WO2021008557A1 - 一种v2x通信方法、装置以及存储介质 - Google Patents

一种v2x通信方法、装置以及存储介质 Download PDF

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Publication number
WO2021008557A1
WO2021008557A1 PCT/CN2020/102141 CN2020102141W WO2021008557A1 WO 2021008557 A1 WO2021008557 A1 WO 2021008557A1 CN 2020102141 W CN2020102141 W CN 2020102141W WO 2021008557 A1 WO2021008557 A1 WO 2021008557A1
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Prior art keywords
communication device
moving subject
threshold
communication
moving
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PCT/CN2020/102141
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English (en)
French (fr)
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张�浩
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华为技术有限公司
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Priority to JP2022502531A priority Critical patent/JP7293490B2/ja
Priority to EP20841463.1A priority patent/EP3975594A4/en
Publication of WO2021008557A1 publication Critical patent/WO2021008557A1/zh
Priority to US17/574,095 priority patent/US11751039B2/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/0803—Configuration setting
    • H04L41/0813—Configuration setting characterised by the conditions triggering a change of settings
    • H04L41/0816—Configuration setting characterised by the conditions triggering a change of settings the condition being an adaptation, e.g. in response to network events
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/14—Network analysis or design
    • H04L41/147—Network analysis or design for predicting network behaviour
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/16—Threshold monitoring
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12—Messaging; Mailboxes; Announcements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0876—Network utilisation, e.g. volume of load or congestion level
    • H04L43/0882—Utilisation of link capacity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00—Traffic control in data switching networks
    • H04L47/10—Flow control; Congestion control
    • H04L47/11—Identifying congestion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00—Traffic control in data switching networks
    • H04L47/10—Flow control; Congestion control
    • H04L47/12—Avoiding congestion; Recovering from congestion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/28—Timers or timing mechanisms used in protocols
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0284—Traffic management, e.g. flow control or congestion control detecting congestion or overload during communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0289—Congestion control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W92/00—Interfaces specially adapted for wireless communication networks
    • H04W92/16—Interfaces between hierarchically similar devices
    • H04W92/18—Interfaces between hierarchically similar devices between terminal devices

Definitions

  • This application relates to the technical field of Internet of Vehicles, and in particular to a V2X communication method, device and storage medium.
  • C-V2X vehicle-to-everything
  • V2X vehicle-to-everything
  • C-V2X cellular vehicle-to-everything
  • Basic safety message is the basic safety-related information broadcast by each vehicle during the V2X communication process, which can include vehicle speed, heading, position, acceleration, predicted path and historical path, and vehicle time And other information.
  • BSM Basic safety message
  • a vehicle When a vehicle is driving on the road, it will periodically send its own basic safety messages in a certain period. Since the current bandwidth of C-V2X is only 10M/20M, in a congested road scene, when the number of vehicles on the road reaches a certain number, the channel resource consumption of vehicles on the congested road is relatively high.
  • the preset V2X The available channel resources of the access layer may be exhausted quickly, resulting in channel congestion. Channel congestion may cause the vehicle to fail to receive the basic safety messages broadcast by other vehicles in real time, thus causing the V2X security application of the vehicle to be on the road. There is a serious possibility of failure in the calculation and determination of threats.
  • the 3rd generation partnership project (3GPP) adopts the following channel control method to alleviate the above-mentioned channel congestion problem: by setting different priorities for different V2X services in the vehicle, and then setting different priorities for V2X services
  • Different channel busy rate (channel busy ratio, CBR) thresholds are set respectively, and when the channel busy rate of the vehicle reaches the channel busy rate threshold corresponding to a certain priority V2X service, the transmission of the priority V2X service data is restricted.
  • CBR channel busy ratio
  • the channel control method can only relieve the problems caused by mild channel congestion to a certain extent.
  • the channel of the vehicle is busy, there are still vehicles that cannot receive the basic safety messages broadcast by other vehicles in real time. Leading to the possibility of serious safety pre-judgment failure risk, there are still certain hidden safety hazards for vehicles and drivers.
  • the embodiment of the present application provides a method for V2X communication, which can ensure the transmission of V2X messages between moving subjects when channel congestion occurs in V2X communication, thereby reducing the risk of failure of safety prediction of moving subjects.
  • the first aspect of the present application provides a V2X communication method, which can be applied to the field of Internet of Vehicles, including: a first communication device obtains an identification set, the identification set includes one or more identifications, and each identification corresponding to the sports body and the first The collision risk of the first moving subject corresponding to a communication device meets the preset conditions.
  • the moving subject can refer to the moving subject such as vehicles, airplanes, satellites, and mobile phones.
  • the identification of the moving subject is a kind of identity information that uniquely indicates the moving subject.
  • the identity information can indicate the model and size of the moving body and other information related to the moving body; when the channel busy rate of the first communication device is greater than the first threshold, the first communication device sends a backup communication connection to the second communication device Configuration information of the channel, the configuration information includes an identification set, and the configuration information is used by the second communication device to establish a backup communication connection channel with the first communication device after determining that the identification of the moving subject corresponding to the second communication device belongs to the identification set,
  • the configuration information may also contain other types of information; when the channel busy rate is greater than the second threshold, the first communication device and the second communication device transmit V2X messages through the alternate communication connection channel.
  • the V2X messages include the motion data of the moving subject, such as basic Safety message (basic safety message, BSM) messages, motion data can specifically include various information related to the motion safety of the moving body, such as the heading, position, speed, or size of the moving body.
  • V2X messages may also contain other types of messages.
  • V2X message information the second threshold is greater than the first threshold, for example, the first threshold may be 30%, and the second threshold may be 60%.
  • the first communication device obtains the identification set of the identification of the moving subject whose collision risk with the first moving subject meets the preset condition in real time.
  • the first communication device Establish a backup communication connection channel with the corresponding moving subject in the identification set, and when the channel busy rate reaches a higher second threshold, transmit V2X messages through the pre-established backup communication connection channel, thereby ensuring that channel congestion occurs in V2X communication
  • communication between the moving subjects can still be carried out, thereby reducing the risk of failure of the safety prediction of the moving subjects.
  • the first communication device obtains the identification set, including: the first communication device obtains target information, and the target information includes the motion data of the first moving subject and The motion data of each moving subject in the first set.
  • the motion data of the moving subject includes various data related to the movement of the moving subject, such as the moving direction, position, speed or size of the moving subject.
  • the movement data of the first moving body is obtained by the first communication device through various sensors equipped with the moving body, such as transmitter sensors, wheel sensors, brake sensors, etc., as well as GPS, cameras, radars and other acquisition devices.
  • the first communication device After acquiring the moving subject data from each collection device of the moving subject, the moving subject data is analyzed to obtain the moving data of the first moving subject; the first communication device determines the first moving subject and each of the first sets according to the target information Whether the collision risk between the moving subjects meets the preset condition; the first communication device determines the identification of the moving subject whose collision risk with the first moving subject meets the preset condition in the first set to obtain the identification set, and the first communication device may Set a cycle time, for example, every 100 milliseconds as a cycle, the first communication device will re-acquire the identification set in each cycle, so as to ensure the real-time and validity of the data.
  • the first communication device determines the difference between the first moving subject and each moving subject in the first set according to the target information. Whether the risk of collision between the two groups meets preset conditions includes: the first communication device determines, according to the target information, the moving subjects in the first set that are at risk of collision with the first moving subject to obtain the second set; the first communication device determines the first set The predicted path of the moving subject and the predicted path of the second moving subject, the second moving subject is any one of the one or more moving subjects included in the second set; the first communication device determines the first moving subject according to the predicted path of the first moving subject The adjacent area of a moving subject, the adjacent area is the braking area of the first moving subject; the first communication device judges whether the second moving subject will enter the adjacent area according to the adjacent area and the predicted path of the second moving subject, and the adjacent area is The movement of the first moving subject is in a state of change.
  • the vicinity of the first moving subject refers to the sudden movement of the first moving subject during driving.
  • the area where the first moving body is located at the moment when braking is started as the center.
  • the speed of the first moving body drops to 0, the area where the first moving body moves at all angles on the horizontal plane; if yes, Then the first communication device determines the predicted time for the second moving subject to enter the adjacent area, and determines whether the predicted time is less than the third threshold.
  • the predicted time refers to the predicted time for the second moving subject to enter the adjacent area from the current moment, for example, the first A communication device predicts that the second moving subject will enter the vicinity of the first moving subject in 10s, and the prediction time is 10s; if the predicted time is less than the third threshold, the first communication device determines the second moving subject and the first moving subject The collision risk meets the preset conditions.
  • the first communication device can first screen out the moving subjects in the first set that are not at risk of collision with the first moving subject, thereby reducing the amount of calculation and improving system performance. Then predict and analyze the path of the first moving subject and the moving subjects in the second set that are at risk of collision with the first moving subject, and finally judge the collision risk between each moving subject in the second set and the first moving subject Whether the preset conditions are met, through the precise setting of the preset conditions, not only can the accuracy of the data be ensured, but also the identification set corresponding to the motion subject that needs to establish a backup communication connection channel can be effectively determined, and the backup communication connection channel will be used in the subsequent When communicating, reduce the waste of data traffic to a certain extent.
  • the first communication device and the second communication device are connected through standby communication Before the channel transmits the V2X message, it also includes: when the channel busy rate is greater than the second threshold, the first communication device determines whether the predicted time is reached; correspondingly, when the channel busy rate is greater than the second threshold, the first communication device communicates with the second The device transmits the V2X message through the backup communication connection channel, including: when the channel busy rate is greater than the second threshold and the predicted time arrives, the first communication device and the second communication device transmit the V2X message through the backup communication connection channel.
  • the configuration information further includes the startup time of the backup communication connection channel
  • the method further includes: when the channel busy rate is greater than the second threshold, the first communication device determines the startup time
  • the first communication device and the second communication device transmit V2X messages through the backup communication connection channel, including: when the channel busy rate is greater than the second threshold and the start time arrives , The first communication device and the second communication device transmit V2X messages through the backup communication connection channel.
  • the configuration information further includes the effective time of communication, and the first communication
  • the first communication device determines whether the communication effective time has arrived, and the communication effective time may be associated with the third threshold, for example, if the third threshold is 10s , The effective communication time can be the same as the value of the third threshold, which is also 10s; if so, delete the backup communication connection channel.
  • the configuration information further includes the identification information of the first moving subject , One or more of communication protocol type, connection protocol type, delay parameter, and address information.
  • the second aspect of the present application provides a communication device that has the function of implementing the foregoing first aspect or any one of the possible implementation methods of the first aspect.
  • This function can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • a third aspect of the present application provides a computer device.
  • the communication device includes a processor and a computer-readable storage medium storing a computer program; the processor is coupled to the computer-readable storage medium, and the first aspect is realized when the computer program is executed by the processor And the V2X communication method provided in any possible implementation of the first aspect.
  • the fourth aspect of the present application provides a computer-readable storage medium that stores instructions in the computer-readable storage medium, and when it runs on a computer device, the computer device can execute any one of the first aspect or the first aspect. Possible way to implement V2X communication.
  • the fifth aspect of the present application provides a computer program product containing instructions, which when running on a communication device, enables the communication device to execute the V2X communication method of the first aspect or any one of the possible implementation manners of the first aspect.
  • the embodiment of the present invention adopts a method of V2X communication.
  • the first communication device obtains in real time the identification set of the moving subject whose collision risk with the first moving subject meets the preset condition.
  • the first communication device establishes a backup communication connection channel with the corresponding moving subject in the identification set, and when the channel busy rate reaches a higher second threshold, the V2X message is transmitted through the pre-established backup communication connection channel, thereby ensuring that when V2X communication occurs
  • V2X messages can still be transmitted between moving subjects, thereby reducing the risk of failure of safety prediction of moving subjects.
  • FIG. 1 is a schematic diagram of an embodiment of a V2X communication method provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of an embodiment of a method for obtaining an identification set provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of an embodiment of judging whether the collision risk between the first moving subject and each moving subject in the first set meets a preset condition according to an embodiment of the present application;
  • FIG. 4 is a schematic diagram of another embodiment of a V2X communication method provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an embodiment of a V2X communication device provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the hardware structure of a communication device provided by an embodiment of the present application.
  • the embodiment of the present invention provides a method for V2X communication.
  • the first communication device obtains in real time an identification set of the identification of the moving subject whose collision risk with the first moving subject meets a preset condition, and when the channel busy rate reaches a first threshold, The first communication device establishes a backup communication connection channel with the corresponding moving subject in the identification set, and when the channel busy rate reaches a higher second threshold, the V2X message is transmitted through the pre-established backup communication connection channel, thereby ensuring that V2X When the communication channel is congested, V2X messages can still be transmitted between moving subjects, thereby reducing the risk of failure of safety prediction of moving subjects.
  • the embodiments of the present invention also provide corresponding devices and storage media. Detailed descriptions are given below.
  • FIG. 1 is a schematic diagram of an embodiment of a V2X communication method provided in an embodiment of the application.
  • an embodiment of the V2X communication method provided in the embodiment of the present application may include:
  • the first communication device obtains a set of identifications, the identification set includes one or more identifications, and the collision risk of the moving subject corresponding to each identification and the first moving subject corresponding to the first communication device meets a preset condition.
  • the embodiments of the present application can be applied to a scene of the Internet of Vehicles, and the moving subject can refer to a vehicle running on a road.
  • the first communication device first obtains an identification set.
  • the identification set contains one or more identifications.
  • Each of the one or more identifications corresponds to the moving subject and the first moving subject. All collision risks meet the preset conditions.
  • the identification of the moving subject is a kind of identity information that uniquely indicates the moving subject.
  • the identity information can indicate the type and size of the vehicle. Vehicle-related information.
  • the collision risk between the moving body and the first moving body corresponding to each identifier in the identifier set is greater than the preset condition. It should be noted that there may be many different methods for characterizing the risk of collision between moving subjects in the embodiments of this application. Based on different characterization methods, the corresponding preset conditions may be different. Therefore, the The setting conditions are not specifically limited.
  • the embodiments of this application can also be applied to other traffic scenarios. Therefore, in addition to vehicles, the moving subjects in the embodiments of this application can also be aircraft, satellites, etc. In addition, a person carrying an electronic device such as a mobile phone or a sports bracelet can also be a sports body in the embodiment of the application, which is not limited in the embodiment of the application.
  • the first communication device sends configuration information of the alternate communication connection channel to the second communication device, the configuration information includes the identification set, and the configuration information is used for the second communication device.
  • the communication device After determining that the identification of the moving subject corresponding to the second communication device belongs to the identification set, the communication device establishes a backup communication connection channel with the first communication device.
  • the first communication device will monitor the channel busy rate of the first communication device in real time. When it is monitored that the channel busy rate of the first communication device is greater than the first threshold, the first communication device will communicate with the second communication device. The device sends the configuration information of the alternate communication connection channel, and the configuration information contains the identification set.
  • the second communication device is a communication device corresponding to any one of the moving subjects within the communication range of the first moving subject, such as a vehicle-mounted terminal.
  • the configuration information sent by the first communication device to the second communication device may be through After the second communication device receives the configuration information through the road broadcast, it will first determine whether the identification of the corresponding sports subject belongs to the identification set contained in the configuration information. If it does, the second communication device A backup communication connection channel is established with the first communication device according to the configuration information.
  • the configuration information sent by the first communication device to the second communication device in the embodiment of the present application may also specifically include the identification information of the first moving subject and the communication protocol type ⁇ e.g., user datagram protocol ( user datagram protocol, UDP) or transmission control protocol (transmission control protocol, TCP), etc. ⁇ , network connection type (such as 3G/4G/5G communication connection), delay parameters, address information ⁇ IP address (such as IPv4 or IPv6 address) Or one or more of the information such as media access control (MAC) address, etc. ⁇ .
  • the communication protocol type e.g., user datagram protocol ( user datagram protocol, UDP) or transmission control protocol (transmission control protocol, TCP), etc.
  • network connection type such as 3G/4G/5G communication connection
  • delay parameters such as 3G/4G/5G communication connection
  • MAC media access control
  • the configuration information can also contain other types of information, for example, the startup time of the backup communication connection channel, the effective time of communication, port number, vehicle password, application ID, layer-2 or international mobile device identification code (International Mobile Equipment Identity, IMEI) and other information, the embodiment of the application does not specifically limit the type of information included in the configuration information.
  • IMEI International Mobile Equipment Identity
  • the first communication device and the second communication device transmit V2X messages through the standby communication connection channel, and the second threshold is greater than the first threshold.
  • the first communication device when the channel busy rate of the first communication device reaches the second threshold, the first communication device transmits the V2X message to the second communication device through the established backup communication connection channel.
  • the V2X message may include various sports data related to the movement safety of the moving body, such as the heading, position, speed, or size of the moving body, such as basic safety message (BSM).
  • BSM basic safety message
  • other types of information may also be included, such as other types of V2X message information, which is not limited in the embodiment of the present application.
  • the first communication device determines that the channel busy rate reaches the second threshold, it first sends the motion data of the first moving subject to the second communication device based on the backup communication connection channel, and when the second communication device passes the backup communication connection channel After receiving the motion data of the first moving body, it also starts to send the motion data of the moving body corresponding to the second communication device to the first communication device through the backup communication connection channel.
  • the embodiments of the present application do not specifically limit the types of V2X messages that the first communication device and the second communication device send to each other.
  • both the second threshold and the first threshold are preset, and the second threshold is greater than the first threshold.
  • the first threshold is 30% and the second threshold is 60%.
  • the first communication device when the channel busy rate is greater than the second threshold, the first communication device must first determine whether the startup time is reached, If the start time arrives, the backup communication connection channel is opened between the first communication device and the second communication device, and then the V2X message is transmitted through the backup communication connection channel.
  • the first communication device obtains in real time the identification set of the identification of the moving subject whose collision risk with the first moving subject meets the preset condition.
  • the channel busy rate reaches the first threshold
  • the first communication device and the first moving subject Each movement subject corresponding to the identification set establishes a backup communication connection channel, and when the channel busy rate reaches a higher second threshold, V2X messages are transmitted through the pre-established backup communication connection channel to ensure that when channel congestion occurs in V2X communication, Movement data can still be transmitted between moving subjects, thereby reducing the risk of failure of the moving subject's safety prediction.
  • the embodiment of the present application will specifically introduce the method for obtaining the identity set by the first communication device in step 101.
  • FIG. 2 an implementation of the method for obtaining the identity set provided by the embodiment of the present application Example schematic diagram.
  • an embodiment of the method for the first communication device to obtain the identity set provided by the embodiment of the present application may include:
  • the first communication device acquires target information, where the target information includes motion data of a first moving subject and motion data of each of the one or more moving subjects included in the first set.
  • the first communication device first needs to obtain target information, and the target information includes the motion data of the first moving subject and the motion data of each moving subject in the first set.
  • the motion data of the moving body includes various data related to the movement of the moving body, such as the moving direction, position, speed, or size of the moving body.
  • the movement data of the first moving body is the various sensors equipped by the first communication device through the vehicle, such as transmitter sensors, wheel sensors, brake sensors, etc., as well as GPS and cameras.
  • Radar and other acquisition devices after the first communication device acquires vehicle data from each acquisition device of the vehicle, it analyzes the vehicle data to obtain the vehicle’s motion data, which may include the vehicle’s heading, position coordinates, vehicle size or Steering wheel angle and other information.
  • the first set contains one or more moving subjects
  • the first communication device may receive the motion data sent by the communication device corresponding to the one or more moving subjects through road broadcast, such as BSM messages. It should be noted that the embodiment of the present application does not specifically limit the sequence in which the first communication device obtains the motion data of the first moving subject and the motion data of each moving subject in the first set.
  • the first communication device determines whether the collision risk between the first moving subject and each moving subject in the first set meets a preset condition according to the target information.
  • the first communication device after the first communication device obtains the target information, that is, the motion data of the first moving subject and the motion data of each moving subject in the first set, it will respond to each of the first moving subject and the first set.
  • the motion data of the moving subject is analyzed to determine the collision risk between the first moving subject and each moving subject in the first set, and to determine whether the collision risk between the first moving subject and each moving subject in the first set is Meet the preset conditions.
  • a target classification algorithm and a path prediction algorithm can be used to calculate the first moving subject and the The risk of collision between each moving subject in the first set.
  • other similar or related mathematical calculation methods can also be used for calculation, which is not limited in the embodiment of the present application.
  • the first communication device may use a target classification algorithm and a path prediction algorithm to analyze the motion data of the first moving subject and the motion data of each moving subject in the first set to determine the first moving subject.
  • a target classification algorithm and a path prediction algorithm to analyze the motion data of the first moving subject and the motion data of each moving subject in the first set to determine the first moving subject.
  • the first communication device determines the identification of the moving subject whose collision risk with the first moving subject in the first set meets a preset condition to obtain an identification set.
  • the first communication device analyzes and judges the collision risk between each moving subject in the first set and the first moving subject, it will determine that the collision risk with the first moving subject meets the expected risk. Set the conditional identification of the moving subject to obtain the identification set.
  • the first communication device may set a cycle time, for example, every 100 milliseconds is a cycle, and the first communication device will obtain the identification set again in each cycle, thereby ensuring real-time data Sex and effectiveness.
  • the embodiment of the present application will specifically introduce the method for determining whether the collision risk between the first moving subject and each moving subject in the first set meets a preset condition, please refer to Figure 3.
  • the embodiment of the present application provides a schematic diagram of an embodiment for judging whether the collision risk between the first moving body and each moving body in the first set meets a preset condition.
  • an embodiment of judging whether the collision risk between the first moving subject and each moving subject in the first set meets a preset condition may include:
  • the first communication device determines a moving subject in the first set that is at risk of collision with the first moving subject to obtain the second set.
  • the first The communication device first determines the moving subjects in the first set that are at risk of collision with the first moving subject according to the target information, thereby obtaining the second set.
  • the first communication device may use a target classification algorithm to determine a moving subject in the first set that is at risk of collision with the first moving subject.
  • the first communication device determines the relative position of each moving subject in the first set and the first moving subject based on the target classification algorithm based on the motion data of the first moving subject and the motion data of each moving subject in the first set Relations, and centered on the first motion subject, the motion subjects in the first set are classified into eight categories according to the position model of Jiugongge, namely: front right, front right, front right, back right, back right, back left, The first eight direction areas are right and left, and then based on the heading, position, driving speed and other information of the two moving subjects, determine which of the moving subjects in the first set have nothing to do with the driving of the first moving subject, and filter them from the first set Thus, the second set is obtained. Therefore, each of the one or more moving subjects included in the second set is related to the movement of the first moving subject, that is, there is a risk of collision.
  • the target classification algorithm in the embodiment of this application is the content of the prior art, and this application will not repeat it. In practical applications, there are multiple types of target classification algorithms for determining whether there is a risk of collision between the moving subjects according to the motion data of the moving subjects, and the embodiment of the present application does not limit the specific calculation method.
  • the first communication device determines the predicted path of the first moving subject and the predicted path of the second moving subject, where the second moving subject is any one of the one or more moving subjects included in the second set.
  • the first communication device determines the predicted path of the first moving subject and the predicted path of the second moving subject.
  • the second moving subject is one or more motions included in the second set. Any one of the main body.
  • the predicted path specifically refers to the relationship between the position information and time that the moving body moves from the current moment.
  • the first communication device may use a path prediction algorithm to respectively predict the predicted path of the first moving subject and the predicted path of the second moving subject.
  • the predicted path specifically refers to the relationship between the vehicle's location information and time from the current moment.
  • the motion data of the moving subject includes the moving speed, heading, steering wheel angle, GPS positioning and other information
  • the predicted path of the first moving subject predicted by the path prediction algorithm refers to the predicted path The relationship between the latitude and longitude coordinates of the first moving body from the current moment and time.
  • the first communication device adopts a path prediction algorithm, and the latitude and longitude coordinates ⁇ x(t), y(t) of the first moving subject from the current moment are predicted based on the motion data of the first moving subject.
  • ⁇ x(t), y(t) of the first moving subject from the current moment are predicted based on the motion data of the first moving subject.
  • x 0 and y 0 are the latitude and longitude coordinates of the first moving body at the current moment respectively; v is the current driving speed of the first moving body, R is the predicted curvature, and ⁇ is the current heading of the first moving body. It should be noted that x 0 and y 0 can be obtained through GPS, and the predicted curvature R is the ratio of the current speed of the first moving body to the speed of the yaw angle direction.
  • the first moving subject communication device can determine the value of the longitude and latitude coordinates of the first moving subject at any time.
  • the first communication device can also use the same path prediction algorithm to predict the latitude and longitude position ⁇ x d (t), y d (t) ⁇ of the second moving body from the current moment based on the motion data of the second moving body.
  • the first communication device determines the adjacent area of the first moving subject according to the predicted path of the first moving subject, where the adjacent area is the braking area of the first moving subject.
  • the first communication device uses the path prediction algorithm to determine the predicted path of the first moving subject, it will determine the adjacent area during the driving of the first moving subject according to the predicted path.
  • the adjacent area is in a changing state during the driving of the first moving body.
  • the vicinity of the first moving body refers to the location where the first moving body is located at the moment when the first moving body suddenly brakes the vehicle during driving.
  • the position is the center.
  • the speed of the first moving body drops to 0, the area where the first moving body moves at all angles on the horizontal plane.
  • the embodiment of the present application provides a method for determining the vicinity of the first moving subject.
  • the predicted path of the first moving subject is the latitude and longitude coordinates ⁇ x(t), y(t) ⁇ in step 2022,
  • the formula for the distance between the edge point of the adjacent area and the first moving subject is:
  • ⁇ 0 is the deflection angle of the edge point position relative to the true north direction of the first moving body
  • a is the braking deceleration of the first moving body
  • ⁇ t is the reaction time of the person
  • v is not the current first moving body
  • the traveling speed of t 0 v/a
  • A is the safety distance.
  • the first communication device determines whether the second moving subject will enter the adjacent area of the first moving subject according to the adjacent area and the predicted path of the second moving subject.
  • the first communication device determines whether the second moving subject will enter the adjacent area of the first communication device based on the vicinity of the first moving subject and the predicted path of the second moving subject. In the embodiment of the present application, the first communication device may determine whether the linear distance between the first moving subject and the second moving subject is always greater than the first moving subject in the future based on the predicted path of the first moving subject and the predicted path of the second moving subject. The linear distance between the edge point of the adjacent area of a moving body and the first moving body. The edge point is the intersection of the connecting line between the first moving body and the second moving body and the adjacent area, and is located between the first moving body and the first moving body. Between the two moving subjects. Specifically, the following calculation formula can be used to determine whether the second moving subject will enter the vicinity of the first moving subject:
  • Q(t) is always greater than or equal to 1, it means that the second moving body will not enter the vicinity of the first moving body. Therefore, if Q(t) does not satisfy the condition that it is always greater than or equal to 1, the first communication device determines that the second moving body will enter the vicinity of the first moving body in the future.
  • the first communication device determines the predicted time for the second moving subject to enter the adjacent area, and determines whether the predicted time is less than the third threshold.
  • the first communication device determines that the second moving subject will enter the adjacent area of the first moving subject in the future, the first communication device will also determine the predicted time for the second moving subject to enter the adjacent area, and Determine whether the predicted time is less than the third threshold.
  • the predicted time refers to the time when the second moving subject is predicted to enter the adjacent area from the current moment. For example, the first communication device predicts that the second moving subject will enter the adjacent area of the first moving subject in 10 seconds. The prediction time is 10s.
  • the first communication device determines that the risk of collision between the second moving subject and the first moving subject meets a preset condition.
  • the first communication device determines that the predicted time for the second moving subject to enter the adjacent area is less than the third threshold, the first communication device determines that the collision risk between the second moving subject and the first moving subject meets the preset condition.
  • Fig. 4 is a schematic diagram of another embodiment of a V2X communication method provided by an embodiment of the application.
  • another embodiment of the V2X communication method provided by the embodiment of the present application may include:
  • the first communication device obtains an identification set, the identification set includes one or more identifications, and the collision risk of the moving subject corresponding to each identification and the first moving subject corresponding to the first communication device meets a preset condition.
  • the first communication device determines whether the channel busy rate is greater than a first threshold.
  • the first communication device after obtaining the identification set, the first communication device will determine whether the channel busy rate is greater than the first threshold. In the case that the channel busy rate does not reach the first threshold, the first communication device will restart every cycle time. Get the set of identifiers at the current moment.
  • the cycle time may be preset, for example, it may be 100 milliseconds.
  • the first communication device sends configuration information of the alternate communication connection channel to the second communication device, the configuration information includes the identification set, and the configuration information is used for the second communication device.
  • the communication device After determining that the identification of the moving subject corresponding to the second communication device belongs to the identification set, the communication device establishes a backup communication connection channel with the first communication device.
  • the first communication device when it determines that the channel busy rate is greater than the first threshold, it will send configuration information of the backup communication connection channel to the second communication device.
  • the configuration information includes the identification set and the communication of the backup communication connection channel.
  • the effective time in addition, also includes the identification information of the first movement subject, the type of communication protocol (such as UDP or TCP, etc.), the type of network connection (such as 3G/4G/5G communication connection), delay parameters, and address information ( One or more of information such as IPv4, IPv6, or MAC, etc.).
  • the configuration information may also contain other types of information, for example, the startup time of the backup communication connection channel, port number, vehicle password, application ID, layer-2 or IMEI and other information.
  • the first communication device determines whether the channel busy rate is greater than a second threshold.
  • the first communication device after the first communication device establishes a backup communication connection channel with the first communication device, it monitors the change of the channel busy rate in real time, and determines whether the channel busy rate reaches and is greater than the second threshold.
  • the first communication device when the channel busy rate is not greater than the second threshold, the first communication device will re-acquire the identification set at the current time every periodic time, that is, repeat the content in step 401 to step 404.
  • the first communication device and the second communication device transmit the V2X message through the standby communication connection channel, and the second threshold is greater than the first threshold.
  • the first communication device when the first communication device determines that the channel busy rate is greater than the second threshold, it communicates with the second communication device through the backup communication connection channel established in step 403.
  • the first communication device records the predicted time when the second communication device enters the vicinity of the first communication device in the process of acquiring the identification set. Therefore, in the embodiment of the present application, When a communication device determines that the channel busy rate is greater than the second threshold, the first communication device may first determine whether the predicted time is reached, and after determining that the predicted time is reached, the first communication device connects to the second communication channel through the backup communication channel. The communication device communicates.
  • the first communication device judges whether the channel busy rate falls below a second threshold.
  • the first communication device and the second communication device communicate through the backup communication connection channel, it is also monitored in real time whether the channel busy rate falls below the second threshold. If the channel busy rate is always greater than the second threshold, the first communication device continues to use the backup communication connection channel to communicate with the second communication device.
  • the first communication device and the second communication device stop transmitting V2X messages through the standby communication connection channel.
  • the first communication device closes the backup communication connection channel and uses the original V2X channel for communication.
  • the first communication device judges whether the effective communication time is reached.
  • the configuration information includes the communication valid time of the backup communication connection channel. After the first communication device communicates with the second communication device through the backup communication connection channel, it will be determined whether the communication valid time has arrived.
  • the communication effective time in the embodiment of the present application has an association relationship with the third threshold in step 2026 in FIG. 3, for example, if the third threshold is 10 seconds, the communication effective time may be the same as the third threshold. , It is also 10 seconds, and the communication valid time in the embodiment of the present application and the third threshold may also have other association relationships, which is not limited in the present application.
  • the first communication device deletes the backup communication connection channel.
  • the backup communication connection channel after the first communication device communicates with the second communication device through the backup communication connection channel, if it is determined that the communication valid time is reached, the backup communication connection channel will be deleted. In the embodiment of the present application, after deleting the backup communication connection channel, the first communication device will retrieve the identification set at the current moment, and repeat the steps in 401-409 above.
  • the first communication device obtains in real time the identification set of the identification of the moving subject whose collision risk with the first moving subject meets the preset condition.
  • the channel busy rate reaches the first threshold
  • the first communication device and the first moving subject The moving subject in the identification set establishes a backup communication connection channel, and when the channel busy rate reaches a higher second threshold, the V2X message is transmitted through the pre-established backup communication connection channel, thereby ensuring that when the V2X communication channel is congested, the moving subject Communication can still be carried out between them, reducing the risk of failure of the safety prediction of the moving subject.
  • Fig. 5 is a schematic diagram of an embodiment of a V2X communication device provided by an embodiment of the application.
  • an embodiment of the V2X communication device 50 provided by the embodiment of the present application may include:
  • the obtaining module 501 is configured to obtain a set of identifications, the set of identifications includes one or more identifications, and the collision risk of the moving subject corresponding to each identification and the first moving subject corresponding to the first communication device meets a preset condition.
  • the transmission module 502 is configured to send configuration information of the alternate communication connection channel to the second communication device when the channel busy rate of the first communication device is greater than the first threshold.
  • the configuration information includes the identification set obtained by the obtaining module 501 and the configuration information Used for the second communication device to establish a backup communication connection channel with the first communication device after determining that the identification of the moving subject corresponding to the second communication device belongs to the identification set; when the channel busy rate is greater than the second threshold, pass through the second communication device
  • the backup communication connection channel transmits V2X messages, and the second threshold is greater than the first threshold.
  • the acquiring module 501 includes: an acquiring unit 5011 for acquiring target information, the target information including the motion data of the first moving subject and the motion data of each moving subject in the first set; a judgment unit 5012, used for judging whether the collision risk between the first moving subject and each moving subject in the first set meets a preset condition according to the target information obtained by the obtaining unit 5011; the determining unit 5013, used for determining what the judging unit 5012 judges In the first set, the identification of the moving subject whose collision risk with the first moving subject meets the preset condition is obtained to obtain the identification set.
  • the judging unit 5012 is configured to determine a moving subject in the first set that is at risk of collision with the first moving subject according to the target information to obtain the second set; determine the predicted path of the first moving subject And the predicted path of the second moving subject, the second moving subject is any one of the one or more moving subjects included in the second set; the adjacent area of the first moving subject is determined according to the predicted path of the first moving subject, the adjacent area It is the braking area of the first moving subject; judge whether the second moving subject will enter the adjacent area according to the adjacent area and the predicted path of the second moving subject; if so, determine the predicted time for the second moving subject to enter the adjacent area, and judge the prediction Whether the time is less than the third threshold; if the predicted time is less than the third threshold, it is determined that the risk of collision between the second moving subject and the first moving subject meets the preset condition.
  • the V2X communication device 50 may further include: a judging module 503, configured to judge whether the predicted time is reached when the channel busy rate is greater than the second threshold; correspondingly, the transmission module 502 is configured to judge When the module 502 judges that the predicted time arrives, it transmits the V2X message with the second communication device through the backup communication connection channel.
  • a judging module 503 configured to judge whether the predicted time is reached when the channel busy rate is greater than the second threshold
  • the transmission module 502 is configured to judge When the module 502 judges that the predicted time arrives, it transmits the V2X message with the second communication device through the backup communication connection channel.
  • the configuration information further includes the startup time of the backup communication connection channel
  • the V2X communication device 50 further includes: a judging module 503, configured to determine whether the startup time is reached when the channel busy rate is greater than a second threshold;
  • the transmission module 502 is configured to transmit the V2X message with the second communication device through the backup communication connection channel when the judgment module 503 judges that the start time is reached.
  • the configuration information further includes the effective communication time.
  • the determining module 503 is further configured to determine whether the effective communication time has arrived after the transmission module 502 and the second communication device transmit the V2X message through the alternate communication connection channel;
  • the V2X communication device 50 further includes a deletion module 504, which is used to delete the backup communication connection channel when the judgment module 503 judges that the communication effective time has arrived.
  • the configuration information further includes one or more of the identification information of the first moving subject, the communication protocol type, the connection protocol type, the delay parameter, and the address information.
  • the embodiment of the present application also provides a schematic diagram of the hardware structure of a communication device, which is used to implement the V2X communication method to be implemented by the first communication device in the foregoing embodiment. Please refer to FIG. 6.
  • the communication device 60 may include at least one processor 601, a communication line 602, a memory 603, and at least one communication interface 604.
  • the processor 601 can be a general-purpose central processing unit (central processing unit, CPU), microprocessor, application-specific integrated circuit (server IC), or one or more for controlling the execution of the program of the application Integrated circuits.
  • the communication line 602 may include a path to transmit information between the aforementioned components.
  • Communication interface 604 which uses any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc. .
  • RAN radio access network
  • WLAN wireless local area networks
  • the memory 603 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM), or other types that can store information and instructions
  • the dynamic storage device can also be electrically erasable programmable read-only memory (electrically programmable read-only memory, EEPROM), compact disc read-only memory (CD-ROM) or other optical disk storage, Optical disc storage (including compact disc, laser disc, optical disc, digital universal disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program codes in the form of instructions or data structures Any other medium accessed by the computer, but not limited to this.
  • the memory may exist independently and is connected to the processor through the communication line 602. The memory can also be integrated with the processor.
  • the memory 603 is used to store computer-executed instructions for executing the solution of the present application, and the processor 601 controls the execution.
  • the processor 601 is configured to execute computer-executable instructions stored in the memory 603, so as to implement the V2X communication method provided in the foregoing embodiment of the present application.
  • the computer-executable instructions in the embodiments of the present application may also be referred to as application program code, which is not specifically limited in the embodiments of the present application.
  • the processor 601 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 6.
  • the communication device 60 may include multiple processors, such as the processor 601 and the processor 608 in FIG. 6. Each of these processors can be a single-CPU (single-CPU) processor or a multi-core (multi-CPU) processor.
  • the processor here may refer to one or more devices, circuits, and/or processing cores for processing data (for example, computer program instructions).
  • the V2X communication device 60 may further include an output device 605 and an input device 606.
  • the output device 605 communicates with the processor 601, and can display information in a variety of ways.
  • the output device 605 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector (projector) Wait.
  • the input device 606 communicates with the processor 601 and can receive user input in a variety of ways.
  • the input device 606 may be a mouse, a keyboard, a touch screen device, a sensor device, or the like.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer instructions may be transmitted from a website, computer, server, or data center. Transmission to another website site, computer, server or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • wired such as coaxial cable, optical fiber, digital subscriber line (DSL)
  • wireless such as infrared, wireless, microwave, etc.
  • the computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).
  • the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored.
  • the program When the program is executed by a processor, it can implement the communication device-related process in the V2X communication method provided in the foregoing method embodiment.
  • an embodiment of the present application further provides a chip system
  • the chip system includes a processor, and is configured to support a communication device entity to implement the foregoing V2X communication method.
  • the chip system also includes memory.
  • the memory is used to store the program instructions and data of the communication device.
  • the chip system may be composed of chips, or may include chips and other discrete devices, which are not specifically limited in the embodiment of the present application.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer instructions may be transmitted from a website, computer, server, or data center. Transmission to another website site, computer, server or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • wired such as coaxial cable, optical fiber, digital subscriber line (DSL)
  • wireless such as infrared, wireless, microwave, etc.
  • the computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).
  • the program can be stored in a computer-readable storage medium, and the storage medium can include: ROM, RAM, magnetic disk or CD, etc.

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Abstract

一种V2X通信方法，包括：第一通信设备获取包括一个或多个标识的标识集合，每个标识对应的运动主体与第一通信设备对应的第一运动主体的碰撞风险均满足预置条件；当信道忙碌率大于第一阈值时，向第二通信设备发送包含标识集合的配置信息，配置信息用于第二通信设备在判断其对应的运动主体的标识属于标识集合后，与第一通信设备建立备用通信连接通道；当信道忙碌率大于第二阈值时，与第二通信设备通过备用通信连接通道传输V2X消息，第二阈值大于第一阈值。由于第一通信设备在信道忙碌率较高时可以通过备用通信连接通道与碰撞风险满足预置条件的运动主体进行V2X消息的传输，从而可降低运动主体的安全预判失效风险。

Description

一种V2X通信方法、装置以及存储介质
本申请要求于2019年7月15日提交中国专利局、申请号为201910636115.2、发明名称为“一种V2X通信方法、装置以及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车联网技术领域，具体涉及一种V2X通信方法、装置以及存储介质。
背景技术
随着车联万物(vehicle to everything,V2X)通信技术的兴起，基于蜂窝技术的车联万物(cellular vehicle to everything,C-V2X)通信技术将作为重要的路面现场互联技术为自动驾驶的主动安全技术和被动安全技术提供通信支撑,未来道路上的车辆都将具备C-V2X通信技术以实现超视距的路面以及车辆感知，进行相关主动安全的规避和提醒动作，因此可靠性和容量将成为C-V2X技术成熟的关键。
基础安全消息(basic safety message，BSM)是V2X通信过程中，每辆车辆所广播的涉及安全方面的基本信息，其中可以包括车辆行驶速度、航向、位置、加速度、预测路径和历史路径、车辆时间等多种信息。车辆在道路上行驶时，会以一定的周期定时发送自己的基础安全消息。由于当前C-V2X的频宽只有10M/20M，因此，在道路拥挤的场景下，当道路上车辆数目达到一定数目时，该拥挤道路上车辆的信道资源消耗都比较高，预先设定的V2X接入层的可用信道资源都可能很快耗尽，从而产生信道拥塞的问题，信道拥塞可能会导致车辆无法实时接收到其他车辆所广播的基础安全消息，从而造成车辆的V2X安全应用对于道路上的威胁计算和判定存在严重的失效可能。
第三代合作伙伴计划(3rd generation partnership project，3GPP)采用如下信道控制的方法来缓解上述的信道拥塞问题：通过为车辆中不同的V2X业务设置不同的优先级，然后为不同优先级的V2X业务分别设置不同的信道忙碌率(channel busy ratio，CBR)门限，当车辆的信道忙碌率到达某个优先级的V2X业务对应的信道忙碌率门限时，限制该优先级V2X业务数据的传输。然而，当信道忙碌率高达60％时，所有优先级业务的发送资源使用率都将受到限制。因此，该信道控制的方法仅能在一定程度上缓解轻度信道拥塞所带来的问题，当车辆的信道忙碌率较高时，仍然存在车辆无法实时接收到其他车辆所广播的基础安全消息从而导致严重的安全预判失效风险的可能，车辆和驾驶员依旧存在一定的安全隐患。
发明内容
本申请实施例提供一种V2X通信的方法，可以在V2X通信出现信道拥塞时，保证运动主体之间的V2X消息的传输，从而降低运动主体的安全预判失效风险。
本申请第一方面提供一种V2X通信的方法，可以应用于车联网领域，包括：第一通信设备获取标识集合，该标识集合中包括一个或多个标识，每个标识对应的运动主体与第一 通信设备对应的第一运动主体的碰撞风险均满足预置条件，运动主体可以是指车辆、飞机、卫星、手机等运动主体，运动主体的标识是唯一指示运动主体的一种身份信息，该身份信息可以指示该运动主体的型号、尺寸等各类与该运动主体相关的信息；当第一通信设备的信道忙碌率大于第一阈值时，第一通信设备向第二通信设备发送备用通信连接通道的配置信息，该配置信息中包含标识集合，该配置信息用于第二通信设备在判断第二通信设备对应的运动主体的标识属于标识集合后，与第一通信设备建立备用通信连接通道，配置信息中还可以包含其他类型的信息；当信道忙碌率大于第二阈值时，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息，V2X消息包括运动主体的运动数据，如基础安全消息(basic safety message，BSM)消息，运动数据具体可以包括运动主体的航向、位置、速度或运动主体尺寸等各种与运动主体运动安全相关的信息，V2X消息也可以包含其他类型的消息，如V2X报文信息，第二阈值大于第一阈值，例如，第一阈值可以是30％，第二阈值可以是60％。
由以上第一方面可知，第一通信设备通过实时获取与第一运动主体的碰撞风险满足预置条件的运动主体的标识的标识集合，当信道忙碌率达到第一阈值时，第一通信设备的与该标识集合中所对应的运动主体建立备用通信连接通道，当信道忙碌率达到较高的第二阈值时，通过该预先建立的备用通信连接通道传输V2X消息，从而保证当V2X通信出现信道拥塞时，运动主体之间依然能够进行通信，从而降低运动主体的安全预判失效风险。
可选地，结合上述第一方面，在第一种可能的实现方式中，第一通信设备获取标识集合，包括：第一通信设备获取目标信息，该目标信息包括第一运动主体的运动数据和第一集合中每个运动主体的运动数据，运动主体的运动数据包括运动主体的移动方向、位置、速度或运动主体尺寸等各种与运动主体运动相关的数据，以运动主体为车辆为例，第一运动主体的运动数据是第一通信设备通过运动主体配备的各种传感器，如发送机传感器、车轮传感器、制动传感器等，以及GPS、摄像机、雷达等采集装置获取的，第一通信设备从运动主体的各个采集装置获取运动主体数据后，对运动主体数据进行解析，从而获取第一运动主体的运动数据；第一通信设备根据目标信息，判断第一运动主体与第一集合中每个运动主体之间的碰撞风险是否满足预置条件；第一通信设备确定第一集合中与第一运动主体的碰撞风险满足预置条件的运动主体的标识，以得到标识集合，第一通信设备可以设置一个周期时间，例如每100毫秒为一个周期，第一通信设备在每个周期内都会重新获取一次标识集合，从而保证数据的实时性和有效性。
可选地，结合上述第一方面第一种可能的实现方式，在第二种可能的实现方式中，第一通信设备根据目标信息，判断第一运动主体与第一集合中每个运动主体之间的碰撞风险是否满足预置条件，包括：第一通信设备根据目标信息，确定第一集合中与第一运动主体存在碰撞风险的运动主体，以得到第二集合；第一通信设备确定第一运动主体的预测路径和第二运动主体的预测路径，第二运动主体为第二集合所包含的一个或多个运动主体中的任意一个；第一通信设备根据第一运动主体的预测路径确定第一运动主体的临近区域，临近区域为第一运动主体的制动区域；第一通信设备根据所述临近区域和第二运动主体的预测路径判断第二运动主体是否会进入临近区域，邻近区域在第一运动主体的运动过程中是 处于变化状态的，以车联网场景为例，第一运动主体为车辆时，第一运动主体的临近区域是指第一运动主体的在行驶过程中突然进行车辆的强制制动时，以开始制动的时刻第一运动主体所处于的位置为中心，当第一运动主体的速度降至0时，第一运动主体在水平面所有角度上移动的区域；若是，则第一通信设备确定第二运动主体进入临近区域的预测时间，并判断预测时间是否小于第三阈值，预测时间是指从当前时刻起，预测第二运动主体进入临近区域的时间，例如，第一通信设备预测第二运动主体将在10s后进入第一运动主体的临近区域，则预测时间为10s；若预测时间小于第三阈值，则第一通信设备确定第二运动主体与第一运动主体的碰撞风险满足预置条件。
由以上第一方面第二种可能的实现方式可知，第一通信设备可以首先将第一集合中与第一运动主体不存在碰撞风险的运动主体筛除，从而可以减少计算量，提升系统性能，然后再对第一运动主体，与第一运动主体存在碰撞风险的第二集合中的运动主体进行路径预测及分析，最终判断第二集合中的各个运动主体与第一运动主体之间的碰撞风险是否满足预置条件，通过预置条件的精确设置，不但能够保证数据的准确性，还能有效的确定出需要建立备份通信连接通道的运动主体对应的标识集合，在后续通过备份通信连接通道进行通信时，一定程度上降低数据流量的浪费。
可选地，结合上述第一方面第二种可能的实现方式，在第三种可能的实现方式中，当信道忙碌率大于第二阈值时，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息之前，还包括：当信道忙碌率大于第二阈值时，第一通信设备判断预测时间是否到达；对应地，当信道忙碌率大于第二阈值时，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息，包括：当信道忙碌率大于第二阈值，且预测时间到达，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息。
可选地，结合上述第一方面、第一方面第一种至第三种中任意一种可能的实现方式，在第四种可能的实现方式中，配置信息还包括备份通信连接通道的启动时间，当信道忙碌率大于第二阈值时，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息之前，还包括：当信道忙碌率大于第二阈值时，第一通信设备判断启动时间是否到达；对应地，当信道忙碌率大于第二阈值时，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息，包括：当信道忙碌率大于第二阈值，且启动时间到达时，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息。
可选地，结合上述第一方面、第一方面第一种至第四种中任意一种可能的实现方式，在第五种可能的实现方式中，配置信息还包括通信有效时间，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息之后，还包括：第一通信设备判断通信有效时间是否到达,通信有效时间可以与第三阈值存在关联关系，例如，若第三阈值为10s，则通信有效时间可以与第三阈值的取值相同，也为10s；若是，则删除备份通信连接通道。
可选地，结合上述第一方面、第一方面第一种至第五种中任意一种可能的实现方式，在第六种可能的实现方式中，配置信息还包括第一运动主体的标识信息、通信协议类型、连接协议类型、时延参数、和地址信息中的一个或多个。
本申请第二方面提供一种通信设备，该通信设备具有实现上述第一方面或第一方面任 意一种可能实现方式的方法的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块。
本申请第三方面提供一种计算机设备，该通信设备包括处理器和存储有计算机程序的计算机可读存储介质；处理器与计算机可读存储介质耦合，计算机程序被处理器执行时实现第一方面及第一方面的任一可能的实现方式中提供的V2X通信的方法。
本申请第四方面提供一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当其在计算机设备上运行时，使得计算机设备可以执行上述第一方面或第一方面任意一种可能实现方式的V2X通信的方法。
本申请第五方面提供一种包含指令的计算机程序产品，当其在通信设备上运行时，使得通信设备可以执行上述第一方面或第一方面任意一种可能实现方式的V2X通信的方法。
本发明实施例采用一种V2X通信的方法，第一通信设备通过实时获取与第一运动主体的碰撞风险满足预置条件的运动主体的标识集合，当信道忙碌率达到第一阈值时，第一通信设备与该标识集合中所对应的运动主体建立备用通信连接通道，当信道忙碌率达到较高的第二阈值时，通过该预先建立的备用通信连接通道传输V2X消息，从而保证当V2X通信出现信道拥塞时，运动主体之间依然能够进行V2X消息的传输，从而降低运动主体的安全预判失效风险。
附图说明
图1本申请实施例提供的V2X通信的方法的一个实施例示意图；
图2是本申请实施例提供的获取标识集合的方法的一个实施例示意图；
图3是本申请实施例提供的判断第一运动主体与第一集合中每个运动主体之间的碰撞风险是否满足预置条件一个实施例示意图；
图4是本申请实施例提供的V2X通信的方法的另一个实施例示意图；
图5是本申请实施例提供的V2X通信装置的一个实施例示意图；
图6是本申请实施例提供的一种通信设备的硬件结构示意图。
具体实施方式
下面结合附图，对本发明的实施例进行描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。本领域普通技术人员可知，随着车联网技术演变和新应用场景的出现，本发明实施例提供的技术方案对于类似的技术问题，同样适用。
本发明实施例提供一种V2X通信的方法，第一通信设备通过实时获取与第一运动主体的碰撞风险满足预置条件的运动主体的标识的标识集合，当信道忙碌率达到第一阈值时，第一通信设备与该标识集合中所对应的运动主体建立备用通信连接通道，当信道忙碌率达到较高的第二阈值时，通过该预先建立的备用通信连接通道传输V2X消息，从而保证当V2X通信出现信道拥塞时，运动主体之间依然能够进行V2X消息的传输，从而降低运动主体的安全预判失效风险。本发明实施例还提供相应的装置以及存储介质。以下分别进行详细说明。
图1为本申请实施例提供的V2X通信的方法的一个实施例示意图。
参阅图1，本申请实施例提供的V2X通信的方法的一个实施例，可以包括：
101、第一通信设备获取标识集合，标识集合中包括一个或多个标识，每个标识对应 的运动主体与第一通信设备对应的第一运动主体的碰撞风险均满足预置条件。
本申请实施例中可以应用于车联网场景，运动主体可以是指马路上行驶的车辆。
以车联网场景为例，第一运动主体在马路上行驶时，其周围可能存在多个运动主体，其中，部分运动主体与第一运动主体之间可能存在不同程度的碰撞风险，另一部分运动主体与第一运动主体之间可能不存在碰撞风险。
本申请实施例中，第一通信设备首先获取标识集合，该标识集合中包含一个或多个标识，该一个或多个标识中的每个标识所对应的运动主体，与第一运动主体之间的碰撞风险都满足预置条件。
本申请实施例中，运动主体的标识是唯一指示该运动主体的一种身份信息，例如，若运动车体是指马路上的车辆，该身份信息可以指示车辆的型号、尺寸等各类与该车辆相关的信息。本申请实施例中，标识集合中的每个标识所对应的运动主体与第一运动主体之间的碰撞风险均大于预置条件。需要说明的是，本申请实施例中可以存在多种不同的表征运动主体之间碰撞风险的方法，基于不同的表征方法，所对应的预置条件可能有所不同，因此本申请实施例对预置条件不做具体的限定。
需要说明的是，本申请实施例除了可以应用于车联网场景，还可以应用于其他的交通场景，因此，本申请实施例中的运动主体除了可以是车辆，还可以是如飞机、卫星等其他的运动主体，除此之外，携带手机或运动手环等电子设备的人也可以为本申请实施例中的运动主体，本申请实施例对此不作限定。
102、当第一通信设备的信道忙碌率大于第一阈值时，第一通信设备向第二通信设备发送备用通信连接通道的配置信息，配置信息中包含所述标识集合，配置信息用于第二通信设备在判断第二通信设备对应的运动主体的标识属于标识集合后，与第一通信设备建立备用通信连接通道。
本申请实施例中，第一通信设备会对第一通信设备的信道忙碌率进行实时监测，当监测到第一通信设备的信道忙碌率大于第一阈值时，第一通信设备会向第二通信设备发送备用通信连接通道的配置信息，配置信息中包含标识集合。本申请实施例中，第二通信设备是第一运动主体的通信范围内的任意一个运动主体所对应的通信设备，如车载终端，第一通信设备向第二通信设备发送的配置信息可以是通过路面广播的方式发送的，第二通信设备通过路面广播接收到该配置信息之后，会首先判断其对应的运动主体的标识是否属于配置信息中所包含的标识集合，若属于，则第二通信设备会根据该配置信息与第一通信设备建立备用通信连接通道。
可选地，本申请实施例中第一通信设备向第二通信设备发送的配置信息中除了包含标识集合，具体还可以包括第一运动主体的标识信息、通信协议类型{如用户数据报协议(user datagram protocol,UDP)或传输控制协议(transmission control protocol，TCP)等}、网络连接类型(如3G/4G/5G通信连接)、时延参数、地址信息{IP地址(如IPv4或IPv6地址)或介质访问控制(media access control,MAC)地址等}等信息中的一种或多种。需要说明的是，配置信息中还可以包含其他类型的信息，例如，备份通信连接通道的启动时间、通信有效时间、端口号、车辆密码、应用程序ID、layer-2或国际移动设备识别码 (International Mobile Equipment Identity，IMEI)等等信息，本申请实施例对配置信息中所包含的信息类型不做具体的限定。
103、当信道忙碌率大于第二阈值时，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息，第二阈值大于第一阈值。
本申请实施例中，当第一通信设备的信道忙碌率达到第二阈值时，第一通信设备通过建立的备用通信连接通道与第二通信设备传输V2X消息。本申请实施例中，V2X消息可以包括运动主体的航向、位置、速度或运动主体尺寸等各种与运动主体运动安全相关的运动数据，例如基础安全消息(basic safety message，BSM)，除此之外，还可以包括其他类型的信息，例如其他类型的V2X报文信息，本申请实施例对此均不作限定。
具体的，当第一通信设备判断信道忙碌率达到第二阈值时，首先基于该备用通信连接通道向第二通信设备发送第一运动主体的运动数据，当第二通信设备通过该备份通信连接通道接收到第一运动主体的运动数据后，也开始通过该备份通信连接通道向第一通信设备发送第二通信设备对应的运动主体的运动数据。本申请实施例对第一通信设备和第二通信设备相互发送的V2X消息的类型不做具体的限定。
本申请实施例中，第二阈值和第一阈值都是预先设定好的，第二阈值大于第一阈值，例如，第一阈值为30％，第二阈值为60％。
可选地，本申请实施例中，若配置信息中还包括备份通信连接通道的启动时间，则当所述信道忙碌率大于第二阈值时，第一通信设备首先要判断该启动时间是否到达，若启动时间到达，第一通信设备和第二通信设备之间才会开启该备份通信连接通道，然后通过备用通信连接通道传输V2X消息。
本申请实施例中，第一通信设备通过实时获取与第一运动主体的碰撞风险满足预置条件的运动主体的标识的标识集合，当信道忙碌率达到第一阈值时，第一通信设备与该标识集合所对应的各个运动主体建立备用通信连接通道，当信道忙碌率达到较高的第二阈值时，通过该预先建立的备用通信连接通道传输V2X消息，从而保证当V2X通信出现信道拥塞时，运动主体之间依然能够进行运动数据的传输，从而降低运动主体的安全预判失效风险。
基于图1中的实施例，本申请实施例将对步骤101中第一通信设备获取标识集合的方法进行具体的介绍，请参阅图2，本申请实施例提供的获取标识集合的方法的一个实施例示意图。
如图2所示，本申请实施例提供的第一通信设备获取标识集合的方法的一个实施例，可以包括：
201、第一通信设备获取目标信息，该目标信息包括第一运动主体的运动数据和第一集合包含的一个或多个运动主体中每个运动主体的运动数据。
本申请实施例中，第一通信设备首先需要获取目标信息，该目标信息包括第一运动主体的运动数据和第一集合中每个运动主体的运动数据。本申请实施例中，运动主体的运动数据包括运动主体的移动方向、位置、速度或运动主体尺寸等各种与运动主体运动相关的数据。
具体的，以第一运动主体为车辆为例，第一运动主体的运动数据是第一通信设备通过 车辆配备的各种传感器，如发送机传感器、车轮传感器、制动传感器等，以及GPS、摄像机、雷达等采集装置获取的，第一通信设备从车辆的各个采集装置获取车辆数据后，对车辆数据进行解析，从而获取该车辆的运动数据，其中可以包括车辆的航向、位置坐标、车辆尺寸或方向盘转角等信息。
本申请实施例中，第一集合中包含一个或多个运动主体，第一通信设备可以通过路面广播接收该一个或多个运动主体对应的通信设备发送的运动数据，例如BSM消息等。需要说明的是，本申请实施例对第一通信设备获取第一运动主体的运动数据和第一集合中每个运动主体的运动数据的先后顺序不做具体的限定。
202、第一通信设备根据目标信息，判断第一运动主体与所述第一集合中每个运动主体之间的碰撞风险是否满足预置条件。
本申请实施例中，第一通信设备在获取目标信息，即第一运动主体的运动数据和第一集合中每个运动主体的运动数据之后，会对第一运动主体和第一集合中每个运动主体的运动数据进行分析，以确定第一运动主体与第一集合中每个运动主体之间的碰撞风险，并判断第一运动主体与第一集合中每个运动主体之间的碰撞风险是否满足预置条件。
本申请实施例中，存在多种评价第一运动主体与所述第一集合中每个运动主体之间碰撞风险的方法，如可以采用目标分类算法和路径预测算法计算第一运动主体与所述第一集合中每个运动主体之间碰撞风险。除此之外，也可以采用其他类似或相关的数学计算方法进行计算，本申请实施例对此不做限定。
可选地，本申请实施例中，第一通信设备可以是采用目标分类算法和路径预测算法对第一运动主体的运动数据和第一集合中每个运动主体的运动数据进行分析，从而确定第一运动主体与第一集合中每个运动主体之间的碰撞风险是否满足预置条件，本申请实施例将在图3中对此进行具体的介绍。应理解，图3实施例仅为一个示例性说明，不应理解为对本申请的限制。
203、第一通信设备确定第一集合中与第一运动主体的碰撞风险满足预置条件的运动主体的标识，以得到标识集合。
本申请实施例中，在第一通信设备在对第一集合中的各个运动主体与第一运动主体之间的碰撞风险进行分析判断之后，会确定出其中与第一运动主体的碰撞风险满足预置条件的运动主体的标识，从而得到标识集合。
需要说明的是，本申请实施例中，第一通信设备可以设置一个周期时间，例如每100毫秒为一个周期，第一通信设备在每个周期内都会重新获取一次标识集合，从而保证数据的实时性和有效性。
基于图2实施例，本申请实施例将对判断第一运动主体与所述第一集合中每个运动主体之间的碰撞风险是否满足预置条件的方法进行具体的介绍，请参阅图3，本申请实施例提供的判断第一运动主体与第一集合中每个运动主体之间的碰撞风险是否满足预置条件一个实施例示意图。
参阅图3，本申请实施例提供的判断第一运动主体与第一集合中每个运动主体之间的碰撞风险是否满足预置条件一个实施例，可以包括：
2021、第一通信设备根据目标信息，确定第一集合中与第一运动主体存在碰撞风险的运动主体，以得到第二集合。
本申请实施例中，第一集合包含的一个或多个运动主体中，可能存在部分运动主体与第一运动主体的运动不相关，即不存在运动风险，因此，本申请实施例中，第一通信设备首先根据目标信息，确定第一集合中与第一运动主体存在碰撞风险的运动主体，从而得到第二集合。
可选地，本申请实施例中，第一通信设备可以采用目标分类算法确定第一集合中与第一运动主体存在碰撞风险的运动主体。
具体的，第一通信设备根据第一运动主体的运动数据和第一运集合中每个运动主体的运动数据，基于目标分类算法确定第一集合中每个运动主体与第一运动主体的相对位置关系，并以第一运动主体为中心，将第一集合中的运动主体按照九宫格的位置模型分类成为八个类别集合，即：正前、右前、正右、右后、正后、左后、正左、左前八个方向区域，然后基于两个运动主体的航向、位置、行驶速度等信息确定第一集合中哪些运动主体与第一运动主体的行驶无关，将其从第一集合中筛除从而得到第二集合，因此，第二集合中包含的一个或多个运动主体中的每个运动主体都与第一运动主体的运动相关，即存在碰撞风险。
需要说明的是，本申请实施例中的目标分类算法为现有技术的内容，本申请对此不再赘述。在实际应用中，根据运动主体的运动数据确定运动主体之间是否存在碰撞风险存在多种类型的目标分类算法，本申请实施例对具体的计算方法不做限定。
2022、第一通信设备确定第一运动主体的预测路径和第二运动主体的预测路径，第二运动主体为第二集合所包含的一个或多个运动主体中的任意一个。
本申请实施例中，第一通信设备在得到第二集合之后，确定第一运动主体的预测路径和第二运动主体的预测路径，第二运动主体为第二集合所包含的一个或多个运动主体中的任意一个。本申请实施例中，预测路径具体是指运动主体从当前时刻起所移动的位置信息与时间的关系。
可选地，本申请实施例中，第一通信设备可以是采用路径预测算法分别预测第一运动主体的预测路径和第二运动主体的预测路径。以第一运动主体和第二运动主体为车联网场景中的车辆为例进行介绍，预测路径具体是指车辆从当前时刻起车辆行驶的位置信息与时间的关系。例如，本申请实施例中，运动主体的运动数据中包含运动主体的行驶速度、航向、方向盘转角、GPS定位等信息，根据路径预测算法预测得到的第一运动主体的预测路径是指预测得到的第一运动主体从当前时刻起的经纬度坐标与时间的关系。比如，本申请实施例中第一通信设备采用一种路径预测算法，基于第一运动主体的运动数据预测得到的第一运动主体从当前时刻起的经纬度坐标{x(t)，y(t)}与时间t的函数表达式为：
Figure PCTCN2020102141-appb-000001
其中，x 0和y 0分别为第一运动主体当前时刻的经纬度坐标；v为当前第一运动主体的行驶速度，R为预测曲率，θ为当前第一运动主体的航向。需要说明的是，x 0和y 0可以通过 GPS获取，预测曲率R为当前第一运动主体的速度与航向偏角方向速度的比值。
基于上述第一运动主体的经纬度位置坐标与时间的函数表达式，第一运动主体通信设备可以确定任意时刻的第一运动主体的经纬度坐标取值。
同理，第一通信设备也可以采用相同的路径预测算法，根据第二运动主体的运动数据预测第二运动主体从当前时刻起的经纬度位置{x d(t)，y d(t)}。
需要说明的是，在实际应用中，本申请实施例中还可以采用其他类型的路径预测算法对第一运动主体和第二集合中的每个运动主体的路径进行预测，上述只是一个简单的示例，不应理解为对本申请的限制。
2023、第一通信设备根据第一运动主体的预测路径确定第一运动主体的临近区域，临近区域为第一运动主体的制动区域。
本申请实施例中，第一通信设备在采用路径预测算法确定第一运动主体的预测路径之后，会根据该预测路径确定第一运动主体行驶过程中的临近区域。本申请实施例中，邻近区域在第一运动主体的行驶过程中是处于变化状态的。
以第一运动主体为车辆为例，第一运动主体的临近区域是指第一运动主体的在行驶过程中突然进行车辆的强制制动时，以开始制动的时刻第一运动主体所处于的位置为中心，当第一运动主体的速度降至0时，第一运动主体在水平面所有角度上移动的区域。
可选地，本申请实施例提供一种确定第一运动主体的临近区域的方法，如，第一运动主体的预测路径为步骤2022中的经纬度坐标{x(t)，y(t)}，临近区域的边缘点距离第一运动主体的距离公式为：
Figure PCTCN2020102141-appb-000002
上述公式中，θ 0为边缘点位置相对于第一运动主体的正北方向的偏角，a为第一运动主体车辆制动的减速度，Δt为人的反应时间，v未当前第一运动主体的行驶速度，t 0＝v/a，A为安全距离。
本申请实施例中，a、Δt和A都是一个预先设定的固定值，车辆用户可以根据实际情况自行进行修改和设定。例如a＝-0.36m/s 2，Δt＝3s，A＝1米。将第一运动主体在未来时间段内行驶的经纬度坐标{x(t)，y(t)}，以及上述的第一运动主体的临近区域的边缘点距离第一运动主体的距离公式Y进行迭代，便可以得到第一运动主体在行驶过程中的任意时刻上的临近区域。
2024、第一通信设备根据临近区域和第二运动主体的预测路径判断第二运动主体是否会进入第一运动主体的临近区域。
本申请实施例中，第一通信设备根据第一运动主体的临近区域和第二运动主体的预测路径，判断第二运动主体是否会进入第一通信设备的临近区域。本申请实施例中，第一通信设备可以基于第一运动主体的预测路径和第二运动主体的预测路径，判断未来时间里第一运动主体和第二运动主体之间的直线距离是否始终大于第一运动主体的临近区域的边缘点与第一运动主体的直线距离，该边缘点为第一运动主体与第二运动主体之间的连接线与临近区域的交点，且位于第一运动主体和第二运动主体之间。具体的，可以根据如下的计 算公式判断第二运动主体是否会进入第一运动主体的临近区域：
Figure PCTCN2020102141-appb-000003
若Q(t)始终大于等于1，则代表第二运动主体不会进入第一运动主体的临近区域。因此，若Q(t)不满足始终大于或等于1的条件，第一通信设备确定第二运动主体在未来时间内会进入第一运动主体的临近区域。
2025、若是，则第一通信设备确定第二运动主体进入临近区域的预测时间，并判断预测时间是否小于第三阈值。
本申请实施例中，若第一通信设备确定第二运动主体在未来时间内会进入第一运动主体的临近区域，则第一通信设备还会确定第二运动主体进入临近区域的预测时间，并判断该预测时间是否小于第三阈值。本申请实施例中，预测时间是指从当前时刻起，预测第二运动主体进入临近区域的时间，例如，第一通信设备预测第二运动主体将在10s后进入第一运动主体的临近区域，则预测时间为10s。
2026、若预测时间小于第三阈值，则第一通信设备确定第二运动主体与第一运动主体的碰撞风险满足预置条件。
本申请实施例中，若第一通信设备判断第二运动主体进入临近区域的预测时间小于第三阈值，则第一通信设备确定第二运动主体与第一运动主体的碰撞风险满足预置条件。
图4为本申请实施例提供的V2X通信方法的另一个实施例示意图。
参阅图4，本申请实施例提供的V2X通信方法的另一个实施例，可以包括：
401、第一通信设备获取标识集合，标识集合中包括一个或多个标识，每个标识对应的运动主体与第一通信设备对应的第一运动主体的碰撞风险均满足预置条件。
本申请实施例可以参阅图1中的步骤101、图2实施例以及图3实施例进行理解，此处不再赘述。
402、第一通信设备判断信道忙碌率是否大于第一阈值。
本申请实施例中，第一通信设备在获取标识集合之后，会判断信道忙碌率是否大于第一阈值，在信道忙碌率没有达到第一阈值的情况下，第一通信设备每隔周期时间会重新获取当前时刻的标识集合。该周期时间可以是预先设定的，例如，可以是100毫秒。
403、当第一通信设备的信道忙碌率大于第一阈值时，第一通信设备向第二通信设备发送备用通信连接通道的配置信息，配置信息中包含所述标识集合，配置信息用于第二通信设备在判断第二通信设备对应的运动主体的标识属于标识集合后，与第一通信设备建立备用通信连接通道。
本申请实施例中，当第一通信设备判断信道忙碌率大于第一阈值时，会向第二通信设备发送备用通信连接通道的配置信息，该配置信息中包括标识集合和备份通信连接通道的通信有效时间，除此之外，还包括第一运动主体的标识信息、通信协议类型(如UDP或TCP等)、网络连接类型(如3G/4G/5G通信连接)、时延参数、地址信息(IPv4、IPv6或MAC等)等信息中的一种或多种。需要说明的是，配置信息中还可以包含其他类型的信息，例如，备份通信连接通道的启动时间、端口号、车辆密码、应用程序ID、layer-2或IMEI等信 息。
本申请实施例具体可以参阅图1中的步骤102进行理解，此处不再赘述。
404、第一通信设备判断信道忙碌率是否大于第二阈值。
本申请实施例中，第一通信设备在与第一通信设备建立备用通信连接通道之后，会实时监控信道忙碌率的变化，判断信道忙碌率是否达到并大于第二阈值。
本申请实施例中，在信道忙碌率不大于第二阈值的情况下，第一通信设备每隔周期时间会重新获取当前时刻的标识集合，即重复执行步骤401-步骤404中的内容。
405、当信道忙碌率大于第二阈值时，第一通信设备与第二通信设备通过备用通信连接通道传输V2X消息，第二阈值大于第一阈值。
本申请实施例中，当第一通信设备判断信道忙碌率大于第二阈值时，通过步骤403中建立的备份通信连接通道与第二通信设备进行通信。
可选地，本申请实施例中，第一通信设备在获取标识集合的过程中，记录了第二通信设备进入第一通信设备的临近区域的预测时间，因此，本申请实施例中，在第一通信设备判断信道忙碌率大于第二阈值的情况下，第一通信设备还可以首先判断该预测时间是否到达，在确定预测时间到达之后，第一通信设备再通过该备份通信连接通道与第二通信设备进行通信。
本申请实施例的相关内容可以参阅图1中的步骤103进行理解，此处不再赘述。
406、第一通信设备判断信道忙碌率是否回落至小于第二阈值。
本申请实施例中，第一通信设备与第二通信设备通过备份通信连接通道进行通信之后，还会实时监测信道忙碌率是否回落至小于第二阈值。若信道忙碌率一直大于第二阈值，则第一通信设备继续使用该备份通信连接通道与第二通信设备进行通信。
407、若信道忙碌率回落至小于第二阈值，第一通信设备与第二通信设备停止通过备用通信连接通道传输V2X消息。
本申请实施例中，在判断信道忙碌率回落至小于第二阈值之后，第一通信设备会关闭该备份通信连接通道，使用原有V2X通道进行通信。
408、第一通信设备判断通信有效时间是否到达。
本申请实施例中，配置信息中包含备份通信连接通道的通信有效时间，在第一通信设备通过备用通信连接通道与第二通信设备进行通信之后，会判断通信有效时间是否到达。
可选地，本申请实施例中通信有效时间与图3的步骤2026中的第三阈值存在关联关系，例如，若第三阈值为10秒，则通信有效时间可以与第三阈值的取值相同，也为10秒，本申请实施例中的通信有效时间与第三阈值也可以存在其他的关联关系，本申请对此不做限定。
409、若通信有效时间到达，第一通信设备删除备份通信连接通道。
本申请实施例中，第一通信设备通过备用通信连接通道与第二通信设备进行通信之后，若判断通信有效时间到达，则会删除该备份通信连接通道。本申请实施例中，第一通信设备在删除备份通信连接通道之后，会重新获取当前时刻的标识集合，重复执行上述401-409中的步骤。
本申请实施例中，第一通信设备通过实时获取与第一运动主体的碰撞风险满足预置条 件的运动主体的标识的标识集合，当信道忙碌率达到第一阈值时，第一通信设备与该标识集合中的运动主体建立备用通信连接通道，当信道忙碌率达到较高的第二阈值时，通过该预先建立的备用通信连接通道传输V2X消息，从而保证当V2X通信出现信道拥塞时，运动主体之间依然能够进行通信，降低运动主体的安全预判失效风险。
上述对本申请实施例提供的V2X通信方法进行了介绍，接下来将介绍本申请实施例提供的V2X通信装置，请参阅图5。
图5为本申请实施例提供的V2X通信装置的一个实施例示意图。
参阅图5，本申请实施例提供的V2X通信装置50的一个实施例，可以包括：
获取模块501，用于获取标识集合，该标识集合中包括一个或多个标识，每个标识对应的运动主体与第一通信设备对应的第一运动主体的碰撞风险均满足预置条件。
传输模块502，用于当第一通信设备的信道忙碌率大于第一阈值时，向第二通信设备发送备用通信连接通道的配置信息，该配置信息中包含获取模块501获取的标识集合，配置信息用于第二通信设备在判断第二通信设备对应的运动主体的标识属于标识集合后，与第一通信设备建立备用通信连接通道；当信道忙碌率大于第二阈值时，与第二通信设备通过备用通信连接通道进行传输V2X消息，第二阈值大于第一阈值。
可选地，作为一个实施例，获取模块501，包括：获取单元5011，用于获取目标信息，目标信息包括第一运动主体的运动数据和第一集合中每个运动主体的运动数据；判断单元5012，用于根据获取单元5011获取的目标信息，判断第一运动主体与第一集合中每个运动主体之间的碰撞风险是否满足预置条件；确定单元5013，用于确定判断单元5012判断的第一集合中与第一运动主体的碰撞风险满足预置条件的运动主体的标识，以得到标识集合。
可选地，作为一个实施例，判断单元5012，用于根据目标信息，确定第一集合中与第一运动主体存在碰撞风险的运动主体，以得到第二集合；确定第一运动主体的预测路径和第二运动主体的预测路径，第二运动主体为第二集合所包含的一个或多个运动主体中的任意一个；根据第一运动主体的预测路径确定第一运动主体的临近区域，临近区域为第一运动主体的制动区域；根据临近区域和第二运动主体的预测路径判断第二运动主体是否会进入临近区域；若是，则确定第二运动主体进入临近区域的预测时间，并判断预测时间是否小于第三阈值；若预测时间小于第三阈值，则确定第二运动主体与第一运动主体的碰撞风险满足预置条件。
可选地，作为一个实施例，V2X通信装置50还可以包括：判断模块503，用于在信道忙碌率大于第二阈值时，判断预测时间是否到达；对应地，传输模块502，用于在判断模块502判断所述预测时间到达时，与所述第二通信设备通过备用通信连接通道传输V2X消息。
可选地，作为一个实施例，配置信息还包括备份通信连接通道的启动时间，V2X通信装置50还包括：判断模块503，用于当信道忙碌率大于第二阈值时，判断启动时间是否到达；对应地，所述传输模块502，用于在判断模块503判断启动时间到达时，与第二通信设备通过备用通信连接通道传输V2X消息。
可选地，作为一个实施例，配置信息还包括通信有效时间，判断模块503，还用于在传输模块502与第二通信设备通过备用通信连接通道传输V2X消息之后，判断通信有效时间 是否到达；V2X通信装置50还包括：删除模块504，用于在判断模块503判断通信有效时间到达时，删除备份通信连接通道。
可选地，作为一个实施例，配置信息还包括第一运动主体的标识信息、通信协议类型、连接协议类型、时延参数和地址信息中的一个或多个。
本申请实施例还提供了一种通信设备的硬件结构示意图，用于实现前述实施例第一通信设备所要实现的V2X通信方法，请参阅图6。
参阅图6，该通信设备60可以包括至少一个处理器601，通信线路602，存储器603以及至少一个通信接口604。处理器601可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，服务器IC)，或一个或多个用于控制本申请方案程序执行的集成电路。
通信线路602可包括一通路，在上述组件之间传送信息。
通信接口604，使用任何收发器一类的装置，用于与其他设备或通信网络通信，如以太网，无线接入网(radio access network，RAN)，无线局域网(wireless local area networks，WLAN)等。
存储器603可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically er服务器able programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过通信线路602与处理器相连接。存储器也可以和处理器集成在一起。
其中，存储器603用于存储执行本申请方案的计算机执行指令，并由处理器601来控制执行。处理器601用于执行存储器603中存储的计算机执行指令，从而实现本申请上述实施例提供的V2X通信方法。
可选的，本申请实施例中的计算机执行指令也可以称之为应用程序代码，本申请实施例对此不作具体限定。
在具体实现中，作为一种实施例，处理器601可以包括一个或多个CPU，例如图6中的CPU0和CPU1。
在具体实现中，作为一种实施例，通信设备60可以包括多个处理器，例如图6中的处理器601和处理器608。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中，作为一种实施例，V2X通信设备60还可以包括输出设备605和输入设备606。输出设备605和处理器601通信，可以以多种方式来显示信息。例如，输出设备605可以是液晶显示器(liquid crystal display，LCD)，发光二级管(light emitting diode， LED)显示设备，阴极射线管(cathode ray tube，CRT)显示设备，或投影仪(projector)等。输入设备606和处理器601通信，可以以多种方式接收用户的输入。例如，输入设备606可以是鼠标、键盘、触摸屏设备或传感设备等。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。
所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。
本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时可以实现上述方法实施例提供的V2X通信的方法中与通信设备相关的流程。
可选的，本申请实施例还提供一种芯片系统，该芯片系统包括处理器，用于支持通信设备实体实现上述V2X通信的方法。在一种可能的设计中，该芯片系统还包括存储器。该存储器，用于保存通信设备的程序指令和数据。该芯片系统，可以由芯片构成，也可以包含芯片和其他分立器件，本申请实施例对此不作具体限定。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。
所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：ROM、RAM、磁盘或光盘等。
以上对本发明实施例所提供的V2X通信方法以及相应的装置和计算机可读存储介质进 行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (16)

  1. 一种V2X通信的方法，其特征在于，包括：
    第一通信设备获取标识集合，所述标识集合中包括一个或多个标识，每个所述标识对应的运动主体与所述第一通信设备对应的第一运动主体的碰撞风险均满足预置条件；
    当所述第一通信设备的信道忙碌率大于第一阈值时，所述第一通信设备向第二通信设备发送备用通信连接通道的配置信息，所述配置信息中包含所述标识集合，所述配置信息用于所述第二通信设备在判断所述第二通信设备对应的运动主体的标识属于所述标识集合后，与所述第一通信设备建立所述备用通信连接通道；
    当所述信道忙碌率大于第二阈值时，所述第一通信设备与所述第二通信设备通过所述备用通信连接通道传输V2X消息，所述第二阈值大于所述第一阈值。
  2. 根据权利要求1所述的方法，其特征在于，所述第一通信设备获取标识集合，包括：
    所述第一通信设备获取目标信息，所述目标信息包括所述第一运动主体的运动数据和第一集合包含的一个或多个运动主体中每个运动主体的运动数据；
    所述第一通信设备根据所述目标信息，判断所述第一运动主体与所述第一集合中每个运动主体之间的碰撞风险是否满足所述预置条件；
    所述第一通信设备确定所述第一集合中与所述第一运动主体的碰撞风险满足所述预置条件的运动主体的标识，以得到所述标识集合。
  3. 根据权利要求2所述的方法，其特征在于，所述第一通信设备根据所述目标信息，判断所述第一运动主体与所述第一集合中每个运动主体之间的碰撞风险是否满足所述预置条件，包括：
    所述第一通信设备根据所述目标信息，确定所述第一集合中与所述第一运动主体存在碰撞风险的运动主体，以得到第二集合；
    所述第一通信设备确定所述第一运动主体的预测路径和第二运动主体的预测路径，所述第二运动主体为所述第二集合所包含的一个或多个运动主体中的任意一个；
    所述第一通信设备根据所述第一运动主体的预测路径确定所述第一运动主体的临近区域，所述临近区域为所述第一运动主体的制动区域；
    所述第一通信设备根据所述临近区域和所述第二运动主体的预测路径判断所述第二运动主体是否会进入所述临近区域；
    若是，则所述第一通信设备确定所述第二运动主体进入所述临近区域的预测时间，并判断所述预测时间是否小于第三阈值；
    若所述预测时间小于所述第三阈值，则所述第一通信设备确定所述第二运动主体与所述第一运动主体的碰撞风险满足所述预置条件。
  4. 根据权利要求3所述的方法，其特征在于，所述当所述信道忙碌率大于第二阈值时，所述第一通信设备与所述第二通信设备通过所述备用通信连接通道传输V2X消息之前，还包括：
    当所述信道忙碌率大于第二阈值时，所述第一通信设备判断所述预测时间是否到达；
    对应地，当所述信道忙碌率大于第二阈值时，所述第一通信设备与所述第二通信设备 通过所述备用通信连接通道传输V2X消息，包括：
    当所述信道忙碌率大于第二阈值，且所述预测时间到达，所述第一通信设备与所述第二通信设备通过所述备用通信连接通道传输所述V2X消息。
  5. 根据权利要求1-3任一所述的方法，其特征在于，所述配置信息还包括所述备份通信连接通道的启动时间，所述当所述信道忙碌率大于第二阈值时，所述第一通信设备与所述第二通信设备通过所述备用通信连接通道传输V2X消息之前，还包括：
    当所述信道忙碌率大于第二阈值时，所述第一通信设备判断所述启动时间是否到达；
    对应地，当所述信道忙碌率大于第二阈值时，所述第一通信设备与所述第二通信设备通过所述备用通信连接通道传输V2X消息，包括：
    当所述信道忙碌率大于第二阈值，且所述启动时间到达时，所述第一通信设备与所述第二通信设备通过所述备用通信连接通道传输所述V2X消息。
  6. 根据权利要求1-5任一所述的方法，其特征在于，所述配置信息还包括通信有效时间，所述第一通信设备与所述第二通信设备通过所述备用通信连接通道传输V2X消息之后，还包括：
    所述第一通信设备判断所述通信有效时间是否到达；
    若是，则删除所述备份通信连接通道。
  7. 根据权利要求1-6任一所述的方法，其特征在于，所述配置信息还包括所述第一运动主体的标识信息、通信协议类型、连接协议类型、时延参数和地址信息中的一个或多个。
  8. 一种V2X通信装置，其特征在于，所述装置包括：
    获取模块，用于获取标识集合，所述标识集合中包括一个或多个标识，每个所述标识对应的运动主体与所述第一通信设备对应的第一运动主体的碰撞风险均满足预置条件；
    传输模块，用于当所述第一通信设备的信道忙碌率大于第一阈值时，向第二通信设备发送备用通信连接通道的配置信息，所述配置信息中包含所述获取模块获取的所述标识集合，所述配置信息用于所述第二通信设备在判断所述第二通信设备对应的运动主体的标识属于所述标识集合后，与所述第一通信设备建立所述备用通信连接通道；
    所述传输模块，还用于当所述信道忙碌率大于第二阈值时，与所述第二通信设备通过所述备用通信连接通道进行传输V2X消息，所述第二阈值大于所述第一阈值。
  9. 根据权利要求8所述的装置，其特征在于，所述获取模块包括：
    获取单元，用于获取目标信息，所述目标信息包括所述第一运动主体的运动数据和第一集合包含的一个或多个运动主体中每个运动主体的运动数据；
    判断单元，用于根据所述获取单元获取的所述目标信息，判断所述第一运动主体与所述第一集合中每个运动主体之间的碰撞风险是否满足所述预置条件；
    确定单元，用于确定所述判断单元判断的所述第一集合中与所述第一运动主体的碰撞风险满足所述预置条件的运动主体的标识，以得到所述标识集合。
  10. 根据权利要求9所述的装置，其特征在于，
    所述判断单元，用于根据所述目标信息确定所述第一集合中与所述第一运动主体存在碰撞风险的运动主体，以得到第二集合；确定所述第一运动主体的预测路径和第二运动主 体的预测路径，所述第二运动主体为所述第二集合所包含的一个或多个运动主体中的任意一个；根据所述第一运动主体的预测路径确定所述第一运动主体的临近区域，所述临近区域为所述第一运动主体的制动区域；根据所述临近区域和所述第二运动主体的预测路径判断所述第二运动主体是否会进入所述临近区域；若是，则确定所述第二运动主体进入所述临近区域的预测时间，并判断所述预测时间是否小于第三阈值；若所述预测时间小于第三阈值，则确定所述第二运动主体与所述第一运动主体的碰撞风险满足所述预置条件。
  11. 根据权利要求10所述的装置，其特征在于，所述装置还包括：
    判断模块，用于在所述信道忙碌率大于第二阈值时，判断所述预测时间是否到达；
    对应地，所述传输模块，用于在当所述信道忙碌率大于第二阈值，且所述判断模块判断所述预测时间到达时，与所述第二通信设备通过所述备用通信连接通道传输所述V2X消息。
  12. 根据权利要求8-10任一所述的装置，其特征在于，所述配置信息还包括所述备份通信连接通道的启动时间，所述装置还包括：
    判断模块，用于当所述信道忙碌率大于第二阈值时，所述第一通信设备判断所述启动时间是否到达；
    对应地，所述传输模块，用于在所述判断模块判断所述启动时间到达时，与所述第二通信设备通过所述备用通信连接通道传输所述V2X消息。
  13. 根据权利要求8-12任一所述的装置，其特征在于，所述配置信息还包括通信有效时间，
    所述判断模块，还用于在所述传输模块与所述第二通信设备通过所述备用通信连接通道传输所述V2X消息之后，判断所述通信有效时间是否到达；
    所述装置还包括：
    删除模块，用于在所述判断模块判断所述通信有效时间到达时，删除所述备份通信连接通道。
  14. 根据权利要求8-13任一所述的装置，其特征在于，所述配置信息还包括所述第一运动主体的标识信息、通信协议类型、连接协议类型、时延参数和地址信息中的一个或多个。
  15. 一种通信设备，其特征在于，所述通信设备包括：输入/输出(I/O)接口、处理器和存储器，所述存储器中存储有程序指令；
    所述处理器用于执行存储器中存储的程序指令，执行如权利要求1-7任一所述的方法。
  16. 一种计算机可读存储介质，包括指令，其特征在于，当所述指令在通信设备上运行时，使得所述通信设备执行如权利要求1-7中任一项所述的方法。
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