WO2016015287A1 - 一种车辆广播信息的发送装置及方法 - Google Patents
一种车辆广播信息的发送装置及方法 Download PDFInfo
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- WO2016015287A1 WO2016015287A1 PCT/CN2014/083432 CN2014083432W WO2016015287A1 WO 2016015287 A1 WO2016015287 A1 WO 2016015287A1 CN 2014083432 W CN2014083432 W CN 2014083432W WO 2016015287 A1 WO2016015287 A1 WO 2016015287A1
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- resource location
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- vehicle information
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04H—BROADCAST COMMUNICATION
- H04H20/00—Arrangements for broadcast or for distribution combined with broadcast
- H04H20/53—Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers
- H04H20/55—Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for traffic information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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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]
Definitions
- the present invention relates to the field of communications, and in particular, to a device and method for transmitting broadcast information of a vehicle. Background technique
- Internet of Vehicle is a new management service network based on the combination of Internet and Internet of Things technologies, and incorporating a large number of software technologies and information services.
- the so-called car networking is to use the car as a node and information source, using advanced sensing technology, network technology and wireless communication technology, through the car phone, processing and sharing a large amount of information, thus achieving "people - car - road - Environment-society interconnection, a network for intelligent identification, location, tracking, supervision and push services.
- the service functions of the Internet of Vehicles are summarized, including: traffic information, location services, security, vehicle conditions, infotainment, insurance services, riders, car services, and so on.
- security services are the most important part of the Internet of Vehicles service. How to reduce road traffic accidents through effective information interaction, reducing mortality and property losses is the most important issue in vehicle network research.
- different vehicles on the road need to be able to interact with each other.
- the road and vehicle conditions can be known, such as vehicle accidents in front; even the accident can be predicted in advance, and then Warn the driver to change his driving strategy.
- Vehicles traveling on the road can anticipate possible dangers and circumvent them by sending safety messages to surrounding vehicles.
- Such security messages can be divided into two categories, one is event-triggered messages, such as front stationary vehicle alarms, front slow vehicle alarms, emergency brake alarms, overtaking alarms, and the like.
- event vehicle When these events occur, the event vehicle will generate a corresponding message broadcast to inform the surrounding vehicles, reminding them to make appropriate avoidance and avoid possible dangers.
- Another type of message is a periodic state notification message, for example, a Cooperative Awareness Message (CAM) message.
- CAM Cooperative Awareness Message
- This type of message requires the vehicle to broadcast its own time at a frequency of l ⁇ 10 Hz, gp i00ms ⁇ 1000ms.
- Status information such as vehicle speed, vehicle position, vehicle type, acceleration, etc., the surrounding vehicles perform dynamic analysis based on the received status information to detect possible collisions in advance, instead of waiting for the collision to notify the surrounding vehicles, To the role of prevention.
- the CAM message generally requires a coverage of 300 to 500 meters. Considering a multi-lane scene, the number of vehicles in an area may reach 200 to 1000 vehicles. If the most The small 100ms is considered as a cycle. The CAM message of 2 ⁇ 10 vehicles needs to be broadcast every millisecond. Such broadcast density may cause a large number of message collisions, so that the receiving vehicle cannot successfully receive these broadcast messages, thereby reducing driving safety.
- the present invention provides a device and method for transmitting broadcast information of a vehicle, which is used to avoid collision interference of broadcast messages between vehicles and improve driving safety.
- a first aspect of the present invention provides a device for transmitting broadcast information of a vehicle, including: a sending module, configured to broadcast a message of the first vehicle information, a message of the first vehicle information, at a first resource location of each cycle Include at least operational information of a vehicle carrying the first UE;
- a receiving module configured to: at a second resource location of each cycle, detect a message of the second vehicle information sent by the second UE, where the message of the second vehicle information includes at least operation information of the vehicle that carries the second UE And the first collision identifier, where the first collision identifier is used to indicate that the first UE has a first UE broadcast message and the first UE and the second UE at a first resource location of each period Collision interference caused by broadcast messages of other UEs other than;
- a processing module configured to select an idle resource location in the second resource location, where the selected idle resource location is used as a first resource location of the first UE in each period.
- the first resource location and the second resource location have different time domain locations.
- the processing module is specifically configured to: when the receiving module is in a second resource location in each cycle When the message of the second vehicle information sent by the second UE is detected, a non-idle identifier is added, where the non-idle identifier is used to indicate that the second resource location is a non-idle resource location; and/or,
- the receiving module When the receiving module does not detect the second vehicle information message sent by the second UE in the second resource location of each period, adding an idle identifier, where the idle identifier is used to indicate that the second resource location is an idle resource position.
- the processing module is further configured to use, by the receiving module, a second resource location in each period After detecting the message of the second vehicle information sent by the second UE, determining whether there is collision interference of the broadcast message on the second resource location corresponding to the message of the second vehicle information; if the second resource is determined The location has a collision interference of the broadcast message, then the first vehicle information And adding a second collision identifier, in the first resource location of the next period, broadcasting the message of adding the first vehicle information of the second collision identifier, where the second collision identifier is used to indicate the second resource The location has collision interference with broadcast messages.
- the processing module is specifically configured to determine that the message of the second vehicle information meets the following And determining, in the condition and the second condition, a collision interference of the broadcast message on the second resource location corresponding to the second vehicle information message;
- the first condition is that the processing module detects that the interference at the second resource location exceeds an interference threshold
- the second condition is that the processing module determines a message that successfully decodes the second vehicle information at the second resource location, and fails to decode the second of the second resource locations after k cycles of successful decoding The message of the vehicle information, the k being a positive integer.
- the processing module is specifically configured to determine that the message of the second vehicle information meets the following In any case, determining that there is no collision interference of the broadcast message on the second resource location corresponding to the second vehicle information message;
- the third condition the processing module detects that the interference at the second resource location does not exceed the interference threshold
- a fourth condition determining, for the processing module, that the second vehicle information message on the second resource location has not been successfully decoded
- a fifth condition if the processing module determines to successfully decode the second vehicle information message at the second resource location, successfully decoding the second in at least one of the k cycles after successful decoding A second vehicle information message at the resource location.
- the message of the first vehicle information further includes an extended indication, where the extended indication is used to indicate that The transmitting module broadcasts a message of the first vehicle information at a first resource location of each cycle and at least one of the idle resource locations.
- the operation information of the vehicle that carries the first UE includes any one or combination of the following a parameter: the location information of the vehicle that carries the first UE, the speed information of the vehicle that carries the first UE, the direction information of the vehicle that carries the first UE, The acceleration information of the vehicle carrying the first UE, and the vehicle type information of the vehicle carrying the first UE.
- a second aspect of the present invention provides a device for transmitting broadcast information of a vehicle, including: a processor, a memory, a bus, and a radio frequency circuit; the memory is configured to store a computer execution instruction, the processor, the memory, and the The radio frequency circuit is connected through the bus, when the device is running, the processor executes the computer execution instruction stored in the memory; wherein the radio frequency circuit is used for a first resource location in each cycle And a message for broadcasting the first vehicle information, where the message of the first vehicle information includes at least operation information of the vehicle that carries the first UE, and is further configured to detect, by using the second resource location of each cycle, the second a message of the vehicle information, where the message of the second vehicle information includes at least operation information of the vehicle carrying the second UE and a first collision identifier, where the first collision identifier is used to indicate that the first UE is in each cycle a first UE broadcast message and a broadcast message of other UEs other than the first UE and the second UE Collision interference that
- a processor configured to select an idle resource location in the second resource location, where the selected idle resource location is used as a first resource location of the first UE in each period.
- a third aspect of the present invention provides a method for transmitting broadcast information of a vehicle, including: a message that a first user equipment UE broadcasts first vehicle information at a first resource location of each period, a message of the first vehicle information Include at least the operation information of the vehicle that carries the first UE; the first UE detects a message of the second vehicle information sent by the second UE, where the second UE is in the second resource location of each cycle
- the message includes at least the operation information of the vehicle that carries the second UE and the first collision identifier, where the first collision identifier is used to indicate that the first UE has a first UE broadcast on the first resource location of each period. Collision interference of the message and the broadcast message of the UE other than the first UE and the second UE;
- the first UE selects an idle resource location in the second resource location, and uses the selected idle resource location as a first resource location of the first UE in each period.
- the first resource location and the second resource location have different time domain locations.
- the first UE detects, by using a second UE, a second UE Two vehicle information messages, including:
- the first UE When the first UE is in the second resource location of each period, detecting that the second UE sends the second When the message of the vehicle information is sent, the first UE adds a non-idle identifier, and the non-idle identifier is used to indicate that the second resource location is a non-idle resource location; and/or,
- the first UE When the first UE is not detected by the second UE in the second resource location of each period, the first UE adds an idle identifier, where the idle identifier is used to indicate the The second resource location is an idle resource location.
- any one of the foregoing feasible implementation manners in a third feasible implementation manner, detecting, by the first UE, a second UE at a second resource location of each period After the message of the second vehicle information is sent, the method further includes:
- the second resource location has a collision interference of the broadcast message, adding a second collision identifier to the message of the first vehicle information, and broadcasting the added collision identifier on the first resource location of the next period
- the message of the first vehicle information, the second collision identifier is used to indicate that there is a collision interference of the broadcast message at the second resource location.
- the first UE determines the second resource location corresponding to the second vehicle information message On, whether there is collision interference of broadcast messages includes:
- the first UE determines that the message of the second vehicle information satisfies the following first condition and the second condition, the first UE determines that the second resource information corresponding to the second vehicle information message exists Collision interference of broadcast messages;
- the first condition is that the first UE detects an interference exceeding an interference threshold at the second resource location;
- the second condition is that the first UE determines a message for successfully decoding the second vehicle information on the second resource location, and cannot decode the second resource location in the k cycles after successful decoding.
- the message of the two vehicle information wherein k is a positive integer.
- the first UE determines the second resource corresponding to the message of the second vehicle information There is no collision interference of broadcast messages in the location, including:
- the first UE determines that the second resource location corresponding to the second vehicle information message does not have a broadcast message.
- Collision interference The third condition is: detecting, by the first UE, that the interference at the second resource location does not exceed the interference threshold;
- a fourth condition determining, for the first UE, that the second vehicle information message on the second resource location is not successfully decoded
- a fifth condition if the first UE determines to successfully decode the second vehicle information message at the second resource location, successfully decoding the at least one of the k cycles after successful decoding A second vehicle information message at the location of the two resources.
- the message of the first vehicle information further includes an extended indication, where the extended indication is used to indicate that The first UE broadcasts a message of the first vehicle information at a first resource location of each cycle and at least one of the idle resource locations.
- the operation information of the vehicle that carries the first UE includes any one or combination of the following Parameter: the location information of the vehicle that carries the first UE, the speed information of the vehicle that carries the first UE, the direction information of the vehicle that carries the first UE, and the bearer number Acceleration information of a UE of the UE, and vehicle type information of the vehicle carrying the first UE.
- the device and method for transmitting vehicle broadcast information adopts a technical solution that the UE carried by the adjacent vehicle assists in releasing the resource collision.
- a message of the first vehicle information the message of the first vehicle information includes at least operation information of the vehicle carrying the first UE;
- the transmitting device of the vehicle broadcast information detects the second vehicle information sent by the second UE at the second resource location of each cycle
- the message of the second vehicle information includes at least the operation information of the vehicle carrying the second UE and the first collision identifier, where the first collision identifier is used to indicate that the first UE is in the first resource location of each period, and the first Collision interference of the UE broadcast message and the broadcast message of the UE other than the first UE and the second UE;
- the transmitting device of the vehicle broadcast information selects the idle resource location in the second resource location, and the selected idle resource The location is the first resource location of the first UE in each cycle.
- the apparatus and method for transmitting vehicle broadcast information provided by the present invention are compared with the prior art.
- the collision identification can be added by the message of the broadcast vehicle information, so that the vehicle in which the collision occurs has selected the idle resource location without collision interference, and the message for broadcasting the vehicle information. Reduce message collisions and ensure that the vehicle successfully receives broadcast messages from surrounding vehicles, thereby improving driving safety.
- FIG. 1 is a schematic diagram of a physical resource division manner according to an embodiment of the present invention
- FIG. 2 is a schematic structural diagram of a device for transmitting broadcast information of a vehicle according to an embodiment of the present invention
- FIG. 3 is a schematic diagram of physical resource collisions according to an embodiment of the present invention.
- FIG. 4 is a schematic diagram of physical resource collision and resource reselection according to an embodiment of the present invention
- FIG. 5 is a schematic diagram of a resource collision indication frame format according to an embodiment of the present invention
- FIG. 6 is a schematic diagram of resource expansion according to an embodiment of the present invention.
- FIG. 7 is a schematic diagram of sending and receiving data according to an embodiment of the present invention.
- FIG. 8 is a schematic structural diagram of a device for transmitting broadcast information of a vehicle according to an embodiment of the present invention
- FIG. 9 is a schematic flowchart of a method for transmitting broadcast information of a vehicle according to an embodiment of the present invention
- FIG. 10 is a schematic flow chart of a method for transmitting broadcast information of a vehicle according to an embodiment of the present invention.
- FIG. 11 is a schematic flow chart of a method for transmitting broadcast information of a vehicle according to an embodiment of the present invention.
- FIG. 12 is a schematic diagram of a vehicle information message CAM message broadcast and resource location selection process according to an embodiment of the present invention. detailed description
- each vehicle of the Internet of Vehicles broadcasts its own vehicle information message in a period of 1 to 10 Hz, for example, a CAM message, that is, a situation in which up to 10 vehicles may need to broadcast a vehicle information message every millisecond
- a CAM message that is, a situation in which up to 10 vehicles may need to broadcast a vehicle information message every millisecond
- the prior art When the vehicle is broadcasting, it is impossible to know whether the broadcast of the surrounding vehicle has collided with itself, which greatly affects the transmission of the broadcast message, and the risk of driving is improved because the running information of the surrounding vehicle cannot be known in time.
- Embodiments of the Invention The following provides a device and method for transmitting vehicle broadcast information to reduce collision of messages.
- a device and method for transmitting vehicle broadcast information will be described with reference to specific embodiments.
- FIG. 1 is a schematic diagram of a physical resource division manner according to an embodiment of the present invention.
- this embodiment uses a dedicated wireless spectrum resource to transmit a vehicle information message.
- the resource may be a lOMhz (or 20Mhz)-block spectrum on the frequency, and the resource is segmented, such as a 1ms granularity on the time axis, and a frequency resource of 60khz on the frequency axis, which is obtained as follows The frequency resource grid shown.
- Each vehicle can select one of the resource locations (grids) to broadcast its own vehicle information message based on the resource selection algorithm (if no special instructions are given below, CAM messages are taken as an example), so that each vehicle can be guaranteed in the 100ms time interval.
- resource selection algorithm if no special instructions are given below, CAM messages are taken as an example
- the initial resource selection algorithm can be a simple random selection by first listening to available CAM resources and then randomly selecting one of them.
- the data rate of 12 Mbps can be provided under the bandwidth of 20 Mhz, that is, the transmission capacity of 1500 BYTE per millisecond. If the CAM data of 20 users is transmitted every millisecond, each user has 75BYTE physical layer transmission resources can be used, then 50ms can transmit data of 1000 users, if the overhead of the packet header is
- FIG. 2 is a schematic structural diagram of a device for transmitting broadcast information of a vehicle according to an embodiment of the present invention.
- the device may be a user equipment UE that is disposed on the vehicle.
- the UE may be another handheld mobile terminal, an On Board Unit (OBU), or the like.
- OBU On Board Unit
- the device includes: a sending module 100.
- the sending module 100 is configured to broadcast a message of the first vehicle information in a first resource location of each period, where the message of the first vehicle information includes at least operation information of a vehicle that carries the first UE.
- the transmitting device of the vehicle broadcast information is an example of the first UE.
- the resource position of the corresponding period is a physical quantity characterized by time and frequency, that is, a certain frequency resource in a certain time range; for example, a resource of l l ⁇ 12ms, duration of lms, frequency of 60 ⁇ 120khz.
- the receiving module 102 is configured to: at a second resource location of each period, detect a message of the second vehicle information sent by the second UE, where the message of the second vehicle information includes at least an operation of the vehicle that carries the second UE Information and a first collision identifier, where the first collision identifier is used to indicate that the first UE has a first UE broadcast message and the first UE and the second at a first resource location of each period Collision interference that occurs in broadcast messages of other UEs other than the UE;
- the second resource location refers to all the resources in time except for the time when the resource is transmitted by itself.
- FIG. 3 is a schematic diagram of physical resource collision according to an embodiment of the present invention.
- FIG. 3 is used as the example for the vehicle A.
- Resource locations can include B, F, C, K, etc., but do not contain D, because D and A occupy the transmission resources in the same time domain location.
- other UEs refer to third-party UEs other than the first UE and the second UE, and other UEs may be one or more, and other UEs also broadcast the message of the vehicle information on the first resource location. Thereby causing collision interference with the first UE, referring to the figure, for vehicle 0, vehicles P and Q are other UEs.
- the problem that the message collision occurs is solved by using the UE carried by the adjacent vehicle to assist in releasing the resource collision, because each first UE sends its own CAM message,
- the CAM message sent by the second UE (the number of the second UE may be one or more) must be monitored (the exception sent at the same time, the CAM message sent by the second UE cannot be received while being transmitted).
- One or a plurality of broadcasts of A, B, C, K notify the collision of the resource location, and the corresponding 0, P, Q detects the notification message and knows that it is apart from the first UE and the If other UEs other than the second UE select the same resource location for broadcast, a certain resource reselection algorithm is adopted, and other idle resource locations are selected to continue to broadcast their own CAM messages.
- the simple resource reselection algorithm may be: the UE detects the CAM resource, finds the idle resource therein, and randomly selects one or several of them as its own transmission resource when resource reselection is required.
- FIG. 4 is a schematic diagram of physical resource collision and resource reselection according to the embodiment.
- UEs carried by three vehicles, 0, P, and Q will detect a lot of idle resource locations when detecting periodic CAM messages, and these new resource locations may be selected during resource location reselection.
- the processing module 101 is configured to select an idle resource location in the second resource location, and use the selected idle resource location as a first resource location of the first UE in each period.
- the device for transmitting the vehicle broadcast information provided by the embodiment, the message of the first vehicle information is broadcasted by the sending module at the first resource location of each cycle, and the message of the first vehicle information includes at least the operation information of the vehicle carrying the first UE;
- the receiving module detects, at a second resource location of each period, a message of the second vehicle information sent by the second UE, where the message of the second vehicle information includes at least operation information of the vehicle carrying the second UE and the first collision identifier, the first collision Determining, by the first UE, that the first UE broadcasts a collision message between the first UE broadcast message and other UEs except the first UE and the second UE, where the first UE is in the first resource location of each period;
- the idle resource location in the second resource location uses the selected idle resource location as the first resource location of the first UE in each cycle. It realizes the reduction of message collision and ensures that the vehicle successfully receives the broadcast message of the surrounding vehicles, thereby improving driving safety.
- the first resource location and the second resource location have different time domain locations.
- the number of the second resource locations may be one or more, and the first resource location is different from the first resource location, where the first resource location has a corresponding relationship with the first UE, that is, for each For a UE, it corresponds to at least one first resource location, except for the first resource bit.
- other resource locations are second resource locations for the first UE.
- the processing module 101 is configured to: when the receiving module 102 detects the message of the second vehicle information sent by the second UE in the second resource location of each period, add a non-idle identifier.
- the non-idle identifier is used to indicate that the second resource location is a non-idle resource location; and/or,
- the receiving module 102 When the receiving module 102 does not detect the second vehicle information message sent by the second UE on the second resource location of each period, adding an idle identifier, where the idle identifier is used to indicate that the second resource location is Free resource location.
- the processing module 101 is further configured to: after receiving the message of the second vehicle information sent by the second UE, the receiving module 102, in the second resource location of each period, determining that the message of the second vehicle information corresponds to Whether there is a collision interference of the broadcast message on the second resource location; if it is determined that the second resource location has a collision interference of the broadcast message, adding a second collision identifier in the message of the first vehicle information, And transmitting, by the first resource location of the next period, the message of adding the first vehicle information of the two collision identifiers, where the second collision identifier is used to indicate that there is collision interference of the broadcast message at the second resource location.
- the processing module 101 has a function of determining whether a message broadcast by the second UE at the second resource location has collision interference, and it is obvious that the second UE or the first UE and the second UE Other UEs other than this also have such a function, and details are not described herein again.
- each vehicle randomly selects whether to send a second collision identifier, such as randomly generating a number between 0 and 10, if the generated number is greater than 6
- the second collision identifier is sent, which can effectively control the number of UEs that send the collision identifier and reduce resource waste.
- the processing module 101 is specifically configured to determine the message of the second vehicle information. When the first condition and the second condition are met, determining that there is a collision interference of the broadcast message on the second resource location corresponding to the second vehicle information message;
- the first condition is that the processing module 101 detects that the interference at the second resource location exceeds an interference threshold
- the collision may be indicated.
- the second condition is that the processing module 101 determines a message for successfully decoding the second vehicle information at the second resource location, and cannot decode the second resource location in the k cycles after successful decoding.
- the message of the two vehicle information wherein k is a positive integer.
- the cause of the interference to be discharged by the second condition is mainly: the problem of receiving the vehicle itself, including the change of the wireless channel, the change of the surrounding environment, and the interference caused by the sensitivity of the receiver. Therefore, if a CAM broadcast message is successfully decoded at a certain resource location, after which consecutive K cycles cannot decode a successful CAM message at the resource location, it is considered that the resource location may have collided or the receiving UE leaves the transmitting UE.
- the coverage area not the problem of the receiver itself or the problem of receiving channels.
- K is the experience value, which can be preset according to different systems and user requirements.
- FIG. 5 is a schematic diagram of a resource collision indication frame format according to an embodiment of the present invention. Referring to FIG. 5, a data frame format that may be adopted is shown.
- the extension field is reserved in the packet header. As shown in the upper part of Figure 5, the extension field is represented by lbit. If the bit is 1, it indicates that there is a collision identifier. If the number of physical resources is 1024, it is required. lObit to indicate the location of any resource that collides; the collision ID will be followed by one An extension field, if the value is 1, it means there is a collision identifier; if it is 0, the identifier is followed by a data frame. In this way, multiple collision locations can be indicated.
- processing module 101 is further configured to: when determining that the message of the second vehicle information meets any of the following conditions, determine that the second resource information corresponding to the second vehicle information message is not There is collision interference of broadcast messages;
- the third condition the processing module 101 detects that the interference at the second resource location does not exceed the interference threshold
- a fourth condition the processing module 101 determines that the second vehicle information message on the second resource location is not successfully decoded
- the third condition corresponds to the first condition, and when the first condition is not satisfied, the third condition is satisfied.
- a fifth condition if the processing module 101 determines to successfully decode the second vehicle information message at the second resource location, successfully decoding the second in at least one of the k cycles after successful decoding A second vehicle information message at the resource location.
- the fourth condition corresponds to the fifth condition and the second condition, and when it is judged that the second condition is not satisfied, the fourth condition or the fifth condition may occur.
- future vehicles may be hoping to broadcast more data, but each vehicle can only obtain one resource location to transmit data, although the current requirements are met but the expansion capability is insufficient.
- the industry wants a UE to use 2 ⁇ 3 or more resource locations at the same time, so a corresponding expansion scheme is needed.
- the message of the first vehicle information further includes an extended indication, where the extended indication is used to indicate that the sending module 100 broadcasts the first resource location and the at least one of the idle resource locations in each cycle.
- the message of the first vehicle information is used to indicate that the sending module 100 broadcasts the first resource location and the at least one of the idle resource locations in each cycle.
- FIG. 6 is a schematic diagram of resource expansion according to an embodiment of the present invention.
- the UE carried on the vehicle A occupies a resource location, but needs to use another resource location (hatched padding).
- the resource location) then A adds an indication to its own header, indicating that the resource location of the subsequent slanted padding of the UE receiving A is still the resource location of A;
- the original resource location and the slash-filled resource location can also be separately decoded.
- the data transmitted at the slash-filled resource location is only an extension of the data at the original resource location, and the decoding does not occur. Too much impact on basic communication needs.
- FIG. 7 is a schematic diagram of sending and receiving data according to an embodiment of the present invention. Referring to FIG.
- a CAM message broadcast with a period of 100 ms is taken as an example, and can be divided into two sub-periods of 50 ms in time, in the first sub-sub-
- the periodic UE contends to broadcast a CAM message to a resource location; in the second sub-cycle, the UE maps to a new resource location and repeatedly broadcasts its own CAM message, such as a simple row-to-column mapping, or a column-to-row mapping. .
- This process requires that the number of rows cannot be less than the number of columns, that is, the time is divided into 50 resources in the figure, and the frequency is divided into 20 resources.
- the frequency resources cannot be more than the number of time resources, otherwise the past time overlap cannot be guaranteed.
- the data does not overlap in the second sub-cycle time.
- vehicles may broadcast some service messages on the traffic channel and need to inform the surrounding vehicles in some way.
- One possible way is to inform the surrounding vehicle's own traffic channel by carrying a service notification in the CAM message so that other vehicles can jump to the traffic channel to receive the message.
- service-specific nodes such as roadside toll stations, etc. We can reserve some CAM resources as the service announcement resources of these nodes.
- the operation information of the vehicle that carries the first UE includes any one or combination of the following parameters: location information of the vehicle that carries the first UE, and the bearer of the first UE Speed information of the vehicle, direction information of the vehicle carrying the first UE, acceleration information of the vehicle carrying the first UE, and vehicle type information of the vehicle carrying the first UE.
- location information of the vehicle that carries the first UE includes location information of the vehicle that carries the first UE, and the bearer of the first UE Speed information of the vehicle, direction information of the vehicle carrying the first UE, acceleration information of the vehicle carrying the first UE, and vehicle type information of the vehicle carrying the first UE.
- FIG. 8 is a schematic structural diagram of a device for transmitting broadcast information of a vehicle according to an embodiment of the present invention.
- the device may be a user equipment UE installed on a vehicle.
- the UE may be another handheld mobile terminal, an on-board unit OBU, and the like;
- the device includes: a processor 200, a memory 201, a bus 202, and a radio frequency circuit 203;
- the memory 201 is configured to store a computer to execute instructions, and the processor 200, the memory 201, and the radio frequency circuit 203 pass through Total Line 202 is coupled, and when said device is in operation, said processor 200 executes said computer executed instructions stored by said memory 201.
- the processor 200 can execute all the functions of the processing module 101 shown in FIG. 2, and the radio frequency circuit 203 can perform all functions of the transmitting module 100 and the receiving module 102 shown in FIG. 2. It is obvious that the device for transmitting the broadcast information of the vehicle shown in FIG. 8 can implement the technical effects of the corresponding embodiment of FIG. 2, and details are not described herein again.
- FIG. 9 is a schematic flowchart of a method for transmitting broadcast information of a vehicle according to an embodiment of the present invention.
- the execution subject of the method is a user equipment UE set on a vehicle.
- the UE may be another handheld mobile terminal or an on-board unit OBU. Etc.
- the UE may adopt the structure of the transmitting device of the vehicle broadcast information shown in FIG. 2 or FIG. 8 and perform the functions of the corresponding embodiment of FIG. 2 or FIG. 8 to achieve the corresponding effect.
- the method includes the following steps: Step 100: A first user equipment UE broadcasts a message of a first vehicle information at a first resource location of each period, where the message of the first vehicle information includes at least Operation information of the vehicle of the first UE;
- the resource position of the corresponding period is a physical quantity characterized by time and frequency, that is, a certain frequency resource in a certain time range; for example, it is located in l l ⁇ 12ms, the duration is lms, and the frequency is
- Step 101 The first UE detects, according to a second resource location of each period, a message of the second vehicle information sent by the second UE, where the message of the second vehicle information includes at least the second UE Running information of the vehicle and a first collision identifier, the first collision identifier is used to indicate the first
- the UE has, at a first resource location of each period, a collision interference that occurs between the first UE broadcast message and a broadcast message of other UEs other than the first UE and the second UE;
- the second resource location refers to all the resources in time except for the time when the resource is sent by itself.
- the second resource location refers to all the resources in time except for the time when the resource is sent by itself.
- other UEs refer to third-party UEs other than the first UE and the second UE, and other UEs may be one or more, and other UEs also broadcast the message of the vehicle information on the first resource location. Thereby causing collision interference with the first UE.
- Step 102 The first UE selects an idle resource location in the second resource location, and uses the selected idle resource location as a first resource location of the first UE in each period.
- step 101 and step 102 the problem that the message collision occurs is solved by using a UE carried by the adjacent vehicle to assist in releasing the resource collision, because each first UE must also listen to the second UE while transmitting its own CAM message.
- the number of second UEs may be one or more
- the CAM message sent (except for the same time transmission, the CAM message sent by the second UE cannot be received while transmitting).
- A, B, C, and K can both detect collisions at the resource locations where the diagonal lines are filled, and then in the next cycle (can be in a period of 100ms, or a period of 10ms)
- A, B, C a certain one or a plurality of broadcasts in K notify the collision of the resource location, and the corresponding 0, P, Q, after detecting the notification message, knows that they are apart from the first UE and the second UE. If other UEs select the same resource location for broadcast, a certain resource reselection algorithm is adopted, and other idle resource locations are selected to continue to broadcast their own CAM messages.
- the simple resource reselection algorithm may be that the UE detects the CAM resources, finds the idle resources therein, and randomly selects one or several of them as their own transmission resources when resource reselection is required.
- UEs carried by three vehicles, 0, P, and Q when detecting periodic CAM messages, may find many idle resource locations, and these new resource locations may be selected during resource location reselection.
- the first user equipment UE broadcasts the message of the first vehicle information at the first resource location of each period, where the message of the first vehicle information includes at least the vehicle carrying the first UE.
- Running information the first UE detects a message of the second vehicle information sent by the second UE at the second resource location of each period, where the message of the second vehicle information includes at least the operation information of the vehicle carrying the second UE and the first collision identifier
- the first collision identifier is used to indicate that the first UE has a first UE broadcast message and a collision interference of a broadcast message of other UEs other than the first UE and the second UE, at the first resource location of each period.
- the first UE selects an idle resource location in the second resource location, and uses the selected idle resource location as the first resource location of the first UE in each period. Achieve reduced message collisions and ensure the vehicle successfully receives the surrounding vehicles Broadcast messages to improve driving safety.
- the first resource location and the second resource location have different time domain locations.
- the number of the second resource locations may be one or more, and the first resource location is different from the first resource location, where the first resource location has a corresponding relationship with the first UE, that is, for each For a UE, at least one first resource location is corresponding, and except for the first resource location, other resource locations are second resource locations for the UE.
- FIG. 10 is a schematic flowchart diagram of a method for transmitting vehicle broadcast information according to an embodiment of the present invention.
- step 101 may have the following feasible manners:
- Step 101a When the first UE detects a message of the second vehicle information sent by the second UE in the second resource location of each period, the first UE adds a non-idle identifier, and the non-idle identifier And indicating that the second resource location is a non-idle resource location; and/or, when the first UE is not detecting the second vehicle information message sent by the second UE, on the second resource location of each period And the first UE adds an idle identifier, where the idle identifier is used to indicate that the second resource location is an idle resource location.
- FIG. 11 is a schematic flowchart of a method for transmitting broadcast information of a vehicle according to an embodiment of the present invention. Referring to FIG. 11, after step 101, the following steps are further included:
- Step 103 The first UE determines, by the second resource location corresponding to the message of the second vehicle information, whether there is a collision interference of a broadcast message.
- Step 104 If it is determined that there is a collision interference of the broadcast message in the second resource location, add a second collision identifier in the message of the first vehicle information, and broadcast the first resource location in the next period. Adding a message of the first vehicle information of the second collision identifier, the second collision identifier A collision interference indicating that a broadcast message exists at the second resource location.
- step 103 and step 104 only the first UE has a function of determining whether a message broadcast by the second UE at the second resource location has collision interference, and it is obvious that the second UE or the first UE and Other UEs other than the second UE also have such a function, and details are not described herein again.
- each vehicle randomly selects whether to send a second collision identifier, such as randomly generating a number between 0 and 10, if the generated number is greater than 6
- the second collision identifier is sent, so that the number of UEs that send the collision identifier can be effectively controlled, and resource waste is reduced.
- step 104 can also be implemented on the basis of FIG.
- step 103 a feasible implementation manner is:
- Step 103a when the first UE determines that the message of the second vehicle information satisfies the following first condition and the second condition, the first UE determines the second corresponding to the second vehicle information message Collision interference of broadcast messages on the resource location;
- the first condition is that the first UE detects an interference exceeding an interference threshold at the second resource location;
- the collision may be indicated.
- the second condition is that the first UE determines a message for successfully decoding the second vehicle information on the second resource location, and cannot decode the second resource location in the k cycles after successful decoding.
- the message of the two vehicle information wherein k is a positive integer.
- the cause of the interference to be discharged by the second condition is mainly: the problem of receiving the vehicle itself, including the change of the wireless channel, the change of the surrounding environment, and the interference caused by the detection sensitivity of the receiver. Therefore, if a CAM broadcast message is successfully decoded at a certain resource location, after which consecutive K cycles cannot decode a successful CAM message at the resource location, it is considered that the resource location may have collided or the receiving UE leaves the transmitting UE.
- the coverage area not the problem of the receiver itself or the problem of receiving channels.
- the receiving UE leaves the coverage area of the transmitting UE, it can be excluded by determining according to the condition one, that is, as long as the receiving UE can detect the interference of the non-corresponding resource location, it indicates that the UE has not left the transmitting UE. Coverage area.
- K is the experience value, which can be preset according to different systems and user requirements. Therefore, when both of the above conditions are satisfied, it can be determined that a resource location is caused by mutual interference caused by multiple vehicles broadcasting at the same resource location.
- the first condition and the second condition are only given in the embodiment, it is obvious that other feasible determination conditions may be added or replaced to improve the accuracy of the judgment. It should be noted that other determination conditions should also belong to the embodiment of the present invention. The scope of protection.
- the vehicle that finds the resource collision needs to assist in the collision cancellation.
- the specific method is as follows:
- the collision identifier of the specified resource location is carried in the CAM message broadcasted by itself, and the collision identifier indicates that the resource location has collision interference, and one UE can specify multiple resource locations at the same time. Collision interference.
- the data frame format that may be employed is described with reference to Figure 5 and the embodiment corresponding to Figure 5 above.
- the UE determines that the collision interference of the broadcast message does not exist on the second resource location corresponding to the message of the second vehicle information, and may be implemented as follows:
- the first UE determines that the message of the second vehicle information meets any of the following conditions, the first UE determines that the second resource location corresponding to the second vehicle information message does not have a broadcast message. Collision interference
- the third condition the first UE detects that the interference at the second resource location does not exceed the interference threshold
- the third condition corresponds to the first condition, and when the first condition is not satisfied, the third condition is satisfied.
- a fourth condition the first UE determines that the second vehicle information message on the second resource location is not successfully decoded
- a fifth condition if the first UE determines to successfully decode the second vehicle information message on the second resource location, successfully decoding the second in at least one of the k cycles after successful decoding A second vehicle information message at the resource location.
- the fourth condition corresponds to the fifth condition and the second condition, and when it is judged that the second condition is not satisfied, the fourth condition or the fifth condition may occur.
- future vehicles may be hoping to broadcast more data, but each vehicle can only obtain one resource location to transmit data, although the current requirements are met but the expansion capability is insufficient.
- the industry wants a UE to use 2 ⁇ 3 or more resource locations at the same time, so a corresponding expansion scheme is needed.
- the message of the first vehicle information further includes an extended indication, and the expanding The indication is used to indicate that the first UE broadcasts the first vehicle information at a first resource location of each cycle and at least one of the idle resource locations.
- the UE carried on the vehicle A occupies a resource location, but needs to use another resource location (the resource location filled by the slash), then A adds in its own header.
- the previous indication informs that the resource location of the subsequent slanted padding of the UE receiving A is still the resource location of A; at the same time, the original resource location and the resource location filled by the slash can be separately decoded, and the resource filled in the slash
- the data transmitted at the location is only an extension of the data at the original resource location, and the decoding does not affect the basic communication requirements.
- FIG. 7 is a schematic diagram of sending and receiving data according to an embodiment of the present invention. Referring to FIG.
- a CAM message broadcast with a period of 100 ms is taken as an example, and can be divided into two sub-periods of 50 ms in time, in the first sub-sub-
- the periodic UE contends to broadcast a CAM message to a resource location; in the second sub-cycle, the UE maps to a new resource location and repeatedly broadcasts its own CAM message, such as a simple row-to-column mapping, or a column-to-row mapping. .
- This process requires that the number of rows cannot be less than the number of columns, that is, the time is divided into 50 resources in the figure, and the frequency is divided into 20 resources.
- the frequency resources cannot be more than the number of time resources, otherwise the past time overlap cannot be guaranteed.
- the data does not overlap in the second sub-cycle time.
- vehicles may broadcast some service messages on the traffic channel and need to inform the surrounding vehicles in some way.
- One possible way is to inform the surrounding vehicle's own traffic channel by carrying a service notification in the CAM message so that other vehicles can jump to the traffic channel to receive the message.
- service-specific nodes such as roadside toll stations, etc. We can reserve some CAM resources as the service announcement resources of these nodes.
- FIG. 12 is a schematic diagram of a CAM message broadcast and resource location selection process of a vehicle information message according to an embodiment of the present invention. Referring to FIG. 12, the process includes the following steps:
- Step 1 The first UE determines whether it is in a time domain location of the first resource location of each cycle. Specifically, if it is in the time domain position, step 2 is performed; otherwise, step 3 is performed.
- Step 2 The first UE broadcasts a message of the first vehicle information at the first resource location.
- Step 3 The first UE identifies that the second resource location is an idle resource location and/or a non-idle resource bit Set.
- the first UE may further determine, according to the foregoing first to fifth condition determination methods, whether there is a collision interference of the broadcast message on the second resource location of any one of the second UEs, if there is a collision Interference, the first UE adds a second collision identifier to the message of the first vehicle information, to indicate that the second UE has a collision interference of the broadcast message at the second resource location, so that the second UE selects other idle resources.
- the location is the second resource location.
- Step 4 The first UE determines whether a collision occurs in the first resource location.
- the first UE detects whether there is a first collision identifier in the message of the second vehicle information sent by the second UE, and if the first collision identifier exists, the first resource location collides.
- step 5 Specifically, if a collision occurs, perform step 5, otherwise return to step 1.
- a feasible implementation manner is: adding a collision identifier to the first resource location, and the identifier can be set to true or false.
- the collision identifier of the first resource location is detected, and if the collision identifier is true, step 5 is directly performed, and if it is false, the identifier is set To be true, perform step 5.
- Step 5 The first UE determines whether there is an idle resource location in the second resource location. If it exists, execute step 6. Otherwise, return to step 1.
- Step 6 The first UE selects an idle resource location in the second resource location as a first resource location of the first UE in each period.
- the first UE either broadcasts its own CAM message, or receives the CAM message sent by the second UE carried by other vehicles, if it belongs to its own corresponding resource location of each period.
- the time domain location arrives, and the first UE broadcasts its own CAM message in the time domain location, otherwise it listens to the CAM message broadcast by the second UE.
- the first UE also checks whether there is a collision on the resource location occupied by itself. The method of checking refers to the above, that is, the second UE finds that the collision occurs on the resource location L and then the CAM of the second UE itself.
- the message carries the collision identifier of the resource location L collision, so that the first UE that selects the resource location L can know that it has collided on the resource location L by receiving the CAM message sent by the second UE.
- the first UE finds its own collision it searches for available free resource locations in each time unit. If M idle resource locations are found in a certain time unit, M is greater than or equal to 1, the first UE can randomly select one from them.
- the idle resource location K is used to broadcast its own CAM message.
- step 6 After completing step 6, optionally, To set the collision identifier of the first resource location to false.
- the operation information of the vehicle that carries the first UE is as follows: any one or combination of the following parameters: location information of the vehicle carrying the first UE, the bearer Speed information of a vehicle of the UE, direction information of the vehicle carrying the first UE, acceleration information of the vehicle carrying the first UE, and vehicle type information of the vehicle carrying the first UE.
- location information of the vehicle carrying the first UE the bearer Speed information of a vehicle of the UE
- direction information of the vehicle carrying the first UE direction information of the vehicle carrying the first UE
- acceleration information of the vehicle carrying the first UE acceleration information of the vehicle carrying the first UE
- vehicle type information of the vehicle carrying the first UE vehicle type information of the vehicle carrying the first UE.
Abstract
Description
Claims
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PCT/CN2014/083432 WO2016015287A1 (zh) | 2014-07-31 | 2014-07-31 | 一种车辆广播信息的发送装置及方法 |
EP14898863.7A EP3163916B1 (en) | 2014-07-31 | 2014-07-31 | Device and method for sending vehicle broadcast information |
BR112017001649A BR112017001649A2 (pt) | 2014-07-31 | 2014-07-31 | aparelho e método para enviar informação de transmissão de veículo |
CN201480078650.6A CN106465061B (zh) | 2014-07-31 | 2014-07-31 | 一种车辆广播信息的发送装置及方法 |
US15/417,787 US9755771B2 (en) | 2014-07-31 | 2017-01-27 | Apparatus and method for sending vehicle broadcast information |
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PCT/CN2014/083432 WO2016015287A1 (zh) | 2014-07-31 | 2014-07-31 | 一种车辆广播信息的发送装置及方法 |
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US15/417,787 Continuation US9755771B2 (en) | 2014-07-31 | 2017-01-27 | Apparatus and method for sending vehicle broadcast information |
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JP6451464B2 (ja) * | 2015-04-02 | 2019-01-16 | 株式会社デンソー | 衝突回避装置、及び衝突回避システム |
US10089869B1 (en) * | 2017-05-25 | 2018-10-02 | Ford Global Technologies, Llc | Tracking hit and run perpetrators using V2X communication |
US11503640B2 (en) * | 2017-11-10 | 2022-11-15 | Lg Electronics Inc. | Method for transmitting and receiving feedback information, and terminal therefor |
CN114867062A (zh) * | 2018-02-12 | 2022-08-05 | 华为技术有限公司 | 资源选择的方法和终端设备 |
DE102018210279A1 (de) * | 2018-06-25 | 2020-01-02 | Robert Bosch Gmbh | Erstes Endgerät, Verfahren zum Betreiben des ersten Endgeräts, zweites Endgerät und Verfahren zum Betreiben des zweiten Endgeräts |
CN110661830B (zh) * | 2018-06-29 | 2022-11-11 | 中国电信股份有限公司 | 资源调度方法、装置、车载终端、基站及车联网系统 |
WO2020107349A1 (zh) * | 2018-11-29 | 2020-06-04 | 北京小米移动软件有限公司 | 资源碰撞解决方法、装置及存储介质 |
CN113347607A (zh) * | 2020-08-11 | 2021-09-03 | 株式会社电装 | 车辆间消息处理装置及方法 |
WO2022041008A1 (zh) * | 2020-08-26 | 2022-03-03 | 北京小米移动软件有限公司 | 直连通信方法、直连通信装置及存储介质 |
CN113727307B (zh) * | 2021-10-15 | 2023-08-15 | 西安电子科技大学 | 基于冲突检测与冲突避免联合的车联网资源选择方法 |
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EP3163916B1 (en) | 2019-06-19 |
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US9755771B2 (en) | 2017-09-05 |
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