WO2021174531A1 - 数据传输方法、车端设备和网络侧设备 - Google Patents
数据传输方法、车端设备和网络侧设备 Download PDFInfo
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- WO2021174531A1 WO2021174531A1 PCT/CN2020/078231 CN2020078231W WO2021174531A1 WO 2021174531 A1 WO2021174531 A1 WO 2021174531A1 CN 2020078231 W CN2020078231 W CN 2020078231W WO 2021174531 A1 WO2021174531 A1 WO 2021174531A1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/003—Arrangements for allocating sub-channels of the transmission path
- H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/16—Central resource management; Negotiation of resources or communication parameters, e.g. negotiating bandwidth or QoS [Quality of Service]
- H04W28/24—Negotiating SLA [Service Level Agreement]; Negotiating QoS [Quality of Service]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/18—Information format or content conversion, e.g. adaptation by the network of the transmitted or received information for the purpose of wireless delivery to users or terminals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
Definitions
- the present disclosure relates to the field of Internet of Vehicles, and in particular to a data transmission method, network side equipment, and vehicle terminal equipment.
- the network-side device periodically or in real time transmits the collected dynamic information of the road condition to the vehicle-end device installed on the vehicle. That is, in the prior art, the network-side device sends all collected dynamic information to the vehicle-end device, and the vehicle-end device passively determines and executes a corresponding driving strategy based on all the received dynamic information.
- the inventor found that the above-mentioned prior art method has at least the following problems: because the vehicle-end device passively receives all the dynamic information sent by the network-side device, the vehicle-end device and the network-side The problem of low data transmission efficiency between devices.
- embodiments of the present disclosure provide a data transmission method, a network side device, and a vehicle side device.
- the embodiments of the present disclosure provide a data transmission method, the method may be applied to a vehicle-end device, and the method includes:
- the vehicle-end device sends a first message for obtaining vehicle driving related information to the network-side device;
- the vehicle-end device receives a second message including vehicle driving-related information from the network-side device, and the content and or format of the second message is determined by the network-side device according to the first message.
- the vehicle-end device sends the first message for obtaining vehicle driving-related information to the network-side device, so that the vehicle-end device can actively and selectively obtain vehicle-related information from the network-side device, thereby improving the vehicle
- the interaction between the end device and the network side device is intelligent.
- the vehicle-end equipment can selectively obtain vehicle driving-related information from the network-side equipment, the problem of data redundancy obtained by the vehicle-end equipment in the prior art can be avoided, and it can also avoid the problem of data obtained by the vehicle-end equipment in the prior art.
- the problem of long time delay for all data so as to achieve the technical effect of improving the efficiency of information transmission.
- the first message includes vehicle driving information reported or requested by the vehicle-side device to the network-side device.
- the vehicle-end device can interact with the network-side device in two ways: “report” or “request”, which can realize the flexibility and diversity of interaction, and thus can realize the flexibility of obtaining vehicle driving-related information. Sex and diversity.
- the reported vehicle driving related information includes at least one of the auto-driving level, the lane where the vehicle belongs, or the current vehicle speed of the vehicle to which the vehicle-end device belongs.
- the requested vehicle driving related information includes a content type or a detailed level of the vehicle driving related information.
- the first message carries the content type or the level of detail based on a predefined bit coding manner.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the content of the second message is determined by the network side device as a road condition description or a driving operation instruction according to the first message;
- the format of the second message is determined by the network side device as a human recognizable language or a machine recognizable language according to the first message.
- the technical effect of effective and accurate identification of the second message by the vehicle terminal device can be ensured.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the second message includes vehicle driving related information of multiple content types
- the first message is also used by the network-side device to determine the vehicle driving of each content type in the multiple content types.
- the transmission priority of related information is also used by the network-side device to determine the vehicle driving of each content type in the multiple content types.
- the vehicle driving-related information of a content type with a higher transmission priority is preferentially transmitted in terms of transmission timing, or has a higher level of detail in terms of the content or format.
- the level of detail of different information may be different, so that the level of detail can be different based on the level of detail.
- the first message includes a time period or road segment in which the vehicle to which the vehicle-end device belongs is in driving, and the network-side device determines vehicle driving-related information of each content type among the multiple content types
- the transmission priority includes: the network-side device determines the transmission priority of the vehicle driving-related information of each content type according to the time period or the road section.
- the embodiments of the present disclosure also provide a data transmission method, which can be applied to a network-side device, and the method includes:
- the network-side device receives the first message sent by the vehicle-end device for obtaining vehicle driving related information
- Determining, by the network-side device, a second message including vehicle driving related information, and the content or format of the second message is determined by the network-side device according to the first message;
- the network-side device sends the second message to the vehicle-end device.
- the network side equipment includes but is not limited to cloud servers and roadside units.
- the first message includes vehicle driving information reported or requested by the vehicle-side device to the network-side device.
- the reported vehicle driving-related information includes at least one of the auto-driving level, lane, or current speed of the vehicle to which the vehicle-end device belongs, and the network-side device determines that the information includes vehicle driving-related information
- the second message includes:
- the network-side device determines the content or format of the second message according to at least one of the autonomous driving level, the lane where the vehicle belongs, or the current vehicle speed of the vehicle to which the vehicle-end device belongs.
- the formats of the messages that can be recognized by vehicles of different autonomous driving levels are not the same, for example, vehicles of L3 level (for detailed explanation, please refer to the description in the specific embodiments) and above can recognize machine language, so
- the auto-driving level of the vehicle to which the vehicle-end device belongs is above L3, it can be determined that the format of the second message is the format corresponding to the machine language. Therefore, by determining the content or format of the second message in the embodiment of the present disclosure, the technical effect of the validity and reliability of message recognition by the vehicle-end device can be realized.
- the requested vehicle driving-related information includes the content type or the level of detail of the vehicle driving-related information
- the second message determined by the network-side device to include the vehicle driving-related information includes:
- the network side device determines the content or format of the second message according to the content type or the level of detail.
- the first message carries the content type or the level of detail based on a pre-defined bit encoding method
- the network-side device determines that the second message that includes vehicle driving related information includes:
- the network side device determines the content or format of the second message according to the content type or the level of detail.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the content of the second message is determined by the network side device as a road condition description or a driving operation instruction according to the first message;
- the format of the second message is determined by the network side device to be a human recognizable language or a machine recognizable language according to the first message.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the second message includes vehicle driving-related information of multiple content types
- the second message determined by the network-side device to include vehicle driving-related information includes:
- the network side device determines the transmission priority of the vehicle driving related information of each content type among the multiple content types according to the first message.
- the vehicle driving-related information of a content type with a higher transmission priority is transmitted preferentially in terms of transmission timing, or has a higher level of detail in terms of the content or format.
- the first message includes the time period or road segment in which the vehicle is traveling, and the network-side device determines each of the multiple content types according to the first message.
- the transmission priority of the vehicle driving related information of the content type includes: the network side device determines the transmission priority of the vehicle driving related information of each content type according to the time period or the road section.
- the embodiments of the present disclosure also provide a vehicle-end device, the vehicle-end device including:
- the first sending unit is configured to send a first message for acquiring vehicle driving related information to the network side device;
- the first receiving unit is configured to receive a second message including vehicle driving related information from the network side device, and the content or format of the second message is determined by the network side device according to the first message.
- the first message includes vehicle driving information reported or requested by the vehicle-side device to the network-side device.
- the reported vehicle driving related information includes at least one of the autopilot level, the lane where the vehicle belongs, or the current vehicle speed of the vehicle to which the vehicle-end device belongs.
- the requested vehicle driving related information includes a content type or a detailed level of the vehicle driving related information.
- the first message carries the content type or the level of detail based on a predefined bit coding manner.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the content of the second message is determined by the network side device as a road condition description or a driving operation instruction according to the first message;
- the format of the second message is determined by the network side device as a human recognizable language or a machine recognizable language according to the first message.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the second message includes vehicle driving related information of multiple content types
- the first message is also used by the network-side device to determine the vehicle driving of each content type in the multiple content types.
- the transmission priority of related information is also used by the network-side device to determine the vehicle driving of each content type in the multiple content types.
- the vehicle driving-related information of a content type with a higher transmission priority is preferentially transmitted in terms of transmission timing, or has a higher level of detail in terms of the content or format.
- the first message includes the time period or road segment in which the vehicle is traveling by the vehicle-side device, and the network-side device determines that each content type of the multiple content types is related to vehicle driving.
- the information transmission priority includes: the network-side device determines the transmission priority of the vehicle driving-related information of each content type according to the time period or the road section.
- the embodiments of the present disclosure also provide a network-side device, the device including:
- the second receiving unit is configured to receive the first message sent by the vehicle-end device for obtaining vehicle driving related information
- a determining unit configured to determine a second message including vehicle driving related information, and the content or format of the second message is determined by the determining unit according to the first message;
- the second sending unit is configured to send the second message to the vehicle terminal device.
- the first message includes vehicle driving information reported or requested by the vehicle-side device to the network-side device.
- the reported vehicle driving related information includes at least one of the autopilot level, lane, or current vehicle speed of the vehicle to which the vehicle-end device belongs, and the determining unit is configured to:
- the content or format of the second message is determined according to at least one of the autonomous driving level, the lane where the vehicle belongs, or the current vehicle speed of the vehicle to which the vehicle-end device belongs.
- the requested vehicle driving related information includes a content type or a detailed level of the vehicle driving related information
- the determining unit is configured to:
- the content or format of the second message is determined according to the content type or the level of detail.
- the first message carries the content type or the level of detail based on a predefined bit encoding method
- the determining unit is configured to:
- the content or format of the second message is determined according to the content type or the level of detail.
- the content or format of the second message determined by the determining unit according to the first message includes:
- the content of the second message is determined by the determining unit as a road condition description or a driving operation instruction according to the first message;
- the format of the second message is determined by the determining unit to be a human-recognizable language or a machine-recognizable language according to the first message.
- the content or format of the second message determined by the determining unit according to the first message includes:
- the second message includes vehicle driving related information of multiple content types
- the determining unit is configured to:
- the transmission priority of the vehicle driving-related information of each content type among the multiple content types is determined according to the first message.
- the vehicle driving-related information of a content type with a higher transmission priority is preferentially transmitted in terms of transmission timing, or has a higher level of detail in terms of the content or format.
- the first message includes the time period or road segment in which the vehicle is traveling, and the determining unit is configured to: determine the content of each type according to the time period or the road segment The priority of the transmission of information related to the type of vehicle driving.
- the embodiments of the present disclosure also provide a vehicle-end device, the vehicle-end includes a memory and a processor, the memory stores computer program instructions, and the processor runs the computer program Instructions to perform the method described in any of the above embodiments.
- the embodiments of the present disclosure also provide a network side device, the vehicle side includes a memory and a processor, the memory stores computer program instructions, and the processor runs the computer program Instructions to perform the method described in any of the above embodiments.
- the embodiments of the present disclosure also provide a vehicle, the vehicle including the vehicle-end device described in any of the foregoing embodiments.
- the embodiments of the present disclosure also provide an Internet of Vehicles system, the system including:
- the network side device includes a cloud server and a road side unit.
- the embodiments of the present disclosure also provide a computer storage medium having computer instructions stored on the computer storage medium.
- the vehicle-end device Perform the method described in the above embodiment.
- the embodiments of the present disclosure also provide a computer storage medium having computer instructions stored thereon, and when the computer instructions are executed by a processor, the network side device Perform the method described in the above embodiment.
- the embodiments of the present disclosure also provide a computer program product, which when the computer program product runs on a processor, causes the vehicle-end device to execute the method described in any of the above embodiments. .
- the embodiments of the present disclosure also provide a computer program product, which when the computer program product runs on a processor, causes the network-side device to execute the method described in any of the above embodiments .
- FIG. 1 is a schematic diagram of a typical application scenario of an embodiment of the disclosure
- FIG. 2 is a schematic diagram of another typical application scenario of an embodiment of the disclosure.
- FIG. 3 is a flowchart of a data transmission method provided in Embodiment 1 of the present disclosure.
- FIG. 4 is a flowchart of a method for data transmission between a car-end device and the cloud provided in the second embodiment of the disclosure
- FIG. 5 is a flowchart of a data transmission method between a vehicle-end device and a roadside unit according to Embodiment 3 of the disclosure
- FIG. 6 is a flowchart of a data transmission method between a car-end device and a cloud server provided by the fourth embodiment of the disclosure.
- FIG. 7 is a flowchart of a data transmission method between a vehicle-end device and a cloud server provided by Embodiment 5 of the disclosure.
- FIG. 8 is a flowchart of a data transmission method provided by Embodiment 6 of the present disclosure.
- FIG. 9 is a structural block diagram of the vehicle-end equipment provided in the seventh embodiment of the disclosure.
- FIG. 10 is a structural block diagram of a network side device provided by Embodiment 8 of the present disclosure.
- FIG. 11 is a structural block diagram of a vehicle-side device or a network-side device provided by the ninth embodiment of the disclosure.
- FIG. 12 is a schematic diagram of the internal components of the vehicle provided in the tenth embodiment of the disclosure.
- the data transmission method of the embodiment of the present disclosure may be applicable to the application scenarios shown in FIG. 1 and FIG. 2.
- the vehicle 100 includes a vehicle-end device (not shown in FIG. 1).
- the vehicle-end device may be a Telematics BOX (T-Box) provided in the vehicle 100, and a domain controller (Domian Controller, DC), Multi-Domian Controller (MDC), On-board Unit (OBU), IoV chips, etc.
- T-Box Telematics BOX
- DC Domain Controller
- MDC Multi-Domian Controller
- OBU On-board Unit
- IoV chips etc.
- the vehicle-end device establishes a communication link with the cloud server 200 (a kind of network-side device).
- the car-end device can be connected to the cloud server through the corresponding account and password, and the car-end device can also be connected to the cloud server through its unique identification code (such as the device identification code of the vehicle-end device and the license plate number of the vehicle, etc.), thereby achieving Data interaction between the vehicle-end device and the cloud server (such as the data transmission between the vehicle-end device and the network-side device in the embodiment of the present disclosure).
- the unique identification code such as the device identification code of the vehicle-end device and the license plate number of the vehicle, etc.
- the vehicle 100 includes a vehicle-end device (not shown in FIG. 2).
- the vehicle-end device may be a Telematics BOX (T-Box) provided in the vehicle 100, and a domain controller (Domian Controller, DC), Multi-Domian Controller (MDC), On-board Unit (OBU), IoV chips, etc.
- T-Box Telematics BOX
- DC Domain Controller
- MDC Multi-Domian Controller
- OBU On-board Unit
- IoV chips etc.
- the vehicle-end device establishes a communication link with a Road Side Unit (RSU) 300 (a type of network-side device).
- RSU Road Side Unit
- vehicle-end equipment can be connected to the roadside unit through the corresponding account and password, and the vehicle-end equipment can also be connected to the roadside unit through its unique identification code (such as the equipment identification code of the vehicle-end equipment and the license plate number of the vehicle, etc.) , So as to realize the data interaction between the vehicle-end device and the roadside unit (such as the data transmission between the vehicle-end device and the network-side device in the embodiment of the present disclosure).
- unique identification code such as the equipment identification code of the vehicle-end equipment and the license plate number of the vehicle, etc.
- an embodiment of the present disclosure provides a data transmission method.
- FIG. 3 is a schematic flowchart of a data transmission method according to an embodiment of the present disclosure.
- the method includes:
- the vehicle-side device sends a first message for acquiring vehicle driving related information to the network-side device.
- the first message is used to characterize the information requirements of the vehicle-end equipment. That is, the vehicle-end device can obtain vehicle driving-related information from the network-side device based on the information demand.
- Vehicle driving-related information refers to related information when the vehicle is driving, including vehicle speed, location, lane, and the position between the vehicle and other vehicles.
- the first message includes the vehicle driving information reported or requested by the vehicle-side device to the network-side device.
- the vehicle-end device when the vehicle-end device has a certain information demand, the vehicle-end device can obtain the second message corresponding to the information demand from the network-side device by reporting information related to vehicle driving. It is determined by the network side based on information requirements from the collected road condition information.
- the vehicle-end device when the vehicle-end device has a certain information demand, the vehicle-end device can also obtain the second message corresponding to the information demand from the network-side device by requesting information related to vehicle driving, and in this case Next, the information demand of the vehicle-end equipment is the requested vehicle driving-related information. Similarly, the second message is determined by the network side from the collected road condition information based on the information demand.
- the vehicle-side device receives a second message including vehicle driving related information from the network-side device, and the content or format of the second message is determined by the network-side device according to the first message.
- the second message can be understood from two aspects, one aspect is the content of the second message, and the other aspect is the format of the second message.
- the content and/or format of the second message may be different.
- the network side device determines the second message from the road condition information according to the first message.
- the second message includes vehicle driving-related information, and the second message can be based on both content and format. It is embodied in the aspect, that is, the second message may include the content and format of the information related to the driving of the vehicle.
- the network-side device can determine the information demand of the vehicle-end device based on the first message, and select the vehicle driving-related information corresponding to the information demand from the road condition information, and The second message including the vehicle driving-related information corresponding to the information demand is sent to the vehicle terminal device.
- the road condition information is used to characterize the information related to the driving of the vehicle.
- the road condition information can be described from three aspects.
- the first aspect is the vehicle aspect
- the second aspect is the road aspect
- the third aspect is the environment aspect.
- the road condition information of the vehicle includes: the driving information of the vehicle (including speed and lane, etc.), congestion information, walkable information, safety information, etc.; Occupation information, pedestrian/bicycle crossing road information, etc.; environmental road condition information includes: weather information, rain, snow, heavy fog, etc.
- the road condition information may include the road condition information collected by the network side device through the sensor, and may also include the road condition information sent by other vehicles or terminals received in a wired or wireless manner.
- the vehicle-end device sends the first message for obtaining vehicle driving-related information to the network-side device, so that the vehicle-end device can actively and selectively obtain vehicle-related information from the network-side device, thereby improving the vehicle
- the interaction between the end device and the network side device is intelligent.
- the vehicle-end equipment can selectively obtain vehicle driving-related information from the network-side equipment, the problem of data redundancy obtained by the vehicle-end equipment in the prior art can be avoided, and the problem of data redundancy obtained by the vehicle-end equipment in the prior art can also be avoided.
- the problem of long time delay for all data so as to achieve the technical effect of improving the efficiency of information transmission.
- the vehicle-end device may send the first message for obtaining vehicle driving related information to the cloud server through the communication link.
- the cloud server selects the congestion information from the road condition information, and sends the selected congestion information to the car-end device; if the information related to vehicle driving is that the road lane is occupied by pedestrians and motor vehicles The cloud server selects the information that the lanes of the road are occupied by pedestrians and vehicles from the road condition information, and sends the information that the lanes of the selected road are occupied by pedestrians and vehicles to the car-end equipment, etc., here I will not repeat them one by one.
- the content of the second message is determined by the network side device as a road condition description or a driving operation instruction according to the first message;
- the format of the second message is determined by the network side device as a human recognizable language or a machine recognizable language according to the first message.
- the format of human recognizable language is the format of raw data that has not undergone format processing.
- lane-level congestion information in a certain lane, there are many vehicles, disorderly or narrow lanes that cause vehicle congestion, including information such as the degree of congestion; passable information: information about whether the road vehicles can pass, a certain time, a certain time The communicable situation of a road; traffic conditions: description of the speed and flow of road vehicles; information of pedestrians and bicycles crossing the highway: description of pedestrian flow of crosswalks and bicycle flow of bicycle lanes, etc.
- the format of the machine-recognizable language is the format of the machine-recognizable instruction type generated by processing the format of the original data.
- the vehicle is used to instruct the vehicle to change lanes, shift speeds, brakes, etc.
- the first message may include vehicle driving information reported by the vehicle-side device to the network-side device.
- the reported vehicle driving related information includes at least one of the auto-driving level of the vehicle, the lane in which it is located, or the current speed of the vehicle.
- Fig. 4 is a schematic diagram of the interaction between the car-end device and the cloud server based on Fig. 1.
- the vehicle-end device sends a first message for acquiring vehicle driving related information to the cloud server, and the first message includes the automatic driving level.
- the autonomous driving level can include six levels, namely L0 to L5.
- L0 is manual driving, which is driven by the driver with full authority
- L1 is assisted driving, where the vehicle provides driving for one of the steering wheel and acceleration and deceleration operations, and the driver is responsible for the rest of the driving operations
- L2 is partially automatic driving, which is controlled by The vehicle provides driving for multiple operations of the steering wheel and acceleration and deceleration, and the driver is responsible for the rest of the driving operations
- L3 is conditional automatic driving, and most of the driving operations are completed by the vehicle, and the driver maintains concentration for emergency needs
- L4 is a highly automatic driving, all driving operations are completed by the vehicle, and the driver does not need to maintain attention, except for limited roads and environmental conditions
- L5 is fully automatic driving, the vehicle completes all driving operations, and the driver does not need to maintain attention.
- S2 The cloud server extracts the autonomous driving level in the first message.
- the cloud server determines the format of the second message that can be recognized by the vehicle-end device according to the automatic driving level.
- the format of the second message may include human-recognizable language or machine-recognizable language, and the format of the second message that can be recognized by the vehicle-end device may be determined based on the corresponding automatic driving level. Therefore, the network-side device can determine the format of the second message according to the autonomous driving level corresponding to the vehicle-end device.
- the cloud server sends the second message to the vehicle-end device in a format that can be recognized by the vehicle-end device.
- the format of the second message sent by the network-side device to the vehicle-end device is a human-recognizable language.
- the network-side device can determine the format that can be recognized by the car-end device according to the level of automatic driving, and generate and send a second message to the car-end device in a format that can be recognized by the car-end device, thereby realizing the pairing of the car-end device.
- the recognizability of the second message improves the effectiveness of data transmission, thereby reducing the cost of data transmission.
- the reported vehicle driving information may include the lane of the vehicle to which the vehicle-end device belongs, and may also include the current speed of the vehicle to which the vehicle-end device belongs.
- the vehicle-end device can send to the cloud server the lane where the vehicle-end device belongs and the current speed of the vehicle-end device.
- the relevant information of the current driving of the vehicle includes the adjustment information of the lane and/or the adjustment information of the vehicle speed.
- the cloud server sends the relevant information of adjusting the current driving of the vehicle (that is, the information related to the driving of the vehicle) to the car-end device, so that the car-end device can be based on Adjust the relevant information of the current driving of the vehicle to control the driving of the vehicle to which the vehicle-end equipment belongs, so as to realize the safe and reliable driving of the vehicle.
- FIG. 5 is a schematic diagram of the interaction between the vehicle-end equipment and the roadside unit based on FIG. 2.
- the vehicle-end device sends a first message for obtaining vehicle driving related information to the roadside unit, where the first message includes the lane and the current vehicle speed.
- the lane is used to characterize the lane in which the vehicle to which the car-end device belongs, such as the left lane, the middle lane, and the right lane;
- the current vehicle speed is used to characterize the current speed of the vehicle to which the car-end device belongs, such as XX km/h.
- the roadside unit may determine the speed of the vehicle to which the vehicle-end equipment belongs under the premise of safe driving according to the road condition information, and determine the speed adjustment information used to adjust the current vehicle speed.
- the roadside unit sends the vehicle speed adjustment information (that is, one of the vehicle driving related information) to the vehicle-end device.
- the roadside unit can know based on the road condition information that the vehicle in front of the vehicle to which the vehicle-end equipment belongs is decelerating. In order to ensure a safe distance between the vehicle to which the vehicle-end equipment belongs and the vehicle in front, the vehicle to which the vehicle-end equipment belongs should also slow down accordingly To avoid a collision with the vehicle in front.
- the roadside unit can know the decelerated speed of the preceding vehicle based on the road condition information, and then generates an instruction to instruct the vehicle to which the automatic vehicle end belongs to reduce at least the same speed as the decelerated vehicle speed. This speed is the vehicle speed adjustment information, and the vehicle speed The adjustment information is sent to the vehicle-end equipment. So that the vehicle-end equipment can adjust the current vehicle speed adaptively based on the vehicle speed adjustment information, so as to realize the safe driving of the vehicle to which the vehicle-end equipment belongs.
- the format of the vehicle speed adjustment information may be determined based on the adjustment direction and the difference quantization.
- the adjustment direction is used to characterize the dynamics of speed adjustment, that is, the direction of speed adjustment, such as acceleration, deceleration, and uniform speed; differential quantization is used to characterize the amount of speed adjustment, such as XX km/h.
- the roadside unit determines, based on the collected road condition information, the lane of the vehicle to which the vehicle-end device belongs under the premise of safe driving, so as to determine the lane adjustment information used to adjust the lane of the vehicle to which the vehicle-end device belongs.
- the roadside unit sends the lane adjustment information to the vehicle-end equipment.
- the roadside unit can know based on the road condition information whether the lane on which the vehicle to which the car-end device belongs is in a congested state; or, whether a traffic accident has occurred; or, based on the driving route of the vehicle to the roadside unit that the car-end device belongs to, the roadside unit It can be determined based on the road condition information whether the vehicle belonging to the car-end equipment needs to change lanes, etc. Therefore, in order to drive the vehicle belonging to the car-end equipment safely and avoid time loss due to congestion, etc., the roadside unit can determine the lane adjustment based on the road condition information information.
- the roadside unit knows that a traffic accident occurs in front of the lane where the vehicle to which the vehicle belongs, and the roadside unit generates information for instructing the vehicle to which the vehicle belongs to change from the current lane to the left lane ( That is, lane adjustment information), and send the lane adjustment information to the vehicle-end device so that the vehicle-end device can adjust the lane adaptively based on the lane adjustment information.
- the format of the lane adjustment information is determined based on a preset code.
- code 00 represents unchanged lane
- code 01 represents lane change to lane 1
- code 10 represents lane change to lane 2
- code 11 represents lane change to lane 3, and so on.
- the roadside unit can integrate the vehicle speed adjustment information and the lane adjustment information to obtain a piece of adjustment information including the vehicle speed adjustment information and the lane adjustment information, and can send the adjustment information to the vehicle end device based on the above format. For example, 00+ accelerates 20 km/h.
- S6-S7 can be executed first
- S8-S9 can be executed first
- S6-S7 and S8-S9 can also be executed at the same time.
- the requested vehicle driving related information includes the content type or the level of detail of the vehicle driving related information.
- the content type of the vehicle driving related information is used to characterize the content of different dimensions of the vehicle driving related information.
- the content types can be divided into two categories, one is the information content type, and the other is the instruction content type.
- the information content type may include: lane congestion information, lane accident information, road surface condition information, lane communication information, weather information, pedestrian and/or bicycle crossing road information, lane pedestrians and/or motor vehicles Occupancy information, etc.
- the instruction content type may include: a speed change request, a lane change request, a brake request, a detour request, and so on.
- FIG. 6 is a schematic diagram of the interaction between the car-end device and the cloud server based on FIG. 1.
- the vehicle terminal sends the first message to the cloud server, the content type of the vehicle driving related information, and the content type is specifically the information content type.
- the car-end device can send a first message to the cloud server based on the vehicle driving-related information of the content of one or more dimensions that it pays more attention to, so as to obtain from the cloud the content of one or more dimensions that the car-end device pays attention to.
- Information about vehicle driving Therefore, on the one hand, it can be realized that the vehicle-end equipment actively selects the corresponding vehicle driving information of one or more dimensions based on the demand, and improves intelligence; on the other hand, it can target vehicles with one or more dimensions of content.
- the transmission of driving-related information saves transmission costs and improves the transmission effect compared to vehicle driving-related information that transmits contents of all dimensions.
- the cloud server obtains vehicle driving-related information of one or more dimensions from the road condition information.
- the cloud obtains vehicle driving information corresponding to the lane congestion information from the road condition information.
- the cloud server transmits the acquired vehicle driving-related information of one or more dimensions to the vehicle-end device.
- the vehicle-end equipment may adjust the driving state of the vehicle-end equipment vehicle based on the obtained vehicle driving-related information of one or more dimensions of content.
- the vehicle-end device can know that the lane is in a congested state based on the vehicle driving information of the content of one or more dimensions, and the vehicle-end device can adjust the lane of the vehicle to which the vehicle-end device belongs, or re-plan the route to avoid congestion. Road conditions save time and improve efficiency.
- the first message carries the content type or the level of detail based on a predefined bit coding manner.
- the lane congestion information can be mapped to the first bit of the eight bits, and the first message sent by the vehicle-end device to the cloud server (or roadside unit) is " 10000000".
- the lane accident information can be mapped to the second bit of the eight bits, and the first message sent by the vehicle-end device to the cloud (or roadside unit) is "01000000”.
- the content type includes lane congestion information and lane accident information
- the first message sent by the vehicle-end device to the cloud server (or roadside unit) is "11000000”.
- the instruction content types may include: speed change request, lane change request, brake request, detour request, and so on.
- FIG. 7 is a schematic diagram of the interaction between the car-end device and the cloud server based on FIG. 1.
- the vehicle-end device sends a first message to the cloud server.
- the first message includes the requested vehicle driving related information, and the requested vehicle driving related information includes the instruction content type.
- the vehicle-end device wants to obtain the gear shift information corresponding to the gear shift request from the cloud.
- the vehicle-end device may define the instruction content type based on bit encoding, and interact with the cloud server. For example, the gear shift request is 00, the brake request is 01, and so on.
- the cloud server obtains the adjustment result (that is, the adjustment information) from the preset mapping relationship based on the road condition information and the instruction content type.
- the cloud server determines that there is road condition information such as pedestrians and bicycles crossing the road based on the road condition information; or, determines the road congestion based on the road condition information; or, determines the road construction based on the road condition information, etc. And so on, the deceleration information is generated, and the deceleration information is determined as the adjustment result, that is, the adjustment information is determined as the deceleration. If it is determined that the road is unblocked based on the dynamic information, acceleration information can be generated, and the acceleration information can be determined as the adjustment result, that is, the adjustment information can be determined as acceleration. So that the vehicle-end equipment adjusts the current operating state based on the adjustment information used to indicate deceleration or acceleration, so as to ensure the safety of pedestrians and ensure safe driving.
- the cloud server determines that there is road condition information such as pedestrians and bicycles crossing the road based on the road condition information; or, it determines that the road is congested based on the road condition information; or, Determine the road construction based on the road condition information; or, the lane has an accident; or, the lane is occupied by pedestrians and/or motor vehicles, etc., then generate lane change information, and determine the lane change information as the adjustment result, that is, determine the adjustment information as Lane change. So that the vehicle adjusts the current operating state based on the adjustment information used to indicate the lane change, thereby ensuring the safety of pedestrians and ensuring safe driving.
- road condition information such as pedestrians and bicycles crossing the road based on the road condition information
- the cloud server determines that there is road condition information such as pedestrians and bicycles crossing the road based on the road condition information; or, it determines that the road is congested based on the road condition information; or, Determine the road construction based on the road condition information; or, the lane has
- the cloud server sends the adjustment information to the car-end device. So that the vehicle-end equipment can adjust the current operating state of the vehicle to which the vehicle-end equipment belongs based on the adjustment information.
- the cloud server may obtain road condition information based on the identifier carried by the vehicle-end device after receiving the request of the vehicle-end device, that is, track and locate the vehicle to which the vehicle-end device belongs based on the identifier, so as to Acquire vehicle driving related information corresponding to the vehicle to which the vehicle-end device belongs, and generate and request a second message based on the acquired vehicle driving related information.
- the requested vehicle driving related information may also include a level of detail.
- the level of detail is used to characterize the rich level of information related to vehicle driving, such as brief, general, and rich.
- the vehicle driving related information corresponding to the first level can be "an accident occurred on XX road and the Xth lane of a typical feature point"
- the vehicle driving related information corresponding to the second level may be "Accident occurred at the intersection of Road XX and a typical feature point”
- the vehicle driving related information corresponding to the third level may be "Accident occurred on Road XX”.
- the second message includes vehicle driving related information of multiple content types
- the first message is also used by the network side device to determine the transmission priority of vehicle driving related information of each content type among multiple content types.
- the content and format of the second message are determined by the network side device according to the first message, including:
- the content or format of the vehicle driving-related information of each content type in the second message is determined by the network side device according to the transmission priority.
- the vehicle driving-related information of the content type with a higher transmission priority is transmitted preferentially in terms of transmission timing, or has a higher level of detail in terms of content or format.
- the transmission priority is used to characterize the transmission level of the vehicle driving-related information of each content type, such as the first priority, the second priority, and the third priority.
- different priorities correspond to different transmission orders. For example, the vehicle driving-related information of the content type corresponding to the first priority is transmitted first, and so on, and will not be repeated here.
- the vehicle-end device can preset the transmission priority based on requirements, and transmit the transmission priority to the cloud server (or roadside unit), so that the cloud server (or roadside unit) is based on the transmission priority.
- the data is stored, and the transmission order of the vehicle driving-related information is determined based on the transmission priority information, and the driving-related information is transmitted based on the transmission order.
- the vehicle-end device can set the current transmission priority based on demand.
- the transmission priority can be set in advance or in real time. If it is set in advance, the vehicle-end device can adaptively adjust the transmission priority based on the preset time interval or demand.
- the transmission priority includes: priority of lane accident> priority of lane congestion
- the cloud server (or roadside unit) determines the lane accident and lane congestion from the road condition information, and then transmits the lane accident to the vehicle-end device first. , And then transmit the lane congestion to the vehicle-end equipment.
- the first message includes the time period or road segment in which the vehicle is traveling, and the network-side equipment determines the transmission priority of vehicle driving-related information for each content type among multiple content types, including: network The side device determines the transmission priority of the vehicle driving-related information of each content type among the multiple content types according to the time period or the road section.
- the vehicle-end device may be based on the historical driving record of each road section and the transmission priority of the historical road condition information in different time periods or different road sections.
- road section A is a road section with a high incidence of accidents.
- the vehicle belonging to the vehicle is driving on road section A
- the lane accident can be set to the highest priority, that is, the vehicle end device can take priority Obtain the lane accidents of section A.
- road section B is a road section with a high incidence of accidents in period C.
- the lane accidents can be set as the highest priority. Level, that is, the vehicle-end equipment prioritizes the acquisition of lane accidents on section A.
- the cloud server (or the roadside unit) transmits the vehicle driving-related information to the vehicle-end device based on the priority of the transmission, which can realize the flexibility of data transmission.
- the embodiments of the present disclosure also provide a data transmission method.
- FIG. 8 is a flowchart of a data transmission method provided by Embodiment 6 of the present disclosure.
- the method includes:
- the network-side device receives the first message sent by the vehicle-end device and used to obtain vehicle driving related information.
- the network-side device determines a second message including vehicle driving related information, and the content or format of the second message is determined by the network-side device according to the first message.
- the vehicle can establish a communication connection with the network side device based on a preset account number or a unique identification code (such as a license plate number, etc.). Therefore, after receiving the first message sent by the vehicle, the network side device can track and locate the vehicle based on the account number or the unique identification code, so as to obtain the second information related to the driving of the vehicle from the full amount of dynamic information, and the second message The content or format of is determined by the network side device according to the first message.
- a preset account number or a unique identification code such as a license plate number, etc.
- the network-side device can obtain the second message related to the driving of the vehicle from the full amount of dynamic information based on the location information, and the information of the second message The content or format is determined by the network side device according to the first message.
- S203 The network side device sends a second message to the vehicle side device.
- the autonomous driving vehicle may send a request to the network side device to obtain corresponding dynamic information based on demand, and the network side device may determine at least part of the dynamic information as feedback information based on the request, and send the feedback information to the autonomous driving Vehicles, so as to reduce the data transmission load, and realize the flexibility and selectivity of data transmission.
- the first message includes the vehicle driving information reported or requested by the vehicle-side device to the network-side device.
- the reported vehicle driving-related information includes at least one of the autonomous driving level, lane, or current vehicle speed of the vehicle to which the vehicle-end device belongs, and the second message that the network-side device determines to include the vehicle driving-related information includes:
- the network-side device determines the content or format of the second message according to at least one of the auto-driving level, lane, or current vehicle speed of the vehicle to which the vehicle-end device belongs.
- the requested vehicle travel-related information includes the content type or the level of detail of the vehicle travel-related information
- the second message that the network-side device determines to include the vehicle travel-related information includes:
- the network side device determines the content or format of the second message according to the content type or the level of detail.
- the first message carries the content type or the level of detail based on a predefined bit encoding method
- the network-side device determines that the second message including vehicle driving related information includes:
- the network-side device determines the content type or the level of detail according to the first message and the predefined bit encoding method
- the network side device determines the content or format of the second message according to the content type or the level of detail.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the content of the second message is determined by the network side device as a road condition description or driving operation instruction according to the first message;
- the format of the second message is determined by the network-side device as a human-recognizable language or a machine-recognizable language according to the first message.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the second message includes vehicle driving-related information of multiple content types
- the second message determined by the network-side device to include vehicle driving-related information includes:
- the network side device determines the transmission priority of the vehicle driving related information of each content type among the multiple content types according to the first message.
- the vehicle driving-related information of the content type with a higher transmission priority is transmitted preferentially in terms of transmission timing, or has a higher level of detail in terms of content or format.
- the first message includes the time period or road segment in which the vehicle is traveling, and the network-side device determines the transmission priority of the vehicle driving-related information of each content type among the multiple content types according to the first message. : The network side device determines the transmission priority of the vehicle driving-related information of each content type according to the time period or road section.
- the embodiment of the present disclosure also provides a vehicle-end device.
- FIG. 9 is a structural block diagram of a vehicle-end device according to an embodiment of the disclosure.
- the vehicle-end device in this embodiment can execute the data transmission method of the embodiment shown in FIG. 3.
- the car-end equipment includes:
- the first sending unit 11 is configured to send a first message for acquiring vehicle driving related information to the network side device;
- the first receiving unit 12 is configured to receive a second message including vehicle driving related information from the network side device, and the content or format of the second message is determined by the network side device according to the first message.
- the first message includes vehicle driving information reported or requested by the vehicle-side device to the network-side device.
- the reported vehicle driving related information includes at least one of the autopilot level, the lane where the vehicle belongs, or the current vehicle speed of the vehicle to which the vehicle-end device belongs.
- the requested vehicle driving related information includes a content type or a detailed level of the vehicle driving related information.
- the first message carries the content type or the level of detail based on a predefined bit coding manner.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the content of the second message is determined by the network side device as a road condition description or a driving operation instruction according to the first message;
- the format of the second message is determined by the network side device as a human recognizable language or a machine recognizable language according to the first message.
- the content or format of the second message determined by the network-side device according to the first message includes:
- the second message includes vehicle driving related information of multiple content types
- the first message is also used by the network-side device to determine the vehicle driving of each content type in the multiple content types.
- the transmission priority of related information is also used by the network-side device to determine the vehicle driving of each content type in the multiple content types.
- the vehicle driving-related information of a content type with a higher transmission priority is preferentially transmitted in terms of transmission timing, or has a higher level of detail in terms of the content or format.
- the first message includes the time period or road segment in which the vehicle is traveling by the vehicle-side device, and the network-side device determines that each content type of the multiple content types is related to vehicle driving.
- the information transmission priority includes: the network-side device determines the transmission priority of the vehicle driving-related information of each content type according to the time period or the road section.
- the embodiments of the present disclosure also provide a network side device.
- FIG. 10 is a structural block diagram of a network-side device according to an embodiment of the present disclosure.
- the network-side device in this embodiment can execute the data transmission method of the embodiment shown in FIG. 8.
- the network side equipment includes:
- the second receiving unit 21 is configured to receive a first message sent by a vehicle-end device for acquiring vehicle driving related information
- the determining unit 22 is configured to determine a second message including vehicle driving related information, and the content or format of the second message is determined by the determining unit according to the first message;
- the second sending unit 23 is configured to send the second message to the vehicle terminal device.
- the first message includes vehicle driving information reported or requested by the vehicle-side device to the network-side device.
- the reported vehicle driving related information includes at least one of the auto-driving level, lane, or current vehicle speed of the vehicle to which the vehicle-end device belongs, and the determining unit 22 is configured to:
- the content or format of the second message is determined according to at least one of the autonomous driving level, the lane where the vehicle belongs, or the current vehicle speed of the vehicle to which the vehicle-end device belongs.
- the requested vehicle driving related information includes the content type or detailed level of the vehicle driving related information
- the determining unit 22 is configured to:
- the content or format of the second message is determined according to the content type or the level of detail.
- the first message carries the content type or the level of detail based on a predefined bit encoding method
- the determining unit 22 is configured to:
- the content or format of the second message is determined according to the content type or the level of detail.
- determining the content or format of the second message by the determining unit 22 according to the first message includes:
- the content of the second message is determined by the determining unit 22 as a road condition description or a driving operation instruction according to the first message;
- the format of the second message is determined by the determining unit 22 to be a human-recognizable language or a machine-recognizable language according to the first message.
- determining the content or format of the second message by the determining unit 22 according to the first message includes:
- the second message includes vehicle driving related information of multiple content types
- the determining unit 22 is configured to:
- the transmission priority of the vehicle driving-related information of each content type among the multiple content types is determined according to the first message.
- the vehicle driving-related information of a content type with a higher transmission priority is preferentially transmitted in terms of transmission timing, or has a higher level of detail in terms of the content or format.
- the first message includes the time period or road segment in which the vehicle is traveling, and the determining unit 22 is configured to: determine the each type according to the time period or the road segment. The transmission priority of the vehicle driving related information of the content type.
- the software or firmware includes but is not limited to computer program instructions or codes, and can be executed by a hardware processor.
- the hardware includes, but is not limited to, various integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).
- CPU central processing unit
- DSP digital signal processor
- FPGA field programmable gate array
- ASIC application specific integrated circuit
- the embodiments of the present disclosure also provide a vehicle-end device, the vehicle-end includes a memory and a processor, the memory stores computer program instructions, and the processor runs the computer program Instructions to perform the method described in any of the above embodiments.
- FIG. 11 is a schematic structural diagram of a vehicle-end device according to an embodiment of the disclosure.
- the vehicle-end device in this embodiment can implement the data transmission method of the embodiment shown in FIG. 3.
- the vehicle-end equipment can be used to characterize various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers.
- digital computers such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers.
- the components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present disclosure described and/or required herein.
- the vehicle-end equipment can be a telematics box (Telematics BOX, T-Box), a domain controller (DC), a multi-domain controller (Multi-Domian Controller, MDC), and a vehicle-mounted unit ( Onboard Unit, OBU), car networking chips, etc.
- Telematics BOX Telematics box
- DC domain controller
- MDC multi-domain controller
- OBU Onboard Unit
- the vehicle-end device may include at least one processor 101, a communication bus 102, and at least one communication interface 103.
- the processor 101 may be a general-purpose central processing unit (central processing unit, CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more for controlling the embodiments of the present disclosure Integrated circuit for program execution.
- the processor 101 may be connected to the memory 104 through at least one communication interface 103, and the memory 104 may be arranged inside the vehicle-end device or outside the vehicle-end device.
- the memory 104 may be a register, a cache, etc. inside the vehicle-end device, and the memory 104 may also be a storage device located outside the vehicle-end device.
- the vehicle-end device is a vehicle-mounted box
- the vehicle-mounted box includes at least one processor, a communication bus, and at least one communication interface.
- the processor in the vehicle-mounted box can be connected to the storage device provided outside the vehicle-mounted box through the communication interface, so that the communication interface can obtain instructions from the storage device provided outside the vehicle-mounted box. Data transfer method shown.
- a memory may be provided inside the vehicle box for storing instructions, and the processor obtains instructions from the memory through the communication bus.
- the processor executes the instructions, the data transmission method shown in FIG. 3 is implemented. .
- the car-end device can also be any one of a domain controller, a multi-domain controller, a car unit, and a car networking chip, and the principle is the same as that of the car.
- the principle of the box example is the same.
- the processor 101 may be connected to an external storage device through the communication interface 103 to collect instructions from the external storage device through the communication interface 103.
- the processor 101 executes instructions, it can implement the data transmission method of the embodiment shown in FIG. 3.
- the memory 104 may be a read-only memory (read-only memory, ROM) or other types of static storage devices that can store static information and instructions. Random access Random access memory (RAM) or other types of dynamic storage devices that can store information and instructions.
- ROM read-only memory
- RAM Random access Random access memory
- the memory 104 may exist independently, and is connected to the processor 101 through the communication bus 102.
- the memory 104 may also be integrated with the processor 101.
- the memory 104 may be a computer storage medium provided in the present disclosure, and the memory 104 stores instructions that can be executed by at least one processor 101, so that the at least one processor 101 executes the data transmission method shown in FIG. 3 .
- the memory 104 can be used to store non-transitory software programs, non-transitory computer executable programs, and modules.
- the processor 101 executes various functional applications and data processing of the vehicle-end equipment by running non-transient software programs, instructions, and modules stored in the memory 104, that is, realizes the data transmission method shown in FIG. 3.
- the memory 104 may include a storage program area and a storage data area.
- the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the vehicle-end equipment.
- the memory 104 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
- the memory 104 may optionally include memories remotely provided with respect to the processor 101, and these remote memories may be connected to the vehicle-end device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, the Internet of Vehicles, corporate intranets, local area networks, blockchain networks, mobile communication networks, and combinations thereof.
- the communication bus 102 may include a path for transferring information between the above-mentioned components.
- the communication interface 103 can be any transceiver or IP port or bus interface, etc., used to communicate with internal or external equipment or vehicle-end equipment or communication network, such as Ethernet, radio access network (RAN), wireless Local area network (wireless local area networks, WLAN), etc.
- the communication interface 103 includes one or more of the following interfaces, such as a transceiver for communicating with the vehicle's external network, and a bus interface for communicating with other internal units of the vehicle (such as a controller). Local area network (Controller Area Network, CAN) bus interface), etc.
- the processor 101 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 11.
- the vehicle-end device may include multiple processors, such as the processor 101 and the processor 107 in FIG. 11.
- processors can be a single-CPU (single-CPU) processor or a multi-core (multi-CPU) processor.
- the processor here may refer to one or more devices, circuits, and/or processing cores for processing data (for example, computer program instructions).
- the vehicle-end equipment may further include an output device 105 and an input device 106.
- the output device 105 communicates with the processor 101 and can display information in a variety of ways.
- the output device 105 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector (projector) Wait.
- the input device 106 communicates with the processor 101 and can accept user input in a variety of ways.
- the input device 106 may be a mouse, a keyboard, a touch screen device, a sensor device, or the like.
- the function/implementation process of the communication interface 103 can also be realized by pins or circuits.
- FIG. 11 may also be a schematic structural diagram of a network-side device in an embodiment of the disclosure.
- the network-side device in this embodiment may implement the data transmission method of the embodiment shown in FIG. 8.
- the network side device can be used to characterize various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers.
- digital computers such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers.
- the components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present disclosure described and/or required herein.
- the network side device may include at least one processor 101, a communication bus 102, and at least one communication interface 103.
- the processor 101 may be a general-purpose central processing unit (central processing unit, CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more for controlling the embodiments of the present disclosure Integrated circuit for program execution.
- the processor 101 may be connected to the memory 104 through at least one communication interface 103, and the memory 104 may be arranged inside the network side device or outside the network side device.
- the memory 104 may be a register, a cache, etc. inside the network-side device, and the memory 104 may also be a storage device located outside the network-side device.
- the server includes at least one processor, a communication bus, and at least one communication interface.
- the processor in the server can be connected to a storage device set outside the server through a communication interface, so that the communication interface can obtain instructions from the storage device set outside the server. Data transmission method.
- a memory may be provided inside the server for storing instructions.
- the processor obtains the instructions from the memory through the communication bus, and the processor implements the data transmission method shown in FIG. 8 when executing the instructions.
- the server is only used as an example for exemplification.
- the server can also be any one of a desktop computer, a workbench, and a large computer, and the principle is the same as that of the server example.
- the processor 101 may be connected to an external storage device through the communication interface 103 to collect instructions from the external storage device through the communication interface 103.
- the processor 101 executes instructions, it can implement the data transmission method of the embodiment shown in FIG. 8.
- the memory 104 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions.
- ROM read-only memory
- RAM Random access Random access memory
- dynamic storage devices that can store information and instructions.
- the memory 104 may exist independently, and is connected to the processor 101 through the communication bus 102.
- the memory 104 may also be integrated with the processor 101.
- the memory 104 may be a computer storage medium provided in the present disclosure, and the memory 104 stores instructions that can be executed by at least one processor 101, so that the at least one processor 101 executes the data transmission method shown in FIG. 8 .
- the memory 104 can be used to store non-transitory software programs, non-transitory computer executable programs, and modules.
- the processor 101 executes various functional applications and data processing of the server by running non-transient software programs, instructions, and modules stored in the memory 104, that is, realizes the data transmission method shown in FIG. 8.
- the memory 104 may include a storage program area and a storage data area.
- the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the network side device.
- the memory 104 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
- the memory 104 may optionally include a memory remotely provided with respect to the processor 101, and these remote memories may be connected to a network-side device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, the Internet of Vehicles, corporate intranets, local area networks, blockchain networks, mobile communication networks, and combinations thereof.
- the communication bus 102 may include a path for transferring information between the above-mentioned components.
- the communication interface 103 can be any transceiver or IP port or bus interface, etc., used to communicate with internal or external equipment or network side equipment or communication network, such as Ethernet, radio access network (RAN), wireless Local area network (wireless local area networks, WLAN), etc.
- the communication interface 103 includes one or more of the following interfaces, such as a transceiver for communicating with the external network of the server, and a bus interface for communicating with other internal units of the server (such as a controller). Local area network (Controller Area Network, CAN) bus interface), etc.
- the processor 101 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 11.
- the network-side device may include multiple processors, such as the processor 101 and the processor 107 in FIG. 11.
- processors can be a single-CPU (single-CPU) processor or a multi-core (multi-CPU) processor.
- the processor here may refer to one or more devices, circuits, and/or processing cores for processing data (for example, computer program instructions).
- the network side device may further include an output device 105 and an input device 106.
- the output device 105 communicates with the processor 101 and can display information in a variety of ways.
- the output device 105 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector (projector) Wait.
- the input device 106 communicates with the processor 101 and can accept user input in a variety of ways.
- the input device 106 may be a mouse, a keyboard, a touch screen device, a sensor device, or the like.
- the embodiments of the present disclosure also provide a vehicle, the vehicle including the vehicle-end device described in the foregoing embodiment.
- the vehicle includes: a processor 201, an external memory interface 202, an internal memory 203, a universal serial bus (USB) interface 204, a power management module 205, antenna 1, antenna 2, mobile communications Module 206, wireless communication module 207, sensor 208, camera 209, car box 210. It can be understood that the structure illustrated in this embodiment does not constitute a specific limitation on the vehicle.
- the vehicle can interact with the network side device through the wireless communication module 207.
- the sensor 208 includes the radar as described in FIG. 12 and other sensors.
- the vehicle may include more or fewer components than shown, or combine certain components, or split certain components, or arrange different components.
- the illustrated components can be implemented by hardware, software, or a combination of software and hardware.
- the processor 201 may include one or more processing units.
- the processor 201 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), and an image signal processor. (image signal processor, ISP), controller, video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural-network processing unit (NPU), etc.
- the different processing units may be independent devices or integrated in one or more processors.
- the vehicle may also include one or more processors 201.
- the controller can be the nerve center and command center of the vehicle. The controller can generate operation control signals according to the instruction operation code and timing signals to complete the control of fetching instructions and executing instructions.
- a memory may also be provided in the processor 201 to store instructions and data.
- the memory in the processor 201 is a cache memory.
- the processor 201 may include one or more interfaces.
- the interface may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, and a universal asynchronous transmitter/receiver (universal asynchronous) interface.
- receiver/transmitter, UART) interface mobile industry processor interface (MIPI), general-purpose input/output (GPIO) interface, and/or universal serial bus (USB) ) Interface, etc.
- the USB interface 211 is an interface that complies with the USB standard and can be used to connect a charger to charge the vehicle.
- the interface connection relationship between the modules illustrated in the embodiments of the present disclosure is merely a schematic description, and does not constitute a structural limitation of the vehicle.
- the vehicle may also adopt different interface connection modes in the above-mentioned embodiments, or a combination of multiple interface connection modes.
- vehicle-end device may be the processor 201 as shown in FIG. 12, or the vehicle-mounted box 210 as shown in FIG.
- the embodiments of the present disclosure also provide a network side device, the vehicle side includes a memory and a processor, the memory stores computer program instructions, and the processor runs the computer program Instructions to perform the method described in any of the above embodiments.
- the embodiments of the present disclosure also provide an Internet of Vehicles system, the system including:
- the car networking system of the embodiments of the present disclosure may include a vehicle as shown in FIG. 1 and a cloud server, and the vehicle is provided with the vehicle-end equipment described in the foregoing embodiment.
- the Internet of Vehicles system of the embodiments of the present disclosure may include a vehicle and a roadside unit as shown in FIG. 2, and the vehicle-end equipment as described in the above-mentioned embodiments is provided on the vehicle.
- the computer program product includes one or more computer instructions.
- the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
- the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center.
- 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 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)).
- the disclosed device and method can be implemented in other ways within the scope of this application.
- the embodiments described above are only illustrative.
- the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined. Or it can be integrated into another system, or some features can be ignored or not implemented.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. .
- Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.
- the described devices and methods and schematic diagrams of different embodiments can be combined or integrated with other systems, modules, technologies, or methods without departing from the scope of the present application.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electronic, mechanical or other forms.
Abstract
Description
Claims (40)
- 一种数据传输方法,其特征在于,所述方法包括:车端设备向网络侧设备发送用于获取车辆行驶相关信息的第一消息,所述第一消息包括所述车端设备向所述网络侧设备上报的或者请求的车辆行驶相关信息;车端设备从所述网络侧设备接收包括车辆行驶相关信息的第二消息,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定。
- 根据权利要求1所述的方法,其特征在于,所述上报的车辆行驶相关信息包括所述车端设备所属车辆的自动驾驶等级、所在车道或者当前车速中的至少一种。
- 根据权利要求1所述的方法,其特征在于,所述请求的车辆行驶相关信息包括所述车辆行驶相关信息的内容类型或者详细程度等级。
- 根据权利要求3所述的方法,其特征在于,所述第一消息基于预先定义的比特编码方式承载所述内容类型或者所述详细程度等级。
- 根据权利要求1至4中任一项所述的方法,其特征在于,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定包括:所述第二消息的内容由所述网络侧设备根据所述第一消息确定为路况描述或者驾驶操作指令;或者所述第二消息的格式由所述网络侧设备根据所述第一消息确定为人类可识别语言或者机器可识别语言。
- 根据权利要求1至4中任一项所述的方法,其特征在于,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定包括:所述第二消息的内容或格式与所述第一消息之间存在绑定关系,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息以及所述绑定关系确定。
- 根据权利要求1至4中任一项所述的方法,其特征在于,所述第二消息包括多种内容类型的车辆行驶相关信息,所述第一消息还用于所述网络侧设备确定所述多种内容类型中每种内容类型的车辆行驶相关信息的传输优先级。
- 根据权利要求7所述的方法,其特征在于,具有较高传输优先级的内容类型的车辆行驶相关信息在传输时序方面优先被传输,或者在所述内容或格式方面具有较高的详细程度等级。
- 根据权利要求7所述的方法,其特征在于,所述第一消息包括所述车端设备所属车辆在行驶中处于的时段或者路段,所述网络侧设备确定所述多种内容类型中每种内容类型的车辆行驶相关信息的传输优先级包括:所述网络侧设备根据所述时段或者所述路段确定所述每种内容类型的车辆行驶相关信息的传输优先级。
- 一种数据传输方法,其特征在于,所述方法包括:网络侧设备接收车端设备发送的用于获取车辆行驶相关信息的第一消息,所述第一消息包括所述车端设备向所述网络侧设备上报的或者请求的车辆行驶相关信息;所述网络侧设备确定包括车辆行驶相关信息的第二消息,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定;所述网络侧设备向所述车端设备发送所述第二消息。
- 根据权利要求10所述的方法,其特征在于,所述上报的车辆行驶相关信息包括所述车端设备所属车辆的自动驾驶等级、所在车道或者当前车速中的至少一种,所述网络侧设备确定包括车辆行驶相关信息的第二消息包括:所述网络侧设备根据所述车端设备所属车辆的自动驾驶等级、所在车道或者当前车速中的至少一种,确定所述第二消息的内容或格式。
- 根据权利要求10所述的方法,其特征在于,所述请求的车辆行驶相关信息包括所述车辆行驶相关信息的内容类型或者详细程度等级,所述网络侧设备确定包括车辆行驶相关信息的第二消息包括:所述网络侧设备根据所述内容类型或者所述详细程度等级,确定所述第二消息的内容或格式。
- 根据权利要求12所述的方法,其特征在于,所述第一消息基于预先定义的比特编码方式承载所述内容类型或者所述详细程度等级,所述网络侧设备确定包括车辆行驶相关信息的第二消息包括:所述网络侧设备根据所述第一消息和所述预先定义的比特编码方式确定所述内容类型或者所述详细程度等级;所述网络侧设备根据所述内容类型或者所述详细程度等级,确定所述第二消息息的内容或格式。
- 根据权利要求10至13中任一项所述的方法,其特征在于,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定包括:所述第二消息的内容由所述网络侧设备根据所述第一消息确定为路况描述或者驾驶操作指令;或者,所述第二消息的格式由所述网络侧设备根据所述第一消息确定为人类可识别语言或者机器可识别语言。
- 根据权利要求10至13中任一项所述的方法,其特征在于,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定包括:所述第二消息的内容或格式与所述第一消息之间存在绑定关系,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息以及所述绑定关系确定。
- 根据权利要求10至13中任一项所述的方法,其特征在于,所述第二消息包括多种内容类型的车辆行驶相关信息,所述网络侧设备确定包括车辆行驶相关信息的第二消息包括:所述网络侧设备根据所述第一消息确定所述多种内容类型中每种内容类型的车辆行驶相关信息的传输优先级。
- 根据权利要求16所述的方法,其特征在于,具有较高传输优先级的内容类型的车辆行驶相关信息在传输时序方面优先被传输,或者在所述内容或格式方面具有较高的详细程度等级。
- 根据权利要求16所述的方法,其特征在于,所述第一消息包括所述车端设备所述车辆在行驶中处于的时段或者路段,所述网络侧设备根据所述第一消息确定所述多种内容类型中每种内容类型的车辆行驶相关信息的传输优先级包括:所述网络侧设备根据所述时段或者所述路段确定所述每种内容类型的车辆行驶相关信息的传输优先级。
- 一种车端设备,其特征在于,所述车端设备包括:第一发送单元,用于向网络侧设备发送用于获取车辆行驶相关信息的第一消息,所述第一消息包括所述车端设备向所述网络侧设备上报的或者请求的车辆行驶相关信息;第一接收单元,用于从所述网络侧设备接收包括车辆行驶相关信息的第二消息,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定。
- 根据权利要求19所述的设备,其特征在于,所述上报的车辆行驶相关信息包括所述车端设备所属车辆的自动驾驶等级、所在车道或者当前车速中的至少一种。
- 根据权利要求19所述的设备,其特征在于,所述请求的车辆行驶相关信息包括所述车辆行驶相关信息的内容类型或者详细程度等级。
- 根据权利要求21所述的设备,其特征在于,所述第一消息基于预先定义的比特编码方式承载所述内容类型或者所述详细程度等级。
- 根据权利要求19至22中任一项所述的设备,其特征在于,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定包括:所述第二消息的内容由所述网络侧设备根据所述第一消息确定为路况描述或者驾驶操作指令;或者所述第二消息的格式由所述网络侧设备根据所述第一消息确定为人类可识别语言或者机器可识别语言。
- 根据权利要求19至22中任一项所述的设备,其特征在于,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息确定包括:所述第二消息的内容或格式与所述第一消息之间存在绑定关系,所述第二消息的内容或格式由所述网络侧设备根据所述第一消息以及所述绑定关系确定。
- 根据权利要求19至22中任一项所述的设备,其特征在于,所述第二消息包括多种内容类型的车辆行驶相关信息,所述第一消息还用于所述网络侧设备确定所述多种内容类型中每种内容类型的车辆行驶相关信息的传输优先级。
- 根据权利要求25所述的设备,其特征在于,具有较高传输优先级的内容类型的车辆行驶相关信息在传输时序方面优先被传输,或者在所述内容或格式方面具有较高的详细程度等级。
- 根据权利要求25所述的设备,其特征在于,所述第一消息包括所述车端设备所述车辆在行驶中处于的时段或者路段,所述网络侧设备确定所述多种内容类型中每种内容类型的车辆行驶相关信息的传输优先级包括:所述网络侧设备根据所述时段或者所述路段确定所述每种内容类型的车辆行驶相关信息的传输优先级。
- 一种网络侧设备,其特征在于,所述设备包括:第二接收单元,用于接收车端设备发送的用于获取车辆行驶相关信息的第一消息,所述第一消息包括所述车端设备向所述网络侧设备上报的或者请求的车辆行驶相关信息;确定单元,用于确定包括车辆行驶相关信息的第二消息,所述第二消息的内容或格式由所述确定单元根据所述第一消息确定;第二发送单元,用于向所述车端设备发送所述第二消息。
- 根据权利要求28所述的设备,其特征在于,所述上报的车辆行驶相关信息包括所述车端设备所属车辆的自动驾驶等级、所在车道或者当前车速中的至少一种,所述确定 单元用于:根据所述车端设备所属车辆的自动驾驶等级、所在车道或者当前车速中的至少一种确定所述第二消息的内容或格式。
- 根据权利要求28所述的设备,其特征在于,所述请求的车辆行驶相关信息包括所述车辆行驶相关信息的内容类型或者详细程度等级,所述确定单元用于:根据所述内容类型或者所述详细程度等级确定所述第二消息的内容或格式。
- 根据权利要求30所述的设备,其特征在于,所述第一消息基于预先定义的比特编码方式承载所述内容类型或者所述详细程度等级,所述确定单元用于:根据所述第一消息和所述预先定义的比特编码方式确定所述内容类型或者所述详细程度等级;根据所述内容类型或者所述详细程度等级确定所述第二消息的内容或格式。
- 根据权利要求28至31中任一项所述的设备,其特征在于,所述第二消息的内容或格式由所述确定单元根据所述第一消息确定包括:所述第二消息的内容由所述确定单元根据所述第一消息确定为路况描述或者驾驶操作指令;或者,所述第二消息的格式由所述确定单元根据所述第一消息确定为人类可识别语言或者机器可识别语言。
- 根据权利要求28至31中任一项所述的设备,其特征在于,所述第二消息的内容或格式由所述确定单元根据所述第一消息确定包括:所述第二消息的内容或格式与所述第一消息之间存在绑定关系,所述第二消息的内容或格式由所述确定单元根据所述第一消息以及所述绑定关系确定。
- 根据权利要求28至31中任一项所述的设备,其特征在于,所述第二消息包括多种内容类型的车辆行驶相关信息,所述确定单元用于:根据所述第一消息确定所述多种内容类型中每种内容类型的车辆行驶相关信息的传输优先级。
- 根据权利要求34所述的设备,其特征在于,具有较高传输优先级的内容类型的车辆行驶相关信息在传输时序方面优先被传输,或者在所述内容或格式方面具有较高的详细程度等级。
- 根据权利要求34所述的设备,其特征在于,所述第一消息包括所述车端设备所述车辆在行驶中处于的时段或者路段,所述确定单元用于:根据所述时段或者所述路段确定所述每种内容类型的车辆行驶相关信息的传输优先级。
- 一种车端设备,其特征在于,所述车端设备包括存储器和处理器,所述存储器存储计算机程序指令,所述处理器运行所述计算机程序指令以执行权利要求1至9中任一项所述的操作。
- 一种网络侧设备,其特征在于,所述网络侧设备包括存储器和处理器,所述存储器存储计算机程序指令,所述处理器运行所述计算机程序指令以执行权利要求10-18任一项所述的操作。
- 一种计算机存储介质,其特征在于,所述计算机存储介质上存储有计算机指令,当所述计算机指令在被处理器运行时,使得所述车端设备执行如权利要求1至18中任一 项所述的方法。
- 一种计算机程序产品,当所述计算机程序产品在处理器上运行时,使得所述车端设备执行如权利要求1至18中任一项所述的方法。
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JP2022553170A JP2023516205A (ja) | 2020-03-06 | 2020-03-06 | データ伝送方法、車両側デバイス、及びネットワーク側デバイス |
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CN113965398A (zh) * | 2021-10-29 | 2022-01-21 | 电子科技大学 | 一种车联网场景下基于孪生区块链的车辆身份认证方法 |
CN114363841A (zh) * | 2022-01-24 | 2022-04-15 | 青岛慧拓智能机器有限公司 | 一种车路系统混合通信系统及方法 |
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CN115410289A (zh) * | 2021-09-27 | 2022-11-29 | 北京罗克维尔斯科技有限公司 | 一种车辆数据处理方法、装置以及计算设备 |
CN115019535A (zh) * | 2022-05-11 | 2022-09-06 | 广州杰赛科技股份有限公司 | 一种基于车联网的交通预警系统 |
CN115376343B (zh) * | 2022-07-15 | 2023-12-19 | 东风汽车集团股份有限公司 | 车路协同驾驶预警方法及相关设备 |
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KR20220148263A (ko) | 2022-11-04 |
CN112514425A (zh) | 2021-03-16 |
US20220416974A1 (en) | 2022-12-29 |
JP2023516205A (ja) | 2023-04-18 |
EP4102799A4 (en) | 2023-01-11 |
EP4102799A1 (en) | 2022-12-14 |
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