WO2017032100A1

WO2017032100A1 - Vehicle control method and apparatus, and vehicle internet system

Info

Publication number: WO2017032100A1
Application number: PCT/CN2016/083029
Authority: WO
Inventors: 马伟; 马子江; 谢玉堂
Original assignee: 中兴通讯股份有限公司
Priority date: 2015-08-25
Filing date: 2016-05-23
Publication date: 2017-03-02
Also published as: CN106485947A

Abstract

A vehicle control method and apparatus, and a vehicle Internet system. The method comprises: a first vehicle receiving a vehicle request message, wherein the vehicle request message is used to instruct a second vehicle to request to join a V2V communication group to which the first vehicle belongs, and the first vehicle is a management vehicle in the V2V communication group (S110); the first vehicle determining, according to a current communication state in the V2V communication group, whether to approve the second vehicle joining the V2V communication group (S120); and the first vehicle sending a vehicle response message, wherein the vehicle response message comprises a determination result of the first vehicle, and the vehicle response message is used to instruct the second vehicle to join the V2V communication group or omit joining the V2V communication group (S130).

Description

Vehicle control method, device and vehicle network system

Technical field

The present application relates to, but is not limited to, the field of wireless communication technologies, and in particular, to a vehicle control method, apparatus, and vehicle networking system.

Background technique

With the rapid development of the economy and society, the popularity of automobiles has also increased rapidly. The frequent occurrence of road traffic accidents has become one of the important factors affecting public safety. Improving the safety design of vehicles is an important part of solving road traffic safety problems. section.

Communication-based collision warning system, the vehicle networking realizes real-time information interaction between the vehicle and the vehicle, between the vehicle and the network device by using the wireless cellular communication technology, and informs each other of the current state, for example, including the position, speed, acceleration of the vehicle, The driving route, and the learned road environment information, collaboratively perceive the road dangerous situation, and provide various collision warning information in time, thereby reducing the occurrence of road traffic safety accidents. With the development of wireless multimedia services, cellular networks centered on base stations (BSs) have significant limitations in supporting high data rates and proximity services, in order to meet the needs of vehicles in the Internet of Vehicles. Communication requires low-latency and high-reliability indicators. Current vehicle-to-network communication methods usually include vehicle-to-vehicle (V2V) communication, and vehicle-to-road infrastructure (Vehicle to Infrastructure, referred to as :V2I) Communication and Vehicle to Radio Side Unit (V2R) communication. Vehicles in both V2I communication and V2R communication need to transmit communication information through network equipment. The transmission of communication information will generate high delay, which will lead to poor vehicle safety. V2V communication usually adopts related technologies. Device-to-Device (D2D) communication technology, in the vehicle networking application scenario related to vehicle safety, using V2V communication can reduce the transmission delay compared to the vehicle transmitting communication information through the network device. However, the use of V2V communication in densely populated areas may create problems such as resource congestion and collisions, in which case network equipment is required to allocate resources for multiple vehicles. In the above vehicle networking communication mode, each vehicle acts as an independent individual, and the vehicle networking communication is actually a two-two communication between the vehicle and the vehicle, and between the vehicle and the network device.

Therefore, in the related vehicle network communication mode, since the vehicle and the vehicle exchange information between the vehicle and the vehicle frequently, and the amount of data to be exchanged is large, the management complexity of the vehicle network is high.

Summary of the invention

The following is an overview of the topics detailed in this document. This Summary is not intended to limit the scope of the claims.

In order to solve the above technical problem, the present application provides a vehicle control method, device, and vehicle networking system, which solves the problem of frequent interaction between a vehicle and a network device between a vehicle and a vehicle in a related vehicle network communication method. Moreover, the amount of data that needs to be exchanged is large, which leads to a problem of high management complexity of the Internet of Vehicles.

A communication control method includes:

The first vehicle receives a vehicle request message for instructing the second vehicle to request to join the vehicle-to-vehicle V2V communication group to which the first vehicle belongs, the first vehicle being a management vehicle in the V2V communication group .

The first vehicle determines whether to approve the second vehicle to join the V2V communication group according to a current communication status in the V2V communication group.

The first vehicle transmits a vehicle response message, the vehicle response message including a determination result of the first vehicle, the vehicle response message being used to indicate that the second vehicle joins the V2V communication group or ignores joining the V2V Communication group.

Optionally, the first vehicle receives the vehicle request message, including:

The first vehicle receives the vehicle request message forwarded by the second vehicle via a network device.

The first vehicle sends a vehicle response message, including:

The first vehicle returns the vehicle response message to the network device, the vehicle response message being used to instruct the network device to forward the vehicle response message to the second vehicle.

Optionally, the method further includes: before the first vehicle receives the vehicle request message forwarded by the second vehicle by the network device, the first vehicle receives the sending by the network device Paging message.

The first vehicle establishes a communication connection with the network device according to the paging message.

Optionally, the first vehicle receives the vehicle request message, including:

The first vehicle receives the vehicle request message sent by the second vehicle via a V2V communication connection.

The first vehicle sends a vehicle response message, including:

The first vehicle transmits the vehicle response message to the second vehicle via the V2V communication connection.

Optionally, the method further includes: after the first vehicle sends a vehicle response message, and the vehicle response message is used to indicate that the second vehicle joins the V2V communication group, the first vehicle receives The status information periodically transmitted by the second vehicle, the periodically transmitted status information is used to indicate that each vehicle in the V2V communication group confirms a communication status of the second vehicle.

Optionally, the communication manner between the first vehicle and the network device comprises: vehicle-to-road infrastructure V2I communication or vehicle-to-roadside device V2R communication.

Optionally, the current communication state in the V2V communication group includes one or more of the following: a quantity of vehicles in the V2V communication group, a speed of each vehicle, a network signal quality of the V2V communication group, and a location The distance between the second vehicle and the first vehicle.

Optionally, the vehicle response message sent by the first vehicle further includes one or more of the following: one of resource information, synchronization information, a status information transmission period, and a transmission time slot of the V2V communication group or Multiple.

A vehicle control method includes:

The second vehicle transmits a vehicle request message for instructing the second vehicle to request to join a vehicle-to-vehicle V2V communication group to which the first vehicle belongs, the first vehicle being a management vehicle in the V2V communication group .

The second vehicle receives a vehicle response message, the vehicle response message including a determination result for instructing the first vehicle to determine whether to approve the second vehicle to join the V2V communication group to which the first vehicle belongs;

The second vehicle joins the V2V communication group according to the vehicle response message or ignores joining the V2V communication group.

Optionally, the second vehicle sends a vehicle request message, including:

The second vehicle sends the vehicle request message to a network device, where the vehicle request message is further used to instruct the network device to forward the vehicle request message to the first vehicle;

The second vehicle receives the vehicle response message, including:

The second vehicle receives the vehicle response message forwarded by the first vehicle through the network device.

Optionally, the second vehicle sends a vehicle request message, including:

The second vehicle transmits the vehicle request message to the first vehicle via a V2V communication connection;

The second vehicle receives the vehicle response message, including:

The second vehicle receives the vehicle response message sent by the first vehicle via the V2V communication connection.

Optionally, the method further includes: after the second vehicle joins the V2V communication group according to the vehicle response message, the second vehicle periodically sends status information, and the periodically sent status information Each vehicle in the V2V communication group confirms a communication state of the second vehicle.

Optionally, the vehicle response message received by the second vehicle includes one or more of the following: resource information, synchronization information, a status information transmission period, and a transmission time slot of the V2V communication group.

A vehicle control device is provided in a first vehicle of a vehicle-to-vehicle V2V communication group, the first vehicle being a management vehicle in the V2V communication group, the vehicle control device comprising:

a receiving module, configured to receive a vehicle request message, where the vehicle request message is used to indicate that the second vehicle requests to join the V2V communication group to which the first vehicle belongs;

Determining a module, configured to determine whether to approve the second vehicle to join the V2V communication group according to a current communication status in the V2V communication group;

a sending module, configured to send a vehicle response message, where the vehicle response message includes a determination result of the first vehicle, the vehicle response message is used to indicate that the second vehicle joins the V2V communication group or ignores joining the V2V Communication group.

Optionally, the receiving, by the receiving module, the vehicle request message includes: receiving the vehicle request message that is forwarded by the second vehicle by using a network device.

The transmitting, by the sending module, the vehicle response message includes: returning the vehicle response message to the network device, where the vehicle response message is used to instruct the network device to forward the vehicle response message to the second vehicle.

Optionally, the receiving module is further configured to receive a paging message sent by the network device before receiving the vehicle request message forwarded by the second vehicle by the network device.

The vehicle control device further includes a communication module configured to establish a communication connection with the network device according to the paging message received by the receiving module.

Optionally, the receiving, by the receiving module, the vehicle request message includes: receiving the vehicle request message sent by the second vehicle through a V2V communication connection.

The transmitting, by the sending module, the vehicle response message includes: transmitting, by the V2V communication connection, the vehicle response message to the second vehicle.

Optionally, the receiving module is further configured to: after the sending module sends the vehicle response message, and the vehicle response message is used to indicate that the second vehicle joins the V2V communication group, receiving the Status information periodically transmitted by the second vehicle, the periodically transmitted status information is used to indicate that each vehicle in the V2V communication group confirms the communication status of the second vehicle.

Optionally, the vehicle response message sent by the first vehicle further includes one or more of the following: resource information, synchronization information, a status information transmission period, and a transmission time slot of the V2V communication group.

A vehicle control device is disposed outside a vehicle-to-vehicle V2V communication group In the second vehicle of the department, the management vehicle in the V2V communication group is a first vehicle, and the vehicle control device includes:

a sending module, configured to send a vehicle request message, the vehicle request message is used to indicate that the second vehicle requests to join a vehicle-to-vehicle V2V communication group to which the first vehicle belongs, and the first vehicle is the V2V communication group Management vehicles in the middle.

And a receiving module, configured to receive a vehicle response message, the vehicle response message including a determination result for instructing the first vehicle to determine whether to approve the second vehicle to join the V2V communication group to which the first vehicle belongs.

And a communication module, configured to join the V2V communication group according to a vehicle response message received by the receiving module or ignore joining the V2V communication group.

Optionally, the sending, by the sending module, the vehicle request message includes: sending the vehicle request message to a network device, where the vehicle request message is further used to instruct the network device to forward the vehicle request to the first vehicle Message.

The receiving module configured to receive the vehicle response message includes receiving the vehicle response message forwarded by the first vehicle by the network device.

Optionally, the sending, by the sending module, the sending the vehicle request message comprises: sending the vehicle request message to the first vehicle by using a V2V communication connection.

The receiving module configured to receive the vehicle response message includes receiving the vehicle response message sent by the first vehicle through the V2V communication connection.

Optionally, the sending module is further configured to periodically send status information, the periodically sent status information, after the communication module joins the V2V communication group according to the vehicle response message received by the receiving module. Each vehicle in the V2V communication group confirms a communication state of the second vehicle.

A vehicle networking system includes: one or more vehicle-to-vehicle V2V communication groups and one or more second vehicles, the second vehicle being a vehicle other than the V2V communication group, in the V2V communication group Managing the vehicle as a first vehicle; wherein the first vehicle is provided with the vehicle a control device in which the vehicle control device is disposed.

A computer readable storage medium storing computer executable instructions that, when executed by a processor, implement the vehicle control method.

The vehicle control method and device and the vehicle networking system provided by the embodiment of the present invention indicate that the second vehicle requests to join the V2V communication group to which the first vehicle belongs by using the vehicle request message received by the first vehicle, and the V2V communication of the first vehicle The group of management vehicles, the first vehicle determines whether to approve the second vehicle to join the V2V communication group according to the current communication status of the V2V communication group, and returns a vehicle response message including the determination result to indicate whether the second vehicle can join the V2V communication group The method provided by the embodiment of the present invention performs intra-group communication on a plurality of vehicles in an associated vehicle networking communication, which are independent individuals, as a whole V2V communication group, and other communication modes can be adopted outside the V2V communication group. In the communication, a reasonable combination of different communication methods solves the related vehicle network communication mode. Because the information exchanges between the vehicle and the vehicle is relatively frequent between the vehicle and the network device, and the amount of data that needs to be exchanged is large, resulting in the vehicle. The problem of high management complexity of networking.

BRIEF abstract

1 is a schematic diagram of an application scenario of D2D communication in the related art;

2 is a schematic diagram of an application scenario of vehicle traffic in the related art;

3 is a schematic diagram of an application scenario of vehicle networking communication in the related art;

4 is a flowchart of a vehicle control method according to an embodiment of the present invention;

FIG. 5 is a flowchart of another vehicle control method according to an embodiment of the present invention;

FIG. 6 is a flowchart of still another vehicle control method according to an embodiment of the present invention;

FIG. 7 is a flowchart of still another vehicle control method according to an embodiment of the present invention;

FIG. 8 is a flowchart of signaling interaction of a vehicle control method according to an embodiment of the present invention;

FIG. 9 is a flowchart of signaling interaction of another vehicle control method according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a vehicle control apparatus according to an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.

Embodiments of the invention

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other.

With the popularization of automobiles, road traffic safety has become one of the basic problems affecting social harmony and improving people's livelihood. It is necessary to improve traffic safety from various aspects such as technology, policy and education. The improvement of vehicle safety design is to solve road traffic safety problems. An important part of. Among them, the technology to improve vehicle safety is mainly divided into passive safety technology and active safety technology. Passive safety technology is used to protect people and objects inside and outside the vehicle after the accident; active safety technology is used to prevent and reduce vehicle occurrence. Accidents to avoid injuries; active safety technology is the focus and trend of modern vehicle safety technology development. For example, according to a survey conducted by the National Highway Traffic Safety Administration, 80% of road traffic accidents are caused by driver negligence within 3 seconds before the accident. An experiment by Daimler-Benz showed If the driver can be alerted 0.5 seconds in advance, 60% of the rear-end collision accident can be avoided. If the driver can get the warning and take measures 1.5 seconds in advance, 90% of the rear-end collision accident can be avoided. Therefore, the communication-based collision warning system utilizes wireless cellular communication technology to realize real-time information interaction between the vehicle and the vehicle, the vehicle and the roadside infrastructure, and inform each other of the current state, for example, including the position, speed, acceleration of the vehicle, The driving route, the learned road environment information, the collaborative perception of the road dangerous situation, timely providing a variety of collision warning information, reducing and preventing the occurrence of road traffic safety accidents, has become a new way to solve the road traffic safety problem.

With the development of wireless multimedia services, people's demand for high data rates and user experience is increasing, which puts high demands on the system capacity and coverage of traditional cellular networks. On the other hand, public security, social networks, close-range data sharing, Application scenarios such as local advertising have led to an increasing demand for people to understand and communicate with nearby people (Proximity Services). Therefore, the traditional BS-centric cellular network has obvious limitations in supporting high data rates and proximity services. Device-to-Device (D2D) technology has become an important way to solve the above problems. The application of D2D technology can reduce the burden on the cellular network, reduce the battery power consumption of the user equipment, increase the data rate, and improve the robustness of the network infrastructure, which satisfies the requirements of the above high data rate services and proximity services.

D2D technology usually includes D2D discovery technology and D2D communication technology, among which D2D discovery technology The technology is used to determine/determine whether the first user equipment (User Equipment, UE for short) is adjacent to the second UE. The user equipment that supports the D2D function is the D2D User Equipment (D2D User Equipment, D2D for short). UE), the D2D UE can discover the other party by sending or receiving the discovery signal/information; the D2D communication technology refers to a technology in which some or all of the communication data between the D2D UEs can directly communicate without using the network infrastructure. D2D technology can typically operate in licensed or unlicensed bands, allowing multiple D2D UEs to perform direct discovery/direct communication with or without network infrastructure. The following is a brief description of the implementation of the D2D technology. As shown in FIG. 1 , it is a schematic diagram of an application scenario of D2D communication in the related art. The network infrastructure in FIG. 1 is an evolved Node B (abbreviated as: eNB). As an example, there are three main application scenarios for D2D communication:

1) UE1 and UE2 perform data interaction under the coverage of the cellular network, and the user plane data does not pass through the eNB, as shown in mode 1 in FIG.

2) In the area where the eNB covers a weak area or has no coverage, the UE performs relay transmission, for example, in mode 2 of FIG. 1, the UE 4 with poor signal quality is allowed to communicate with the eNB through the UE3 covered by the eNB nearby, Can help operators expand coverage and increase capacity.

3) In the event of an earthquake or emergency, if the cellular network is not working properly, direct communication between devices is allowed. As shown in mode 3 in Figure 1, the control plane and user plane between UE5, UE6 and UE7 do not pass through the eNB. One-hop or multi-hop data communication.

Based on the above characteristics and advantages of D2D technology, related technologies have proposed the use of cellular wireless communication and D2D communication to realize the application of vehicle networking. The main scenarios of communication include instant communication and vehicle warning. Vehicle warning may include collision warning and change. Warning, etc., but the requirements for delay are very high in this scenario. The relevant D2D technology needs to perform D2D discovery before communication between the vehicle and the vehicle, or between the vehicle and the network equipment, which cannot meet the delay requirement. .

In vehicle networking communication, vehicle to vehicle (V2V) communication needs to meet the requirements of low delay and high reliability in many scenarios, as shown in Figure 2, which is an application of vehicle traffic in related technologies. The schematic diagram of the scenario, as shown in FIG. 3, is a schematic diagram of an application scenario of the vehicle networking communication in the related art. The distance between the two vehicles, for example, the vehicle A and the vehicle B are too close, and it is necessary to pay attention to the driving safety between the vehicles. Vehicle A first reports its own location/vehicle speed and other information to the network equipment, and then the network equipment notifies vehicle B, then vehicle B obtains information such as the location/vehicle speed of vehicle A. The high delay will cause the vehicle B not to quickly avoid the car A. It should be noted that in the vehicle networking communication, the communication between the vehicle and the network device is called V2I communication, and the V2I communication may also be V2R communication. The network device in the V2R communication is a roadside device (Radio Side Unit, referred to as : RSU), V2I communication and V2R communication refer to communication between a vehicle and a network device, and the network device may be, for example, an eNB, an infrastructure, an RSU, and a relay.

Therefore, in the above-mentioned application scenarios related to vehicle safety, V2V communication is generally adopted in the related art, and the V2V communication may adopt the above-mentioned D2D technology defined by the 3rd Generation Partnership Project (3GPP). In order to realize V2V communication, each vehicle supporting V2V communication needs to obtain the resources required for communication, such as the frequency of communication and the physical resources such as time slots. When the V2V communication adopts the D2D technology defined by 3GPP, the resources required for V2V communication It can be obtained in a competitive manner, for example, the first use first, but this method may cause resource congestion and collision in a region with a large number of vehicles. For example: there is a pre-allocated resource block, but multiple vehicles use the same resources, usually the same frequency resources and time slot resources, which will make these vehicles unable to use the resources, thus making these vehicles The information cannot be sent out. Therefore, in V2V communication, if the vehicle obtains the resources in the resource pool in a competitive manner, it is easy to cause a collision and the vehicle information cannot be transmitted in time. For the above reasons, in one area, if there are many vehicles, in order to avoid congestion caused by competing resources of these vehicles, resources can be allocated and scheduled for each vehicle by the network.

However, in the related art, the implementation of the vehicle network communication, each vehicle as an independent individual, the vehicle network communication is actually between the vehicle and the vehicle, and the two-two communication between the vehicle and the network device, the interaction information is relatively frequent And the amount of data that needs to be exchanged is large, which causes problems such as high management complexity of the Internet of Vehicles.

The technical solutions of the present application are described in detail below by using the embodiments. The vehicles in the embodiments of the present invention are all vehicles that can support D2D communication, such as the above-mentioned D2D UEs, and the V2V communications in the embodiments of the present invention are all defined by using 3GPP. The D2D technology is taken as an example. At this time, the air interface between the vehicle and the vehicle adopts the PC5 interface defined in the 3GPP D2D technology, and the V2I communication can adopt the air interface between the vehicle and the network device defined by the 3GPP, that is, the Uu interface. (User Equipment/User Equipment). The network device in the embodiment of the present invention refers to a network that can provide and allocate vehicle networking resources, control and manage the vehicle networking service, and/or can provide wireless access for the vehicle networking service. The logical unit, the network device may include, for example, an eNB, a relay, and an RSU. When the network device is an eNB, or a Relay, or an RSU including an eNB function, communication between the vehicle and the network device may adopt a V2I mode, that is, through the Uu. The interface is used to establish a communication connection. The Uu interface is an interface between the eNB and the UE in the 3GPP. When the network device is an RSU that includes the UE function, the communication between the vehicle and the network device may be in a V2V mode, that is, through the PC5 interface. To achieve, the PC5 interface is an interface between the UE and the UE in the 3GPP D2D technology. The following embodiments of the present invention may be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

FIG. 4 is a flowchart of a vehicle control method according to an embodiment of the present invention. The vehicle control method provided by the embodiment is applicable to the case of the vehicle network communication, and the method can be implemented by the vehicle control device, which is implemented by a combination of hardware and software, and the device can be integrated in the implementation of the vehicle networking communication. In the processor of the vehicle, it is used by the processor to call. As shown in FIG. 4, the method in this embodiment may include steps S110-S130:

S110. The first vehicle receives a vehicle request message, where the vehicle request message is used to indicate that the second vehicle requests to join the V2V communication group to which the first vehicle belongs, and the first vehicle is a management vehicle in the V2V communication group.

In this embodiment, the fleet formed by at least two vehicles can be represented by a group, which is a vehicle group. The communication mode inside the vehicle group is V2V communication, so the vehicle group can be defined as The vehicles in the V2V communication group and the V2V communication group have the characteristics of broadcasting. In the embodiment of the present invention, the V2V communication group is used to represent the vehicle group, and the V2V communication group has one vehicle head, that is, the management vehicle in the V2V communication group. A communication connection is established between the management vehicle and the network device, and the management vehicle interacts with the network device, and the network device can grant or reclaim the authority of the management vehicle control management V2V communication group, and the management vehicle can also control the V2V communication group. V2V communication resources and functions between each vehicle.

The first vehicle in the embodiment of the present invention is a management vehicle in the V2V communication group to which the first vehicle belongs, not only can control V2V communication resources and functions between each vehicle in the V2V communication group, but also can control vehicles in the V2V communication group. The number is reflected as: whether the vehicle outside the V2V communication group can be controlled to join the V2V communication group. Generally, the first vehicle knows that the second vehicle requests to join the V2V communication group through the received vehicle request message. The first vehicle, the second vehicle, and the embodiment of the present invention Each vehicle in the V2V communication group is typically a terminal device in wireless communication, such as a vehicle in a vehicle networking communication or a wireless communication module in a vehicle.

Optionally, the manner in which the first vehicle receives the vehicle request message may include: the first vehicle receives a vehicle request message forwarded by the second vehicle through the network device; and the second vehicle may establish a radio resource control with the network device through the Uu interface (Radio Resource Control) , abbreviated as: RRC) link, after the establishment of the RRC link, the vehicle request message is sent to the network device. At this time, if the first vehicle has established a communication connection with the network device, that is, the first vehicle is in the RRC link state, the network device can pass the Uu. The interface forwards the vehicle request message to the first vehicle; in another case, when the network device receives the vehicle request message, the first vehicle is in an idle state, and the method provided by the embodiment further requires the first vehicle to be established before S110. The RRC link with the network device, optionally, the first vehicle receives the paging message sent by the network device, thereby establishing a communication connection with the network device according to the paging message, and then receiving the vehicle request message sent by the network device.

Optionally, the manner in which the first vehicle receives the vehicle request message may further include: the first vehicle receives the vehicle request message sent by the second vehicle through the V2V communication connection; and the second vehicle decides to join the first vehicle as the V2V communication group of the management vehicle. Sending a vehicle request message to the first vehicle by performing V2V discovery and V2V communication with the first vehicle; in the interaction mode of the first vehicle and the second vehicle, the upper layer service of the data bearer may also be implemented, for example, The information interaction may be implemented by using an Internet Protocol (IP) layer application in the first vehicle and the second vehicle, similar to an application (Application, abbreviated as APP) on the smart terminal.

S120. The first vehicle determines whether to approve the second vehicle to join the V2V communication group according to the current communication status in the V2V communication group.

The first vehicle in this embodiment, as the management vehicle of the V2V communication group, is responsible for managing the communication state of the V2V communication group, and after receiving the vehicle request message sent by the second vehicle, may be based on the current communication of the V2V communication group to which it belongs. a state of determining whether the second vehicle can join the V2V communication group, the current communication state including, for example, the number of vehicles in the V2V communication group, the speed of each vehicle, the network signal quality of the V2V communication group, and the second vehicle and the second One or more of the distances of a vehicle, which can reflect the communication resources and the collision probability of the vehicle in the V2V communication group, can be used as the basis for the first vehicle to make a decision. The determination result of the first vehicle is generally to approve the second vehicle to join the V2V communication group, or to reject the second vehicle to join the V2V communication group.

S130. The first vehicle sends a vehicle response message, where the vehicle response message includes a determination result of the first vehicle, the vehicle response message is used to indicate that the second vehicle joins the V2V communication group or ignores joining the V2V communication group.

In this embodiment, after receiving the vehicle response message returned by the first vehicle, the second vehicle may obtain the determination result of the first vehicle according to the indication of the vehicle response message, that is, whether the first vehicle approves the joining of the V2V communication group. Therefore, when the first vehicle determines to approve the joining of the V2V communication group, the V2V communication group is added according to the vehicle response message, and when the first vehicle determines to refuse to join the V2V communication group, the V2V communication group is ignored according to the vehicle response message, that is, The operation of joining the V2V communication group is not performed at this time.

In an implementation, the manner in which the first vehicle transmits the vehicle response message corresponds to the manner in which the vehicle request message is received, that is, if the first vehicle receives the vehicle request message forwarded by the network device, after the decision, the vehicle is returned to the network device. Responding to the message, thereby indicating that the network device forwards the vehicle response message to the second vehicle; if the first vehicle receives the vehicle request message sent by the second vehicle through the V2V communication connection, after the decision, connecting to the second vehicle through the V2V communication Send the above vehicle response message. In various embodiments of the present invention, the technical meaning of the second vehicle joining the V2V communication group to which the first vehicle belongs is that the second vehicle joins a V2V communication group managed by the first vehicle, and the second vehicle enters the vehicle list of the first vehicle management. The second vehicle obtains communication resources in the V2V communication group managed by the first vehicle, the first vehicle may manage allocation and release of communication resources of the second vehicle, and the second vehicle establishes a V2V communication connection with the V2V communication group.

It should be noted that, in this embodiment, the communication mode between the first vehicle and the network device may be V2I communication or V2R communication, where the V2R communication is when the network device is an RSU including a UE function, the first vehicle and the network device Actually perform V2V communication. In this embodiment, a vehicle group composed of a plurality of vehicles is used as a V2V communication group, and a mode of communication between the vehicle and the vehicle and between the vehicle and the network device is converted into a management vehicle and a network device in the V2V communication group. For communication, the vehicles in the V2V communication group can adopt the broadcast or unicast communication mode, which is beneficial to reduce the frequency of interaction between the vehicles in one area and the communication information between the vehicle and the network equipment, and reduce the amount of interaction data, thereby reducing the amount of interaction. The complexity of vehicle management.

The vehicle control method provided by the embodiment, by the vehicle request message received by the first vehicle, instructs the second vehicle to request to join the V2V communication group to which the first vehicle belongs, the first vehicle The V2V communication group manages the vehicle, so that the first vehicle determines whether to approve the second vehicle to join the V2V communication group according to the current communication state of the V2V communication group, and returns a vehicle response message including the determination result to indicate whether the second vehicle can join the V2V communication group; the method provided by the embodiment provides intra-group communication for a plurality of vehicles existing in an independent vehicle network communication as a whole V2V communication group, and other communication modes can be adopted outside the V2V communication group. In the vehicle network communication, the various communication modes are reasonably combined, and the related vehicle network communication mode is solved. Since the vehicle and the vehicle exchange information between the vehicle and the network device frequently, and the amount of data to be exchanged is large, The problem of high management complexity of the Internet of Vehicles.

In this embodiment, the V2V communication group uses the D2D technology for communication, and the management vehicle, that is, the first vehicle allocates resource information in the transmission resource pool and the reception resource pool, and uniformly manages resources in the V2V communication group, the V2V communication group. When the vehicle is in D2D communication, it can directly send and receive information according to the allocated resources, and does not need to perform the D2D discovery process, and the solution is applied in the application scenario related to vehicle safety, which is beneficial to reducing the information transmitted by the vehicle. Delay.

Optionally, FIG. 5 is a flowchart of another vehicle control method according to an embodiment of the present invention. On the basis of the foregoing embodiment shown in FIG. 4, the vehicle response message is used to indicate that the second vehicle joins the V2V. In the case of the communication group, the vehicle response message sent by the first vehicle may further include one or more of the following: one or more of resource information, synchronization information, status information transmission period, and transmission time slot of the V2V communication group; Optionally, the method provided in this embodiment may further include: S140, the first vehicle receives status information periodically sent by the second vehicle, where the periodically transmitted status information is used to indicate each vehicle in the V2V communication group. Confirm the communication status of the second vehicle. In this embodiment, since the vehicles in the V2V communication group have the characteristics of broadcasting, after the second vehicle joins the V2V communication group, the status information needs to be periodically transmitted, which may be in the form of broadcast or unicast, so that the vehicle Other vehicles within the V2V communication group are informed of the status of the second vehicle.

It should be noted that each vehicle in the V2V communication group needs to periodically transmit its own state information, which is the same as the manner and function of periodically transmitting the state information by the second vehicle. In addition, on the basis of the embodiment shown in FIG. 5, after the second vehicle joins the V2V communication group, the vehicle confirmation message may also be sent. Similarly to the above embodiment, if the second vehicle transmits to the first vehicle through the network device. The vehicle request message, after joining the V2V communication group, sends a vehicle confirmation message to the network device, and if the second vehicle sends a vehicle request message to the first vehicle through the V2V communication connection, then joins After the V2V communication group, a vehicle confirmation message is sent to the first vehicle.

In an implementation of each of the above embodiments, when the second vehicle transmits a vehicle request message to the first vehicle via the V2V communication connection, the external same channel of the V2V communication group is generally used, and the V2V communication is added to the second vehicle. After the group, the first vehicle is responsible for allocating the internal dedicated channel of the V2V communication group to the second vehicle, and then the second vehicle transmitting vehicle confirmation message and the periodic transmission status information can be sent through the internal dedicated channel of the V2V communication group. .

FIG. 6 is a flowchart of still another vehicle control method according to an embodiment of the present invention. The vehicle control method provided by the embodiment is applicable to the case of the vehicle network communication, and the method can be implemented by the vehicle control device, which is implemented by a combination of hardware and software, and the device can be integrated in the implementation of the vehicle networking communication. In the processor of the vehicle, it is used by the processor to call. As shown in FIG. 6, the method of this embodiment may include S210-S230:

S210. The second vehicle sends a vehicle request message for instructing the second vehicle to request to join a vehicle-to-vehicle V2V communication group to which the first vehicle belongs, the first vehicle being a management vehicle in the V2V communication group.

In the present embodiment, the fleet formed by at least two vehicles is also represented by the V2V communication group, and the V2V communication group has the same characteristics and communication mode as the V2V communication group in the above embodiment, and the first vehicle belongs to the V2V communication group to which it belongs. The management vehicle has the same management capabilities as the first vehicle in the above embodiment.

Optionally, the manner in which the second vehicle sends the vehicle request message may include: the second vehicle sends a vehicle request message to the network device, where the vehicle request message is used to instruct the network device to forward the vehicle request message to the first vehicle, so that the second A vehicle knows that the vehicle outside the V2V communication group requests to join the V2V communication group; at this time, if the first vehicle is in the RRC link state, the network device can forward the vehicle request message to the first vehicle through the Uu interface; in another case When the network device receives the vehicle request message, the first vehicle is in an idle state, and before the network device forwards the vehicle request message to the first vehicle, the network device also needs to establish an RRC link with the network device, and then the first vehicle can receive A vehicle request message sent to the network device.

Optionally, the manner in which the second vehicle sends the vehicle request message may further include: the second vehicle sends a vehicle request message to the first vehicle through the V2V communication connection; after the second vehicle decides to join the first vehicle as the V2V communication group of the management vehicle, Through V2V discovery and V2V communication with the first vehicle, The vehicle request message is sent to the first vehicle. The interaction between the first vehicle and the second vehicle can also be implemented by the upper layer service of the data bearer. The detailed implementation is the same as that of the foregoing embodiment, and details are not described herein again.

S220. The second vehicle receives a vehicle response message, where the vehicle response message includes a determination result for instructing the first vehicle to determine whether to approve the second vehicle to join the V2V communication group to which the first vehicle belongs.

The first vehicle in this embodiment, as the management vehicle of the V2V communication group, is responsible for managing the communication state of the V2V communication group, and after receiving the vehicle request message sent by the second vehicle, may be based on the current communication of the V2V communication group to which it belongs. a state of determining whether the second vehicle can join the V2V communication group, the current communication state including, for example, the number of vehicles in the V2V communication group, the speed of each vehicle, the network signal quality of the V2V communication group, and the second vehicle and the second One or more of the distances of a vehicle, which can reflect the communication resources and the collision probability of the vehicle in the V2V communication group, can be used as the basis for the first vehicle to make a decision. The determination result of the first vehicle is generally to approve the second vehicle to join the V2V communication group, or to reject the second vehicle to join the V2V communication group, and after the first vehicle obtains the determination result, the determination result may be carried in the vehicle response message. Return to the second vehicle.

In this implementation, the manner in which the second vehicle receives the vehicle response message corresponds to the manner in which the vehicle request message is sent, that is, if the second vehicle forwards the vehicle request message to the first vehicle through the network device, the second vehicle receives a vehicle response message forwarded by the first vehicle through the network device; if the second vehicle transmits a vehicle request message to the first vehicle through the V2V communication connection, the second vehicle receives the vehicle response message sent by the first vehicle through the V2V communication connection. In the embodiment of the present invention, the technical meaning of the second vehicle joining the V2V communication group to which the first vehicle belongs is the same as that of the foregoing embodiment, and therefore no further details are provided herein.

S230. The second vehicle joins the V2V communication group according to the vehicle response message or ignores joining the V2V communication group.

In this embodiment, after receiving the vehicle response message returned by the first vehicle, the second vehicle may obtain the determination result of the first vehicle according to the vehicle response message, that is, whether the first vehicle approves the joining of the V2V communication group; When the first vehicle determines to approve the joining of the V2V communication group, the V2V communication group is added according to the vehicle response message, and when the first vehicle determines to refuse to join the V2V communication group, the V2V communication group is ignored according to the vehicle response message, that is, at this time. Do not join V2V pass Letter group operation.

The vehicle control method provided by the embodiment, by the second vehicle transmitting the vehicle request message, instructs the first vehicle to request the external vehicle of the V2V communication group to which the first vehicle belongs to join the V2V communication group, and instructs the first vehicle to determine whether to approve the second vehicle. Joining the V2V communication group and returning a vehicle response message including the determination result, so that the second vehicle joins the V2V communication group through the received vehicle response message or ignores the joining V2V communication group; the method provided by this embodiment will be related to the related vehicle network communication Multiple vehicles existing in independent individuals, as a whole V2V communication group for intra-group communication, other communication methods can be adopted outside the V2V communication group, and each communication mode is properly combined in the vehicle network communication, and the related In the vehicle networking communication mode, since the information exchanges between the vehicle and the vehicle is relatively frequent between the vehicle and the network device, and the amount of data to be exchanged is large, the management complexity of the vehicle network is high.

Optionally, in the V2V communication group in the embodiment, the D2D technology is used for communication, and the management vehicle, that is, the first vehicle allocates resource information in the sending resource pool and the receiving resource pool, and uniformly manages resources in the V2V communication group. The vehicle in the V2V communication group can directly transmit and receive information according to the allocated resources when performing D2D communication, and does not need to perform the D2D discovery process, and the solution is applied to the application scenario related to vehicle security, which is beneficial to reduce The delay in the transmission of information by the vehicle.

Optionally, FIG. 7 is a flowchart of still another vehicle control method according to an embodiment of the present invention. On the basis of the foregoing embodiment shown in FIG. 6, S230 in this embodiment is that the second vehicle joins according to the vehicle response message. In the case of the V2V communication group, the vehicle response message received by the second vehicle may further include one or more of the following: resource information, synchronization information, status information transmission period of the V2V communication group, and The method of the present embodiment may further include: S240, the second vehicle periodically transmitting status information, the periodically transmitted status information is used to indicate each vehicle in the V2V communication group. Confirm the communication status of the second vehicle. In this embodiment, since the vehicles in the V2V communication group have the characteristics of broadcasting, after the second vehicle joins the V2V communication group, the status information needs to be periodically transmitted, which may be in the form of broadcast or unicast, so that the vehicle Other vehicles within the V2V communication group are informed of the status of the second vehicle.

It should be noted that each vehicle in the V2V communication group needs to periodically transmit its own state information, which is the same as the manner and function of periodically transmitting the state information by the second vehicle. In addition, on the basis of the embodiment shown in FIG. 7, after the second vehicle joins the V2V communication group, the vehicle confirmation message may also be sent. Similarly to the above embodiment, if the second vehicle transmits to the first vehicle through the network device. The vehicle request message sends a vehicle confirmation message to the network device after joining the V2V communication group. If the second vehicle sends a vehicle request message to the first vehicle through the V2V communication connection, after joining the V2V communication group, the first vehicle is added to the first vehicle. Send a vehicle confirmation message.

In an implementation manner of the foregoing embodiments, when the second vehicle transmits a vehicle request message to the first vehicle through the V2V communication connection, the external same channel of the V2V communication group is generally used, and the second vehicle is added to the V2V communication group. Thereafter, the first vehicle is responsible for allocating the internal dedicated channel of the V2V communication group to the second vehicle, and then the second vehicle transmitting vehicle confirmation message and the periodic transmission status information can be transmitted through the internal dedicated channel of the V2V communication group.

FIG. 8 is a flowchart of signaling interaction of a vehicle control method according to an embodiment of the present invention. The vehicle control method provided in this embodiment is applicable to the case of the vehicle network communication, and the method may be performed by the first vehicle, the second vehicle, and the network device in the vehicle networking system. In this embodiment, the second vehicle passes through the network. The device forwards the message with the first vehicle, that is, establishes a communication connection between the second vehicle and the network device. As shown in FIG. 8, the method of this embodiment may include steps S310-S3620:

S310. The second vehicle sends a vehicle request message to the network device.

S320. The first vehicle receives a vehicle request message forwarded by the network device, where the vehicle request message is used to indicate that the second vehicle requests to join the V2V communication group to which the first vehicle belongs, and the first vehicle is a management vehicle in the V2V communication group.

In this implementation, if the first vehicle has established a communication connection with the network device, that is, the first vehicle is in the RRC link state, the network device may directly send the vehicle request message to the first vehicle; In another case, before the network device forwards the vehicle request message to the first vehicle, the first vehicle is in an idle state, and the method provided in this embodiment further requires the first vehicle to establish an RRC link with the network device before S320, that is, Before S320, the method further includes: S311, the first vehicle receives the paging message sent by the network device, and S312, the first vehicle establishes a communication connection with the network device according to the paging message, and then can receive the vehicle request message sent by the network device.

S330. The first vehicle determines whether to approve the second vehicle to join the V2V communication group according to the current communication status in the V2V communication group. The current communication status in the V2V communication group in this embodiment includes one or more of the following: the V2V communication. The number of vehicles in the group, the speed of each vehicle, the network signal quality of the V2V communication group, and the distance of the second vehicle from the first vehicle.

S340. The first vehicle returns a vehicle response message to the network device, where the vehicle response message includes a determination result of the first vehicle.

S350. The second vehicle receives a vehicle response message forwarded by the network device, where the determination result in the vehicle response message is generally to approve the second vehicle to join the V2V communication group, or to reject the second vehicle to join the V2V communication group.

S360: The second vehicle joins the V2V communication group according to the vehicle response message or ignores joining the V2V communication group. The embodiment shown in Fig. 8 is described by taking a second vehicle to join a V2V communication group as an example.

Optionally, the embodiment may further include: S370 after the S360, the second vehicle sends a vehicle confirmation message to the network device. In addition, the vehicle response message received by the second vehicle in this embodiment further includes one or more of the following: resource information, synchronization information, status information transmission period, and transmission time slot of the V2V communication group; correspondingly, the embodiment provides The method may further include: S380, the second vehicle periodically transmits status information, where the periodically transmitted status information is used to indicate that each vehicle in the V2V communication group confirms the communication status of the second vehicle. It should be noted that each vehicle in the V2V communication group needs to periodically transmit its own state information, which is the same as the manner and function of periodically transmitting the state information by the second vehicle.

FIG. 9 is a flowchart of signaling interaction of another vehicle control method according to an embodiment of the present invention. The vehicle control method provided by the embodiment is applicable to the case of the vehicle network communication, and the method may be performed by the first vehicle and the second vehicle in the vehicle networking system. In this embodiment, the second vehicle passes the D2D discovery and the D2D. The communication interacts with the first vehicle for messages. As shown in FIG. 9, the method of this embodiment may include steps S410-S440:

S410. The second vehicle sends a vehicle request message to the first vehicle through the V2V communication connection, where the vehicle request message is used to indicate that the second vehicle requests to join the V2V communication group to which the first vehicle belongs, where the first vehicle is a management in the V2V communication group. For the vehicle, the V2V communication in this embodiment can adopt the related D2D technology.

S420: The first vehicle determines whether to approve the second vehicle to join the V2V communication group according to the current communication status in the V2V communication group. The current communication status in the V2V communication group in this embodiment includes one or more of the following: the V2V communication The number of vehicles in the group, the speed of each vehicle, the network signal quality of the V2V communication group, and the distance of the second vehicle from the first vehicle.

S430. The first vehicle sends a vehicle response message to the second vehicle through the V2V communication connection, where the vehicle response message includes a determination result of the first vehicle, where the determination result in the vehicle response message is generally to approve the second vehicle to join the V2V communication group. Or to join the V2V communication group to reject the second vehicle.

S440. The second vehicle joins the V2V communication group according to the vehicle response message or ignores joining the V2V communication group. The embodiment shown in FIG. 9 is described by taking a second vehicle to join a V2V communication group as an example.

Optionally, the embodiment may further include: S450 after the S440, the second vehicle sends a vehicle confirmation message to the first vehicle. In addition, the vehicle response message received by the second vehicle in this embodiment further includes one or more of the following: resource information, synchronization information, status information transmission period, and transmission time slot of the V2V communication group; correspondingly, the embodiment provides The method may further include: S460, the second vehicle periodically transmits status information, where the periodically transmitted status information is used to indicate that each vehicle in the V2V communication group confirms the communication status of the second vehicle. It should be noted that each vehicle in the V2V communication group needs to periodically transmit its own state information, which is the same as the manner and function of periodically transmitting the state information by the second vehicle.

In this embodiment, when the second vehicle transmits a vehicle request message to the first vehicle through the V2V communication connection, the external same channel of the V2V communication group is generally used, and after the second vehicle joins the V2V communication group, the first vehicle Responsible for allocating the internal dedicated channel of the V2V communication group to the second vehicle, and then the second vehicle transmitting vehicle confirmation message and the periodic transmission status information can all be transmitted through the internal dedicated channel of the V2V communication group.

FIG. 10 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention. The vehicle control device provided in this embodiment is applicable to the case of the vehicle network communication, and the vehicle control device passes the hard The device and the software are implemented in combination, and the device can be integrated in the first vehicle of the V2V communication group, and the first vehicle is a management vehicle of the V2V communication group. As shown in FIG. 10, the vehicle control apparatus of this embodiment specifically includes: a receiving module 11, a determining module 12, and a transmitting module 13.

The receiving module 11 is configured to receive a vehicle request message, where the vehicle request message is used to indicate that the second vehicle requests to join the V2V communication group to which the first vehicle belongs.

Optionally, the manner in which the receiving module 11 is configured to receive the vehicle request message may include: the receiving module 11 is configured to receive a vehicle request message forwarded by the second vehicle through the network device; at this time, if the first vehicle has established a communication connection with the network device That is, the first vehicle is in the RRC link state, the network device can forward the vehicle request message directly to the first vehicle; in another case, when the network device receives the vehicle request message, the first vehicle is in the idle state, then the implementation The receiving module 11 in the example is further configured to receive the paging message sent by the network device before receiving the vehicle request message forwarded by the second vehicle by the network device; correspondingly, the vehicle control device provided in this embodiment further includes: a communication module 14. The communication device is configured to establish a communication connection with the network device according to the paging message received by the receiving module 11, and then the receiving module 11 can receive the vehicle request message sent by the network device.

Optionally, the manner in which the receiving module 11 is configured to receive the vehicle request message may further include: the receiving module 11 receiving the vehicle request message sent by the second vehicle through the V2V communication connection; and the second vehicle determining to join the first vehicle as the V2V communication of the management vehicle. After the group, the vehicle request message is sent to the first vehicle by performing V2V discovery and V2V communication with the first vehicle; in the interaction mode between the first vehicle and the second vehicle, the upper layer service of the data bearer can also be implemented. The implementation manner is the same as that of the foregoing embodiment, and therefore will not be further described herein.

The determining module 12 is configured to determine whether to approve the second vehicle to join the V2V communication group based on the current communication status in the V2V communication group.

The current communication state for determining the module 12 as a decision basis in this embodiment includes, for example, one or more of the following: the number of vehicles in the V2V communication group, the speed of each vehicle, the network signal quality of the V2V communication group, and The distance between the second vehicle and the first vehicle can reflect the V2V pass The information of communication resources and vehicle collision probability in the letter group can be used as the basis for decision making by the first vehicle. The determination result of the first vehicle is generally to approve the second vehicle to join the V2V communication group, or to reject the second vehicle to join the V2V communication group.

The sending module 13 is configured to send a vehicle response message, where the vehicle response message includes a determination result of the first vehicle, the vehicle response message is used to indicate that the second vehicle joins the V2V communication group or ignores joining the V2V communication group.

The second vehicle in this embodiment performs corresponding operations according to the content of the vehicle response message, and may be added to the V2V communication group, or may not be added to the V2V communication group.

In an implementation, the manner in which the sending module 13 is configured to send the vehicle response message is corresponding to the manner in which the receiving module 11 is configured to receive the vehicle request message, that is, if the receiving module 11 receives the vehicle request message forwarded by the network device, the determining module is After the decision 12, the sending module 13 is configured to return the vehicle response message to the network device, thereby indicating that the network device forwards the vehicle response message to the second vehicle; if the receiving module 11 receives the vehicle request sent by the second vehicle through the V2V communication connection The message, after determining the decision of the module 12, the transmitting module 13 is arranged to transmit the vehicle response message to the second vehicle via the V2V communication connection. The technical meaning of the second vehicle to be added to the V2V communication group to which the first vehicle belongs in this embodiment is the same as that of the above embodiment, and therefore will not be further described herein.

It should be noted that, in this embodiment, the communication mode between the first vehicle and the network device may be V2I communication or V2R communication, where the V2R communication is when the network device is an RSU including a UE function, the first vehicle and the network device Actually perform V2V communication.

The vehicle control device provided by the embodiment of the present invention is used to execute the vehicle control method provided by the embodiment shown in FIG. 4 of the present invention, and has a corresponding function module, and the implementation principle and technical effects thereof are similar, and details are not described herein again.

Optionally, on the basis of the structure of the vehicle control device shown in FIG. 10 above, in the case that the vehicle response message is used to indicate that the second vehicle joins the V2V communication group, the vehicle response message sent by the sending module 13 may further include One or more of the following: the resource information, the synchronization information, the status information transmission period, and the transmission time slot of the V2V communication group; correspondingly, the receiving module 11 in this embodiment is further configured to receive the status periodically transmitted by the second vehicle. Information, the periodically transmitted status information is used to indicate that each vehicle in the V2V communication group confirms the communication status of the second vehicle.

It should be noted that each vehicle in the V2V communication group needs to periodically transmit its own state information, which is the same as the manner and function of periodically transmitting the state information by the second vehicle. In addition, on the basis of the embodiment shown in FIG. 10, after the second vehicle joins the V2V communication group, the vehicle confirmation message may also be sent. Similarly to the above embodiment, if the second vehicle transmits to the first vehicle through the network device. The vehicle request message sends a vehicle confirmation message to the network device after joining the V2V communication group. If the second vehicle sends a vehicle request message to the first vehicle through the V2V communication connection, after joining the V2V communication group, the first vehicle is added to the first vehicle. Send a vehicle confirmation message.

The vehicle control device provided by the embodiment of the present invention is used to execute the vehicle control method provided by the embodiment shown in FIG. 5 of the present invention, and has a corresponding function module, and the implementation principle and the technical effect thereof are similar, and details are not described herein again.

FIG. 11 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention. The vehicle control device provided in this embodiment is applicable to the case of the vehicle network communication device, and the vehicle control device is implemented by a combination of hardware and software, and the device can be integrated in the second vehicle outside the V2V communication group, the V2V communication group. The management vehicle is the first vehicle. As shown in FIG. 11, the vehicle control device of the present embodiment includes a transmitting module 21, a receiving module 22, and a communication module 23.

The sending module 21 is configured to send a vehicle request message, the vehicle request message is used to instruct the first vehicle to determine whether to approve the second vehicle to join the vehicle-to-vehicle V2V communication group to which the first vehicle belongs, and return a vehicle response message, where the A vehicle is a managed vehicle in a V2V communication group.

Optionally, the manner in which the sending module 21 is configured to send the vehicle request message may include: sending a vehicle request message to the network device, where the vehicle request message is used to instruct the network device to forward the vehicle request message to the first vehicle, so that the first The vehicle knows that the vehicle outside the V2V communication group requests to join the V2V communication group; at this time, if the first vehicle has established a communication connection with the network device, that is, the first vehicle is in the RRC link state, the network device may forward the vehicle request message directly to the first In another case, when the network device receives the vehicle request message, the first vehicle is in an idle state, and the network device needs to establish the first vehicle and the network device before forwarding the vehicle request message to the first vehicle. The RRC link, then the first vehicle can receive the vehicle request message sent by the network device.

Optionally, the manner in which the sending module 21 is configured to send the vehicle request message may further include: sending a vehicle request message to the first vehicle by using the V2V communication connection; and determining, by the second vehicle, that the first vehicle is the V2V communication group of the management vehicle, Performing V2V discovery and V2V communication with the first vehicle, and transmitting a vehicle request message to the first vehicle; in the interaction mode of the first vehicle and the second vehicle, the same can be implemented by the upper layer service of the data bearer, and the implementation manner is The above embodiments are the same, and therefore will not be described again.

The receiving module 22 is configured to receive a vehicle response message including a determination result of the first vehicle.

In this implementation, the receiving module 22 is configured to receive the vehicle response message in a manner corresponding to the manner in which the sending module 21 is configured to send the vehicle request message, that is, if the sending module 21 forwards the vehicle to the first vehicle through the network device. Receiving the message, the receiving module 22 is configured to receive the vehicle response message forwarded by the first vehicle through the network device; if the sending module 21 is configured to send the vehicle request message to the first vehicle through the V2V communication connection, the receiving module 22 is configured to receive the first message. A vehicle response message sent by the vehicle over a V2V communication connection. The technical meaning of the second vehicle to be added to the V2V communication group to which the first vehicle belongs in this embodiment is the same as that of the above embodiment, and therefore will not be further described herein.

The communication module 23 is configured to join the V2V communication group according to the vehicle response message received by the receiving module 22 or ignore the joining of the V2V communication group.

The second vehicle in this embodiment performs corresponding operations according to the content of the vehicle response message, and may be added to the V2V communication group, or may not be added to the V2V communication group. It should be noted that, in this embodiment, the communication mode between the first vehicle and the network device may be V2I communication or V2R communication, where the V2R communication is when the network device is an RSU including a UE function, the first vehicle and the network device Actually perform V2V communication.

The vehicle control device provided by the embodiment of the present invention is used to execute the vehicle control method provided by the embodiment shown in FIG. 6 of the embodiment of the present invention, and has a corresponding function module, and the implementation principle and technical effects thereof are similar, and details are not described herein again.

Optionally, based on the structure of the vehicle control apparatus shown in FIG. 11 above, in the embodiment, when the vehicle response message is used to indicate that the second vehicle joins the V2V communication group, the receiving module 22 receives The vehicle response message may further include one or more of the following: the resource information of the V2V communication group, the synchronization information, the status information transmission period, and the transmission time slot; accordingly, the sending module 21 in this embodiment is further configured to be in communication. After the module 23 joins the V2V communication group according to the vehicle response message received by the receiving module 22, periodically transmitting status information, the periodically transmitted status information is used by each vehicle in the V2V communication group to confirm the second vehicle. Communication status.

It should be noted that each vehicle in the V2V communication group needs to periodically transmit its own state information, which is the same as the manner and function of periodically transmitting the state information by the second vehicle. In addition, on the basis of the embodiment shown in FIG. 11, after the second vehicle joins the V2V communication group, the vehicle confirmation message may also be sent. Similarly to the above embodiment, if the second vehicle transmits to the first vehicle through the network device. The vehicle request message sends a vehicle confirmation message to the network device after joining the V2V communication group. If the second vehicle sends a vehicle request message to the first vehicle through the V2V communication connection, after joining the V2V communication group, the first vehicle is added to the first vehicle. Send a vehicle confirmation message.

The vehicle control device provided by the embodiment of the present invention is used to execute the vehicle control method provided by the embodiment shown in FIG. 7 of the present invention, and has a corresponding function module, and the implementation principle and technical effect thereof are similar, and details are not described herein again.

Embodiments of the present invention also provide a vehicle networking system including one or more V2V communication groups and one or more second vehicles, the second vehicle being an external vehicle of a V2V communication group, the V2V communication group The management vehicle is the first vehicle, and the V2V communication group in this embodiment has the same characteristics and communication mode as the V2V communication group in the above embodiment, and the first vehicle has the same management capability as the first vehicle in the above embodiment; In the first embodiment, the vehicle control device in any of the embodiments shown in FIG. 10 is provided in the first vehicle, and the second vehicle is provided with the vehicle control device in any of the embodiments shown in FIG. The external vehicle of the first vehicle control V2V communication group in the vehicle networking system, for example, the specific manner of controlling whether the second vehicle can join the V2V communication group is the same as the above embodiment, and therefore will not be described herein.

One of ordinary skill in the art will appreciate that all or a portion of the steps of the above-described embodiments can be implemented using a computer program flow, which can be stored in a computer readable storage medium, such as on a corresponding hardware platform (eg, System, device, device, device, etc.) In execution, one or a combination of the steps of the method embodiments is included.

Alternatively, all or part of the steps of the above embodiments may also be implemented by using an integrated circuit. These steps may be separately fabricated into individual integrated circuit modules, or multiple modules or steps may be fabricated into a single integrated circuit module. achieve.

The devices/function modules/functional units in the above embodiments may be implemented by a general-purpose computing device, which may be centralized on a single computing device or distributed over a network of multiple computing devices.

When the device/function module/functional unit in the above embodiment is implemented in the form of a software function module and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. The above mentioned computer readable storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

Industrial applicability

The solution of the embodiment of the present invention performs intra-group communication for a plurality of vehicles existing in an independent vehicle network communication as a whole V2V communication group, and other communication modes can be adopted outside the V2V communication group, which is reasonable in the vehicle network communication. In combination with different communication methods, the related vehicle network communication method is solved. Because the information between the vehicle and the vehicle is relatively frequent, and the amount of data that needs to be exchanged is large, the management of the vehicle network is caused. A more complex issue.

Claims

A vehicle control method includes:

The first vehicle receives a vehicle request message for instructing the second vehicle to request to join the vehicle-to-vehicle V2V communication group to which the first vehicle belongs, the first vehicle being a management vehicle in the V2V communication group ;

Determining, by the first vehicle, whether to approve the second vehicle to join the V2V communication group according to a current communication status in the V2V communication group;

The first vehicle transmits a vehicle response message, the vehicle response message including a determination result of the first vehicle, the vehicle response message being used to indicate that the second vehicle joins the V2V communication group or ignores joining the V2V Communication group.
The vehicle control method according to claim 1, wherein the first vehicle receives a vehicle request message, including:

The first vehicle receives the vehicle request message forwarded by the second vehicle through a network device;

The first vehicle sends a vehicle response message, including:

The first vehicle returns the vehicle response message to the network device, the vehicle response message being used to instruct the network device to forward the vehicle response message to the second vehicle.
The vehicle control method according to claim 2, further comprising: said first vehicle receiving said network before said first vehicle receives said vehicle request message forwarded by said second vehicle through said network device a paging message sent by the device;

The first vehicle establishes a communication connection with the network device according to the paging message.
The vehicle control method according to claim 1, wherein the first vehicle receives a vehicle request message, including:

The first vehicle receives the vehicle request message sent by the second vehicle through a V2V communication connection;

The first vehicle sends a vehicle response message, including:

The first vehicle transmits the vehicle ringing to the second vehicle via the V2V communication connection Should be the message.
The vehicle control method according to any one of claims 1 to 4, further comprising: after the first vehicle transmits a vehicle response message, and the vehicle response message is used to instruct the second vehicle to join In the V2V communication group, the first vehicle receives status information periodically sent by the second vehicle, and the periodically transmitted status information is used to indicate that each vehicle in the V2V communication group confirms the The communication status of the two vehicles.
The vehicle control method according to any one of claims 1 to 4, wherein the communication mode between the first vehicle and the network device comprises: vehicle-to-road infrastructure V2I communication or vehicle-to-roadside device V2R communication .
The vehicle control method according to any one of claims 1 to 4, wherein the current communication state in the V2V communication group includes one or more of the following: the number of vehicles in the V2V communication group, each vehicle The speed, the network signal quality of the V2V communication group, and the distance of the second vehicle from the first vehicle.
The vehicle control method according to any one of claims 1 to 4, wherein the vehicle response message transmitted by the first vehicle further includes one or more of the following: resource information of the V2V communication group, synchronization Information, status information transmission period, and transmission time slot.
A vehicle control method includes:

The second vehicle transmits a vehicle request message for instructing the second vehicle to request to join a vehicle-to-vehicle V2V communication group to which the first vehicle belongs, the first vehicle being a management vehicle in the V2V communication group ;

The second vehicle receives a vehicle response message, the vehicle response message including a determination result for instructing the first vehicle to determine whether to approve the second vehicle to join the V2V communication group to which the first vehicle belongs;

The second vehicle joins the V2V communication group according to the vehicle response message or ignores joining the V2V communication group.
The vehicle control method according to claim 9, wherein the second vehicle transmits a vehicle request message, including:

The second vehicle transmits the vehicle request message to a network device, the vehicle request message further And configured to instruct the network device to forward the vehicle request message to the first vehicle;

The second vehicle receives the vehicle response message, including:

The second vehicle receives the vehicle response message forwarded by the first vehicle through the network device.
The vehicle control method according to claim 9, wherein the second vehicle transmits a vehicle request message, including:

The second vehicle transmits the vehicle request message to the first vehicle via a V2V communication connection;

The second vehicle receives the vehicle response message, including:

The second vehicle receives the vehicle response message sent by the first vehicle via the V2V communication connection.
The vehicle control method according to any one of claims 9 to 11, further comprising: after the second vehicle joins the V2V communication group according to the vehicle response message, the second vehicle is periodically Transmitting status information, the periodically transmitted status information is used by each of the V2V communication groups to confirm the communication status of the second vehicle.
The vehicle control method according to any one of claims 9 to 11, wherein the vehicle response message received by the second vehicle includes one or more of the following: resource information, synchronization of the V2V communication group Information, status information transmission period, and transmission time slot.
A vehicle control device is provided in a first vehicle of a vehicle-to-vehicle V2V communication group, the first vehicle being a management vehicle in the V2V communication group, the vehicle control device comprising:

a receiving module, configured to receive a vehicle request message, where the vehicle request message is used to indicate that the second vehicle requests to join the V2V communication group to which the first vehicle belongs;

Determining a module, configured to determine whether to approve the second vehicle to join the V2V communication group according to a current communication status in the V2V communication group;

a sending module, configured to send a vehicle response message, where the vehicle response message includes a determination result of the first vehicle, the vehicle response message is used to indicate that the second vehicle joins the V2V communication group or ignores joining the V2V Communication group.
The vehicle control device according to claim 14, wherein the receiving, by the receiving module, the vehicle request message comprises: receiving the vehicle request message forwarded by the second vehicle through a network device;

The transmitting, by the sending module, the vehicle response message includes: returning the vehicle response message to the network device, where the vehicle response message is used to instruct the network device to forward the vehicle response message to the second vehicle.
The vehicle control device according to claim 15, wherein the receiving module is further configured to receive a paging message sent by the network device before receiving the vehicle request message forwarded by the second vehicle by the network device ;

The vehicle control device further includes a communication module configured to establish a communication connection with the network device according to the paging message received by the receiving module.
The vehicle control device according to claim 14, wherein the receiving, by the receiving module, the vehicle request message comprises: receiving the vehicle request message sent by the second vehicle via a V2V communication connection;

The transmitting, by the sending module, the vehicle response message includes: transmitting, by the V2V communication connection, the vehicle response message to the second vehicle.
The vehicle control device according to any one of claims 14 to 17, wherein the receiving module is further configured to: after the transmitting module transmits the vehicle response message, and the vehicle response message is used to indicate the Receiving, when the two vehicles join the V2V communication group, state information periodically sent by the second vehicle, where the periodically transmitted status information is used to indicate that each vehicle in the V2V communication group confirms the second vehicle Communication status.
The vehicle control device according to any one of claims 14 to 17, wherein the communication mode between the first vehicle and the network device comprises: vehicle-to-road infrastructure V2I communication or vehicle-to-roadside device V2R communication .
The vehicle control device according to any one of claims 14 to 17, wherein the current communication state in the V2V communication group includes one or more of the following: the number of vehicles in the V2V communication group, each vehicle The speed, the network signal quality of the V2V communication group, and the distance of the second vehicle from the first vehicle.
The vehicle control device according to any one of claims 14 to 17, wherein the vehicle response message transmitted by the first vehicle further comprises one or more of the following: resource information, synchronization of the V2V communication group Information, status information transmission period, and transmission time slot.
A vehicle control device is disposed in a second vehicle outside a vehicle-to-vehicle V2V communication group, wherein the management vehicle in the V2V communication group is a first vehicle, and the vehicle control device includes:

a sending module, configured to send a vehicle request message, the vehicle request message is used to indicate that the second vehicle requests to join a vehicle-to-vehicle V2V communication group to which the first vehicle belongs, and the first vehicle is the V2V communication group Management vehicle

a receiving module, configured to receive a vehicle response message, the vehicle response message including a determination result for instructing the first vehicle to determine whether to approve the second vehicle to join the V2V communication group to which the first vehicle belongs;

And a communication module, configured to join the V2V communication group according to a vehicle response message received by the receiving module or ignore joining the V2V communication group.
The vehicle control device according to claim 22, wherein the transmitting, by the sending module, the vehicle request message comprises: transmitting the vehicle request message to a network device, wherein the vehicle request message is further used to indicate that the network device is Transmitting, by the first vehicle, the vehicle request message;

The receiving, by the receiving module, the vehicle response message includes: receiving the vehicle response message forwarded by the first vehicle by the network device.
The vehicle control device according to claim 22, wherein the transmitting module is configured to transmit the vehicle request message comprising: transmitting the vehicle request message to the first vehicle via a V2V communication connection;

The receiving module configured to receive the vehicle response message includes receiving the vehicle response message sent by the first vehicle through the V2V communication connection.
The vehicle control device according to any one of claims 22 to 24, wherein the transmitting module is further configured to periodically after the communication module joins the V2V communication group according to a vehicle response message received by the receiving module. Transmitting status information, the periodically transmitted status information is used by each of the V2V communication groups to confirm the communication status of the second vehicle.
The vehicle control device according to any one of claims 22 to 24, wherein the vehicle response message received by the second vehicle includes one or more of the following: resource information, synchronization information of the V2V communication group, Status information transmission period and transmission time slot.
A vehicle networking system includes: one or more vehicle-to-vehicle V2V communication groups and one or more second vehicles, the second vehicle being a vehicle other than the V2V communication group, in the V2V communication group The management vehicle is a first vehicle; wherein the first vehicle is provided with the vehicle control device according to any one of claims 14 to 21, wherein the second vehicle is provided with any one of claims 22-26 The vehicle control device.
A computer readable storage medium storing computer executable instructions that, when executed by a processor, implement the vehicle control method of claims 1-8, and the method of claims 9-13 Vehicle control method.