WO2021052304A1

WO2021052304A1 - Vehicle-to-vehicle point-to-point communication method, apparatus and system, and storage medium

Info

Publication number: WO2021052304A1
Application number: PCT/CN2020/115233
Authority: WO
Inventors: 尹江波
Original assignee: 华为技术有限公司
Priority date: 2019-09-17
Filing date: 2020-09-15
Publication date: 2021-03-25
Also published as: CN110769363A

Abstract

Provided in the present application are a vehicle-to-vehicle point-to-point communication method, apparatus and system, and a storage medium. The method comprises: a main vehicle obtaining a first message from at least one first vehicle, wherein the first message comprises identification information of the first vehicle and position and orientation information of the first vehicle; and determining a second vehicle from the at least one first vehicle on the basis of the obtained position and orientation information of each first vehicle, carrying identification information of the second vehicle and the first information in a second message, and sending the second message. Thus, when it is detected by the second vehicle that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, the first information is obtained from the second message. That is, according to the present application, the main vehicle carries the identification information of the second vehicle and the first information to be sent in the second message and sends the second message to the second vehicle, and the second vehicle can obtain the first information sent by the main vehicle, but other vehicles cannot obtain same, thus realizing point-to-point communication between the main vehicle and the second vehicle.

Description

Point-to-point communication method, device, system and storage medium between vehicles

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on September 17, 2019, the application number is 201910877493.X, and the application name is "Point-to-point communication methods, devices, systems and storage media between vehicles", all of which The content is incorporated in this application by reference.

Technical field

This application relates to the technical field of Internet of Vehicles, and in particular to a point-to-point communication method, device, system and storage medium between vehicles.

Background technique

The Internet of Vehicles (Vehicle to Everything, V2X) is to provide vehicle information through sensors, on-board terminals, etc. mounted on the vehicle, and to achieve vehicle-to-vehicle (V2V) and vehicle-to-road communication through various communication technologies. (Vehicle to Infrastructure, V2I), vehicle to person (Vehicle to Pedestrian, V2P), vehicle to network (Vehicle to Network, V2N) mutual communication.

At present, the interaction between cars can adopt a car-cloud-car approach. The vehicle first transmits its own information to the cloud server via the Internet, and then the cloud server transmits it to other vehicles, thereby indirectly realizing the interaction between the vehicle and the vehicle.

However, in the above interaction method, the vehicle first needs to register vehicle information with the cloud server, and when the information between the vehicles is transferred through the cloud server, the quality of the information interaction depends on the quality of the Internet connected to the vehicle, and the time delay is relatively large.

Summary of the invention

The embodiments of the present application provide a method, device, system, and storage medium for point-to-point communication between vehicles.

In the first aspect, an embodiment of the present application provides a point-to-point communication method between vehicles, which is applied to a host vehicle, and the method includes:

The host vehicle obtains a first message from at least one first vehicle, and the first message includes: identification information of the first vehicle and position and orientation information of the first vehicle; Position and orientation information, determine a second vehicle from the at least one first vehicle, and the second vehicle is the target recipient of the first message to be sent by the main vehicle; and then send a second message, the second The message includes: identification information of the second vehicle and the first information. So that after receiving the second message sent by the main vehicle, the second vehicle detects whether the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, and if they are consistent, it is determined that the second message is sent For the second vehicle, the second vehicle obtains the first information from the second message.

That is to say, in the embodiment of this application, the host vehicle determines that the vehicle desired to communicate is the second vehicle, and carries the identification information of the second vehicle and the first information to be sent in the second message and sends it to the second vehicle, so that the second vehicle can The first information sent by the host vehicle is obtained according to the identification information of the second vehicle carried in the second message, but other vehicles cannot obtain the first information in the second message, thereby realizing the point-to-point communication between the host vehicle and the second vehicle. In addition, there is no need for a cloud server to transfer during the entire communication process, which greatly reduces the communication delay and improves the efficiency of point-to-point communication between vehicles.

In a first possible implementation manner, the host vehicle determines the second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles, including: the host vehicle obtains the third vehicle input by the user. Message, the third message includes: the first information and the position information of the second vehicle; the position information of the second vehicle is compared with the position and position information of each of the first vehicles, from The second vehicle is determined among the at least one first vehicle.

Optionally, the above-mentioned position information of the second vehicle is the position information of the second vehicle relative to the host vehicle.

In some examples of this implementation, the host vehicle compares the position information of the second vehicle with the position and position information of each of the first vehicles, and determines the second vehicle from the at least one first vehicle. The vehicle includes: a host vehicle determines the position information of each of the first vehicles relative to the host vehicle based on the location information of each of the first vehicles and the location information of the host vehicle; The position information of is compared with the position information of each of the first vehicles relative to the host vehicle, and the second vehicle is determined from the at least one first vehicle.

In a specific example, the host vehicle compares the location information of the second vehicle with the location information of each of the first vehicles relative to the host vehicle, and determines the location information from the at least one first vehicle. The second vehicle includes: comparing the position information of the second vehicle with the position information of each of the first vehicles relative to the host vehicle, and determining from the at least one first vehicle and the At least one third vehicle with the same azimuth information of the second vehicle; the third vehicle with the smallest distance from the host vehicle among the at least one third vehicle is determined as the second vehicle.

In a second possible implementation manner, the master vehicle determines the second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles, including: based on each of the first vehicles The location information of each of the first vehicles and the location information of the host vehicle are used to determine the location information of each first vehicle relative to the host vehicle; according to the location information of each first vehicle relative to the host vehicle, The second vehicle is determined among the at least one first vehicle.

In some examples of the second implementation manner, the above-mentioned host vehicle determines the second vehicle from the at least one first vehicle according to the position information of each first vehicle relative to the host vehicle, including: displaying each vehicle Location information of the first vehicle relative to the host vehicle; detecting the user's selection operation on the displayed location information of each of the first vehicles relative to the host vehicle; in response to the selection In operation, a second vehicle is determined from the at least one first vehicle.

In the above-mentioned first implementation manner and the second implementation manner, the host vehicle determines that each of the first vehicles is relative to the host vehicle based on the location information of each of the first vehicles and the location information of the host vehicle. The orientation information of the vehicle includes: taking the host vehicle as the center and taking the heading angle direction of the host vehicle as the x-axis direction to establish a rectangular coordinate system, and the location information of the host vehicle includes the heading angle and position coordinates; The position coordinates of the first vehicle and the position coordinates of the host vehicle are converted to the rectangular coordinate system; according to the position coordinates of each of the first vehicle and the host vehicle in the rectangular coordinate system, Determine the position information of each of the first vehicles relative to the host vehicle.

In some examples, the host vehicle determines the position information of each first vehicle relative to the host vehicle according to the position coordinates of each first vehicle and the host vehicle in the Cartesian coordinate system, including : According to the position coordinates of each of the first vehicle and the main vehicle in the Cartesian coordinate system, with the main vehicle as the center, the area of the first vehicle and the main vehicle is performed in a nine-square-grid manner Divide, determine the position information of each of the first vehicles relative to the host vehicle.

Optionally, the foregoing second message further includes identification information of the host vehicle.

In a possible implementation, the above method further includes: the host vehicle receives a fourth message from the second vehicle, where the fourth message includes identification information of the host vehicle and the second vehicle to be sent to The second information of the host vehicle, the fourth message is sent by the second vehicle when it detects that the identification information of the second vehicle carried in the second information is consistent with the identification information of the second vehicle itself .

Optionally, the foregoing fourth message further includes identification information of the second vehicle.

In some examples, acquiring the third message input by the user by the host vehicle includes: receiving the voice information input by the user by the host vehicle, and the voice information includes: first information and position information of the second vehicle; The first information and the position information of the second vehicle are recognized from the voice information, and the third message is obtained.

Optionally, the first message, the second message, and the fourth message are all broadcast messages.

Optionally, the first vehicle is a vehicle within a preset range around the host vehicle.

In a second aspect, an embodiment of the present application provides a point-to-point communication method between vehicles, which is applied to a second vehicle, and the method includes:

The second vehicle receives a second message, and the second message includes: the identification information of the second vehicle and the first information; if it is detected that the identification information of the second vehicle carried in the second message and the identification information of the second vehicle itself are detected If the identification information is consistent, the second message is parsed to obtain the message to be sent.

In a possible implementation manner, if the second vehicle detects that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle itself, the second message is discarded.

Optionally, the second message further includes identification information of the host vehicle.

In a possible implementation manner, the second vehicle further sends a fourth message, the fourth message including the identification information of the host vehicle and the second information to be sent by the second vehicle to the host vehicle.

Optionally, the foregoing fourth message and the second message are both broadcast messages.

In a third aspect, an embodiment of the present application provides a point-to-point communication device between vehicles, which is applied to a host vehicle, and the device includes:

A receiving unit, configured to obtain a first message from at least one first vehicle, the first message including: identification information of the first vehicle and position and orientation information of the first vehicle;

A processing unit, configured to determine a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles, the second vehicle being the source of the first message to be sent by the main vehicle Target recipient

The sending unit is configured to send a second message, where the second message includes: identification information of the second vehicle and the first information.

In a possible implementation manner, the processing unit is specifically configured to obtain a third message input by the user, where the third message includes: the first information and the position information of the second vehicle; The position information of the second vehicle is compared with the position and position information of each of the first vehicles, and the second vehicle is determined from the at least one first vehicle.

Optionally, the position information of the second vehicle is the position information of the second vehicle relative to the host vehicle.

In a possible implementation manner, the processing unit is specifically configured to determine that each first vehicle is relative to the host vehicle based on the location information of each first vehicle and the location information of the host vehicle. The position information of the vehicle; the position information of the second vehicle is compared with the position information of each of the first vehicles relative to the host vehicle, and the second vehicle is determined from the at least one first vehicle.

In a possible implementation manner, the processing unit is specifically configured to compare the position information of the second vehicle with the position information of each of the first vehicles relative to the host vehicle, from the at least At least one third vehicle that is consistent with the position information of the second vehicle is determined among a first vehicle; the third vehicle with the smallest distance from the host vehicle among the at least one third vehicle is determined as the first vehicle Two vehicles.

In a possible implementation manner, the processing unit is specifically configured to determine that each first vehicle is relative to the host vehicle based on the location information of each first vehicle and the location information of the host vehicle. Vehicle orientation information; according to the orientation information of each of the first vehicles relative to the host vehicle, a second vehicle is determined from the at least one first vehicle.

In a possible implementation manner, the device further includes a display unit:

The display unit is configured to display the position information of each of the first vehicles relative to the main vehicle;

The processing unit is configured to detect a selection operation of the user on the displayed orientation information of each of the first vehicles relative to the main vehicle; in response to the selection operation, the selection operation from the at least one first vehicle Identify the second vehicle among the vehicles.

In a possible implementation manner, the processing unit is specifically configured to establish a rectangular coordinate system with the host vehicle as the center and the heading angle direction of the host vehicle as the x-axis direction, and the position of the host vehicle The information includes the heading angle and position coordinates; the position coordinates of each of the first vehicles and the position coordinates of the main vehicle are converted to the rectangular coordinate system; according to the position coordinates of each of the first vehicles and the main vehicle The position coordinates in the rectangular coordinate system determine the position information of each of the first vehicles relative to the host vehicle.

In a possible implementation manner, the processing unit is specifically configured to take the host vehicle as the center according to the position coordinates of each of the first vehicle and the host vehicle in the Cartesian coordinate system, according to The area division of the first vehicle and the main vehicle is performed in a nine-grid manner, and the position information of each first vehicle relative to the main vehicle is determined.

In a possible implementation, the receiving unit is further configured to receive a fourth message from the second vehicle, where the fourth message includes identification information of the main vehicle and the second vehicle to be sent The second information to the host vehicle, the fourth message is sent by the second vehicle when it detects that the identification information of the second vehicle carried in the second information is consistent with the identification information of the second vehicle itself of.

Optionally, the fourth message further includes identification information of the second vehicle.

In a possible implementation manner, the receiving unit is further configured to receive voice information input by the user, where the voice information includes: first information and position information of the second vehicle;

The processing unit is further configured to identify the first information and the position information of the second vehicle from the voice information, and obtain the third message.

In a fourth aspect, an embodiment of the present application provides a point-to-point communication device between vehicles, which is applied to a second vehicle, and the device includes:

A receiving unit, configured to receive a second message, the second message including: identification information of the second vehicle and first information;

The processing unit is configured to, if it is detected that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, parse the second message to obtain the message to be sent.

In a possible implementation, the processing unit is further configured to discard the first vehicle if it is detected that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle itself. Two news.

In a possible implementation manner, the device further includes a sending unit:

The sending unit is configured to send a fourth message, where the fourth message includes identification information of the host vehicle and second information to be sent by the second vehicle to the host vehicle.

Optionally, the fourth message and the second message are both broadcast messages.

In a fifth aspect, an embodiment of the present application provides a vehicle-mounted device, including: a processor and a transceiver, and the processor and the transceiver are used to implement the implementation as described in any one of the first aspect or the second aspect. Point-to-point communication method between vehicles.

In a sixth aspect, an embodiment of the present application provides a computer storage medium. The storage medium includes computer instructions. When the instructions are executed by a computer, the computer realizes the vehicle described in the first aspect or/or the second aspect. Point-to-point communication method between.

In a seventh aspect, an embodiment of the present application provides a computer program product, the program product includes a computer program, the computer program is stored in a readable storage medium, a network device or a caller device can read from the readable storage medium Taking the computer program and executing the computer program enables the network device or the calling party to implement the aforementioned point-to-point communication method between vehicles.

According to the method, device, system and storage medium for point-to-point communication between vehicles provided by the embodiments of the present application, the host vehicle obtains a first message from at least one first vehicle, and the first message includes the identification information of the first vehicle and the information of the first vehicle. Position and orientation information; then the master vehicle determines a second vehicle from at least one first vehicle based on the acquired position and orientation information of each first vehicle, and the second vehicle is the target of the first information to be sent by the master vehicle receiver. The host vehicle carries the identification information of the second vehicle and the first information in the second message and sends it out. After the second vehicle receives the second message sent by the main vehicle, it detects whether the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself. If they are consistent, it is determined that the second message is sent to the first vehicle. For the second vehicle, the second vehicle obtains the first information from the second message. That is to say, in the embodiment of this application, the host vehicle determines that the vehicle desired to communicate is the second vehicle, and carries the identification information of the second vehicle and the first information to be sent in the second message and sends it to the second vehicle, so that the second vehicle can The first information sent by the host vehicle is obtained according to the identification information of the second vehicle carried in the second message, but other vehicles cannot obtain the first information in the second message, thereby realizing the point-to-point communication between the host vehicle and the second vehicle. In addition, there is no need for a cloud server to transfer during the entire communication process, which greatly reduces the communication delay and improves the efficiency of point-to-point communication between vehicles.

Description of the drawings

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the application;

2 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application;

FIG. 3 is a schematic diagram of inter-vehicle communication involved in an embodiment of the application;

4 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application;

FIG. 5 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application;

FIG. 6 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application;

Figure 7 is a schematic diagram of the positions of the host vehicle and the first vehicle in the geocentric coordinate system;

Fig. 8 is a schematic diagram of the positions of the main vehicle and the first vehicle in a Cartesian rectangular coordinate system;

FIG. 9 is a schematic diagram of an orientation division involved in an embodiment of this application;

FIG. 10 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application;

FIG. 11 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application;

Figure 12 is a user interface interaction diagram involved in an embodiment of the application;

FIG. 13 is a schematic structural diagram of a vehicle-mounted device provided by an embodiment of this application;

FIG. 14 is a schematic structural diagram of a communication device provided by an embodiment of this application;

15 is a schematic structural diagram of a point-to-point communication device between vehicles according to an embodiment of the application;

FIG. 16 is a schematic structural diagram of a point-to-point communication device between vehicles according to an embodiment of the application;

FIG. 17 is a schematic structural diagram of a point-to-point communication device between vehicles according to an embodiment of the application;

FIG. 18 is a schematic structural diagram of a vehicle-mounted device provided by an embodiment of the application;

FIG. 19 is a schematic structural diagram of a vehicle provided by an embodiment of the application;

FIG. 20 is a schematic structural diagram of an inter-vehicle communication system provided by an embodiment of the application.

detailed description

In order to facilitate the understanding of the embodiments of the present application, firstly, the relevant concepts involved in the embodiments of the present application are briefly introduced as follows:

Intelligent Traffic System (ITS) is a new type of information-based, intelligent, and socialized transportation system that uses advanced information, communication, and control technologies to transform the traditional transportation system into an informationized, intelligent, and socialized transportation system.

Dedicated Short Range Communication (DSRC) is an efficient wireless communication technology that can realize real-time and reliable two-way transmission of images, voices and data in a small range, and organically connect vehicles and roads, becoming an important part of ITS Communication platform.

On Board Unit (OBU), based on DSRC technology or LTE-V technology, according to a certain protocol format (such as the BSM message defined by the national standard), broadcast the vehicle's own information to vehicles within a preset distance (for example, 300m). Status information, such as vehicle ID information, real-time positioning information, motion status information, body status information, and historical route information, etc.

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

In the description of this application, unless otherwise specified, "plurality" means two or more than two.

In addition, in order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with substantially the same function and effect. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not limit the difference.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the application. As shown in FIG. 1, each vehicle is equipped with an OBU, and mutual communication can be realized within a certain distance. That is, the information broadcasted by a vehicle can be received by other vehicles within a certain distance. For example, vehicle A and vehicle C can both receive the message broadcasted by vehicle A.

However, the current inter-vehicle communication needs to be transferred through a cloud server, which depends on the quality of the Internet to which the vehicle is connected, and the time delay is relatively large.

In order to solve this technical problem, the present application provides a point-to-point communication method between vehicles, which can realize fast and high-quality point-to-point communication between vehicles.

The following describes the point-to-point communication method between vehicles proposed in the present application in detail with reference to specific embodiments.

FIG. 2 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application. As shown in FIG. 2, the method of the embodiment of the application includes:

S101. The host vehicle obtains a first message from at least one first vehicle.

The host vehicle involved in the embodiment of the present application is a vehicle that expects to send a message to a certain vehicle. For example, as shown in FIG. 3, assuming that vehicle A expects to send a message to vehicle B, the vehicle A can be understood as the host vehicle.

Continuing to refer to FIG. 3, the message sent by vehicle A can be received by vehicle B, vehicle C, and vehicle E, and similarly, the message sent by any one of vehicle B, vehicle C, and vehicle E can also be received by vehicle A. Here, the vehicle B, the vehicle C, and the vehicle E are understood as the first vehicle.

Optionally, the foregoing first vehicle may be a vehicle within a preset range around the host vehicle, for example, a vehicle within a range of 300 m from the host vehicle is regarded as the first vehicle.

Optionally, the aforementioned preset range may be a circular area with the host vehicle as the center, for example, a circular area with the host vehicle as the center and a radius of 300 m as the preset range.

Optionally, the above-mentioned preset range may also be a rectangular area, for example, a rectangular area of 300 m in the front and rear of the main vehicle and 100 m in the left and right.

The embodiment of the present application does not limit the preset range, which is specifically determined according to actual conditions, wherein the first vehicle within the preset range can communicate with the host vehicle.

Optionally, the foregoing first message is a broadcast message. For example, the first vehicle periodically broadcasts its own status in the form of a blind spot monitoring system (BSM) message. Other vehicles within the preset range around can receive the broadcast information.

Exemplarily, after the host vehicle receives the first message sent by at least one first vehicle, the first information sent by each first vehicle can be analyzed and processed, and the first vehicle that is threatening to the host vehicle can be screened out, and The driver gives an early warning.

Optionally, the first message may also include identification information of the first vehicle and location and orientation information of the first vehicle. For example, vehicle B carries the identification information of vehicle B and the current position and orientation information of vehicle B in the first message and sends it to surrounding vehicles, and vehicle C carries the identification information of vehicle C and the current position and orientation information of vehicle C. Send to surrounding vehicles in the first message. The host vehicle obtains the identification information of the vehicle B and the location and orientation information of the vehicle B from the first message sent by the vehicle B, and obtains the identification information of the vehicle C and the location and orientation information of the vehicle C from the first message sent by the vehicle C.

Optionally, the identification information of the above-mentioned vehicle is information that can uniquely identify the vehicle, such as the license plate number of the vehicle, the engine number of the vehicle, and so on.

S102. The host vehicle determines a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles.

Wherein, the second vehicle is the target recipient of the first information to be sent by the host vehicle.

Continuing to refer to Figure 3, suppose that vehicle A is the host vehicle, and vehicle B is the target recipient of the first information to be sent by the host vehicle, that is, the host vehicle expects to send the first information to be sent to vehicle B. Therefore, the vehicle B can be understood as the second vehicle.

The second vehicle in the embodiment of the present application is one of at least one first vehicle around the host vehicle. In this way, before the host vehicle sends the first information to the second vehicle, it first needs to determine the second vehicle from the at least one second vehicle according to the obtained position and orientation information of each first vehicle. For example, as shown in FIG. 3, the host vehicle determines to send the first information to the vehicle B in the left front according to the position and orientation information of each first vehicle, so that it can be determined that the vehicle B is the second vehicle.

S103: The host vehicle sends a second message.

The above-mentioned second message includes: the identification information of the second vehicle and the first information.

In the embodiment of the present application, after the master vehicle determines the second vehicle from at least one first vehicle, the identification information of the second vehicle may be obtained from the first message sent by the second vehicle. The host vehicle may carry the identification information of the second vehicle and the first information to be sent in the second message and send it out.

Optionally, the above-mentioned second message is a broadcast message, that is, in addition to the second vehicle that can be received by the second vehicle, the second message sent by the host vehicle can also be received by other vehicles within a preset range around the host vehicle.

In an example, the above-mentioned second message may also include the identification information of the host vehicle, so that it is convenient for the second vehicle to perform point-to-point communication with the host vehicle after receiving the second message.

S104. The second vehicle receives the second message, and detects whether the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself.

S105. If the second vehicle detects that the identification information carried in the second message is consistent with the identification information of the second vehicle itself, it will parse the second message to obtain the first information.

In the embodiment of the present application, after receiving the second message, the second vehicle detects the second message and obtains the identification information of the second vehicle carried in the second message. The identification information of the second vehicle carried in the second message is compared with its own identification information to determine whether the two are consistent. If the second vehicle detects that the identification information of the second vehicle carried in the second message is consistent with its own identification information, it is determined that the second message is sent to the second vehicle itself. At this time, the second vehicle then parses the first information sent by the host vehicle from the second message.

In the embodiment of this application, although other vehicles other than the second vehicle within the preset range of the host vehicle also receive the second message, other vehicles have detected that the identification information of the vehicle carried in the second message is inconsistent with its own vehicle identification information , It can be determined that the second message did not occur to oneself, the first information carried in the second message will not be parsed, and communication with the host vehicle cannot be realized.

Optionally, in this embodiment of the present application, in order to facilitate the second vehicle to quickly parse the identification information of the second vehicle from the second message, the identification information of the second vehicle may be carried in the header of the second message. In this way, After the second vehicle receives the second message, the identification information of the second vehicle can be obtained by parsing the header of the second message, thereby improving the analysis speed of the identification information of the second vehicle.

In the embodiment of the present application, the identification information of the second vehicle is carried in the second message, so that the second vehicle can obtain the first information in the second message according to the identification information of the second vehicle carried in the second message, so as to achieve communication with the host. Car communication. Other vehicles cannot obtain the first information in the second message, and cannot communicate with the host vehicle.

It can be seen from this that, in the embodiment of the present application, when the host vehicle communicates with the second vehicle, neither the host vehicle nor the second vehicle need to register vehicle information with the cloud server, nor do they need to transfer the cloud server, but through the second vehicle. The message carries the identification information of the second vehicle. The main vehicle directly sends the second message to the second vehicle, realizing the direct point-to-point communication between the main vehicle and the second vehicle, reducing the dependence of the main vehicle and the second vehicle on the Internet for mutual communication. And the communication delay between the two vehicles is greatly reduced, and the efficiency of point-to-point communication between vehicles is improved.

In the point-to-point communication method between vehicles provided by the embodiments of the present application, the host vehicle obtains a first message from at least one first vehicle, and the first message includes the identification information of the first vehicle and the position and orientation information of the first vehicle; Based on the obtained position and orientation information of each first vehicle, the vehicle determines a second vehicle from at least one first vehicle, and the second vehicle is a target recipient of the first information to be sent by the host vehicle. The host vehicle carries the identification information of the second vehicle and the first information in the second message and sends it out. After the second vehicle receives the second message sent by the main vehicle, it detects whether the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself. If they are consistent, it is determined that the second message is sent to the first vehicle. For the second vehicle, the second vehicle obtains the first information from the second message. That is to say, in the embodiment of this application, the host vehicle determines that the vehicle desired to communicate is the second vehicle, and carries the identification information of the second vehicle and the first information to be sent in the second message and sends it to the second vehicle, so that the second vehicle can The first information sent by the host vehicle is obtained according to the identification information of the second vehicle carried in the second message, but other vehicles cannot obtain the first information in the second message, thereby realizing the point-to-point communication between the host vehicle and the second vehicle. In addition, there is no need for a cloud server to transfer during the entire communication process, which greatly reduces the communication delay and improves the efficiency of point-to-point communication between vehicles.

Fig. 4 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application. On the basis of the foregoing embodiment, as shown in Fig. 4, the method of the embodiment of the application includes:

S201. The host vehicle obtains a first message from at least one first vehicle.

The above-mentioned first message includes: identification information of the first vehicle and position and orientation information of the first vehicle.

S202: Based on the position and orientation information of each of the first vehicles, the host vehicle determines a second vehicle from the at least one first vehicle.

The aforementioned second vehicle is the target recipient of the first message to be sent by the host vehicle.

S203. The host vehicle sends a second message.

Wherein, the second message includes: the identification information of the second vehicle and the first information.

For the specific implementation process of the foregoing steps S201 to S203, refer to the specific description of the foregoing S101 to S103, which will not be repeated here.

S204. The second vehicle receives the second message, and detects whether the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself.

S205: If the second vehicle detects that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, then parse the second message to obtain the first information.

S206: If the second vehicle detects that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle itself, discard the second message.

In the embodiment of the present application, after receiving the second message, the second vehicle obtains the identification information of the second vehicle carried in the second message. The identification information of the second vehicle carried in the second message is compared with its own identification information to determine whether the two are consistent. If the second vehicle detects that the identification information of the second vehicle carried in the second message is consistent with its own identification information, it determines that the second message is sent to itself, and the second vehicle parses out the host vehicle from the second message. The first information.

If the second vehicle detects that the identification information of the second vehicle carried in the second message is inconsistent with its own identification information, it can be determined that the second message is not sent to itself, or the second message is damaged, and then the second vehicle The second message can be discarded.

In some embodiments, the second message further includes the identification information of the main vehicle. After S205, the embodiment of the present application further includes:

S207. The second vehicle sends a fourth message.

Wherein, the fourth message includes identification information of the host vehicle and second information to be sent by the second vehicle to the host vehicle.

S208: The host vehicle receives the fourth message, and detects whether the identification information of the host vehicle carried in the fourth message is consistent with the identification information of the host vehicle itself.

S209: If the host vehicle detects that the identification information of the host vehicle carried in the fourth message is consistent with the identification information of the host vehicle itself, the host vehicle parses the fourth message to obtain the second information.

In the embodiment of the present application, after the second vehicle obtains the first information sent by the host vehicle and the identification information of the host vehicle, it may send a fourth message to the host vehicle. For example, the first information sent by the host vehicle to the second vehicle is backup The box is not closed, and after receiving the first message, the second vehicle can send a second message such as thanks to the main vehicle.

Specifically, the second vehicle sends a fourth message, and vehicles in the preset area around the second vehicle can receive the fourth message, where the vehicles in the preset area around the second vehicle include the host vehicle. After receiving the fourth message, the host vehicle detects that the identification information of the host vehicle carried in the fourth message is consistent with the identification information of the host vehicle itself, then determines that the fourth message is sent to itself, and then parses the fourth message, The second information carried in the fourth message is obtained to realize the communication between the second vehicle and the host vehicle. If the host vehicle detects that the identification information of the host vehicle carried in the fourth message is inconsistent with the identification information of the host vehicle itself, it is determined that the fourth message is not sent to itself, or the fourth message is damaged, and the host vehicle can The fourth message is discarded.

Other vehicles in the preset area around the second vehicle compare the identification information of the host vehicle carried in the fourth message with the identification information of the own vehicle, and detect that the identification information of the host vehicle carried in the fourth message is inconsistent with the identification information of the own vehicle , It is determined that the fourth message did not occur to oneself, and the fourth message is discarded.

Optionally, the foregoing fourth message may further include identification information of the second vehicle, so that the host vehicle can learn the sender of the fourth message.

The point-to-point communication method between vehicles provided by the embodiments of the present application not only realizes the sending of the host vehicle to the second vehicle by carrying the first information, the identification information of the second vehicle, and the identification information of the host vehicle in the second message sent by the host vehicle The second message also enables the second vehicle to send a fourth message to the host vehicle. The fourth information includes the identification information of the host vehicle and the second information to be sent by the second vehicle to the host vehicle, so as to realize the communication between the host vehicle and the second vehicle. Point-to-point information interaction, the entire interaction process does not require a cloud server to transfer, which greatly reduces the communication delay and improves the efficiency of point-to-point communication between vehicles.

Fig. 5 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application. On the basis of the foregoing embodiment, as shown in Fig. 5, the method of the embodiment of the application includes:

S301. The host vehicle obtains a first message from at least one first vehicle.

Wherein, the first message includes: identification information of the first vehicle and position and orientation information of the first vehicle.

The implementation process of the above S301 is the same as the above S101 and S201, and it is sufficient to refer to the above description, which will not be repeated here.

S302: The host vehicle obtains the third message input by the user.

Wherein, the third message includes: the first information and the position information of the second vehicle.

In the embodiment of the present application, the user inputs a third message to the host vehicle, and the third message includes the location information of the second vehicle. The host vehicle determines the second vehicle from the at least one first vehicle that sent the first message through the location information of the second vehicle input by the user.

For example, the third message input by the user is: send a message that the trunk is not closed to the front left vehicle. After receiving the third message, the host vehicle can determine the position information of the second vehicle to the front left of the host vehicle, and the first information The trunk is open.

In a possible implementation manner, the user inputs the third message to the host vehicle by voice, specifically: the host vehicle receives voice information input by the user, and the voice information includes: the first information and the location information of the second vehicle; Then, the host vehicle recognizes the first information and the location information of the second vehicle from the voice information, and then obtains the third message.

For example, the driver of the main vehicle (assumed as vehicle A) wants to transmit information to the driver of the second vehicle (assumed as vehicle B), and the driver of vehicle A enters the third message by voice speech into the microphone, and the third message includes the need to be delivered to The information of the vehicle B (ie, the first information) and the location where the vehicle of the recipient of the first information is expected (ie, the location information of the second vehicle). The OBU installed in the vehicle A records the third message input by the microphone, and transfers the recorded third message to the AI voice intelligent recognition module. The AI voice intelligent recognition module recognizes the position information of the second vehicle (such as the front left) and the first information from the recorded third message.

S303. The host vehicle compares the position information of the second vehicle with the position and position information of each of the first vehicles, and determines the second vehicle from the at least one first vehicle.

In the embodiment of the present application, after the main vehicle obtains the third message, it obtains the position information of the second vehicle carried in the third message, and combines the position information of the second vehicle carried in the third message with each of the first messages obtained in S301. The carried position information of the first vehicle is compared to determine the second vehicle from the at least one first vehicle.

In a possible implementation manner, as shown in FIG. 6, the foregoing S303 may include the following steps S3031 to S3032:

S3031. The host vehicle determines the position information of each first vehicle relative to the host vehicle based on the location information of each first vehicle and the location information of the host vehicle.

Optionally, the location information of the host vehicle includes the heading angle and location coordinates of the host vehicle, and the location information of the first vehicle includes the heading angle and location coordinates of the first vehicle. In this way, the heading angle and position coordinates of each first vehicle can be compared with the heading angle and position coordinates of the host vehicle to determine the orientation information of each first vehicle relative to the host vehicle.

In a possible implementation manner, the above-mentioned S3031 includes: taking the host vehicle as the center and taking the heading angle direction of the host vehicle as the x-axis direction to establish a rectangular coordinate system; The position coordinates of the main vehicle are converted to the rectangular coordinate system; according to the position coordinates of each of the first vehicles and the main vehicle in the rectangular coordinate system, it is determined that each of the first vehicles is relative to the The location information of the host vehicle.

Specifically, referring to Figures 7 and 8, Figure 7 is a schematic diagram of the position of the main vehicle and the first vehicle in the geocentric coordinate system (World Geodetic System-1984 Coordinate System, WGS84), and Figure 8 is the main vehicle and the first vehicle. A schematic diagram of the position of a vehicle in a Cartesian coordinate system. In order to determine the position information of each first vehicle relative to the main vehicle, the position information of the main vehicle is taken as the origin of the coordinates, that is, the main vehicle is the center, the heading angle direction of the main vehicle is the x-axis direction, and the main vehicle is horizontally left. The side is the positive direction of the y-axis, and the position information of the Global Navigation Satellite System (GNSS) of each first vehicle and the host vehicle is converted into a rectangular coordinate system to obtain the relative origin of each first vehicle. (Ie, the host vehicle) (x, y) coordinate values, and then obtain the position information of each first vehicle equivalent to the host vehicle.

In an example, the position information of each first vehicle relative to the host vehicle is determined according to the position coordinates of each first vehicle and the host vehicle in the Cartesian coordinate system. Including step A:

Step A. According to the position coordinates of each first vehicle and the main vehicle in the Cartesian coordinate system, the main vehicle is centered on the main vehicle, and the first vehicle and the main vehicle are divided into regions in a nine-square grid to determine each The position information of the first vehicle relative to the host vehicle.

Specifically, referring to FIG. 9, FIG. 9 is a schematic diagram of an orientation division according to an embodiment of the application. The position coordinates of the main vehicle and the first vehicle shown in FIG. 9 are all coordinates in rectangular coordinates, and the main vehicle As the center, the first vehicle and the main vehicle are divided into regions according to the nine-square grid, and the position information of each first vehicle relative to the main vehicle can be obtained.

For example, as shown in Figure 9, where RV represents the first vehicle, HV represents the main vehicle, vehicle RV1 is located at the front left of the main vehicle, vehicle RV2 is located directly in front of the main vehicle, vehicle RV3 is located at the front left of the main vehicle, and vehicle RV4 It is located directly on the right of the main vehicle, vehicle RV5 is located on the left rear of the main vehicle, vehicle RV7 is located directly behind the main vehicle, and vehicle RV8 is located on the right rear of the main vehicle.

Optionally, in the embodiment of the present application, the clock direction can also be used to indicate the orientation information of the vehicle. For example, the front can be indicated by the 12 o'clock direction, the front left can be indicated by the 9 o'clock direction, and the front right can be used. The 3 o'clock direction is displayed, and the 6 o'clock direction can be used directly behind.

S3032. The host vehicle compares the location information of the second vehicle with the location information of each of the first vehicles relative to the host vehicle, and determines the second vehicle from the at least one first vehicle.

In the embodiment of the present application, the host vehicle determines the position information of each first vehicle relative to the host vehicle based on the location information of each first vehicle and the location information of the host vehicle. Then, the host vehicle compares the location information of the second vehicle carried in the third message with the location information of each first vehicle relative to the host vehicle, and determines the second vehicle from the at least one first vehicle. For example, the position information of the second vehicle is compared with the position information of each first vehicle relative to the host vehicle, and the first vehicle whose position information is consistent with the position information of the second vehicle is determined from at least one of the first vehicles as the first vehicle. Two vehicles.

Optionally, in an implementation manner, the foregoing S3032 may be: the host vehicle compares the location information of the second vehicle with the location information of each first vehicle relative to the host vehicle, and determines from at least one first vehicle At least one third vehicle whose position information is consistent with the position information of the second vehicle; then, according to the position coordinates of each third vehicle and the main vehicle in the Cartesian coordinate system, determine the distance between each third vehicle and the main vehicle; The third vehicle with the smallest distance from the host vehicle among the at least one third vehicle is determined to be the second vehicle.

In this embodiment of the present application, based on the steps of S3031 and S3032, the master vehicle determines the second vehicle from the at least one first vehicle.

S304. The host vehicle sends a second message.

According to the above steps S301 to S303, the host vehicle determines the second vehicle from at least one first vehicle, and then the host vehicle can obtain the identification information of the second vehicle from the first message sent by the second vehicle. Then, the host vehicle carries the identification information of the second vehicle and the first information to be sent to the second vehicle in a second message for transmission.

S305. The second vehicle receives the second message, and detects whether the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself.

S306: If the second vehicle detects that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, then parse the second message to obtain the first information.

For the specific implementation process of the above steps S304 to S306, refer to the specific description of the above steps S103 to S105, which will not be repeated here.

In the point-to-point communication method between vehicles provided in the embodiments of the present application, the host vehicle obtains a third message input by the user. The third message includes the location information of the second vehicle and the first information to be sent. The location information of the second vehicle is compared with the location and location information of the at least one first vehicle, and the second vehicle is determined from the at least one first vehicle; then, the host vehicle compares the identification information of the second vehicle with the first information It is carried in the second message and sent to the second vehicle, so that when the second vehicle detects that the identification information carried in the second message is consistent with the identification information of the second vehicle itself, it parses the second message to obtain the first message carried in the second message. One information to realize the point-to-point communication between the main vehicle and the second vehicle.

FIG. 10 is a flowchart of a point-to-point communication method between vehicles provided by an embodiment of the application. Based on the foregoing embodiment, as shown in FIG. 10, the method of the embodiment of the application includes:

S401. The host vehicle obtains a first message from at least one first vehicle.

Wherein, the first message includes: identification information of the first vehicle and location and orientation information of the first vehicle.

S402: The host vehicle determines the position information of each first vehicle relative to the host vehicle based on the location information of each first vehicle and the location information of the host vehicle.

For the specific implementation process of the above step S402, refer to the specific description of the above step S3031, which will not be repeated here.

S403. The host vehicle determines a second vehicle from the at least one first vehicle according to the position information of each of the first vehicles relative to the host vehicle.

In the embodiment of the present application, after the host vehicle obtains the orientation information of each first vehicle relative to the host vehicle, it can select a first vehicle from at least one first vehicle according to the location information of each first vehicle relative to the host vehicle. The vehicle serves as the second vehicle.

In an example, the host vehicle captures the environment around the host vehicle through a vehicle-mounted camera to obtain a road image, and the road map includes at least one first vehicle around the host vehicle. The host vehicle recognizes the captured road image, identifies the orientation information of the vehicle that needs to send the first information from the road image, and then compares the orientation information of the identified vehicle with each first vehicle determined in step S402 relative to the host vehicle. The position information of the vehicle is compared, and the first vehicle matching the position information of the recognized vehicle is determined from at least one vehicle, and the first vehicle is regarded as the second vehicle. For example, the main vehicle recognizes the captured road image and recognizes that the trunk of the upper left vehicle of the main vehicle in the road image is not closed. In this way, the main vehicle can obtain the position information of each first vehicle relative to the main vehicle and the upper left For the matched first vehicle, use the matched first vehicle as the second vehicle.

In another example, as shown in FIG. 11, the above S403 may include the steps of S4031 to S4033:

S4031. The host vehicle displays the position information of each of the first vehicles relative to the host vehicle.

The main vehicle in the embodiment of the present application includes at least one display device, on which the position information of each first vehicle determined in step S402 relative to the main vehicle is drawn and displayed, as shown in FIG. 12, where HV represents the main vehicle, RV represents the first vehicle within a preset range around the host vehicle.

S4032. The host vehicle detects the user's selection operation on the displayed orientation information of each first vehicle relative to the host vehicle.

S4033. In response to the selection operation, the host vehicle determines a second vehicle from the at least one first vehicle.

The host vehicle displays the location information of each first vehicle relative to the host vehicle as shown in FIG. 12 to the user, and the user performs a selection operation on the displayed location information of each first vehicle relative to the host vehicle. The host vehicle detects the user's selection operation on the displayed orientation information of each first vehicle relative to the host vehicle, and in response to the selection operation, determines the second vehicle from the at least one first vehicle. As shown in Figure 12, the user clicks on the RV1 vehicle, and when the host vehicle detects that the user clicks on the RV1 vehicle, it can determine that the RV1 vehicle is the second vehicle selected by the user.

Optionally, after the user clicks on the RV1 vehicle, as shown in FIG. 12, a menu may also pop up to show how the user enters the second message. The input methods include sending a text message and sending a voice message. Optionally, the menu may also display other information, for example, display the identification information of the selected second vehicle. When the user chooses to input the second message by sending a text message, a text box can be popped up, and the user can input the first information to be sent and the identification information of the second vehicle in the text box. If the user chooses to input the second message by sending a voice message, the host vehicle turns on the microphone and records the voice message input by the user. The voice message includes the first information to be sent and the identification information of the second vehicle.

Optionally, when forming the above-mentioned second message, the identification information of the second vehicle does not need to be input by the user, and the main vehicle can be automatically added.

In a possible implementation manner of the embodiment of the present application, the host vehicle may send the position information of each first vehicle relative to the host vehicle determined in S402 to the user terminal device, and the user terminal device draws and displays each first vehicle. The position information of the vehicle relative to the host vehicle. The user selects the second vehicle on the user terminal device and enters the second message. The user terminal device sends the identification information of the second vehicle selected by the user on the terminal device and the manner of inputting the second message to the host vehicle. The main vehicle displays the text box or turns on the microphone according to the input mode of the second message selected by the user, receives the first information input by the user and the identification information of the second vehicle, and then forms the second message.

S404: The host vehicle sends a second message.

S405. The second vehicle receives the second message, and detects whether the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself.

S406: If the second vehicle detects that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, the second vehicle is parsed to obtain the first information.

For the specific implementation process of the above steps S404 to S406, refer to the specific description of the above steps S103 to S105, which will not be repeated here.

In the point-to-point communication method between vehicles provided by the embodiments of the present application, the host vehicle determines the position of each first vehicle relative to the host vehicle based on the location information of each first vehicle and the location information of the host vehicle. Position information; determine the second vehicle from at least one first vehicle according to the position information of each of the first vehicles relative to the main vehicle, for example, according to the position of each of the first vehicles relative to the main vehicle The information and the user's selection operation of the second vehicle determine the second vehicle from the at least one first vehicle. Then, the host vehicle carries the identification information of the second vehicle and the first information in a second message and sends it to the second vehicle, so that the second vehicle detects that the identification information carried in the second message is the same as the identification information of the second vehicle itself. When they are consistent, the second message is parsed to obtain the first information carried in the second message, so as to realize the point-to-point communication between the main vehicle and the second vehicle.

The foregoing embodiments all describe the point-to-point communication between one vehicle and one vehicle, that is, the identification information of the second vehicle carried in the second message sent by the host vehicle is the identification information of one vehicle.

Optionally, in some embodiments, the host vehicle may also send the first information to multiple vehicles at the same time. In this case, the above-mentioned second message may include identification information of multiple vehicles. For example, vehicle A finds vehicle B and vehicle C. When none of the trunks of vehicle A are closed, vehicle A can send a second message to vehicle B and vehicle C at the same time. At this time, the second message carries the identification information of vehicle B, the identification information of vehicle C, and the first information.

That is, the method of the embodiment of the present application can also realize point-to-multipoint communication between vehicles.

FIG. 13 is a schematic structural diagram of a vehicle-mounted device provided by an embodiment of the application. As shown in FIG. 13, the vehicle-mounted device 500 in this embodiment may be the vehicle-mounted unit on the main vehicle (or a component that can be used for the vehicle-mounted unit of the main vehicle) mentioned in the foregoing method embodiment or the vehicle-mounted device on the first vehicle. Unit (or a component that can be used in the on-board unit of the first vehicle). The in-vehicle device can be used to implement the method corresponding to the main vehicle or the second vehicle described in the foregoing method embodiment. For details, refer to the description in the foregoing method embodiment.

The in-vehicle device 500 may include one or more processors 501, and the processor 501 may also be referred to as a processing unit, which may implement certain control or processing functions. The processor 501 may be a general-purpose processor or a special-purpose processor. For example, it can be a baseband processor or a central processing unit. The baseband processor can be used to process the communication protocol and communication data, and the central processor can be used to control the on-board equipment, execute the software program, and process the data of the software program.

In a possible design, the processor 501 may also store instructions 503 or data (for example, intermediate data). The instruction 503 may be executed by the processor, so that the in-vehicle device 500 executes the method corresponding to the main vehicle or the second vehicle described in the foregoing method embodiment.

In yet another possible design, the vehicle-mounted device 500 may include a circuit, and the circuit may implement the sending or receiving or communication function in the foregoing method embodiment.

Optionally, the in-vehicle device 500 may include one or more memories 502, on which instructions 504 may be stored, and the instructions may be executed on the processor, so that the in-vehicle device 500 executes the foregoing method implementation The method described in the example.

Optionally, the processor 501 and the memory 502 can be provided separately or integrated together.

Optionally, the vehicle-mounted device 500 may further include a transceiver 505 and/or an antenna 506. The processor 501 may be referred to as a processing unit, which controls the vehicle-mounted equipment. The transceiver 505 may be called a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, etc., and is used to implement the transceiver function of the vehicle-mounted device.

In one design, if the in-vehicle device 500 is used to implement operations corresponding to the main vehicle in the foregoing embodiments, for example, the transceiver 505 may obtain the first message from at least one first vehicle. Including: the identification information of the first vehicle and the position and orientation information of the first vehicle; the processor 501 determines from the at least one first vehicle based on the position and orientation information of each of the first vehicles The second vehicle, the second vehicle is the target recipient of the first message to be sent by the host vehicle; a second message is sent by the transceiver 505, and the second message includes: the identification information of the second vehicle and The first information.

For the specific implementation process of the foregoing transceiver 505 and the processor 501, reference may be made to the relevant descriptions of the foregoing embodiments, and details are not described herein again.

In another design, if the in-vehicle device is used to implement operations corresponding to the second vehicle in the foregoing embodiments, for example, the transceiver 505 may receive a second message, the second message including: identification information of the second vehicle And the first information; the processor 501 detects that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, then the second message is parsed to obtain the message to be sent .

The processor 501 and the transceiver 505 described in this application can be implemented in integrated circuits (IC), analog ICs, radio frequency integrated circuits (RFICs), mixed signal ICs, and application specific integrated circuits (application specific integrated circuits). circuit, ASIC), printed circuit board (PCB), electronic equipment, etc. The processor 501 and the transceiver 505 can also be manufactured using various 1C process technologies, such as complementary metal oxide semiconductor (CMOS), nMetal-oxide-semiconductor (NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

Although in the above description of the embodiment, the vehicle-mounted device 500 is described by taking the main vehicle or the first vehicle as an example, the scope of the vehicle-mounted device described in this application is not limited to the foregoing main vehicle or the foregoing first vehicle. The structure may not be limited by FIG. 13.

The in-vehicle device of the embodiment of the present application can be used to implement the technical solutions of the main vehicle (or the first vehicle) in the foregoing method embodiments, and the implementation principles and technical effects are similar, and will not be repeated here.

FIG. 14 is a schematic structural diagram of a communication device provided by an embodiment of the application. The communication device 700 exists in the form of a chip product. The structure of the communication device includes a processor 701 and a memory 702. The memory 702 is used for coupling with the processor 701. The memory 702 stores program instructions and data necessary for the communication device. The processor 701 is configured to execute program instructions stored in the memory 702, so that the communication device executes the functions of the main vehicle or the second vehicle in the foregoing method embodiment.

The communication device of the embodiment of the present application may be used to execute the technical solutions of the main vehicle or the second vehicle in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 15 is a schematic structural diagram of a point-to-point communication device between vehicles according to an embodiment of the application. This inter-vehicle point-to-point communication device is applied to the host vehicle. It can be an on-board unit on the host vehicle, or a component of the on-board unit of the host vehicle (for example, integrated circuits, chips, etc.). As shown in Figure 15, the vehicle The inter-point-to-point communication device 800 may include:

The receiving unit 801 is configured to obtain a first message from at least one first vehicle, the first message including: identification information of the first vehicle and position and orientation information of the first vehicle;

The processing unit 802 is configured to determine a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles, where the second vehicle is the first message to be sent by the main vehicle The target recipient;

The sending unit 803 is configured to send a second message, where the second message includes: identification information of the second vehicle and the first information.

In a possible implementation, the processing unit 802 is specifically configured to obtain a third message input by the user, where the third message includes: the first information and the position information of the second vehicle; The position information of the second vehicle is compared with the position and position information of each of the first vehicles, and the second vehicle is determined from the at least one first vehicle.

In a possible implementation manner, the processing unit 802 is specifically configured to determine that each first vehicle is relative to the host vehicle based on the location information of each first vehicle and the location information of the host vehicle. Position information of the host vehicle; compare the position information of the second vehicle with the position information of each of the first vehicles relative to the host vehicle, and determine the second vehicle from the at least one first vehicle .

In a possible implementation manner, the processing unit 802 is specifically configured to compare the orientation information of the second vehicle with the orientation information of each of the first vehicles relative to the host vehicle, from the Determine at least one third vehicle consistent with the orientation information of the second vehicle among at least one first vehicle; determine the third vehicle with the smallest distance from the host vehicle among the at least one third vehicle as the The second vehicle.

In a possible implementation manner, the processing unit 802 is specifically configured to determine that each first vehicle is relative to the host vehicle based on the location information of each first vehicle and the location information of the host vehicle. The location information of the host vehicle; and the second vehicle is determined from the at least one first vehicle according to the location information of each of the first vehicles relative to the host vehicle.

The communication device in the embodiment of the present application may be used to execute the technical solutions of the main vehicle in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 16 is a schematic structural diagram of a point-to-point communication device between vehicles provided by an embodiment of this application. As shown in FIG. 16, the communication device of this application further includes a display unit 804:

The display unit 804 is configured to display the position information of each of the first vehicles relative to the main vehicle;

The processing unit 802 is configured to detect a selection operation of the user on the displayed orientation information of each of the first vehicles relative to the main vehicle; in response to the selection operation, from the at least one first vehicle Identify the second vehicle among the one vehicle.

In a possible implementation, the processing unit 802 is specifically configured to set up a rectangular coordinate system with the host vehicle as the center and the heading angle direction of the host vehicle as the x-axis direction. The position information includes the heading angle and position coordinates; the position coordinates of each of the first vehicles and the position coordinates of the main vehicle are converted to the rectangular coordinate system; according to each of the first vehicles and the main vehicle The position coordinates in the rectangular coordinate system determine the position information of each of the first vehicles relative to the host vehicle.

In a possible implementation, the processing unit 802 is specifically configured to take the host vehicle as the center according to the position coordinates of each of the first vehicle and the host vehicle in the Cartesian coordinate system, The area division of the first vehicle and the main vehicle is performed in a nine-square grid manner, and the position information of each of the first vehicles relative to the main vehicle is determined.

In a possible implementation manner, the receiving unit 801 is further configured to receive a fourth message from the second vehicle, where the fourth message includes the identification information of the main vehicle and the waiting state of the second vehicle. The second information sent to the host vehicle, where the fourth message is when the second vehicle detects that the identification information of the second vehicle carried in the second information is consistent with the identification information of the second vehicle itself Sent.

In a possible implementation, the receiving unit 801 is further configured to receive voice information input by the user, where the voice information includes: first information and position information of the second vehicle;

The processing unit 802 is further configured to identify the first information and the position information of the second vehicle from the voice information, and obtain the third message.

FIG. 17 is a schematic structural diagram of a point-to-point communication device between vehicles according to an embodiment of the application. This inter-vehicle point-to-point communication device is applied to the second vehicle. It can be an onboard unit on the second vehicle or a component (for example, an integrated circuit, a chip, etc.) of the onboard unit of the second vehicle, as shown in Figure 17 , The point-to-point communication device 900 between vehicles may include:

The receiving unit 901 is configured to receive a second message, where the second message includes: identification information of the second vehicle and first information;

The processing unit 902 is configured to, if it is detected that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, parse the second message to obtain the message to be sent.

In a possible implementation, the processing unit 902 is further configured to discard the second vehicle if it is detected that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle itself. The second message.

In a possible implementation manner, the foregoing communication device 900 further includes a sending unit 903:

The sending unit 903 is configured to send a fourth message, where the fourth message includes identification information of the host vehicle and second information to be sent by the second vehicle to the host vehicle.

The communication device of the embodiment of the present application may be used to execute the technical solution of the second vehicle in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 18 is a schematic structural diagram of a vehicle-mounted device provided by an embodiment of the application. As shown in FIG. 18, the vehicle-mounted device 610 includes a processor 612, a communication interface 613, and a memory 611. Optionally, the in-vehicle communication device 610 may further include a bus 614. Among them, the communication interface 613, the processor 612, and the memory 611 can be connected to each other through a bus 614; the bus 614 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) Bus and so on. The bus 614 can be divided into an address bus, a data bus, a control bus, and so on. For ease of presentation, only one thick line is used to represent in FIG. 18, but it does not mean that there is only one bus or one type of bus.

The in-vehicle device of the embodiment of the present application may be used to execute the technical solutions of the main vehicle or the second vehicle in the foregoing method embodiments, and the implementation principles and technical effects are similar, and will not be repeated here.

FIG. 19 is a schematic structural diagram of a vehicle provided by an embodiment of the application. As shown in 19, the vehicle 200 of the embodiment of the present application includes a vehicle body 210 and a vehicle-mounted device 220 provided on the vehicle body 210. The vehicle-mounted device may be the vehicle-mounted device shown in FIG. 13 or FIG. 18.

Among them, the vehicle 200 can be used to implement the function of the main vehicle side in the foregoing method embodiment, and the page can be used to implement the function of the second vehicle side in the foregoing method embodiment. The implementation principles and technical effects are similar, and will not be repeated here. .

FIG. 20 is a schematic structural diagram of an inter-vehicle communication system provided by an embodiment of the application. As shown in 20, the communication system 300 of the embodiment of the present application includes the above-mentioned main vehicle 310 and the second vehicle 320.

Wherein, the main vehicle 310 can be used to implement the function of the main vehicle side in the foregoing method embodiment, and the second vehicle 320 can be used to implement the function of the second vehicle side in the foregoing method embodiment, and its implementation principles and technical effects are similar. I won't repeat them here.

Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including a number of instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. 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. For example, 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.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a 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, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here. In addition, the various method embodiments and the various device embodiments may also refer to each other, and the same or corresponding content in different embodiments may be referred to each other, and details are not repeated.

Claims

A point-to-point communication method between vehicles, characterized in that it is applied to a host vehicle, and the method includes:

Acquiring a first message from at least one first vehicle, the first message including: identification information of the first vehicle and position and orientation information of the first vehicle;

Determine a second vehicle from the at least one first vehicle based on the location and orientation information of each of the first vehicles, where the second vehicle is the target recipient of the first message to be sent by the host vehicle;

Send a second message, the second message including: the identification information of the second vehicle and the first information.
The method according to claim 1, wherein the determining a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles comprises:

Acquiring a third message input by the user, the third message including: the first information and the location information of the second vehicle;

The position information of the second vehicle is compared with the position and position information of each of the first vehicles, and the second vehicle is determined from the at least one first vehicle.
The method according to claim 2, wherein the position information of the second vehicle is the position information of the second vehicle relative to the host vehicle.
The method according to claim 3, wherein the position information of the second vehicle is compared with the position and position information of each of the first vehicles, and the determination is made from the at least one first vehicle The second vehicle includes:

Determine the position information of each of the first vehicles relative to the host vehicle based on the location information of each of the first vehicles and the location information of the host vehicle;

The position information of the second vehicle is compared with the position information of each of the first vehicles relative to the host vehicle, and the second vehicle is determined from the at least one first vehicle.
The method according to claim 4, characterized in that, the position information of the second vehicle is compared with the position information of each of the first vehicles relative to the main vehicle, and the position information of each of the first vehicles is compared from the at least one first vehicle. Determining the second vehicle in a vehicle includes:

The position information of the second vehicle is compared with the position information of each of the first vehicles relative to the host vehicle, and the position information of the at least one first vehicle is determined to be consistent with the position information of the second vehicle At least one third vehicle;

A third vehicle with the smallest distance from the host vehicle among the at least one third vehicle is determined as the second vehicle.
The method according to claim 1, wherein the determining a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles comprises:

Determine the position information of each of the first vehicles relative to the host vehicle based on the location information of each of the first vehicles and the location information of the host vehicle;

The second vehicle is determined from the at least one first vehicle according to the position information of each of the first vehicles relative to the host vehicle.
The method according to claim 6, wherein the determining the second vehicle from the at least one first vehicle according to the position information of each of the first vehicles relative to the host vehicle comprises:

Displaying the position information of each of the first vehicles relative to the main vehicle;

Detecting the selection operation of the user on the displayed position information of each of the first vehicles relative to the host vehicle;

In response to the selection operation, a second vehicle is determined from the at least one first vehicle.
The method according to claim 4 or 6, characterized in that, based on the location information of each of the first vehicles and the location information of the host vehicle, determine that each of the first vehicles is relative to the host vehicle. The location information of the car, including:

Taking the main vehicle as a center and taking the heading angle direction of the main vehicle as the x-axis direction, establish a rectangular coordinate system, and the position information of the main vehicle includes the heading angle and position coordinates;

Transforming the position coordinates of each of the first vehicle and the position coordinates of the main vehicle to the rectangular coordinate system;

According to the position coordinates of each of the first vehicles and the host vehicle in the Cartesian coordinate system, the orientation information of each of the first vehicles relative to the host vehicle is determined.
The method according to claim 8, characterized in that, according to the position coordinates of each of the first vehicle and the host vehicle in the Cartesian coordinate system, it is determined that each of the first vehicles is relative to each other. State the location information of the main vehicle, including:

According to the position coordinates of each of the first vehicle and the main vehicle in the Cartesian coordinate system, with the main vehicle as the center, the first vehicle and the main vehicle are divided into regions in a nine-square grid , Determine the position information of each of the first vehicles relative to the host vehicle.
The method according to any one of claims 1-9, wherein the second message further includes identification information of the main vehicle.
The method according to claim 10, wherein the method further comprises:

A fourth message is received from the second vehicle, the fourth message includes the identification information of the host vehicle and the second information to be sent by the second vehicle to the host vehicle, and the fourth message is The second vehicle is sent when it is detected that the identification information of the second vehicle carried in the second information is consistent with the identification information of the second vehicle itself.
The method according to claim 10, wherein the fourth message further includes identification information of the second vehicle.
The method according to claim 2, wherein said obtaining the third message input by the user comprises:

Receiving voice information input by the user, where the voice information includes: first information and position information of the second vehicle;

The first information and the position information of the second vehicle are recognized from the voice information, and the third message is obtained.
The method according to claim 11, wherein the first message, the second message, and the fourth message are all broadcast messages.
The method according to any one of claims 1-7, wherein the first vehicle is a vehicle within a preset range around the host vehicle.
A point-to-point communication method between vehicles, characterized in that it comprises:

Receiving a second message, the second message including: the identification information of the second vehicle and the first information;

If it is detected that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, the second message is parsed to obtain the message to be sent.
The method according to claim 16, further comprising:

If it is detected that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle itself, the second message is discarded.
The method according to claim 16 or 17, wherein the second message further includes identification information of the host vehicle.
The method according to claim 18, further comprising:

A fourth message is sent, and the fourth message includes the identification information of the host vehicle and the second information to be sent by the second vehicle to the host vehicle.
The method according to claim 19, wherein the fourth message further includes identification information of the second vehicle.
The method according to claim 19, wherein the fourth message and the second message are both broadcast messages.
A point-to-point communication device between vehicles, which is characterized in that it is applied to a host vehicle, and the device includes:

A receiving unit, configured to obtain a first message from at least one first vehicle, the first message including: identification information of the first vehicle and position and orientation information of the first vehicle;

A processing unit, configured to determine a second vehicle from the at least one first vehicle based on the position and orientation information of each of the first vehicles, the second vehicle being the source of the first message to be sent by the main vehicle Target recipient

The sending unit is configured to send a second message, where the second message includes: identification information of the second vehicle and the first information.
The device of claim 22, wherein:

The processing unit is specifically configured to obtain a third message input by a user, where the third message includes: the first information and the position information of the second vehicle; and the position information of the second vehicle is combined with each The position and orientation information of the first vehicle are compared, and the second vehicle is determined from the at least one first vehicle.
The device according to claim 23, wherein the position information of the second vehicle is the position information of the second vehicle relative to the host vehicle.
The device of claim 24, wherein:

The processing unit is specifically configured to determine the position information of each first vehicle relative to the main vehicle based on the position information of each first vehicle and the position information of the main vehicle; The position information of the second vehicle is compared with the position information of each of the first vehicles relative to the host vehicle, and the second vehicle is determined from the at least one first vehicle.
The device according to claim 22, wherein the device further comprises:

The receiving unit is further configured to receive a fourth message from the second vehicle, where the fourth message includes identification information of the host vehicle and second information to be sent by the second vehicle to the host vehicle The fourth message is sent when the second vehicle detects that the identification information of the second vehicle carried in the second information is consistent with the identification information of the second vehicle itself.
A point-to-point communication device between vehicles, which is characterized in that it is applied to a second vehicle, and the device includes:

A receiving unit, configured to receive a second message, the second message including: identification information of the second vehicle and first information;

The processing unit is configured to, if it is detected that the identification information of the second vehicle carried in the second message is consistent with the identification information of the second vehicle itself, parse the second message to obtain the message to be sent.
The device according to claim 27, further comprising:

The processing unit is further configured to discard the second message if it is detected that the identification information of the second vehicle carried in the second message is inconsistent with the identification information of the second vehicle itself.
An in-vehicle device, characterized by comprising: a processor and a transceiver, the processor and the transceiver are used to implement the implementation of any one of claims 1 to 15 or claims 16 to 21 Point-to-point communication method between vehicles.
A computer storage medium, wherein the storage medium includes computer instructions, and when the instructions are executed by a computer, the computer realizes the inter-vehicle communication according to any one of claims 1 to 21. Point-to-point communication method.
A program product, characterized in that the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of a communication device can read the computer program from the readable storage medium The execution of the computer program by the at least one processor causes the communication device to implement the method according to any one of claims 1-15 or the method according to any one of claims 16-21.