CN111405528A - V2X test system and method under complex communication environment - Google Patents
V2X test system and method under complex communication environment Download PDFInfo
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- CN111405528A CN111405528A CN202010187578.8A CN202010187578A CN111405528A CN 111405528 A CN111405528 A CN 111405528A CN 202010187578 A CN202010187578 A CN 202010187578A CN 111405528 A CN111405528 A CN 111405528A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
Abstract
The invention relates to the technical field of vehicle performance testing, in particular to a V2X testing system and a method under a complex communication environment, wherein the method comprises the following steps: the method comprises the steps of test preparation, wherein a V2X communication module and a communication test module are arranged on each test vehicle, the V2X communication module can exchange information, and the communication test module carries out communication monitoring on the V2X communication module; the method comprises the following steps of (1) testing, wherein a test vehicle is arranged on any lane in a test field, and background vehicles are respectively arranged on the periphery of the test vehicle; enabling the test vehicles to run at a set speed; recording a communication monitoring result of the communication testing module and a driving result of the testing vehicle; and a test analysis step, namely judging whether the communication between the test vehicles is normal or not according to the communication monitoring result, wherein the driving result comprises successful driving and failed driving, and the test is successful when the communication is normal and the driving result is the successful driving. By adopting the scheme, the communication test can be performed on the V2X technology in the signal interference environment among various vehicles, and the accuracy of the test result is improved.
Description
Technical Field
The invention relates to the technical field of vehicle performance testing, in particular to a V2X testing system and method under a complex communication environment.
Background
The development of automobile technology enables people to obtain more functions instead of being limited to driving only by the functional requirements of automobiles, so that the safety of drivers or vehicles is guaranteed. The V2X technology is just appeared in the environment, the V2X technology is a special embodiment of the Internet of things, namely, the vehicle and the external information are interacted, the external information is obtained in an information interaction mode, and the vehicle can be controlled to be adjusted rapidly when an emergency occurs, so that traffic accidents are avoided, and safety of drivers and vehicles is guaranteed. The current V2X technology is used as a hotspot of intelligent vehicle networking, and when people have higher requirements on intelligent driving of vehicles, the application of the V2X technology is also wider, so the test requirement on the V2X technology is also more prominent.
At present, the test of the V2X technology is mainly divided into two directions, namely a vehicle test applying the V2X technology and a communication test applying the V2X technology. Since the environment of the vehicle may affect information interaction, for example, the interaction speed becomes slow, and the information interaction speed may affect the response speed of the vehicle, it is particularly important for the communication test of the V2X technology in the interference environment to ensure the safety of the driver or the vehicle.
The existing communication test method generally comprises the following steps: the method comprises the steps that a plurality of signal interference facilities and road side equipment are arranged in a test site, a signal interference environment is simulated through the signal interference facilities, and information interaction is carried out on a vehicle to be tested through the road side equipment; the vehicle to be tested is enabled to run in the test site, and when the vehicle to be tested runs normally, the performance of the vehicle to be tested in the V2X technology in normal running in the signal interference area is considered to be qualified, namely the communication test is qualified. However, the communication test method forms an interference environment through a signal interference facility, which is different from an environment where signal interference really exists, and in the future of popularization of the V2X technology, different V2X technical products are applied to vehicles, and interference exists among signals of various products, and the communication test method cannot accurately reproduce the interference environment, so that the communication test of the V2X technology is different.
Disclosure of Invention
The invention aims to provide a V2X testing system and method under a complex communication environment, which can carry out communication testing on a V2X technology under a signal interference environment among various vehicles and improve the accuracy of a testing result.
The basic scheme provided by the invention is as follows: the V2X testing method in the complex communication environment comprises the following steps:
the method comprises the steps of test preparation, wherein a test site and a test vehicle are selected, the test site is at least two lanes, the test vehicle comprises a test vehicle and at least three background vehicles, the test vehicle is provided with a V2X communication module and a communication test module, the V2X communication modules on different test vehicles can exchange information, and the communication test module on the same test vehicle carries out communication monitoring on the V2X communication module;
the method comprises the following steps that in the testing step, a testing vehicle is arranged on any lane in a testing field, background vehicles are respectively arranged in front of and behind the lane where the testing vehicle is arranged, and on adjacent lanes; enabling the test vehicles to run on the test field according to the set speed, and carrying out information interaction; recording a communication monitoring result of the communication testing module and a driving result of the testing vehicle;
and a test analysis step, namely judging whether the communication between the test vehicles is normal or not according to the communication monitoring result, wherein the driving result comprises successful driving and failed driving, and the test is successful when the communication is normal and the driving result is the successful driving.
The basic scheme has the working principle and the beneficial effects that: the field physical test is carried out on the test site and the test vehicle, so that the test site and the test vehicle are closer to the real environment and the vehicle condition, and the final test result can reflect the communication condition of the vehicle in the driving process more truly and accurately. The test site is at least two lanes and at least three background vehicles, and a multi-lane test environment and a plurality of background vehicles are adopted, so that the complexity of vehicle conditions in the test process is increased, and the test site is closer to the real environment. The V2X communication module is an existing wireless communication system with a V2X communication protocol, and information interaction between the background vehicle and the test vehicle is realized through the V2X communication module. The communication test module is arranged to monitor the communication condition of the V2X communication module.
During testing, the test vehicle is located in the middle of the background vehicle, for example, when the test vehicle runs on a middle lane of three lanes, the background vehicle is located in front of and behind the same lane of the test vehicle and an adjacent lane of the lane where the test vehicle is located, and the test vehicle adopts a mode that the background vehicle is arranged around the test vehicle, so that signal interference of the background vehicle is caused around the test vehicle, and the test vehicle is tested more accurately.
And obtaining a communication monitoring result and a driving result through testing, wherein the communication monitoring result is various indexes reflecting the communication condition of the V2X communication module in the driving process of the test vehicle, including speed, time delay, bandwidth, communication distance, packet loss rate and the like, the driving result is whether the test vehicle finally drives out of the test site, when the test vehicle drives out of the test site, the test vehicle is considered to drive successfully, otherwise, the test vehicle is considered to drive unsuccessfully. Whether the communication between the test vehicle and the background vehicle is normal or not is judged according to various indexes of the communication monitoring result, and when the communication is normal and the test vehicle runs successfully, the test is successful, namely the performance of the test vehicle running normally under the interference of various V2X signals is qualified, namely the compatibility of a V2X communication module arranged on the test vehicle is qualified. By adopting the scheme, the communication test can be performed on the V2X technology in the signal interference environment among various vehicles, and the accuracy of the test result is improved.
Further, in the test preparation step, the test site is three lanes, and the number of background vehicles is four; in the testing step, the test vehicle is arranged in a middle lane of a test site. Has the advantages that: when the test site is three lanes, the number of background cars is four, and the background cars are arranged around the test car, so that the signal interference of the background cars exists around the test car, the actual running condition of the car is more approached, and the test result more approaching the real condition is obtained.
Further, in the test preparation step, the test site is two lanes, and the number of background vehicles is three; in the testing step, the testing vehicle is arranged in any lane of the testing field, after the testing step is finished, the testing step is repeated, and the testing vehicle is arranged in the other lane of the testing field. Has the advantages that: when the test site is two lanes, the number of the background vehicles is three, namely, one side of the test vehicle close to the roadside is free of the background vehicles, and the running conditions of the test vehicle on the two lanes are respectively tested by repeating the test steps, so that the conditions that the vehicle runs under various lanes are tested, and the accuracy of the final test result is ensured.
Further, the communication monitoring result includes one or more of speed, time delay, bandwidth and packet loss rate. Has the advantages that: and reflecting the communication condition of the V2X communication module through the speed, the time delay, the bandwidth and the packet loss rate, so as to judge whether the communication of the V2X communication module is normal or not, and further obtain a final test result.
The present application also provides another basic solution: the V2X test system under the complex communication environment comprises a test site, a test vehicle, a V2X communication module, a communication test module and a test analysis module, wherein the test site is used for the test vehicle to run, the test site is at least two lanes, and the test vehicle comprises the test vehicle and at least three background vehicles; the V2X communication module and the communication test module are mounted on a test vehicle, when the test vehicle runs on a test field, the V2X communication modules on different test vehicles are used for information interaction, the communication monitoring module is used for carrying out communication monitoring on the V2X communication module on the same vehicle, and a communication monitoring result is generated when the running is finished; the test analysis module is used for acquiring the driving result of the test vehicle when the driving of the test vehicle is finished, and generating the test result according to the driving result and the communication monitoring result.
Has the advantages that: the setting of the test site enables the driving road condition of the test vehicle to be closer to the real environment. The device comprises a V2X communication module, a communication test module, a V2X communication module, a communication analysis module, a V2X communication module, a test analysis module and a test vehicle, wherein the V2X communication module is arranged to enable information interaction among the test vehicles, the communication test module is arranged to monitor the communication of the V2X communication module and generate a communication monitoring result, the communication condition of the V2X communication module is reflected through the communication monitoring result, the setting of the test analysis module is arranged to obtain the driving result of the test vehicle, and. The test analysis module generates a test result according to the driving result and the communication monitoring result, and synthesizes the communication condition and the driving condition to obtain the test result, so that the test result comprehensively considers various signal interference results, and the accuracy of the test result is improved.
Further, the driving result comprises normal driving, the test result comprises test success, the test analysis module is used for obtaining the driving result of the normal driving when the test vehicle successfully drives out of the test site, judging whether the communication between the V2X communication modules is normal according to the communication monitoring result, and generating the test result of the test success when the communication is normal and the driving result is the successful driving. Has the advantages that: firstly, the communication of the V2X communication module is interfered, so that the V2X communication modules among different test vehicles cannot communicate, and at the moment, the communication is abnormal, and the natural test vehicle cannot normally run out of a test site; secondly, communication information of the V2X communication module is interfered, information asymmetry occurs among the V2X communication modules of different test vehicles, normal communication may occur at the moment, but the test vehicle cannot normally run out of the test site due to the information asymmetry, so that the communication condition and the running condition are comprehensively considered, various signal interference results are considered in the test result, and the accuracy of the test result is improved.
Further, the communication monitoring result comprises speed, time delay, bandwidth and packet loss rate, and the test analysis module is used for judging whether the communication between the V2X communication modules is normal according to one or more of the speed, the time delay, the bandwidth and the packet loss rate. Has the advantages that: and reflecting the communication condition of the V2X communication module through the speed, the time delay, the bandwidth and the packet loss rate, so as to judge whether the communication of the V2X communication module is normal or not, and further obtain a final test result.
Drawings
FIG. 1 is a flowchart of a first embodiment of a V2X testing method in a complex communication environment according to the present invention;
FIG. 2 is a schematic diagram of a test scenario of a first embodiment of a V2X test method in a complex communication environment according to the present invention;
fig. 3 is a schematic communication test diagram of a first embodiment of the V2X test method in a complex communication environment according to the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
example one
The V2X testing method in a complex communication environment, as shown in FIG. 1, includes the following steps:
a test preparation step: selecting a test site and test vehicles, wherein the test site is at least two lanes, and two road side devices (RSU) are arranged at two ends of the test site, and the number of the road side devices is two and the road side devices are arranged at an interval of 300 meters. The test vehicle includes test car and at least three background car, and in this embodiment, the test place is three lanes, and the quantity of background car is four. The test vehicles are provided with a V2X communication module and a communication test module, the V2X communication module is a wireless communication system with a V2X communication protocol, and in the embodiment, the V2X communication modules on different test vehicles are different V2X communication products. The V2X communication modules on different test vehicles can exchange information, and the communication test module on the same test vehicle monitors the communication of the V2X communication module.
The testing steps are as follows: the test vehicle is arranged in any lane in the test field, the background vehicle is respectively arranged in front of and behind the lane where the test vehicle is arranged and on the adjacent lanes, in the embodiment, the test vehicle is defined as HV, the background vehicle is defined as RV, as shown in figure 2, the test vehicle is arranged in the middle lane of the test field, and the background vehicles are respectively arranged in front of and behind the test vehicle on the middle lane and on the lanes on the two sides. The test vehicle runs on the test field according to the set speed, the set speed can be set according to the test requirement, the V2X communication module on the test vehicle performs information interaction, and the communication monitoring result of the communication test module and the running result of the test vehicle are recorded. The communication monitoring result includes one or more of speed, time delay, bandwidth and packet loss rate, and in this embodiment, the communication monitoring result includes speed, time delay and packet loss rate. The driving result comprises successful driving and failed driving, wherein the successful driving is realized when the test vehicle successfully drives out of the test site, and the failed driving is realized otherwise.
In this embodiment, during testing, as shown in fig. 3, the test vehicle and the background vehicle are both provided with a wheel speed sensor and an OBU vehicle-mounted unit, the OBU vehicle-mounted unit is a V2X communication module, the wheel speed sensor is used for acquiring information such as speed of the test vehicle and sending the information to a corresponding HV terminal and RV terminal, the HV terminal and the RV terminal perform information interaction through the OBU vehicle-mounted unit, that is, share information such as speed acquired by the wheel speed sensor, and the communication test module monitors communication of the OBU vehicle-mounted unit.
And (3) testing and analyzing: judging whether the communication between the test vehicle and the background vehicle is normal or not according to the communication monitoring result, and when the communication is normal and the driving result is successful driving, successfully testing, namely considering that the normal driving performance of the V2X technology of the test vehicle under the interference of various vehicle signals is qualified; otherwise, the test fails, namely the V2X technology of the test vehicle is considered to be unqualified in the performance of normal running under the interference of various vehicle signals.
The application also provides a V2X test system under the complex communication environment, which uses the V2X test method under the complex communication environment, and comprises a test site, a test vehicle, a V2X communication module, a communication test module and a test analysis module.
The test site is used for supplying the test vehicle to travel, and the test site is two lanes at least, and the test vehicle includes test car and at least three background car, and in this embodiment, the test site is three lanes, and the quantity of background car is four. The V2X communication module and the communication test module are mounted on a test vehicle, the V2X communication module is a wireless communication system with a V2X communication protocol, and in the embodiment, the V2X communication modules on different test vehicles are different V2X communication products. When the test vehicle runs on the test field, the V2X communication modules on different test vehicles are used for information interaction, the communication monitoring module is used for carrying out communication monitoring on the V2X communication modules on the same vehicle, and generating a communication monitoring result when the running is finished, wherein the communication monitoring result comprises speed, time delay, bandwidth, packet loss rate, communication distance and the like.
The test analysis module is used for acquiring the driving result of the test vehicle when the driving of the test vehicle is finished, wherein the driving result comprises normal driving and failure driving, the test vehicle successfully drives when driving out of the test field, and otherwise, the test vehicle fails. The test analysis module is further configured to determine whether communication between the V2X communication modules is normal according to the communication monitoring result, that is, determine whether communication between the V2X communication modules is normal according to one or more of speed, time delay, bandwidth, and packet loss rate, in this embodiment, the test analysis module determines whether communication between the V2X communication modules is normal according to speed, time delay, and packet loss rate. The test analysis module is also used for generating a test result according to whether the communication between the V2X communication modules is normal and the driving result. The test result comprises test success and test failure, when the driving result is successful driving and the communication is normal, the test analysis module generates a test result of the test success, otherwise, the test result of the test failure is generated.
Example two
The difference between the present embodiment and the first embodiment is: in this embodiment, the number of lanes in the test site is different from the number of background vehicles.
In the test preparation step in the V2X test method under the complex communication environment, the test site is two lanes, and the number of background vehicles is three; in the testing step, the testing vehicle is placed in any lane of the testing field, and after the testing step is finished, the testing step is repeated, and the testing vehicle is placed in the other lane of the testing field.
EXAMPLE III
The difference between the present embodiment and the first embodiment is: in the driving process of a vehicle based on V2X, except for conventional emergency situations, due to changes caused by external environments and human factors, other situations can exist, for example, someone in the vehicle uses WIFI, the light of a front vehicle on a road changes and flashes, the tail gas of a large truck is discharged, and the like, the use of WIFI can occupy the frequency band used by V2X, which causes communication problems, and the light changes and flashes and the tail gas discharge can cause light and shade changes, and for the vehicle using VX technology, the light and shade changes can cause errors in the recognition of the external environments by the vehicle.
The V2X test method in the complex communication environment further comprises an environment changing step and a test monitoring step.
The test preparation step further comprises: the test vehicle is also provided with WIFI communication equipment, the tail of the background vehicle is also provided with a smoke generating device, and the smoke generating device is used for releasing dense smoke such as smoke bombs and the like after being started; the test vehicle and the background vehicle are respectively provided with a running control module, the running control modules are used for changing the running speed, the light, the course angle and the like of the test vehicle and the background vehicle, the running control module on the test vehicle is defined as the test running control module for convenience and distinction, and the running control module on the background vehicle is defined as the background running control module.
And an environment changing step: changing a test environment, specifically including the following three changing modes, wherein the first changing mode is to start the WIFI communication equipment; the second change is to start the smoke generating device; the third changing mode is that the light of the background vehicle is changed through the background driving control module. In this embodiment, the test environment is changed in one or more of the above three ways, and the test step and the test analysis step are repeated after the test environment is changed.
In other embodiments, the test environment is changed for a plurality of times, the first change of the test environment is the first change, and the test step and the test analysis step are repeated after the test environment is changed. And changing the test environment for the second time into a combination of the second and third changing modes, and repeating the test step and the test analysis step after changing the test environment.
In order to avoid damage to the background vehicle and the test vehicle in the test process and increase the test cost, the safety distance is set between the background vehicle and the test vehicle, and in the test process, if the distance between the background vehicle and the test vehicle is smaller than the safety distance, the running speed of the background vehicle and the running speed of the test vehicle are changed, and the collision between the background vehicle and the test vehicle is avoided or the collision degree between the background vehicle and the test vehicle is reduced.
The test preparation step further comprises: the rear of a vehicle, the locomotive of background car and test vehicle all are provided with distance sensor and controller, distance sensor has preset safe distance, when the object appears in the safe distance, when the distance between background car and the test vehicle is less than safe distance promptly, distance sensor generates early warning signal and sends for the controller, when the controller is used for receiving early warning signal, generate the control information that traveles and send for the control module that traveles, the control module that traveles is used for changing the speed of traveling of background car and test vehicle according to the control information that traveles.
And (3) testing and monitoring: in the testing step, when any distance sensor detects that an object exists in the safe distance, an early warning signal is generated and sent to the controller, the controller is used for generating driving control information when receiving the early warning signal and sending the driving control information to the driving control module, and the driving control module changes the driving speeds of the background vehicle and the test vehicle according to the driving control information. Specifically, taking the test site as three lanes as an example for explanation, a background vehicle located in front of the test vehicle in the middle lane is defined as a first background vehicle, a background vehicle located behind the test vehicle in the middle lane is defined as a second background vehicle, and then the corresponding background driving control module on the first background vehicle is a first background driving control module, and the corresponding background driving control module on the second background vehicle is a second background driving control module. When any distance sensor detects that an object exists in the safe distance, the distance between the test vehicle and the first background vehicle and the distance between the test vehicle and the second background vehicle are smaller than the safe distance, and the test vehicle is separated from the first background vehicle and the second background vehicle. The second background running control module is used for changing the running speed of the second background vehicle to zero according to the running control information, even if the second background vehicle stops; the first background running control module is used for increasing the running speed of the first background vehicle according to the running control information, even if the second background vehicle runs in an accelerated mode; the test driving control module is used for reducing the driving speed of the test vehicle according to the driving control information, even if the second background vehicle decelerates to drive until stopping. The distance between the test vehicle and the first background vehicle and the distance between the test vehicle and the second background vehicle are increased by changing the running speeds of the first background vehicle, the second background vehicle and the test vehicle, so that the occurrence of a collision accident is avoided or the severity of the collision accident is reduced, the collision probability and the collision severity of the test vehicle and the background vehicle are reduced, and the test cost is reduced.
The V2X test system in the complex communication environment uses the V2X test method in the complex communication environment.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (7)
1. The V2X test method in the complex communication environment is characterized by comprising the following steps:
the method comprises the steps of test preparation, wherein a test site and a test vehicle are selected, the test site is at least two lanes, the test vehicle comprises a test vehicle and at least three background vehicles, the test vehicle is provided with a V2X communication module and a communication test module, the V2X communication modules on different test vehicles can exchange information, and the communication test module on the same test vehicle carries out communication monitoring on the V2X communication module;
the method comprises the following steps that in the testing step, a testing vehicle is arranged on any lane in a testing field, background vehicles are respectively arranged in front of and behind the lane where the testing vehicle is arranged, and on adjacent lanes; enabling the test vehicles to run on the test field according to the set speed, and carrying out information interaction; recording a communication monitoring result of the communication testing module and a driving result of the testing vehicle;
and a test analysis step, namely judging whether the communication between the test vehicles is normal or not according to the communication monitoring result, wherein the driving result comprises successful driving and failed driving, and the test is successful when the communication is normal and the driving result is the successful driving.
2. The V2X testing method under the complex communication environment of claim 1, wherein: in the test preparation step, the test site is three lanes, and the number of background vehicles is four; in the testing step, the test vehicle is arranged in a middle lane of a test site.
3. The V2X testing method under the complex communication environment of claim 1, wherein: in the test preparation step, the test site is two lanes, and the number of background vehicles is three; in the testing step, the testing vehicle is arranged in any lane of the testing field, after the testing step is finished, the testing step is repeated, and the testing vehicle is arranged in the other lane of the testing field.
4. The V2X testing method under the complex communication environment of claim 1, wherein: the communication monitoring result comprises one or more of speed, time delay, bandwidth and packet loss rate.
5. V2X test system under complex communication environment, characterized by: the device comprises a test site, a test vehicle, a V2X communication module, a communication test module and a test analysis module, wherein the test site is used for the test vehicle to run, the test site is at least two lanes, and the test vehicle comprises a test vehicle and at least three background vehicles; the V2X communication module and the communication test module are mounted on a test vehicle, when the test vehicle runs on a test field, the V2X communication modules on different test vehicles are used for information interaction, the communication monitoring module is used for carrying out communication monitoring on the V2X communication module on the same vehicle, and a communication monitoring result is generated when the running is finished; the test analysis module is used for acquiring the driving result of the test vehicle when the driving of the test vehicle is finished, and generating the test result according to the driving result and the communication monitoring result.
6. The V2X test system under the complex communication environment of claim 5, wherein: the driving result comprises normal driving, the test result comprises test success, the test analysis module is used for obtaining the driving result of the normal driving when the test vehicle successfully drives out of the test site, judging whether the communication between the V2X communication modules is normal according to the communication monitoring result, and generating the test result of the test success when the communication is normal and the driving result is the successful driving.
7. The V2X test system under the complex communication environment of claim 5, wherein: the communication monitoring result comprises speed, time delay, bandwidth and packet loss rate, and the test analysis module is used for judging whether the communication between the V2X communication modules is normal according to one or more of the speed, the time delay, the bandwidth and the packet loss rate.
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| CN112857830A (en) * | 2021-01-18 | 2021-05-28 | 北京智能车联产业创新中心有限公司 | Testing device and method for automatic driving standard scene |
| CN113821879A (en) * | 2021-10-11 | 2021-12-21 | 文思海辉智科科技有限公司 | V2X data acquisition method, client and electronic equipment |
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