WO2017107169A1

WO2017107169A1 - Method and device for switching road-side navigation unit in navigation system

Info

Publication number: WO2017107169A1
Application number: PCT/CN2015/098831
Authority: WO
Inventors: 宋永刚; 李辉
Original assignee: 华为技术有限公司
Priority date: 2015-12-25
Filing date: 2015-12-25
Publication date: 2017-06-29
Also published as: CN108351215A; CN108351215B

Abstract

Provided are a method for switching a road-side navigation unit in a navigation system, a central service unit (CSU), a road-side navigation unit (RSU) and an onboard navigation unit (OBU). The method comprises: a CSU receiving vehicle information sent by an OBU, wherein the vehicle information comprises position information and speed information about a vehicle carrying the OBU; the CSU determining, according to the vehicle information, whether to start RSU switching; and if the CSU needs to start the RSU switching, the CSU sending a switching notification message to the OBU, wherein the switching notification message is used for instructing the OBU to acquire a local path within a coverage range of a second RSU from the second RSU, and switching a home RSU of the OBU from a first RSU to the second RSU. In the embodiments of the present invention, by means of centralized control of a CSU, the seamless switching of an RSU can be realized, and the driving safety of automatic driving can be ensured.

Description

Method and device for switching roadside navigation unit in navigation system

Technical field

The present invention relates to the field of communications and traffic, and more particularly to a method of switching a roadside navigation unit in a navigation system, a central service unit, a roadside navigation unit, and a car navigation unit.

Background technique

In recent years, the rapid development of intelligent transportation technology, automatic driving based on network communication will become the mainstream and inevitable trend of future automatic driving, and the Road Side Unit (RSU) is very important in the automatic driving scene. device. During the driving process of the vehicle, it is inevitable to involve the switching of the RSU, and how to achieve seamless switching to ensure that the switching process does not affect the driving safety, and is a technical problem that must be solved by the network-based automatic driving.

In the prior art, the entire network is divided into different areas, and each area collects routing request information of the local area and the auto-driving vehicle position report, and only performs routing decisions with the traffic flow in the RSU interaction area of other areas. The method of information collection and routing decision can reduce the computational complexity of the navigation algorithm and improve the real-time performance of the navigation system. However, the solution is based on human-oriented applications and cannot solve the RSU navigation and switching in the case of auto-driving for vehicles.

Summary of the invention

Embodiments of the present invention provide a method for switching a roadside navigation unit in a navigation system, a central service unit, a roadside navigation unit, and a car navigation unit, which can realize seamless switching of the RSU and ensure driving safety of automatic driving.

In a first aspect, a method for switching a roadside navigation unit in a navigation system is provided, the method comprising: receiving, by a central service unit (CSU), vehicle information sent by an onboard unit (OBU), a vehicle The information includes location information and speed information of the vehicle carrying the OBU; the CSU determines whether to initiate the RSU handover according to the vehicle information; if the CSU needs to initiate the RSU handover, the CSU sends a handover notification message to the OBU, the handover notification message is used to indicate the OBU from the second RSU Obtaining a local path within the coverage of the second RSU, and switching the home RSU of the OBU from the first RSU to the second RSU.

The method for switching the roadside navigation unit in the navigation system according to the embodiment of the present invention can realize the RSU switching during the driving process of the vehicle under the scenario of automatic driving through the centralized control of the CSU. Lane-level path planning and navigation continuity ensure safe driving for autonomous driving.

Further, in the method for switching the roadside navigation unit in the navigation system of the embodiment of the present invention, the lane-level path planning of the entire process can be realized on the basis that each RSU only needs to be responsible for the lane-level path planning of the local area, thereby There is no need to plan the entire lane-level path planning in one go, simplifying the design and operational burden of the CSU and RSU.

Further, the method for switching the roadside navigation unit in the navigation system of the embodiment of the present invention is controlled by the CSU to control the RSU, which can reduce the complexity of the RSU. Specifically, the CSU knows the coverage and topology relationship of each RSU and the moving path of the OBU, so the CSU can perform centralized switching control, and the RSU does not need to know the topological relationship with the surrounding RSU, and there is no need for complex communication between the RSUs. . On the other hand, the OBU acts as an executor and cooperates with the relevant RSU according to the instruction of the CSU to execute and complete the corresponding switching action. It is not necessary to know the coverage of the RSU, and does not need to decide whether to switch or not, which can reduce the complexity of the OBU.

With reference to the first aspect, in a first possible implementation manner of the first aspect, before the CSU determines whether to initiate the RSU handover according to the vehicle information, the method further includes: determining, by the CSU, whether to initiate the RSU handover pre-processing according to the vehicle information; The RSU handover pre-processing needs to be started, and the CSU sends a first handover pre-processing message to the second RSU, where the first handover pre-processing message is used to instruct the second RSU to determine the local path.

Starting the RSU switching pre-processing before starting the RSU switching process can reduce the complexity of the processing during the RSU switching, thereby better ensuring the continuity of the path-level path planning and navigation in the automatic driving scenario, and the driving safety and reliability of the automatic driving.

In conjunction with the above possible implementation of the first aspect, in a second possible implementation of the first aspect, the first handover pre-processing message may include a global path of the OBU and vehicle information. The global path and vehicle information of the OBU can be used to instruct the second RSU to determine the local path.

The second RSU may determine the local path in the coverage of the second RSU in advance according to the global path of the OBU and the vehicle information, and can reduce the RSU handover delay.

In conjunction with the foregoing possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, if the CSU needs to initiate the RSU handover pre-processing, the CSU may send a second handover pre-processing message to the OBU, where the second handover pre- The processing message may include at least one of an identification ID of the second RSU, an address of the second RSU, and a name of the second RSU, to instruct the OBU to send a registration request message to the second RSU.

In conjunction with the above possible implementation of the first aspect, a fourth possible implementation in the first aspect In the method, the method further includes: receiving, by the CSU, a handover report message sent by the OBU or the second RSU, where the handover report message is used to indicate that the home RSU of the OBU is handed over to the second RSU.

In conjunction with the foregoing possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the method further includes: the CSU sending a logout message to the first RSU, where the logout message is used to instruct the first RSU to log off the OBU.

With reference to the foregoing possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the CSU sends a handover notification message to the OBU, including: the CSU sends a handover notification message by using a CO interface between the CSU and the OBU; Or the CSU sends a handover notification message to the first RSU, so that the first RSU forwards the handover notification message to the OBU.

In the method for switching the roadside navigation unit in the navigation system of the embodiment of the present invention, the communication between the OBU and the CSU may be directly communicated or may be forwarded by the RSU to which the OBU belongs.

In a second aspect, a method for switching a roadside navigation unit in a navigation system is provided, the method comprising: the OBU transmitting vehicle information carrying an OBU vehicle to a CSU, the vehicle information including location information and speed information of the vehicle; and the OBU receiving the CSU according to the vehicle Switching notification information for information transmission, the handover notification message is determined by the CSU according to the vehicle information, used to instruct the OBU to switch the home RSU of the OBU from the first RSU to the second RSU; and the OBU sends a registration request message to the second RSU The OBU receives the local path of the OBU that is sent by the second RSU after receiving the registration request message and determines that the OBU is successfully registered, and the OBU switches the OBU's home RSU from the first RSU to the local path according to the local path. Second RSU.

In the navigation system of the embodiment of the present invention, the method for switching the roadside navigation unit in the navigation system, according to the vehicle information reported by the OBU, can realize the RSU switching in the driving process of the vehicle in the automatic driving scenario, and the path planning and navigation continuity in the lane level. Sexuality, thus ensuring safe driving for self-driving.

Further, the method for switching the roadside navigation unit in the navigation system of the embodiment of the present invention is controlled by the CSU to control the RSU, which can reduce the complexity of the RSU. Specifically, the CSU knows the coverage and topology relationship of each RSU and the moving path of the OBU, so the CSU can perform centralized switching control, and the RSU does not need to know the topological relationship with the surrounding RSUs. Do complex communication. On the other hand, the OBU acts as an executor and cooperates with the relevant RSU according to the instruction of the CSU to execute and complete the corresponding switching action. It is not necessary to know the coverage of the RSU, and does not need to decide whether to switch or not, which can reduce the complexity of the OBU.

With reference to the second aspect, in a first possible implementation manner of the second aspect, before the OBU receives the handover notification information sent by the CSU, the method further includes: the OBU receiving CSU, when determining, that the RSU handover pre-processing needs to be initiated according to the vehicle information, And a second handover pre-processing message, where the second handover pre-processing message includes at least one of an identifier of the second RSU, an address of the second RSU, and a name of the second RSU, and is used to instruct the OBU to send a registration request to the second RSU. Message.

With reference to the foregoing possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the method further includes: the OBU receiving the registration success message of the response registration request message sent by the second RSU; The RSU sends a local path request message, where the OBU receives the local path of the OBU that is sent by the second RSU after receiving the registration request message and determines that the OBU is successfully registered, and the OBU receives the second RSU transmission. The local path of the response local area request message.

With reference to the foregoing possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the method further includes: the OBU receiving, by the second RSU, the OBU sent after receiving the registration request message and determining that the OBU registration is successful The local path in the coverage of the second RSU includes: the OBU receives the local path sent by the second RSU when determining that the OBU registration is successful.

With reference to the foregoing possible implementation manner of the second aspect, in a fourth possible implementation manner of the second aspect, the method further includes: the OBU sends a handover report message to the CSU, where the handover report message is used to indicate that the OBU is switched to the first Two RSU.

With reference to the foregoing possible implementation manner of the second aspect, in a fifth possible implementation manner of the second aspect, the method further includes: the OBU sending a logout message to the first RSU, where the logout message is used to instruct the first RSU to log out of the OBU.

With reference to the foregoing possible implementation manner of the second aspect, in a sixth possible implementation manner of the second aspect, the OBU receives the handover notification information sent by the CSU, where the OBU receives the handover notification message by using the CO interface between the CSU and the OBU. Or the OBU receives the handover notification message sent by the first RSU, and the handover notification message is a message sent by the CSU to the first RSU.

A third aspect provides a method for switching a roadside navigation unit in a navigation system, the method comprising: determining, by a second RSU, a local path of an OBU within a coverage of a second RSU; and receiving, by the second RSU, a registration request sent by the OBU Message; the second RSU sends a local path to the OBU, the local area The path is used to instruct the OBU to switch the home RSU of the OBU from the first RSU to the second RSU.

With reference to the third aspect, in a first possible implementation manner of the third aspect, the method further includes: the second RSU receiving CSU determines, according to the vehicle information of the OBU-carrying vehicle, the first switching pre-sent when the RSU switching pre-processing is started. Processing the message; wherein the second RSU determines the local path of the OBU within the coverage of the second RSU, the second RSU determining, according to the first handover pre-processing message, the local path of the OBU within the coverage of the second RSU.

With reference to the foregoing possible implementation manner of the third aspect, in a second possible implementation manner of the third aspect, the first switching pre-processing message includes a global path of the OBU and vehicle information, and is used to indicate that the second RSU is configured according to the OBU The global path and vehicle information determine the local path.

With reference to the foregoing possible implementation manner of the third aspect, in a third possible implementation manner of the third aspect, the method further includes: the second RSU sends a registration success message to the OBU in response to the registration request message; and the second RSU receives the OBU The local path request message sent after receiving the registration success message; wherein the second RSU sends the local area path to the OBU, including: the second RSU sends the local path of the response local area path request message to the OBU.

With reference to the foregoing possible implementation manner of the third aspect, in a fourth possible implementation manner of the third aspect, the second RSU sends the local path to the OBU, including: the second RSU determines the OBU note When the book is successful, the local path is sent to the OBU.

With reference to the foregoing possible implementation manner of the third aspect, in a fifth possible implementation manner of the third aspect, the method further includes: the second RSU sends a handover report message to the CSU, where the handover report message is used to indicate the home switch of the OBU To the second RSU.

A fourth aspect provides a method for switching a roadside navigation unit in a navigation system, the method comprising: receiving, by a first RSU, a logout message sent by an OBU or a CSU; and the first RSU canceling the OBU according to the logout message.

In a fifth aspect, a central service unit CSU is provided for performing the method of any of the above first aspect or any of the possible implementations of the first aspect. In particular, the CSU comprises means for performing the method of any of the above-described first aspect or any of the possible implementations of the first aspect.

In a sixth aspect, there is provided a car navigation unit OBU for performing the method of any of the above-mentioned second aspect or any of the possible implementations of the second aspect. In particular, the OBU comprises means for performing the method of any of the above-described second aspect or any of the possible implementations of the second aspect.

In a seventh aspect, a roadside navigation unit RSU is provided for performing the method of any of the above third aspect or any of the possible implementations of the third aspect. In particular, the RSU comprises means for performing the method of any of the possible implementations of the third aspect or the third aspect described above.

In an eighth aspect, a roadside navigation unit RSU is provided for performing the method of any of the above-described fourth or fourth possible implementations. In particular, the RSU comprises means for performing the method of any of the above-described fourth or fourth aspects of the fourth aspect.

In a ninth aspect, a central service unit CSU is provided, the central service unit CSU comprising: a transmitting circuit, a receiving circuit, a processing unit, a memory and an antenna. Wherein the receiver, the transmitter, the memory and the processor are connected by the bus system, the memory is for storing instructions for executing the instructions stored by the memory to control the receiver to receive signals and control the sending The transmitter transmits a signal, and when the processor executes the memory stored instructions, the execution causes the processor to perform the method of the first aspect or any of the possible implementations of the first aspect.

According to a tenth aspect, a car navigation unit OBU is provided. The car navigation unit OBU includes a transmitting circuit, a receiving circuit, a processing unit, a memory, and an antenna. Wherein the receiver, the transmitter, the memory and the processor are connected by the bus system, the memory is for storing instructions, and the processing unit is configured to execute instructions stored in the memory to control the receiving circuit to receive signals and control the transmitting circuit The signal is transmitted, and when the processor executes the instruction stored by the memory, the execution causes the processor to perform the method of any of the possible implementations of the second aspect or the second aspect.

In an eleventh aspect, a roadside navigation unit RSU is provided, the roadside navigation unit RSU comprising: a transmitting circuit, a receiving circuit, a processing unit, a memory and an antenna. Wherein the receiver, the transmitter, the memory and the processor are connected by the bus system, the memory is for storing instructions, and the processing unit is configured to execute instructions stored in the memory to control the receiving circuit to receive signals and control the transmitting circuit The signal is transmitted, and when the processor executes the memory stored instructions, the execution causes the processor to perform the method of any of the third aspect or any of the possible implementations of the third aspect.

According to a twelfth aspect, a roadside navigation unit RSU is provided, the roadside navigation unit RSU comprising: a transmitting circuit, a receiving circuit, a processing unit, a memory and an antenna. Wherein the receiver, the transmitter, the memory and the processor are connected by the bus system, the memory is for storing instructions, and the processing unit is configured to execute instructions stored in the memory to control the receiving circuit to receive signals and control the transmitting circuit The signal is transmitted, and when the processor executes the instruction stored by the memory, the execution causes the processor to perform the method of any of the possible implementations of the fourth aspect or the fourth aspect.

A thirteenth aspect, a computer readable medium for storing a computer program, the computer program comprising instructions for performing the method of the first aspect or any of the possible implementations of the first aspect.

In a fourteenth aspect, a computer readable medium for storing a computer program is provided The computer program includes instructions for performing the method of the second aspect or any of the possible implementations of the second aspect.

In a fifteenth aspect, a computer readable medium is provided for storing a computer program comprising instructions for performing the method of any of the third aspect or any of the possible implementations of the third aspect.

In a sixteenth aspect, a computer readable medium is provided for storing a computer program comprising instructions for performing the method of any of the fourth aspect or any of the possible implementations of the fourth aspect.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

1 is an example of the architecture of a navigation system of an embodiment of the present invention.

FIG. 2 is a schematic flowchart of a method for switching a roadside navigation unit in a navigation system according to an embodiment of the present invention.

FIG. 3 is a schematic flowchart of a method for switching a roadside navigation unit in a navigation system according to another embodiment of the present invention.

4 is a schematic flowchart of a method for switching a roadside navigation unit in a navigation system according to another embodiment of the present invention.

Figure 5 is a schematic block diagram of a central service unit CSU of an embodiment of the present invention.

Fig. 6 is a schematic block diagram of a car navigation unit OBU of an embodiment of the present invention.

Fig. 7 is a schematic block diagram of a roadside navigation unit RSU of an embodiment of the present invention.

Figure 8 is a schematic block diagram of another roadside navigation unit RSU of an embodiment of the present invention.

Figure 9 is a schematic block diagram of a central service unit CSU of another embodiment of the present invention.

FIG. 10 is a schematic block diagram of a car navigation unit OBU according to another embodiment of the present invention.

Figure 11 is a schematic block diagram of a roadside navigation unit RSU of another embodiment of the present invention.

Figure 12 is a schematic block diagram of another roadside navigation unit RSU of another embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

1 is an example of an architecture of a navigation system according to an embodiment of the present invention. The three-layer architecture of intelligent traffic based on network control shown in Figure 1 mainly involves CSU, RSU and OBU. Its functional division mainly includes:

CSU, responsible for global path planning. The so-called global path is a one-way driving route from the starting point to the ending point. The starting point is generally the current position of the car, and the ending point is specified by the occupant according to the demand. The goal of global path planning is to find a shortest path. The "shortest path" mentioned here refers not only to the shortest distance, but also to the fastest time, the least cost, etc., depending on different needs, and globally. The accuracy of the path is required to reach the road level. When doing global path planning, CSU needs to consider the dynamic road condition information of the entire road network for intelligent analysis and comprehensive scheduling. In a transportation system, there is only one CSU, which requires very high processing performance and reliability. In most failure and disaster scenarios, business continuity can be guaranteed, and navigation services are not interrupted.

RSU, responsible for local path planning. The so-called partial path refers to the detailed driving route on the relatively short route from the position where the car is traveling along the global path, and the range is within the area covered by the RSU. The goal of local path planning is to select an appropriate lane, and the accuracy of the local path is required to reach the lane level. When doing local path planning, RSU needs to consider the lane attributes in the area, the load condition of each lane, the destination direction of the self-driving vehicle, and the local area auto-driving vehicle scheduling and control to achieve lane load balancing and improve automatic Driving vehicle traffic efficiency and quality (control speed, less parking). The RSU needs to be deployed along the road side, so in a transportation system, there will be multiple RSUs, and the RSU also needs to have sufficient processing performance and high reliability according to business processing requirements.

OBU, responsible for autonomous route planning for autonomous vehicles. The so-called autonomous path refers to the path planning of the self-driving vehicle without relying on the CSU and the RSU, but the temporary path planned by the self-driving vehicle itself. The autonomous path planning is the emergency of the self-driving vehicle itself to the surrounding emergency or simple decision-making scene. Path adjustment, such as emergency obstacle avoidance, and the accuracy of the autonomous path is required to reach the lane level. When OBU is doing autonomous path planning, it needs to synthesize the surrounding information perceived by the self-driving vehicle, make quick decision and judgment, and select an emergency path in the case of ensuring safety.

In an embodiment of the invention, the OBU in the navigation system architecture can be integrated in an autonomous vehicle.

As the control center of the whole road network, CSU grasps the global information. The entire traffic map can be seen as being divided into multiple zones, each zone has an RSU management, and one RSU jurisdiction is connected to one or more other RSU jurisdictions, but each RSU does not need to know itself. The topological relationship of the adjacent RSUs in the center and the boundary areas between the two (ie, the overlapping areas of the coverage of the adjacent RSUs), and no communication between the RSUs is required, and only the OBUs need to be switched in accordance with the instructions of the CSU. In the embodiment of the present invention, the first RSU is adjacent to the second RSU, and the second RSU is the switching target of the OBU whose home RSU is about to switch.

2 is a schematic diagram showing an interaction flow of a method of switching a roadside navigation unit in a navigation system according to an embodiment of the present invention. A method for switching a roadside navigation unit in a navigation system according to an embodiment of the present invention will be described in detail below with reference to FIG. As shown in FIG. 2, the navigation system includes a CSU, an OBU, a first RSU, and a second RSU, and the current home RSU of the OBU is the first RSU.

201. The CSU receives the vehicle information sent by the OBU.

For example, if the vehicle carries an OBU, it can periodically report its own information, that is, vehicle information, to the CSU. The vehicle information may include location information and speed information of the vehicle. Alternatively, the vehicle information may also include information such as the direction of the vehicle.

Alternatively, the CSU may receive vehicle information directly from the OBU, such as by receiving a vehicle information via a CO interface (a communication interface between the OBU and the CSU) between the OBU and the CSU; or, the OBU may first transmit the vehicle information to the first RSU The vehicle information is forwarded to the CSU by the first RSU.

202. The CSU determines, according to the vehicle information, whether to initiate an RSU handover.

For example, the CSU can determine whether to initiate the RSU switching process in real time according to the vehicle information, and the path planning of the vehicle and the topology relationship of the RSU.

203. If the CSU needs to initiate an RSU switch, the CSU sends a handover notification message to the OBU.

For example, when the vehicle travels to the border area of the first RSU and the second RSU, the CSU sends a handover notification message to the OBU. After receiving the handover notification message, the OBU can obtain the local path in the coverage of the second RSU from the second RSU according to the handover notification information, and switch the home RSU of the OBU from the first RSU to the second RSU, as follows. Said in faces 204-207.

It should be noted that if the RSU switch does not need to be started, the CSU does not perform any operation. For example, when the vehicle does not travel to the boundary area of the first RSU and the second RSU, the CSU does not initiate the RSU handover. At this time, the CSU only receives the vehicle information transmitted by the OBU, and does not perform other operations.

Optionally, the CSU may directly send a handover notification message to the OBU, for example, sending a handover notification message by using a CO interface between the OBU and the CSU; or, the CSU may first send the handover notification message to The first RSU forwards the handover notification message to the OBU by the first RSU.

204. The OBU sends a registration request message to the second RSU.

After receiving the CSU, the OBU sends a registration request message to the second RSU after the OBU is instructed to switch the OBU's home RSU from the first RSU to the second RSU handover notification information.

205. The second RSU determines a local path of the OBU within the coverage of the second RSU.

It should be noted that there is no sequence between the steps 204 and 205. That is, when the CSU determines to initiate the RSU handover, the second RSU may determine the local path before the CSU sends the handover notification message to the OBU, or may be in the CSU direction. After the OBU sends the handover notification message, the local path is determined before the registration request message sent by the OBU is received, and the local area path is determined after the registration request message sent by the OBU is received and the OBU is successfully registered. In either case, the second RSU can plan a new partial path based on current vehicle information.

It should be noted that, after the OBU is successfully registered, the OBU successfully registers with the second RSU, but still belongs to the first RSU and performs the partial path of the first RSU plan before the handover.

206. The OBU receives the local path of the OBU sent by the second RSU in the coverage of the second RSU.

The OBU receives the partial path determined by the second RSU in step 205, which is within the coverage of the second RSU.

Optionally, as an embodiment, after step 204, the method may further include the following steps: the second RSU sends a registration success message to the OBU in response to the registration request message; and the OBU sends a local path request message to the second RSU; In step 206, the OBU may receive a local path of the response local path request message sent by the second RSU.

Specifically, after the OBU sends the registration request message to the second RSU, the second RSU sends a registration success message to the OBU to notify the OBU that the registration is successful. After receiving the registration success message, the OBU may send the local path request message to the second RSU. After applying for the new lane-level partial path planning, the second RSU may, after receiving the local path request message, plan a new partial path and deliver it to the OBU according to the current vehicle location information.

Optionally, as another embodiment, the OBU may receive a local path of the OBU sent by the second RSU in the coverage of the second RSU when determining that the OBU registration is successful.

Specifically, the second RSU receives the registration request message sent by the OBU, and accepts the registration request of the OBU, that is, the OBU registration is successful at this time, and then the second RSU directly sends the OBU to the OBU. The local area path in the coverage area of the second RSU is determined by the OBU, and the local area path is not sent after the OBU application is required.

207. The OBU switches the home RSU of the OBU from the first RSU to the second RSU according to the local path.

After receiving the new local path, the OBU switches the home RSU from the first RSU to the second RSU, and then travels according to the new partial path, and stops the execution of the original partial path. And this action is done instantaneously, without time interruption.

It should be noted that after the OBU receives the new local path, it needs to confirm that the local path and the local path of the first RSU plan, that is, the original local path, can be connected, including the connection between the lane and the speed, to avoid sudden Change lanes and / or speed changes. Specifically, when the OBU confirms that the local path can be connected to the original local path, the home RSU is switched from the first RSU to the second RSU. When an abnormal situation occurs, that is, the local path cannot be connected to the original local path, the OBU re-applies the local path to ensure that the local path of the OBU within the coverage of the second RSU can be the same as the original local path. Ability to connect.

In addition, after the OBU registers with the second RSU, the OBU actually has two registered RSUs, but only one is the home RSU, which requires the OBU to support two registered RSUs at this short time.

Based on the above description, the method for switching the roadside navigation unit in the navigation system according to the embodiment of the present invention can realize the RSU switching during the driving process and the path planning of the lane level in the scenario of automatic driving through the CSU centralized control RSU switching. The continuity of navigation ensures the safe driving of self-driving.

Further, the method for switching the roadside navigation unit in the navigation system of the embodiment of the present invention is controlled by the CSU to control the RSU, which can reduce the complexity of the RSU. Specifically, the CSU knows the coverage and topology relationship of each RSU and the moving path of the OBU, so the CSU can perform centralized switching control, and the RSU does not need to know the topological relationship with the surrounding RSU, and there is no need for complex communication between the RSUs. . On the other hand, the OBU acts as an executor and cooperates with the relevant RSU according to the instructions of the CSU to execute and complete the corresponding switching action without knowing the coverage of the RSU. Autonomously decide whether to switch, which can reduce the complexity of the OBU.

Optionally, as an embodiment, in step 202, before the CSU determines whether to initiate the RSU handover according to the vehicle information, the CSU may determine whether to initiate the RSU handover pre-processing according to the vehicle information; if the CSU needs to initiate the RSU handover pre-processing, the CSU goes to the second. The RSU sends a first handover pre-processing message, so that the second RSU determines the local path according to the first handover pre-processing message.

Optionally, the first handover pre-processing message may include a global path of the OBU and vehicle information.

When the vehicle approaches the boundary area of the first RSU and the second RSU, the CSU initiates a handover pre-processing. At this time, the CSU sends a first handover pre-processing message to the second RSU, which may include the global path of the OBU and vehicle information, such as the current location of the vehicle, the authentication information of the vehicle, and the like. The second RSU performs related resource allocation and local path planning in advance according to the received first handover pre-processing message. That is, the second RSU may determine the local path of the OBU described in step 205 within the coverage of the second RSU according to the received first handover pre-processing message. In other words, the second RSU may determine the local path according to the received first handover pre-processing message before receiving the registration request message sent by the OBU.

It should be noted that how far the vehicle approaches the RSU boundary region starts triggering the switching pre-processing, and a reasonable value or range can be determined in the specific implementation. For example, the CSU can initiate the switching pre-processing when the vehicle is 50 m away from the boundary region. The CSU does not initiate the switching pre-processing when the vehicle exceeds the boundary area by more than 50 m. At this time, the CSU does not perform any operation, and waits for the vehicle to travel to the boundary area 50 m before starting the switching pre-processing. For another example, the CSU can also initiate the switching pre-processing when the vehicle is 30m away from the boundary area, and the CSU does not initiate the switching pre-processing when the vehicle exceeds the boundary area by more than 30m. At this time, the CSU does not perform any operation, waiting for the vehicle to travel to the distance boundary area 30m. The switching pre-processing is started again, which is not limited by the present invention.

Optionally, as an embodiment, when the CSU needs to initiate the RSU handover pre-processing, the CSU may also send a second handover pre-processing message to the OBU. The second handover pre-processing message may include at least one of an identification ID of the second RSU, an address of the second RSU, and a name of the second RSU.

The CSU sends a second handover pre-processing message to the OBU to ensure that the OBU can send a registration message to the second RSU according to at least one of the identifier of the second RSU, the address of the second RSU, and the name of the second RSU. Thereby the speed and reliability of the RSU switching can be guaranteed.

Optionally, when the CSU sends the second handover pre-processing message to the OBU, the CSU may directly send the second handover pre-processing message to the OBU, for example, sending a handover notification message by using a CO interface between the OBU and the CSU; or, the CSU may first The second handover pre-processing message is sent to the first RSU, and the second handover pre-processing message is forwarded by the first RSU to the OBU.

Optionally, as another embodiment, after step 207, the method may further include the following steps: the OBU or the second RSU sends a handover report message to the CSU, where the handover report message is used to indicate that the home of the OBU is switched to the second RSU. .

Specifically, after the OBU switches the home RSU of the OBU from the first RSU to the second RSU, the OSU may send a report to the CSU that the home RSU has switched to the second RSU, and after receiving the handover report message, the CSU may know. The attribution of the OBU has been switched to the second RSU. After the OBU switches the home RSU of the OBU from the first RSU to the second RSU, the second RSU may send a handover report message to the CSU to inform the CSU that the second RSU has officially taken over the OBU.

Optionally, when the OBU sends a handover report message to the CSU, the OBU may directly send a handover report message to the CSU, for example, by sending a handover report message through a CO interface (a communication interface between the OBU and the CSU) between the OBU and the CSU; or The OBU may first send a handover report message to the second RSU, and the second RSU forwards the handover report message to the CSU. That is to say, in the embodiment of the present invention, the communication between the OBU and the CSU may be directly communicated, or may be forwarded through the CSU to which the OBU belongs, that is, the second CSU, which is not limited by the present invention.

Optionally, as an embodiment, the method may further include the following steps: the CSU or the OBU sends a logout message to the first RSU, where the logout message is used to instruct the first RSU to log out of the OBU.

Specifically, after the OBU sends the handover report message to the CSU, the ORU may send a logout message to the first RSU. After receiving the logout message, the first RSU releases the related resources and the control of the OBU. After the CSU receives the handover report message sent by the second RSU, the CSU may send a logout message to the first RSU to notify the first RSU to release the resource and control the OBU. At this point, the entire switching process including the post-switching process is successfully completed.

Therefore, the method for switching the roadside navigation unit in the navigation system of the embodiment of the present invention can realize the RSU switching during the driving process of the vehicle, and the path planning and navigation of the lane level in the scenario of automatic driving through the CSU centralized control RSU switching. Continuity, thus ensuring safe driving for autonomous driving.

Further, in the method of switching the roadside navigation unit in the navigation system of the embodiment of the present invention, On the basis that each RSU only needs to be responsible for the lane-level path planning of the area, the entire lane-level path planning can be realized, thereby eliminating the need to plan the entire lane-level path planning at one time, simplifying the design and operation burden of the CSU and RSU. .

A method of switching a roadside navigation unit in a navigation system according to an embodiment of the present invention will be described in detail below with reference to FIG. As shown in FIG. 3, which includes a CSU, an OBU, a first RSU, and a second RSU, the current home RSU of the OBU is the first RSU, and the method includes:

301. The OBU sends the vehicle information to the CSU.

For details, reference may be made to the description of 201 in the foregoing embodiment of FIG. 2, and details are not described herein.

302. The CSU determines, according to the vehicle information, whether to initiate an RSU switch.

For details, reference may be made to the description of 202 in the foregoing embodiment of FIG. 2, and details are not described herein again to avoid repetition.

303. The CSU determines, according to the vehicle information, that the RSU handover pre-processing needs to be initiated, and sends a first handover pre-processing message to the second RSU, including the global path of the OBU and the vehicle information.

The CSU sends a second handover pre-processing message to the OBU, including at least one of an identifier ID of the second RSU, an address of the second RSU, and a name of the second RSU, when the CSU determines that the RSU handover pre-processing needs to be initiated.

When the CSU needs to initiate the RSU handover pre-processing, the second handover pre-processing message may be sent to the OBU, and the first handover pre-processing message may be sent to the second RSU. And sending the second handover pre-processing message to the OBU, or sending the second handover pre-processing message to the OBU, and then sending the first handover pre-processing message to the second RSU.

305. The second RSU determines, according to the first handover pre-processing message, a local path of the OBU within the coverage of the second RSU.

Specifically, 305 may refer to the description of 205 in the foregoing embodiment of FIG. 2, to avoid repetition, I won't go into details here.

306. If the CSU needs to initiate an RSU handover, send a handover notification message to the OBU.

Specifically, reference may be made to the description of 203 in the foregoing embodiment of FIG. 2, and details are not described herein again to avoid repetition.

307. After receiving the handover notification message, the OBU sends a registration request message to the second RSU.

Specifically, reference may be made to the description of 204 in the foregoing embodiment of FIG. 2, and details are not described herein again to avoid repetition.

308. After receiving the registration request message sent by the OBU, the second RSU sends a registration success message to the OBU to notify the OBU that the registration is successful.

309. After receiving the registration success message, the OBU may immediately send a local path request message to the second RSU to apply for the local path of the OBU in the coverage of the second RSU.

The local path request message may be used only for applying the local path of the OBU within the coverage of the second RSU, or may carry the current vehicle information or the path planning policy, and the second RSU can request the message according to the local path and the first handover. The pre-processing message determines the local path.

310. After receiving the local path request message, the second RSU sends the local path of the OBU request to the OBU.

Specifically, 309 can refer to the description of 206 in the foregoing embodiment of FIG. 2, and details are not described herein again to avoid repetition.

311. After receiving the local path sent by the two RSUs, the OBU switches the home RSU from the first RSU to the second RSU, and runs according to the new local path, and stops the execution of the original local path.

For details, reference may be made to the description of 207 in the foregoing embodiment of FIG. 2, and details are not described herein again to avoid repetition.

312. After the OBU switches the primary RSU from the first RSU to the second RSU, the OBU sends a handover report message to the CSU to report to the CSU that the home RSU has been switched to the second RSU.

313. The OBU sends a logout message to the first RSU.

After the OBU switches the first RSU from the first RSU to the second RSU, the OBU may first send a logout message to the first RSU, or may first send a handover report message to the CSU, or may simultaneously send a logout message to the first RSU and send the logout message to the CSU. Switch report messages.

314. After receiving the logout message, the first RSU releases control and related resources to the OBU.

It should be noted that the specific operations of the foregoing steps may refer to the foregoing embodiments, for the sake of brevity. I will not repeat them here.

It should be understood that, in the embodiments of the present invention, the size of the sequence numbers of the above steps does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be taken by the embodiment of the present invention. The implementation process constitutes any qualification.

A method of switching a roadside navigation unit in a navigation system according to another embodiment of the present invention will be described in detail below with reference to FIG. As shown in FIG. 4, which includes a CSU, an OBU, a first RSU, and a second RSU, the current home RSU of the OBU is the first RSU, and the method includes:

401. The OBU sends vehicle information to the CSU.

For details, 401 may refer to the description of 201 in the foregoing embodiment of FIG. 2 and the description of 301 in the embodiment of FIG. 3. To avoid repetition, details are not described herein again.

402. The CSU determines, according to the vehicle information, whether to initiate an RSU switch.

Specifically, the description of 202 in the foregoing embodiment of FIG. 2 and the description of 302 in the embodiment of FIG. 3 are omitted. To avoid repetition, details are not described herein again.

403. The CSU, according to the vehicle information, determines that the RSU handover pre-processing needs to be initiated, and sends a first handover pre-processing message to the second RSU, including the global path of the OBU and the vehicle information.

404, the CSU judges that it is necessary to start the RSU switching preprocessing according to the vehicle information, and sends it to the OBU. And sending a second handover pre-processing message, including at least one of an identifier ID of the second RSU, an address of the second RSU, and a name of the second RSU.

When the CSU determines that the RSU handover pre-processing needs to be started, the second handover pre-processing message may be sent to the OBU, and the first handover pre-processing message may be sent to the second RSU. And sending the second handover pre-processing message to the OBU, or sending the second handover pre-processing message to the OBU, and then sending the first handover pre-processing message to the second RSU.

405. The second RSU determines, according to the first handover pre-processing message, a local path of the OBU within the coverage of the second RSU.

Specifically, 405 can refer to the description of 205 in the foregoing embodiment of FIG. 2 and the description of 305 in the embodiment of FIG. 3. To avoid repetition, details are not described herein again.

406. If the CSU needs to initiate an RSU handover, send a handover notification message to the OBU.

For details, 406 may refer to the description of 203 in the foregoing embodiment of FIG. 2 and the description of 306 in the embodiment of FIG. 3. To avoid repetition, details are not described herein again.

407. After receiving the handover notification message, the OBU sends a registration request message to the second RSU.

Specifically, 407 may refer to the description of 204 in the foregoing embodiment of FIG. 2 and the description of 307 in the embodiment of FIG. 3. To avoid repetition, details are not described herein again.

408. After receiving the registration request message sent by the OBU, the second RSU sends the local path of the OBU within the coverage of the second RSU to the OBU.

Specifically, 408 may be referred to the description of 206 in the foregoing embodiment of FIG. 2, and details are not described herein again to avoid repetition.

409. After receiving the local path sent by the two RSUs, the OBU switches the home RSU from the first RSU to the second RSU, and runs according to the new local path, and stops performing the original local path.

For details, 409 can refer to the description of 207 in the foregoing embodiment of FIG. 2 and the description of 311 in the embodiment of FIG. 3. To avoid repetition, details are not described herein again.

410. The second RSU sends a handover report message to the CSU to report to the CSU that the home RSU has switched to the second RSU.

411. The CSU sends a logout message to the first RSU.

After the CSU receives the handover report message sent by the second RSU, and knows that the OBU switches the primary RSU from the first RSU to the second RSU, that is, after the second RSU starts to take over the OBU, A logout message is sent to the first RSU to inform the first RSU to log out of the OBU. .

412. After receiving the logout message, the first RSU releases the control and related resources of the OBU.

It should be noted that the specific operations of the foregoing steps may refer to the foregoing embodiments, and are not described herein for brevity.

A method of switching a roadside navigation unit in a navigation system according to an embodiment of the present invention is described in detail above, and a CSU, an OBU, a first RSU, and a second RSU according to an embodiment of the present invention will be described below.

FIG. 5 shows a central service unit CSU 500 provided by an embodiment of the present invention. The CSU 500 includes a receiving unit 510, a determining unit 520, and a sending unit 530.

The receiving unit 510 receives vehicle information transmitted by the OBU, and the vehicle information includes location information and speed information of the vehicle carrying the OBU.

The determining unit 520 determines whether to initiate the RSU switching based on the vehicle information received by the receiving unit 510.

If the determining unit 520 determines that the RSU switching needs to be initiated, the sending unit 530 sends the OBU to the OBU. And a handover notification message, the handover notification information is used to instruct the OBU to acquire the local path in the coverage of the second RSU from the second RSU, and switch the home RSU of the OBU from the first RSU to the second RSU.

Based on the above description, the central service unit CSU of the embodiment of the present invention can realize the RSU switching during the driving process, the path planning and the continuity of the navigation at the lane level by the centralized control RSU switching, thereby ensuring the continuity of the lane-level path planning and navigation. Self-driving driving safety.

Further, the central service unit CSU of the embodiment of the present invention can reduce the complexity of the RSU by centrally controlling the RSU handover. Specifically, the CSU knows the coverage and topology relationship of each RSU and the moving path of the OBU, so centralized switching control can be performed by the CSU.

Optionally, as an embodiment, before the determining unit 520 determines whether to initiate the RSU switch according to the vehicle information, the determining unit 520 is further configured to: determine, according to the vehicle information, whether to initiate the RSU switching pre-processing; and the sending unit 530 is further configured to: when determining The unit 520 determines that the RSU handover pre-processing needs to be started, and sends a first handover pre-processing message to the second RSU, where the first handover pre-processing message is used to instruct the second RSU to determine the local path according to the first handover pre-processing message.

Optionally, as an embodiment, the first handover pre-processing message includes a global path of the OBU and vehicle information, where the global path and vehicle information of the OBU is used to instruct the second RSU to determine the local path.

Optionally, as an embodiment, the sending unit 530 is further configured to: when the determining unit 520 determines that the RSU switching pre-processing needs to be initiated, send a second handover pre-processing message to the OBU, where the second handover pre-processing message includes the identifier of the second RSU At least one of the ID, the address of the second RSU, and the name of the second RSU is used to instruct the OBU to send a registration request message to the second RSU.

Optionally, as an embodiment, the receiving unit 510 is further configured to: receive a handover report message sent by the OBU or the second RSU, where the handover report message is used to indicate that the home RSU of the OBU has been handed over to the second RSU.

Optionally, as an embodiment, the sending unit 530 is further configured to: send, to the first RSU, a logout message, where the logout message is used to instruct the first RSU to log out of the OBU.

Optionally, as an embodiment, the sending unit 530 is specifically configured to: send a handover notification message by using a CO interface between the CSU and the OBU; or send a handover notification message to the first RSU, so that the first RSU forwards the handover notification to the OBU. Message.

It should be noted that the CSU 500 here is embodied in the form of a functional unit. The term "unit" herein may refer to an Application Specific Integrated Circuit (ASIC), Electronic circuitry, a processor for executing one or more software or firmware programs (eg, a shared processor, a proprietary processor, or a group processor, etc.) and memory, merge logic, and/or other suitable support for the described functionality Component. A person skilled in the art can understand that the CSU 500 can be used to perform various processes and/or steps corresponding to the CSU in the foregoing method embodiments. To avoid repetition, details are not described herein again.

FIG. 6 shows a car navigation unit OBU 600 provided by an embodiment of the present invention. The OBU 600 includes a transmitting unit 610, a receiving unit 620, and a switching unit 630.

The transmitting unit 610 transmits the vehicle information carrying the OBU vehicle to the CSU, and the vehicle information includes location information and speed information of the vehicle.

The receiving unit 620 receives the handover notification information sent by the CSU, where the handover notification message is determined by the CSU according to the vehicle information sent by the sending unit 610, and the handover notification message is used to instruct the OBU to switch the home RSU of the OBU from the first RSU to the second RSU. .

The sending unit 610 is further configured to send a registration request message to the second RSU.

The receiving unit 620 is further configured to receive a local path of the OBU that is sent by the second RSU after receiving the registration request message and determining that the OBU is successfully registered, within the coverage of the second RSU.

The switching unit 630 switches the home RSU of the OBU from the first RSU to the second RSU according to the local path received by the receiving unit 620.

Based on the above description, the in-vehicle navigation unit OBU of the embodiment of the present invention cooperates with the relevant RSU according to the instruction of the CSU to perform and complete the RSU handover, and does not need to know the coverage of the RSU, and does not need to decide whether to switch or not, thereby reducing the OBU. the complexity.

Optionally, as an embodiment, before the receiving unit 620 receives the switching notification information that is sent by the CSU according to the vehicle information, the receiving unit 620 is further configured to: receive, by the CSU, the second switching that is sent when the RSU switching pre-processing needs to be started according to the vehicle information. The pre-processing message includes at least one of an identifier ID of the second RSU, an address of the second RSU, and a name of the second RSU, to instruct the OBU to send a registration request message to the second RSU.

Optionally, as an embodiment, the receiving unit 620 is further configured to: receive a registration success message of the response registration request message sent by the second RSU; the sending unit 610 is further configured to: send the local path request message to the second RSU; The receiving unit 620 is specifically configured to: receive a local path of the response local path request message sent by the second RSU.

Optionally, as an embodiment, the receiving unit 620 is specifically configured to: receive a local path that is sent by the second RSU when determining that the OBU registration is successful.

Optionally, as an embodiment, the sending unit 610 is further configured to: send a switching report to the CSU. The message is that the handover report message is used to indicate that the home of the OBU is handed over to the second RSU.

Optionally, as an embodiment, the sending unit 610 is further configured to: send, to the first RSU, a logout message, where the logout message is used to instruct the first RSU to log out of the OBU.

Optionally, the receiving unit 620 is further configured to: receive a handover notification message by using a CO interface between the CSU and the OBU; or receive a handover notification message sent by the first RSU, where the handover notification message is a CSU to the first RSU. The message sent.

It should be noted that the OBU 600 here is embodied in the form of a functional unit. The term "unit" herein may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor for executing one or more software or firmware programs (eg, a shared processor, a proprietary processor, or a group). Processors, etc.) and memory, merge logic, and/or other suitable components that support the described functionality. It can be understood by those skilled in the art that the OBU 600 can be used to perform various processes and/or steps corresponding to the OBU in the foregoing method embodiments. To avoid repetition, details are not described herein again.

FIG. 7 shows a roadside navigation unit RSU 700 provided by an embodiment of the present invention. The RSU 700 includes a determining unit 710, a receiving unit 720, and a transmitting unit 730.

The determining unit 710 determines the local path of the OBU within the coverage of the RSU.

The receiving unit 720 receives the registration request message sent by the OBU.

The sending unit 730 sends a local area path to the OBU, which is used to instruct the OBU to switch the home RSU of the OBU from the first RSU to the RSU.

Based on the above description, the embodiment of the present invention can realize the RSU switching during the driving process, the path planning and the continuity of the navigation at the lane level, and the driving of the autonomous driving can be realized by the CSU centralized control RSU switching. Safety. RSU does not need to know the topological relationship with the surrounding RSU. RSU does not need to perform complex communication, which can reduce the complexity of RSU.

Optionally, as an embodiment, the receiving unit 720 is further configured to: receive, by the CSU, the first handover pre-processing message that is sent when the RSU handover pre-processing needs to be started according to the vehicle information of the OBU-carrying vehicle; wherein the determining unit 710 is specifically used. And: determining, according to the first handover pre-processing message, a local path of the OBU within the coverage of the RSU.

Optionally, as an embodiment, the first handover pre-processing message includes a global path of the OBU and vehicle information.

Optionally, as an embodiment, the sending unit 730 is further configured to: send a response note to the OBU. The receiving unit 720 is further configured to: receive the local path request message sent by the OBU after receiving the registration success message, where the sending unit 730 is specifically configured to: send the response local area path request message to the OBU Local path.

Optionally, as an embodiment, the sending unit 730 is specifically configured to: when determining that the OBU registration is successful, send the local path to the OBU.

Optionally, as an embodiment, the sending unit 730 is further configured to: send a handover report message to the CSU, where the handover report message is used to indicate that the home of the OBU has been handed over to the RSU.

It should be noted that the RSU 700 herein is embodied in the form of a functional unit. The term "unit" herein may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor for executing one or more software or firmware programs (eg, a shared processor, a proprietary processor, or a group). Processors, etc.) and memory, merge logic, and/or other suitable components that support the described functionality. It can be understood by those skilled in the art that the RSU 700 can be used to perform various processes and/or steps corresponding to the second RSU in the foregoing method embodiments. To avoid repetition, details are not described herein again.

FIG. 8 shows a roadside navigation unit RSU 800 provided by an embodiment of the present invention. The RSU 800 includes a receiving unit 810 and a determining unit 820.

The receiving unit 810 receives the logout message sent by the OBU or the CSU.

The logout unit 820 logs out the OBU according to the logout message received by the receiving unit 810.

It should be noted that the RSU 800 here is embodied in the form of a functional unit. The term "unit" herein may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor for executing one or more software or firmware programs (eg, a shared processor, a proprietary processor, or a group). Processors, etc.) and memory, merge logic, and/or other suitable components that support the described functionality. It can be understood by those skilled in the art that the RSU 800 can be used to perform various processes and/or steps corresponding to the first RSU in the foregoing method embodiments. To avoid repetition, details are not described herein again.

FIG. 9 shows a schematic block of a central service unit CSU 900 according to another embodiment of the present invention. Figure.

The CSU 900 can be used in a variety of communication systems. In the embodiment of FIG. 9, CSU 900 includes a transmit circuit 920, a receive circuit 930, a processing unit 940, a memory 950, and an antenna 910. Processing unit 950 controls the operation of CSU 900 and can be used to process signals. The processing unit 940 may also be referred to as a CPU (Central Processing Unit). Memory 950 can include read only memory and random access memory and provides instructions and data to processing unit 940. A portion of memory 950 may also include non-volatile line random access memory (NVRAM). In a particular application, CSU 900 may also include a carrier that houses transmit circuitry 920 and receive circuitry 930 to allow for data transmission and reception between CSU 900 and remote locations. Transmit circuit 920 and receive circuit 930 can be coupled to antenna 910. The various components of CSU 900 are coupled together by a bus system 960, which in addition to the data bus includes a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are labeled as bus system 960 in the figure.

The method disclosed in the foregoing embodiments of the present invention may be applied to the processing unit 940 or implemented by the processing unit 940. In the implementation process, each step of the above method may be completed by an integrated logic circuit of hardware in the processing unit 940 or an instruction in a form of software.

The receiving circuit 930 receives the vehicle information transmitted by the OBU, and the vehicle information includes location information and speed information of the vehicle carrying the OBU.

The processing unit 940 determines whether to initiate the RSU switch based on the vehicle information received by the receiving circuit 930.

If the processing unit 940 determines that the RSU handover needs to be initiated, the transmitting circuit 920 sends a handover notification message to the OBU, the handover notification message is used to instruct the OBU to acquire the local path in the coverage of the second RSU from the second RSU, and assign the OBU. The RSU switches from the first RSU to the second RSU.

Optionally, as an embodiment, before the processing unit 940 determines whether to initiate the RSU handover according to the vehicle information, the processing unit 940 is further configured to: determine, according to the vehicle information, whether to initiate the RSU handover pre-processing; if the processing unit 940 determines that the RSU handover needs to be initiated. The pre-processing, the transmitting circuit 920 is further configured to send a first handover pre-processing message to the second RSU, where the handover pre-processing message is used to instruct the second RSU to determine the local path according to the first handover pre-processing message.

Optionally, as an embodiment, the transmitting circuit 920 is further configured to: if the processing unit 940 is The RSU handover pre-processing needs to be initiated, and the second handover pre-processing message is sent to the OBU, where the second handover pre-processing message includes at least one of an identifier ID of the second RSU, an address of the second RSU, and a name of the second RSU.

Optionally, as an embodiment, the receiving circuit 930 is further configured to: receive a handover report message sent by the OBU or the second RSU, where the handover report message is used to indicate that the home RSU of the OBU has switched to the second RSU.

Optionally, as an embodiment, the sending circuit 920 is further configured to: send a logout message to the first RSU, where the logoff message is used to instruct the first RSU to log out of the OBU.

Optionally, as an embodiment, the transmitting circuit 920 is further configured to: send a handover notification message by using a CO interface between the CSU and the OBU; or send a handover notification message to the first RSU, so that the first RSU forwards the handover to the OBU. Notification message.

It should be noted that the CSU 900 may be specifically the CSU in the foregoing embodiment, and may be used to perform various steps and/or processes corresponding to the CSU in the foregoing method embodiments.

FIG. 10 is a schematic block diagram of an in-vehicle navigation unit OBU 1000 according to an embodiment of the present invention.

The OBU 1000 can be used in a variety of communication systems. In the embodiment of FIG. 10, the OBU 1000 includes a transmit circuit 1020, a receive circuit 1030, a processing unit 1040, a memory 1050, and an antenna 1010. Processing unit 1040 controls the operation of CSU 1000 and can be used to process signals. The processing unit 1040 may also be referred to as a CPU (Central Processing Unit). Memory 1050 can include read only memory and random access memory and provides instructions and data to processing unit 1040. A portion of the memory 1050 can also include non-volatile line random access memory (NVRAM). In a particular application, the OBU 1000 can also include a carrier that houses the transmit circuitry 1020 and the receive circuitry 1030 to allow for data transmission and reception between the OBU 1000 and remote locations. Transmitting circuit 1020 and receiving circuit 1030 can be coupled to antenna 1010. The various components of the OBU 1000 are coupled together by a bus system 1060 that includes, in addition to the data bus, a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are labeled as bus system 1060 in the figure.

The method disclosed in the foregoing embodiments of the present invention may be applied to the processing unit 1040 or implemented by the processing unit 1040. In the implementation process, each step of the above method may be completed by an integrated logic circuit of hardware in the processing unit 1040 or an instruction in a form of software.

The transmitting circuit 1020 transmits the vehicle information of the OBU-carrying vehicle to the CSU, the vehicle information package Includes location information and speed information for the vehicle.

The receiving circuit 1030 receives the switching notification information sent by the CSU, and the switching notification message is determined by the CSU according to the vehicle information transmitted by the transmitting circuit 1020, and the switching notification message is used to instruct the OBU to switch the home RSU of the OBU from the first RSU to the second RSU.

Transmit circuit 1020 sends a registration request message to the second RSU.

The receiving circuit 1030 receives the local path of the OBU that is sent by the second RSU after receiving the registration request message and determining that the OBU is successfully registered within the coverage of the second RSU.

The processing unit 1040 switches the home RSU of the OBU from the first RSU to the second RSU according to the local path received by the receiving circuit 1030.

Optionally, as an embodiment, before the receiving circuit 1030 receives the switching notification information sent by the CSU, the receiving circuit 1030 is further configured to receive, by the CSU, a second switching pre-processing message sent when the RSU switching pre-processing is started according to the vehicle information, where The second handover pre-processing message includes at least one of an identification ID of the second RSU, an address of the second RSU, and a name of the second RSU.

Optionally, as an embodiment, the receiving circuit 1030 is further configured to receive a registration success message of the response registration request message sent by the second RSU, where the transmitting circuit 1020 is further configured to send a local path request message to the second RSU, where The circuit 1030 is specifically configured to: receive a local path of the response local path request message sent by the second RSU.

Optionally, as an embodiment, the receiving circuit 1030 is specifically configured to: receive a local path that is sent by the second RSU when determining that the OBU registration is successful.

Optionally, as an embodiment, the transmitting circuit 1020 is further configured to send a handover report message to the CSU, where the handover report message is used to indicate that the home of the OBU is switched to the second RSU.

Optionally, as an embodiment, the sending circuit 1020 is further configured to send a logout message to the first RSU, where the logoff message is used to instruct the first RSU to log out of the OBU. .

Optionally, as an embodiment, the receiving circuit 1030 is specifically configured to: receive a handover notification message by using a CO interface between the CSU and the OBU; or receive a handover notification message sent by the first RSU, where the handover notification message is a CSU to the first RSU. The message sent.

It should be noted that the OBU 1000 may be specifically the OBU in the foregoing embodiment, and may be used to perform various steps and/or processes corresponding to the OBU in the foregoing method embodiments.

FIG. 11 is a schematic block diagram of a car navigation unit RSU 1100 provided by an embodiment of the present invention.

The RSU 1100 can be used in a variety of communication systems. In the embodiment of Figure 11, the RSU 1100 package A transmitting circuit 1120, a receiving circuit 1130, a processing unit 1140, a memory 1150, and an antenna 1110 are included. Processing unit 1050 controls the operation of CSU 1000 and can be used to process signals. The processing unit 1140 may also be referred to as a CPU (Central Processing Unit). Memory 1150 can include read only memory and random access memory and provides instructions and data to processing unit 1140. A portion of the memory 1150 can also include non-volatile line random access memory (NVRAM). In a particular application, the RSU 1100 can also include a carrier that houses the transmit circuitry 1120 and the receive circuitry 1130 to allow for data transmission and reception between the RSU 1100 and the remote location. Transmitting circuit 1120 and receiving circuit 1130 can be coupled to antenna 1111. The various components of the RSU 1100 are coupled together by a bus system 1160 that includes, in addition to the data bus, a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are labeled as bus system 1160 in the figure.

The method disclosed in the foregoing embodiments of the present invention may be applied to the processing unit 1140 or implemented by the processing unit 1140. In the implementation process, each step of the above method may be completed by an integrated logic circuit of hardware in the processing unit 1140 or an instruction in a form of software.

Processing unit 1140 determines the local path of the OBU within the coverage of the RSU.

The receiving circuit 1130 receives the registration request message transmitted by the OBU.

The transmitting circuit 1120 sends a local path to the OBU, the local path is used to instruct the OBU to switch the home RSU of the OBU from the first RSU to the RSU.

Optionally, as an embodiment, the receiving circuit 1130 is further configured to: receive, by the CSU, the first switching pre-processing message that is sent when the RSU switching pre-processing is started according to the vehicle information of the OBU-carrying vehicle; wherein, the processing unit 1140 is specifically configured to: Determining the local path of the OBU within the coverage of the RSU according to the first handover pre-processing message.

Optionally, as an embodiment, the sending circuit 1120 is further configured to send a registration success message to the OBU in response to the registration request message; the receiving circuit 1130 is further configured to receive the local path request message sent by the OBU after receiving the registration success message. The transmitting circuit 1120 is specifically configured to: send a local path that responds to the local path request message to the OBU.

Optionally, as an embodiment, the transmitting circuit 1120 is further configured to: when determining that the OBU registration is successful, send the local path to the OBU.

Optionally, as an embodiment, the transmitting circuit 1120 is further configured to send a handover report to the CSU. The message, the handover report message is used to indicate that the home of the OBU is handed over to the RSU.

It should be noted that the RSU 1100 may be specifically the second RSU in the foregoing embodiment, and may be used to perform various steps and/or processes corresponding to the second RSU in the foregoing method embodiments.

FIG. 12 is a schematic block diagram of a car navigation unit RSU 1200 according to an embodiment of the present invention.

The RSU 1200 can be used in a variety of communication systems. In the embodiment of FIG. 12, RSU 1200 includes transmit circuitry 1220, receive circuitry 1230, processing unit 1240, memory 1250, and antenna 1210. Processing unit 1240 controls the operation of CSU 1000 and can be used to process signals. The processing unit 1240 may also be referred to as a CPU (Central Processing Unit). Memory 1250 can include read only memory and random access memory and provides instructions and data to processing unit 1240. A portion of memory 1250 may also include non-volatile line random access memory (NVRAM). In a particular application, RSU 1200 may also include a carrier that houses transmit circuitry 1220 and receive circuitry 1230 to allow for data transmission and reception between RSU 1200 and a remote location. Transmitting circuit 1220 and receiving circuit 1230 can be coupled to antenna 1210. The various components of RSU 1200 are coupled together by a bus system 1260 that includes, in addition to the data bus, a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are labeled as bus system 1260 in the figure.

The method disclosed in the foregoing embodiments of the present invention may be applied to the processing unit 1240 or implemented by the processing unit 1240. In the implementation process, each step of the above method may be completed by an integrated logic circuit of hardware in the processing unit 1240 or an instruction in the form of software.

The receiving circuit 1230 receives the logout message sent by the OBU or CSU.

The processing unit 1240 logs out the OBU according to the logout message received by the receiving circuit 1230.

It should be noted that the RSU 1200 may be specifically the first RSU in the foregoing embodiment, and may be used to perform various steps and/or processes corresponding to the first RSU in the foregoing method embodiments.

It is to be understood that the phrase "one embodiment" or "an embodiment" or "an" Thus, "in one embodiment" or "in an embodiment" or "an" In addition, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

It should be understood that, in various embodiments of the present invention, the size of the sequence numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be The implementation process of the embodiments of the present invention constitutes any limitation.

Additionally, the terms "system" and "network" are used interchangeably herein. The term "and/or" in this context is merely an association describing the associated object, indicating that there may be three relationships, for example, A and / or B, which may indicate that A exists separately, and both A and B exist, respectively. B these three situations. In addition, the character "/" in this article generally indicates that the contextual object is an "or" relationship.

It should be understood that in the embodiment of the present invention, "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B from A does not mean that B is only determined based on A, and that B can also be determined based on A and/or other information.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both, for clarity of hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

A person skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of cells is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be combined or integrated. Go to another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.

The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.

In addition, each functional unit in various embodiments of the present invention may be integrated in one processing unit In addition, each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented in hardware, firmware implementation, or a combination thereof. When implemented in software, the functions described above may be stored in or transmitted as one or more instructions or code on a computer readable medium. Computer readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one location to another. A storage medium may be any available media that can be accessed by a computer. By way of example and not limitation, computer readable media may comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage media or other magnetic storage device, or can be used for carrying or storing in the form of an instruction or data structure. The desired program code and any other medium that can be accessed by the computer. Also. Any connection may suitably be a computer readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable , fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, wireless, and microwave are included in the fixing of the associated media. As used in the present invention, a disk and a disc include a compact disc (CD), a laser disc, a compact disc, a digital versatile disc (DVD), a floppy disk, and a Blu-ray disc, wherein the disc is usually magnetically copied, and the disc is The laser is used to optically replicate the data. Combinations of the above should also be included within the scope of the computer readable media.

Claims

A method for switching a roadside navigation unit RSU in a navigation system, the method comprising:

The CSU receives vehicle information transmitted by the OBU, and the vehicle information includes location information and speed information of the vehicle carrying the OBU;

Determining, by the CSU, whether to initiate an RSU switch according to the vehicle information;

If the CSU needs to initiate an RSU handover, the CSU sends a handover notification message to the OBU, where the handover notification message is used to instruct the OBU to acquire a local path within the coverage of the second RSU from the second RSU. And switching the home RSU of the OBU from the first RSU to the second RSU.
The method according to claim 1, wherein before the CSU determines whether to initiate an RSU handover according to the vehicle information, the method further includes:

Determining, by the CSU, whether to initiate an RSU handover pre-processing according to the vehicle information;

If the CSU needs to initiate the RSU handover pre-processing, the CSU sends a first handover pre-processing message to the second RSU, where the first handover pre-processing message is used to instruct the second RSU to determine the local path .
The method of claim 2, wherein the first handover pre-processing message includes a global path of the OBU and the vehicle information, wherein the global path of the OBU and the vehicle information are used to indicate The second RSU determines the local path.
The method according to claim 2 or 3, wherein the method further comprises:

If the CSU needs to initiate RSU handover pre-processing, the CSU sends a second handover pre-processing message to the OBU, where the second handover pre-processing message includes an identifier ID of the second RSU, and the second RSU And the at least one of the address and the name of the second RSU is used to instruct the OBU to send a registration request message to the second RSU.
The method according to any one of claims 1 to 4, further comprising:

The CSU receives a handover report message sent by the OBU or the second RSU, where the handover report message is used to indicate that the home RSU of the OBU is handed over to the second RSU.
The method according to any one of claims 1 to 5, wherein the CSU sends a handover notification message to the OBU, including:

Transmitting, by the CSU, the switchover through a CO interface between the CSU and the OBU Know the news; or

Sending, by the CSU, the handover notification message to the first RSU, so that the first RSU forwards the handover notification message to the OBU.
A method for switching a roadside navigation unit RSU in a navigation system, characterized in that the method comprises:

The OBU sends the CSU the vehicle information of the vehicle carrying the OBU, the vehicle information including location information and speed information of the vehicle;

The OBU receives a handover notification message sent by the CSU, where the handover notification message is determined by the CSU according to the vehicle information, and the handover notification message is used to instruct the OBU to take the home RSU of the OBU from the first Switching the RSU to the second RSU;

Sending, by the OBU, a registration request message to the second RSU;

Receiving, by the OBU, the local path that the second RSU sends within the coverage of the second RSU after receiving the registration request message and determining that the OBU is successfully registered;

The OBU switches the home RSU of the OBU from the first RSU to the second RSU according to the local path.
The method according to claim 7, wherein before the OBU receives the handover notification information sent by the CSU, the method further includes:

The OBU receives a second handover pre-processing message that is sent by the CSU when the RSU handover pre-processing needs to be initiated according to the vehicle information, where the second handover pre-processing message includes an identifier ID of the second RSU, and the At least one of an address of the second RSU and a name of the second RSU, used to instruct the OBU to send the registration request message to the second RSU.
The method according to claim 7 or 8, wherein the method further comprises:

Receiving, by the OBU, a registration success message sent by the second RSU in response to the registration request message;

Sending, by the OBU, a local path request message to the second RSU;

The OBU receives the local path of the OBU that is in the coverage of the second RSU after the second RSU receives the registration request message and determines that the OBU is successfully registered, and includes:

The OBU receives the local path sent by the second RSU in response to the local path request message.
The method according to any one of claims 7 to 9, wherein the method further comprises:

The OBU sends a handover report message to the CSU, where the handover report message is used to indicate that the home RSU of the OBU is handed over to the second RSU.
The method according to any one of claims 7 to 10, wherein the method further comprises:

The OBU sends a logout message to the first RSU, where the logout message is used to instruct the first RSU to log out of the OBU.
The method according to any one of claims 7 to 11, wherein the OBU receives the handover notification information sent by the CSU, including:

The OBU receives the handover notification message through a CO interface between the CSU and the OBU; or

The OBU receives the handover notification message sent by the first RSU, where the handover notification message is a message sent by the CSU to the first RSU.
A central service unit CSU, comprising:

a receiving unit, configured to receive vehicle information sent by a vehicle carrying an OBU, where the vehicle information includes location information and speed information of the vehicle;

a determining unit, configured to determine, according to the vehicle information received by the receiving unit, whether to initiate an RSU switch;

a sending unit, if the determining unit determines that the RSU switching needs to be initiated, to send a handover notification message to the OBU, where the handover notification information is used to indicate that the OBU acquires the coverage of the second RSU from the second RSU. The local path and switch the home RSU of the OBU from the first RSU to the second RSU.
The CSU according to claim 13, wherein the determining unit is further configured to: before the determining unit determines whether to initiate the RSU switching according to the vehicle information, the determining unit is further configured to:

Determining whether it is necessary to initiate RSU switching preprocessing according to the vehicle information;

The sending unit is further configured to: when the determining unit determines that the RSU switching pre-processing needs to be started, sending a first switching pre-processing message to the second RSU, where the first switching pre-processing message is used to indicate the second The RSU determines the local path according to the first handover pre-processing message.
The CSU according to claim 14, wherein said first handover pre-processing message includes a global path of said OBU and said vehicle information, wherein said global path of said OBU The path and the vehicle information are used to instruct the second RSU to determine the local path.
The CSU according to claim 14 or 15, wherein the transmitting unit is further configured to:

And if the determining unit determines that the RSU switching pre-processing needs to be initiated, sending a second handover pre-processing message to the OBU, where the second handover pre-processing message includes an identifier ID of the second RSU, and an address of the second RSU At least one of the names of the second RSUs, used to instruct the OBU to send a registration request message to the second RSU.
The CSU according to any one of claims 13 to 16, wherein the receiving unit is further configured to:

Receiving a handover report message sent by the OBU or the second RSU, where the handover report message is used to indicate that a home RSU of the OBU is handed over to the second RSU.
The CSU according to any one of claims 13 to 17, wherein the transmitting unit is further configured to:

Transmitting the handover notification message by using a CO interface between the CSU and the OBU; or

Sending the handover notification message to the first RSU, so that the first RSU forwards the handover notification message to the OBU.
An in-vehicle navigation unit OBU, comprising:

a sending unit, configured to send, to the CSU, vehicle information of a vehicle carrying the OBU, where the vehicle information includes location information and speed information of the vehicle;

a receiving unit, configured to receive the handover notification information sent by the CSU, where the handover notification message is determined by the CSU according to the vehicle information sent by the sending unit, where the handover notification message is used to indicate that the OBU is to be The home RSU of the OBU is switched from the first RSU to the second RSU;

The sending unit is further configured to send a registration request message to the second RSU;

The receiving unit is further configured to receive a local path of the OBU that is sent by the second RSU after receiving the registration request message and determining that the OBU is successfully registered in a coverage range of the second RSU;

And a switching unit, configured to switch the home RSU of the OBU from the first RSU to the second RSU according to the local path received by the receiving unit.
The OBU according to claim 19, wherein the receiving unit further uses the receiving unit to receive the switching notification information sent by the CSU according to the vehicle information. to:

Receiving, by the CSU, a second handover pre-processing message that is sent when the RSU handover pre-processing needs to be initiated according to the vehicle information, where the second handover pre-processing message includes an identifier ID of the second RSU, and the second RSU And the at least one of the address and the name of the second RSU is used to instruct the OBU to send the registration request message to the second RSU.
The OBU according to claim 19 or 20, wherein the receiving unit is further configured to:

Receiving a registration success message sent by the second RSU in response to the registration request message;

The sending unit is further configured to: send a local path request message to the second RSU;

The receiving unit is specifically configured to:

Receiving, by the second RSU, the local path that is responsive to the local path request message.
The OBU according to any one of claims 19 to 21, wherein the transmitting unit is further configured to:

Sending a handover report message to the CSU, where the handover report message is used to indicate that the home of the OBU is handed over to the second RSU.
The OBU according to any one of claims 19 to 22, wherein the transmitting unit is further configured to:

Sending a logout message to the first RSU, the logout message is used to instruct the first RSU to log out of the OBU.
The OBU according to any one of claims 19 to 23, wherein the receiving unit is specifically configured to:

Receiving the handover notification message by a CO interface between the CSU and the OBU; or

Receiving, by the first RSU, the handover notification message, where the handover notification message is a message sent by the CSU to the first RSU.