and the position coordinates of the host vehicle into the rectangular coordinate system; determining orientation information of each of the first vehicles relative to the host vehicle based on position coordinates of each of the first vehicles and the host vehicle in the rectangular coordinate system.

In a possible implementation manner, the processing unit 802 is specifically configured to, based on the position coordinates of each of the first vehicle and the host in the rectangular coordinate system, perform area division on the first vehicle and the host in a nine-grid manner with the host as a center, and determine orientation information of each of the first vehicles with respect to the host.

In a possible implementation manner, the receiving unit 801 is further configured to receive, from the second vehicle, a fourth message, where the fourth message includes identification information of the host vehicle and second information to be sent to the host vehicle by the second vehicle, and the fourth message is sent by the second vehicle when it is detected that identification information of the second vehicle carried by the second information is consistent with identification information of the second vehicle itself.

In a possible implementation manner, the receiving unit 801 is further configured to receive voice information input by the user, where the voice information includes: first information and orientation information of the second vehicle;

the processing unit 802 is further configured to recognize the first information and the direction information of the second vehicle from the voice information, and obtain the third message.

Fig. 17 is a schematic structural diagram of an inter-vehicle peer-to-peer communication device according to an embodiment of the present application. The peer-to-peer communication device between vehicles is applied to a second vehicle, and may be an on-board unit of the second vehicle, or a component (e.g., an integrated circuit, a chip, etc.) of the on-board unit of the second vehicle, as shown in fig. 17, the peer-to-peer communication device 900 between vehicles may include:

a receiving unit 901, configured to receive a second message, where the second message includes: identification information and first information of the second vehicle;

the processing unit 902 is configured to, if it is detected that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle, parse the second message to obtain the message to be sent.

In a possible implementation manner, the processing unit 902 is further configured to discard the second message if it is detected that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle.

In a possible implementation manner, the communication apparatus 900 further includes a sending unit 903:

the sending unit 903 is configured to send a fourth message, where the fourth message includes identification information of a host vehicle and second information to be sent to the host vehicle by the second vehicle.

The communication device of the embodiment of the application can be used for executing the technical scheme of the second vehicle in the above method embodiments, and the implementation principle and the technical effect are similar, and are not described herein again.

Fig. 18 is a schematic structural diagram of an on-vehicle device according to an embodiment of the present application. As shown in fig. 18, the in-vehicle apparatus 610 includes: processor 612, communication interface 613, memory 611. Optionally, the in-vehicle communication device 610 may also include a bus 614. The communication interface 613, the processor 612 and the memory 611 may be connected to each other via a bus 614; the bus 614 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus 614 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 18, but this does not mean only one bus or one type of bus.

The vehicle-mounted device of the embodiment of the application can be used for executing the technical scheme of the main vehicle or the second vehicle in the embodiments of the methods, the implementation principle and the technical effect are similar, and the details are not repeated here.

Fig. 19 is a schematic structural diagram of a vehicle according to an embodiment of the present application. As shown in fig. 19, a vehicle 200 of the embodiment of the present application includes a vehicle body 210 and an in-vehicle device 220 provided on the vehicle body 210, which may be the in-vehicle device shown in fig. 13 or fig. 18.

The vehicle 200 may be configured to implement the function of the host vehicle side in the above method embodiment, and the page may be configured to implement the function of the second vehicle side in the above method embodiment, which are similar in implementation principle and technical effect and are not described herein again.

Fig. 20 is a schematic structural diagram of a communication system between vehicles according to an embodiment of the present application. As shown in fig. 20, the communication system 300 of the embodiment of the present application includes the above-described host vehicle 310 and the second vehicle 320.

The host vehicle 310 may be configured to implement the functions of the host vehicle side in the above method embodiments, and the second vehicle 320 may be configured to implement the functions of the second vehicle side in the above method embodiments, which are similar in implementation principle and technical effect and will not be described herein again.

Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In addition, the method embodiments and the device embodiments may also refer to each other, and the same or corresponding contents in different embodiments may be referred to each other, which is not described in detail.

Claims

1. A method for peer-to-peer communication between vehicles, applied to a host vehicle, the method comprising:

obtaining a first message from at least one first vehicle, the first message comprising: identification information of the first vehicle and position and orientation information of the first vehicle;

determining a second vehicle from the at least one first vehicle based on the position and orientation information of each first vehicle, the second vehicle being an intended recipient of a first message to be sent by the host vehicle;

sending a second message, the second message comprising: identification information of the second vehicle and the first information.

2. The method of claim 1, wherein determining a second vehicle from the at least one first vehicle based on the location and orientation information of each of the first vehicles comprises:

acquiring a third message input by a user, wherein the third message comprises: the first information and the second vehicle's heading information;

comparing the orientation information of the second vehicle with the position and orientation information of each of the first vehicles to determine the second vehicle from the at least one first vehicle.

3. The method of claim 2, wherein the orientation information of the second vehicle is orientation information of the second vehicle relative to a host vehicle.

4. The method of claim 3, wherein comparing the orientation information of the second vehicle to the location and orientation information of each of the first vehicles, determining the second vehicle from the at least one first vehicle, comprises:

determining orientation information of each of the first vehicles with respect to the host vehicle based on the position information of each of the first vehicles and the position information of the host vehicle;

comparing the orientation information of the second vehicle with the orientation information of each of the first vehicles relative to the host vehicle, the second vehicle being determined from the at least one first vehicle.

5. The method of claim 4, wherein the comparing the orientation information of the second vehicle to the orientation information of each of the first vehicles relative to the host vehicle, the determining the second vehicle from the at least one first vehicle, comprises:

comparing the orientation information of the second vehicle with the orientation information of each of the first vehicles with respect to the host vehicle, and determining at least one third vehicle from the at least one first vehicle that is consistent with the orientation information of the second vehicle;

determining a third vehicle of the at least one third vehicle whose distance from the host vehicle is smallest as the second vehicle.

6. The method of claim 1, wherein determining a second vehicle from the at least one first vehicle based on the location and orientation information of each of the first vehicles comprises:

determining a second vehicle from the at least one first vehicle based on the positional information of each of the first vehicles relative to the host vehicle.

7. The method of claim 6, wherein determining a second vehicle from the at least one first vehicle based on the positional information of each of the first vehicles relative to the host vehicle comprises:

displaying orientation information of each of the first vehicles relative to the host vehicle;

detecting a selection operation of the user on the displayed orientation information of each of the first vehicles with respect to the host vehicle;

in response to the selecting operation, a second vehicle is determined from the at least one first vehicle.

8. The method of claim 4 or 6, wherein determining orientation information of each of the first vehicles relative to the host based on the position information of each of the first vehicles and the position information of the host comprises:

establishing a rectangular coordinate system by taking the main vehicle as a center and taking the course angle direction of the main vehicle as the x-axis direction, wherein the position information of the main vehicle comprises a course angle and a position coordinate;

converting the position coordinates of each first vehicle and the position coordinates of the host vehicle into the rectangular coordinate system;

determining orientation information of each of the first vehicles relative to the host vehicle based on position coordinates of each of the first vehicles and the host vehicle in the rectangular coordinate system.

9. The method of claim 8, wherein determining orientation information for each of the first vehicles relative to the host based on position coordinates of each of the first vehicles and the host in the rectangular coordinate system comprises:

according to the position coordinates of each first vehicle and the host vehicle under the rectangular coordinate system, taking the host vehicle as the center, carrying out region division on the first vehicles and the host vehicle according to a nine-square mode, and determining the direction information of each first vehicle relative to the host vehicle.

10. The method of any of claims 1-9, wherein the second message further includes identification information of the host vehicle.

11. The method of claim 10, further comprising:

receiving a fourth message from the second vehicle, wherein the fourth message comprises identification information of the host vehicle and second information to be sent to the host vehicle by the second vehicle, and the fourth message is sent by the second vehicle when the second vehicle detects that the identification information of the second vehicle carried by the second information is consistent with the identification information of the second vehicle.

12. The method of claim 10, wherein the fourth message further comprises identification information of the second vehicle.

13. The method of claim 2, wherein obtaining the third message input by the user comprises:

receiving voice information input by the user, wherein the voice information comprises: first information and orientation information of the second vehicle;

and recognizing the first information and the direction information of the second vehicle from the voice information to obtain the third message.

14. The method of claim 11, wherein the first message, the second message, and the fourth message are all broadcast messages.

15. The method of any of claims 1-7, wherein the first vehicle is a vehicle within a predetermined range around the host vehicle.

16. A method for peer-to-peer communication between vehicles, comprising:

receiving a second message, the second message comprising: identification information and first information of the second vehicle;

and if the identification information of the second vehicle carried by the second message is detected to be consistent with the identification information of the second vehicle, analyzing the second message to obtain the message to be sent.

17. The method of claim 16, further comprising:

and if the identification information of the second vehicle carried by the second message is detected to be inconsistent with the identification information of the second vehicle, discarding the second message.

18. The method according to claim 16 or 17, characterized in that the second message further comprises identification information of the host vehicle.

19. The method of claim 18, further comprising:

sending a fourth message that includes identification information of a host vehicle and second information to be sent to the host vehicle by the second vehicle.

20. The method of claim 19, wherein the fourth message further includes identification information of the second vehicle.

21. The method of claim 19, wherein the fourth message and the second message are both broadcast messages.

22. An apparatus for peer-to-peer communication between vehicles, applied to a host vehicle, the apparatus comprising:

23. The apparatus of claim 22,

the processing unit is specifically configured to acquire a third message input by a user, where the third message includes: the first information and the second vehicle's heading information; comparing the orientation information of the second vehicle with the position and orientation information of each of the first vehicles to determine the second vehicle from the at least one first vehicle.

24. The apparatus of claim 23, wherein the orientation information of the second vehicle is orientation information of the second vehicle relative to a host vehicle.

25. The apparatus of claim 24,

the processing unit is specifically configured to determine orientation information of each of the first vehicles with respect to the host vehicle based on the position information of each of the first vehicles and the position information of the host vehicle; comparing the orientation information of the second vehicle with the orientation information of each of the first vehicles relative to the host vehicle, the second vehicle being determined from the at least one first vehicle.

26. The apparatus of claim 22, further comprising:

the receiving unit is further configured to receive a fourth message from the second vehicle, where the fourth message includes identification information of the host vehicle and second information to be sent to the host vehicle by the second vehicle, and the fourth message is sent by the second vehicle when it is detected that the identification information of the second vehicle carried by the second information is consistent with the identification information of the second vehicle itself.

27. An apparatus for peer-to-peer communication between vehicles, applied to a second vehicle, the apparatus comprising:

28. The apparatus of claim 27, further comprising:

the processing unit is further configured to discard the second message if it is detected that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle.

29. An in-vehicle apparatus, characterized by comprising: a processor and a transceiver for performing a method of implementing the point-to-point communication between vehicles as claimed in any one of claims 1 to 15 or claims 16 to 21.

30. A computer storage medium characterized in that the storage medium comprises computer instructions which, when executed by a computer, cause the computer to implement the method of point-to-point communication between vehicles as claimed in any one of claims 1 to 21.