WO2022237634A1

WO2022237634A1 - Information processing method and device, and computer storage medium

Info

Publication number: WO2022237634A1
Application number: PCT/CN2022/091123
Authority: WO
Inventors: 马潍; 付沛沛
Original assignee: 长沙智能驾驶研究院有限公司
Priority date: 2021-05-08
Filing date: 2022-05-06
Publication date: 2022-11-17
Also published as: CN113411375B; CN113411375A

Abstract

The present application provides an information processing method and device, and a computer storage medium. The information processing method applied to a vehicle comprises: determining a delay requirement of first information to be sent to a cloud server; determining a target communication link from P preset communication links according to the delay requirement of the first information and a preset delay requirement communication link correspondence, wherein P is an integer greater than 1; and selecting Q preset communication links from the P preset communication links to be send the first information to the cloud server, wherein the Q preset communication links comprise the target communication link, and Q is a positive integer less than or equal to P.

Description

Information processing method, device and computer storage medium

Cross References to Related Applications

This application claims the priority of Chinese patent application 202110514360.3 filed on May 8, 2021, the entire content of which is incorporated herein by reference.

technical field

The present application belongs to the technical field of communication, and in particular relates to an information processing method, device and computer storage medium.

Background technique

As we all know, vehicles using Vehicle to Everything (V2X) communication technology can exchange information with terminals such as roadside devices or cloud servers. In related technologies, when the cloud server performs information interaction with the vehicle, it usually selects a communication link with better signal strength for information transmission. However, in practical applications, vehicles have different requirements for the timeliness of information transmission in different scenarios, and the selection of existing communication links is often difficult to meet the timeliness of information transmission.

Contents of the invention

Embodiments of the present application provide an information processing method, device, and computer storage medium, so as to solve the problem that it is often difficult to meet the timeliness of information transmission in the selection mode of the existing communication link.

In the first aspect, the embodiment of the present application provides an information processing method, which is applied to a vehicle, and the method includes:

Determining the delay requirement of the first information to be sent to the cloud server;

Determine the target communication link from the P preset communication links according to the delay requirement of the first information and the preset delay requirement communication link correspondence, where P is an integer greater than 1;

Select Q preset communication links from the P preset communication links to send the first message to the cloud server, wherein, the Q preset communication links include target communication links, and Q is less than or equal to P positive integer.

In the second aspect, the embodiment of the present application provides an information processing method, which is applied to a cloud server, and the method includes:

determining a latency requirement for the second information to be sent to the vehicle;

Determine the target communication link from the P preset communication links according to the delay requirement of the second information and the preset delay requirement communication link correspondence, where P is an integer greater than 1;

Select Q preset communication links from the P preset communication links to send the second information to the vehicle, wherein, the Q preset communication links include a target communication link, and Q is a positive value less than or equal to P integer.

In the third aspect, the embodiment of the present application provides an information processing method, which is applied to a roadside unit, and the method includes:

In the case of receiving the first information sent by the vehicle, determine the second information requested by the first information, wherein the first information is the information sent by the vehicle through the first communication link, and the first communication link is through the cloud server , the roadside unit and the communication link formed by the sequential communication connection of the vehicle;

In the case that the second information is preset information, the second information is sent to the vehicle in response to the first information.

In a fourth aspect, the embodiment of the present application provides a vehicle, including:

A first determining module, configured to determine the delay requirement of the first information to be sent to the vehicle;

The second determination module is used to determine the target communication link from the P preset communication links according to the delay requirement of the first information and the preset delay requirement communication link correspondence, where P is an integer greater than 1 ;

The first selecting and sending module is used to select Q preset communication links from the P preset communication links to send the first information to the vehicle, wherein the Q preset communication links include target communication links, Q is a positive integer less than or equal to P.

In the fifth aspect, the embodiment of the present application provides a cloud server, which is characterized in that it includes:

A third determining module, configured to determine the delay requirement of the second information to be sent to the vehicle;

The fourth determination module is used to determine the target communication link from the P preset communication links according to the time delay requirement of the second information and the corresponding relationship between the preset time delay requirement communication links, where P is an integer greater than 1 ;

The second selection and sending module is used to select Q preset communication links from the P preset communication links to send the second information to the vehicle, wherein the Q preset communication links include target communication links, Q is a positive integer less than or equal to P.

In a sixth aspect, the embodiment of the present application provides a roadside unit, including:

The fifth determination module is configured to determine the second information requested by the first information when the first information sent by the vehicle is received, wherein the first information is the information sent by the vehicle through the first communication link, and the first The communication link is a communication link formed by sequential communication connections between the cloud server, the roadside unit and the vehicle;

The first sending module is configured to send the second information to the vehicle in response to the first information when the second information is preset information.

In a seventh aspect, the embodiment of the present application provides an electronic device, and the device includes: a processor and a memory storing computer program instructions;

When the processor executes the computer program instructions, the information processing method as shown in the first aspect is realized; or, the information processing method as shown in the second aspect is realized; or, the information processing method as shown in the third aspect is realized.

In the eighth aspect, the embodiment of the present application provides a computer storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the information processing method as shown in the first aspect is implemented; or, the information processing method as shown in the first aspect is implemented; The information processing method shown in the second aspect; or, implement the information processing method shown in the third aspect.

The information processing method applied to the vehicle provided by the embodiment of the present application determines the delay requirement of the first information to be sent to the cloud server, and according to the delay requirement of the first information and the preset required communication link correspondence, from P A target communication link is determined from the preset communication links, and Q preset communication links including the target communication link are selected from the P preset communication links to send the first message to the cloud server. In the embodiment of the present application, the Q preset communication links selected for sending the first information include the target communication link, which helps to meet the delay requirement for transmitting the first information and ensures the timeliness of information transmission; Determining the target communication link according to the delay requirement can effectively allocate communication resources and reduce the congestion of the communication link.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the embodiments of the present application. Additional figures can be derived from these figures.

FIG. 1 is a schematic structural diagram of a framework to which an information processing method provided by an embodiment of the present application can be applied;

FIG. 2 is a schematic structural diagram of a framework for implementing a V2N communication link in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a framework for implementing an N2I&I2V communication link in an embodiment of the present application;

FIG. 4 is a schematic flowchart of an information processing method applied to a vehicle provided in an embodiment of the present application;

FIG. 5 is a schematic flowchart of an information processing method applied to a cloud server provided by an embodiment of the present application;

FIG. 6 is a schematic flowchart of an information processing method applied to a roadside unit provided in an embodiment of the present application;

Fig. 7 is a schematic diagram of the frame structure when the information processing method provided by the embodiment of the present application is applied to bus priority;

Fig. 8 is a schematic flow chart of the information processing method provided by the embodiment of the present application when it is applied to bus priority;

Fig. 9 is a schematic diagram of the frame structure when the information processing method provided by the embodiment of the present application is applied to provide green wave vehicle speed;

Fig. 10 is a schematic flow chart of the information processing method provided by the embodiment of the present application when it is applied to provide green wave vehicle speed;

FIG. 11 is a schematic diagram of the frame structure when the information processing method provided by the embodiment of the present application is applied to beyond-horizon perception;

FIG. 12 is a schematic flow diagram of the information processing method provided by the embodiment of the present application when it is applied to beyond-horizon perception;

Fig. 13 is a schematic structural diagram of a vehicle provided by an embodiment of the present application;

FIG. 14 is a schematic structural diagram of a cloud server provided by an embodiment of the present application;

Fig. 15 is a schematic structural diagram of a roadside unit provided by an embodiment of the present application;

FIG. 16 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

The characteristics and exemplary embodiments of various aspects of the application will be described in detail below. In order to make the purpose, technical solution and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only intended to explain the present application rather than limit the present application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device that includes the element.

In order to solve the technical problems existing in related technologies, embodiments of the present application provide an information processing method, device, system, equipment, and computer storage medium. The following firstly introduces the framework to which the information processing method provided by the embodiment of the present application can be applied.

As shown in FIG. 1 , FIG. 1 shows an example diagram of a framework in which the above-mentioned information processing method can be applied. The framework shown in Figure 1 can include vehicles, cloud servers, and roadside units (Road Side Unit, RSU).

The vehicle may be a connected vehicle. For example, the vehicle is equipped with an On Board Unit (OBU), and can communicate with external devices (such as an external vehicle, RSU or cloud server) through the OBU.

In one example, the vehicle can adopt at least two wireless communication methods, for example, a wireless communication system based on Long Term Evolution-Vehicle (LTE-V) or dedicated short-range communication (Dedicated Short Range Communication, DSRC) can be used. Vehicle to Infrastructure (V2I) communication of communication technology and Vehicle to Net (V2N) communication based on 4G or 5G.

Generally speaking, based on the V2I communication, the vehicle can exchange information with the RSU, and based on the V2N communication, the vehicle can exchange information with the cloud server.

Combining the framework shown in Figure 1, it can be seen that the RSU and the cloud server can also be connected by communication. For example, the two can be connected by wired communication connection methods such as optical fiber to ensure the reliability and timeliness of information exchange between the two . Certainly, in some feasible implementation manners, the RSU and the cloud server may also be connected by wireless communication.

In summary, there can be two communication links between the vehicle and the cloud server. Among them: one is that the vehicle communicates with the RSU based on V2I, and the RSU communicates with the cloud server to form a vehicle-RSU-cloud server (Net to Infrastructure&Infrastructure to vehicle, N2I&I2V) communication link; the other is that the vehicle is based on V2N directly communicates with the cloud server to form a communication link.

Generally speaking, the above two communication links have their own advantages and disadvantages. For example, N2I&I2V communication links can generally effectively guarantee the information transmission rate, but the communication range of a single RSU is relatively small. Correspondingly, the communication range of N2I&I2V is easily affected by the location distribution of RSUs. For another example, the V2N communication coverage is relatively wide, but the V2N communication delay is not stable enough, and when the communication signal is poor, the delay can reach more than a second level.

Combined with some practical application scenarios, the vehicle can upload the vehicle's motion status, location, vehicle type, vehicle path, and information detected by the vehicle's sensors (such as traffic accidents, obstacles, etc.) to the cloud server through the OBU. The cloud server can send updated maps, traffic conditions, suggested vehicle speed, signal priority (such as the driving strategy of bus priority), signal machine timing scheme and other information to the vehicle terminal.

It is easy to understand that the traffic conditions, suggested vehicle speed and other types of information sent by the cloud server to the vehicle are often obtained by processing road data (such as traffic light phase, traffic flow, etc.). Therefore, the cloud server can also be communicatively connected to road facilities for collecting road data, or road facilities that can generate road data.

Correspondingly, the above framework may also include road facilities such as signal machines and roadside sensing facilities. The signal machine and the roadside sensing facility can communicate with the cloud server, for example, it can be connected by a wired communication connection such as an optical fiber.

The cloud server can receive data from various terminals such as signals, roadside sensing facilities, and vehicles to implement some functional algorithms, such as bus priority algorithms, green wave speed suggestion algorithms, or over-the-horizon sensing algorithms, etc. The specific implementation of these algorithms will be described in the following examples.

As shown in Figure 2 and Figure 3, Figure 2 is a schematic diagram of the communication between the vehicle and the cloud based on the V2N communication link under the framework including the signal machine and the roadside sensing facility; Under the framework of perception facilities, the schematic diagram of the communication between the vehicle and the cloud based on the N2I&I2V communication link.

Wherein, the signal machine may be road facilities such as traffic lights. The signal machine can send traffic light phase and timing information to the cloud server, and the cloud server can also send adjustment instructions to adjust the traffic light phase and timing scheme.

Roadside perception facilities may include roadside intelligent perception devices, such as lidar, millimeter-wave radar, or cameras. These roadside intelligent sensing devices can send the collected raw sensing data (such as pictures, videos, etc.) to the cloud server.

Optionally, the roadside sensing facility may also include an edge computing unit (Mobile Edge Computing, MEC), and the MEC may set corresponding functional algorithms as required. For example, MEC can detect the traffic flow based on the image data collected by the camera, calculate the vehicle speed based on the perception data collected by the millimeter-wave radar, or can also fuse the image data with the point cloud data collected by the lidar to detect obstacles in the road. identification etc.

That is to say, MEC can directly process the original sensing data collected by roadside intelligent sensing devices, obtain some sensing processing or fusion results, and further send them to the cloud server to save the computing resources of the cloud server.

The cloud server can also send data to the MEC, including map updates, real-time traffic conditions and other information.

Of course, on the basis of the above framework, RSU can directly interact with vehicles within its communication range, obtain vehicle driving data, such as position, speed, attitude, etc., and send these vehicle driving data to the cloud server .

In addition, in practical applications, some roadside sensing facilities can also be directly connected to the RSU for communication. Correspondingly, RSU can obtain various types of roadside data (such as the above-mentioned raw sensing data, sensing processing or fusion results) from roadside sensing facilities, and can further send these roadside data to cloud servers or vehicles.

The information processing method provided by the embodiment of the present application is introduced below.

Fig. 4 shows a schematic flowchart of an information processing method provided by an embodiment of the present application. The information processing method can be applied to a cloud server. As shown in Figure 4, information processing methods include:

Step 401, determining the delay requirement of the first information to be sent to the cloud server;

Step 402: Determine the target communication link from the P preset communication links according to the delay requirement of the first information and the corresponding relationship between the preset delay requirement communication links, where P is an integer greater than 1;

Step 403, select Q preset communication links from the P preset communication links to send the first message to the cloud server, wherein, the Q preset communication links include a target communication link, and Q is less than or A positive integer equal to P.

As shown above, the vehicle can upload the vehicle's motion status, location, vehicle type, vehicle path, and information detected by the vehicle's sensors (such as traffic accidents, obstacles, etc.) to the cloud server through the OBU. The first message sent to the cloud server.

Generally speaking, the first information may correspond to regular information sent by the vehicle to the cloud server actively, or may be specific information sent to the cloud server by the vehicle in response to a request sent by the cloud server.

For example, combined with some practical application scenarios, the vehicle can continuously send its own motion status and location information to the cloud server during driving. Alternatively, the vehicle may also receive a request from the cloud server for acquiring pictures collected by the vehicle, and respond to these requests by sending pictures to the cloud server. Alternatively, a human-computer interaction device may be installed in the vehicle, and after receiving the user's input in the human-computer interaction device, the vehicle may respond to the input and send a corresponding request to the cloud server.

The motion state, picture or request sent to the cloud server above can be considered as the first information.

In this embodiment, each piece of first information may have a corresponding delay requirement. To a certain extent, the delay requirement can be understood as a requirement for the timeliness of information transmission. The first information with higher delay requirements has higher delay sensitivity and may need to ensure a smaller transmission delay; on the contrary, the first information with lower delay requirements has lower delay sensitivity and can be received Relatively high transmission delay.

For example, different types of first information may have different delay requirements. For example, for the first information used to request weather information, the time delay requirement may be relatively low; while for the first information used to request the driving strategy, the time delay requirement may be relatively high.

Of course, the same type of first information may also be affected by some conditions and have different delay requirements. For example, when a vehicle is normally driving on a highway, it may send first information such as its own position and speed to the cloud server. If the highway is in good condition and there are fewer vehicles, these first information can have a lower delay Require. When the vehicle is about to drive to a certain traffic light intersection, there may be many vehicles and pedestrians at the intersection, and it is required to send the first information such as its own position and speed to the cloud server as soon as possible, so as to obtain the driving strategy in time and avoid safety accidents. When , the first information may have a relatively high delay requirement.

It is worth emphasizing that the above are only some examples for determining the delay requirement of the first signal. In practical applications, in addition to the type of the first signal or the environment in which the vehicle is located, the determination of the delay requirement of the first signal may also consider the type of the vehicle, etc., and no examples are given here.

Generally speaking, different delay requirements may correspond to different identifiers (such as "high", "medium", "low", etc.), or correspond to different priorities, or correspond to different scores, and so on. Correspondingly, by differentiating delay requirements, different communication links can be associated with different delay requirements.

In this embodiment, the cloud server can establish multiple preset communication links with the vehicle, that is, the cloud server can have the aforementioned P preset communication links. In addition, the cloud server can also preset the communication link correspondence between delay requirements, wherein the preset communication links corresponding to various delay requirements can be recorded.

According to the corresponding relationship between the latency requirement of the first information and the preset latency requirement communication link, the target communication link can be determined from the P preset communication links. The target communication link is usually matched to the delay requirement of the first message.

For example, a default communication link A and a default communication link B can be established between the cloud server and the vehicle. Wherein, usually, the time delay brought by the preset communication link A is lower than the time delay brought by the preset communication link B.

When the time delay requirement of the first information is "high", according to the preset time delay requirement communication link correspondence, the preset communication link A can be determined as the target communication link; when the time delay requirement of the first information When it is "low", according to the preset time delay requirement communication link correspondence, the preset communication link B can be determined as the target communication link.

To a certain extent, the target communication link can be regarded as a preset communication link that the vehicle needs to use to send the first message. However, in this embodiment, the preset communication link used for sending the first information may be only the target communication link, or may be multiple preset communication links including the target communication link.

In other words, after the target communication link is determined, at least one preset communication link (that is, the aforementioned Q preset communication links) can be selected from the above-mentioned P preset communication links to send the second communication link to the cloud server. A message, and the Q preset communication links include the target communication link.

In this embodiment, Q preset communication links for sending the first information to the vehicle are selected. On the one hand, the Q preset communication links include the target communication link, which helps to meet the requirements for transmitting the first information. Delay requirements ensure the timeliness of information transmission; on the other hand, in some cases, it is not limited to using a single target communication link for the transmission of the first information, so that the reliability of information transmission can be effectively guaranteed.

For example, the P preset communication links include a preset communication link A and a preset communication link B, and when the default communication link A is determined as the target communication link, the preset communication link can continue to be obtained. Assuming factors such as the signal strength of communication link B or the degree of channel congestion, the signal strength of communication link B is relatively high (for example, higher than a certain strength threshold), or the degree of channel congestion is low (for example, lower than a certain congestion threshold) At the same time, the preset communication link B can also be used to send the first information at the same time, so as to improve the reliability of the first information transmission.

Alternatively, when the preset communication link A is determined as the target communication link, factors such as the signal strength of the preset communication link A or the degree of channel congestion can also be obtained. If the signal strength of the communication link A is low, Or when the channel congestion is relatively high, the preset communication link B can also be used to transmit the first information, so as to ensure the reliability of the first information transmission.

It can be seen from the above examples that, in some embodiments, Q preset communication links can be selected from P preset communication links according to the working status of each preset communication link (such as signal strength or channel congestion level, etc.). road.

In other feasible implementations, the location information of the vehicle (such as whether the vehicle is about to leave the RSU communication coverage area, or whether it is about to enter an area with weak 5G signal strength) and other factors can also be used to select Q preset communication links. Road, I will not list them here.

Of course, in practical applications, some preset communication links may also be fixedly added to the aforementioned Q preset communication links. For example, regardless of whether the target communication link is the aforementioned preset communication link A or the preset communication link B, the default communication link A can be fixedly added to the aforementioned Q preset communication links.

In addition, in some cases, it is not limited to using a single target communication link to transmit the first information, which can effectively ensure the reliability of information transmission.

In the case that the vehicle actively sends the first information to the cloud server to request required information, the vehicle can determine the target communication link while sending the first information. On the one hand, the timing of sending information from the cloud server can be controlled by the vehicle, without the need for the cloud server to send information in real time, reducing the computing power consumption of the cloud server; on the other hand, the target communication link can also be determined according to the actual needs of the vehicle, Improve the rationality of the target communication link.

In one example, the P preset communication links include a first communication link and a second communication link, wherein the first communication link is a communication link formed by sequential communication connections between a cloud server, a roadside unit, and a vehicle. link; the second communication link is a communication link formed by communicating with the vehicle through the cloud server.

As shown in Figure 2 and Figure 3, in some examples of application scenarios, the cloud server and the RSU can be connected through a wired communication connection such as optical fiber, which can effectively ensure the speed and reliability of data transmission.

The RSU and the OBU of the vehicle can realize the V2I direct connection communication mode based on LTE-V or DSRC, which can realize accurate real-time interaction of data and effectively meet the transmission requirements of data with high delay sensitivity (high delay requirements). However, the communication range of V2I is limited by the range of wireless communication such as LTE-V. For example, a single RSU generally covers about 500m in an urban area, and can cover 1-2 intersections at most. Therefore, in an occasion where the distribution of RSUs is not good (such as a small number and a low density), it may be difficult to continuously establish a V2I communication connection.

The first communication link is a communication link formed by successive communication connections between the cloud server, the roadside unit, and the vehicle, which constitutes the above-mentioned N2I&I2V communication link. Combined with the above description, the N2I&I2V communication link can effectively meet the transmission requirements of data with high delay sensitivity, but it is easily limited by the communication range.

The V2N communication method between the cloud server and the vehicle can also be realized based on 4G or 5G, which corresponds to the above-mentioned second communication link. Contrary to the first communication link, the second communication link can effectively ensure the communication connection between the cloud server and the vehicle. However, the communication delay of V2N is unstable. When the signal is poor, the delay can reach more than seconds.

In this embodiment, the P preset communication links include the first communication link and the second communication link. In practical applications, the two preset communication links can be used at the same time, or between the two. switch.

For example, the cloud server and the vehicle can realize the dual-link communication of V2N and N2I&I2V. These two communication links can always work at the same time. When the communication function is normal, the data of the N2I&I2V link can be used preferentially; when the communication function fails, the data of the V2N can be used to complement, fuse or replace; it can also only run N2I&I2V when the function is normal. In this way, when an abnormality is detected, the V2N communication link is activated immediately, and the data of the two communication links are complemented, fused or replaced, so as to effectively ensure the communication reliability between the cloud server and the vehicle.

Of course, based on the application of V2X communication technology, data interaction between vehicles can also be carried out. In some possible implementations, the P preset communication links can also include the form of cloud server-vehicle A-vehicle B. communication links, etc.

In order to simplify the description, in the following embodiments, it will mainly be described by taking the P preset communication links including the first communication link and the second communication link as an example.

In an example, the above step 401, determining the delay requirement of the first information to be sent to the cloud server, may include at least one of the following:

Determining the information type of the first information, and determining the delay requirement of the first information according to the preset correspondence between delay requirements of information types;

The location information of the vehicle is acquired, and the delay requirement of the first information is determined according to the location information.

In some application scenarios, the information type of the first information may be regarded as the application function of the first information. Correspondingly, the vehicle may determine the delay requirement of the first information according to the sensitivity of the application function of the first information to time.

For example, the application function of the first information may be to request information such as weather and road condition news from the cloud server. These application functions may be relatively insensitive to time. Delay requirements are determined to be lower.

On the contrary, the application function of the first information is to request the cloud server to pass the green wave speed at the intersection of traffic lights in front, or the fire engine to request to pass the intersection quickly, etc. These application functions are relatively time-sensitive, and correspondingly, you can The latency requirement for these types of first information is determined to be high.

Of course, as shown above, for the first information of the same information type, the corresponding time delay requirements may also be affected by different factors. For example, a vehicle sends a request for obtaining road information to a cloud server. When the request is sent when the vehicle attempts to change lanes, the corresponding delay requirement may be relatively high. However, if the request is to acquire the road conditions of the candidate path 10 km ahead of the vehicle, the corresponding delay requirement is relatively low.

It can be seen that when determining the delay requirement of the first information, the determination may be made in combination with factors such as the information type of the first information and the state of the vehicle.

In some feasible implementation manners, the determination of the delay requirement of the first information may also simply consider the position information of the vehicle. For example, when the vehicle is currently at a traffic light intersection, a higher delay requirement may be determined for the first information; and when the vehicle is currently at a high-speed smooth driving section, a lower delay requirement may be determined for the first information.

Optionally, in the case where Q is greater than 1, after step 403 above selects Q preset communication links from the P preset communication links to send the first information to the cloud server, the method further includes:

When it is detected that the channel congestion degree of the first preset communication link is higher than the channel congestion threshold, the first preset communication link is removed from the Q preset communication links, and the first preset communication link is Q A default communication link other than the target communication link among the default communication links.

In combination with the above embodiments, the preset communication link selected for sending the first information may not only include the target communication link determined based on consideration of delay requirements, but may also include other preset communication links.

For example, the first information is the real-time motion state of the vehicle, and the vehicle will continuously send the real-time motion state to the cloud server. According to the delay requirement of the first message, the determined target communication link is the above-mentioned first communication link, but in the process of sending the first message, the first communication link and the second communication link may be used at the same time. The second communication link here may correspond to the above-mentioned first default communication link.

At a certain moment, when there are too many devices using the second communication link, causing the channel congestion degree of the second communication link to be higher than the channel congestion threshold, the use of the second communication link to send the first information may be cancelled. At this point, it can be considered that the second communication link is removed from the Q preset communication links used to send the first information.

It can be seen that in this embodiment, under the condition that the time delay requirement of the first information is guaranteed, communication resources can be allocated effectively and channel congestion can be reduced.

Optionally, in the case where Q is equal to 1, after step 403 above selects Q preset communication links from the P preset communication links to send the first information to the cloud server, the method further includes:

In the case of detecting that the target communication link is abnormal, update the target communication link, wherein the updated target communication link is a preset communication among the P preset communication links except the target communication link before updating link.

Also in combination with the above example, in the case where the determined target communication link is the above-mentioned first communication link, if an abnormality of the first communication link is detected, for example, the first communication link fails, or the data transmission delay is obvious If the delay is higher than normal, the communication link for sending the first message may be switched.

For example, when the above P is greater than 1, if the target communication link is in an abnormal state, for example, when the vehicle cannot exchange information with the cloud server through the first communication link, it can continue to communicate with the cloud server through the second communication link. The server sends the first information to implement complementation, fusion or replacement of the first information. When the first communication link returns to normal, the first communication link can be reused to transmit the first information.

When P is equal to 1, if the target communication link is in an abnormal state, the target communication link can be updated, for example, the target communication link is updated from the first communication link to the second communication link. At this time, the re-determined P preset communication links include the second communication link, that is, the vehicle can use the second communication link to send the first information to the cloud server, thereby ensuring the reliability of the first information transmission.

As shown in Figure 5, the embodiment of the present application also provides an information processing method applied to a cloud server, including:

Step 501, determining the delay requirement of the second information to be sent to the vehicle;

Step 502: Determine the target communication link from the P preset communication links according to the delay requirement of the second information and the corresponding relationship between the preset delay requirement communication links, where P is an integer greater than 1;

Step 503, select Q preset communication links from the P preset communication links to send the second information to the vehicle, wherein, the Q preset communication links include the target communication link, and Q is less than or equal to A positive integer of P.

As shown above, the cloud server can send information such as driving strategy and road conditions to the vehicle, which is generally pre-stored by the cloud server, or obtained after processing some input data. Before the cloud server sends the information to the vehicle, the information can be regarded as the second information to be sent to the vehicle.

Generally speaking, the second information may correspond to conventional information actively sent by the cloud server to the vehicle, or may correspond to customized information sent to the vehicle by the cloud server in response to a request sent by the vehicle.

For example, combined with some practical application scenarios, the cloud server can actively send information such as weather, road obstacles, traffic accidents or congestion information to vehicles. Alternatively, the cloud server may receive a priority traffic request sent by a vehicle (such as a delayed bus or a fire engine in operation), generate a driving strategy in response to the priority traffic request, and send the driving strategy to the vehicle.

Similar to the first information in the foregoing embodiments, the second information may also have a corresponding delay requirement.

For example, different types of second information may have different delay requirements. For example, for second information such as weather information, the delay requirement may be relatively low; and for second information such as vehicle driving strategy, the delay requirement may be relatively high.

Of course, the second information of the same type may also be affected by some conditions and have different delay requirements. For example, when the vehicle is normally driving on the expressway, the cloud server may send information about obstacles 10km ahead to the vehicle (for example, roadblocks set up in the road due to construction of some lanes), and the vehicle is far away from the obstacle at this time. The obstacle information may have a relatively low delay requirement. When the vehicle is about to drive to a traffic light intersection, the cloud server needs to send the obstacle information at this time, the pedestrians at the intersection that may be indicated, etc. In order to avoid safety accidents, the obstacle information at this time can have a high delay. Require.

It is worth emphasizing that the above are only some examples for determining the delay requirement of the first signal. In practical applications, in addition to the type of the first signal or the environment in which the vehicle is located, the determination of the delay requirement of the above-mentioned first signal may also consider the vehicle type, the delay requirement of the message sent by the vehicle to the cloud server, etc. No examples are given here.

According to the corresponding relationship between the time delay requirement of the second information and the preset time delay requirement communication link, the target communication link can be determined from the P preset communication links. The target communication link is usually matched to the delay requirement of the second message.

To a certain extent, the target communication link can be regarded as a preset communication link that the cloud server needs to use to send the second information. However, in this embodiment, the preset communication link used for sending the second information may be only the target communication link, or may be multiple preset communication links including the target communication link.

In other words, after the target communication link is determined, at least one preset communication link (that is, the aforementioned Q preset communication links) can be selected from the aforementioned P preset communication links to send the second communication link to the vehicle. information, and the Q preset communication links include the target communication link.

In this embodiment, Q preset communication links for sending the second information to the vehicle are selected. On the one hand, the Q preset communication links include the target communication link, which helps to meet the requirements for transmitting the second information. Delay requirements ensure the timeliness of information transmission; on the other hand, in some cases, it is not limited to using a single target communication link for the transmission of the second information, so that the reliability of information transmission can be effectively guaranteed.

The information processing method applied to the cloud server provided by the embodiment of the present application determines the delay requirement of the second information to be sent to the vehicle, and according to the delay requirement of the second information and the preset required communication link correspondence, from P A target communication link is determined from the preset communication links, and Q preset communication links including the target communication link are selected from the P preset communication links to send the second information to the vehicle. In the embodiment of the present application, the Q preset communication links selected for sending the second information include the target communication link, which is helpful to meet the delay requirement for transmitting the second information and ensure the timeliness of information transmission; Determining the target communication link according to the delay requirement can effectively allocate communication resources and reduce the congestion of the communication link.

In addition, in some cases, it is not limited to using a single target communication link for the transmission of the second information, which can effectively ensure the reliability of information transmission.

In an example, the P preset communication links include a first communication link and a second communication link;

Wherein, the first communication link is a communication link formed by sequential communication connections between the cloud server, the roadside unit and the vehicle; the second communication link is a communication link formed by the cloud server and the vehicle communication connection.

Optionally, when Q is greater than 1, in step 503, after selecting Q preset communication links from the P preset communication links to send the second information to the vehicle, the information processing method may further include:

In this embodiment, under the condition that the time delay requirement of the second information is guaranteed, communication resources can be effectively allocated and channel congestion can be reduced.

Optionally, when Q is equal to 1, in step 503, after selecting Q preset communication links from the P preset communication links to send the second information to the vehicle, the information processing method further includes:

In this embodiment, when P is equal to 1, if the target communication link is in an abnormal state, the target communication link can be updated, for example, the target communication link is updated from the first communication link to the second communication link road. At this time, the re-determined P preset communication links include the second communication link, that is, the cloud server can use the second communication link to send the second information to the vehicle, thereby ensuring the reliability of the second information transmission.

Optionally, before step 501, before determining the delay requirement of the second information, the information processing method may further include:

Receive vehicle information sent by vehicles and/or road information sent by road facilities;

Second information is generated based on vehicle information and/or road information.

In some examples, the vehicle information may include one or more items of information such as vehicle position, vehicle attitude, vehicle speed, and vehicle route planning.

As shown above, the road facility may be a traffic signal or a roadside sensing facility. Among them, the road information sent by the signal machine can be the traffic light phase and timing information corresponding to the intersection where the signal machine is located; the roadside sensing facilities can include roadside intelligent sensing equipment and MEC, etc., and the road information sent by the roadside intelligent sensing equipment The information can be images or videos of the road, etc.; while the road information sent by MEC can be the traffic flow on the road, traffic accidents, etc.

In this embodiment, the second information may be generated according to vehicle information and/or road information.

For example, the cloud server can receive vehicle location information and vehicle route planning information sent by the vehicle, determine whether the vehicle currently deviates from the planned route, and further generate and send relevant prompt information (ie, second information) to the vehicle.

For another example, the cloud server can receive the video of the far ahead traffic status sent by the roadside sensing facility, and intercept the video and forward it to the vehicle; at this time, the generated second information can be regarded as the intercepted video, etc.

For another example, the cloud server can receive the vehicle location information and vehicle speed information sent by the vehicle, and receive the traffic light phase and timing information sent by the signal machine. Based on these information, a suggested speed can be generated and sent to the vehicle. The suggested speed can make the vehicle Pass the relevant intersection as quickly as possible with less parking. The suggested vehicle speed here can be regarded as the above-mentioned second information.

It can be seen that the cloud server can receive information from different terminals and generate second information based on the information, which helps to enrich the types of second information and improve the communication effect between the cloud server and the vehicle.

In an optional implementation manner, before step 501, before determining the delay requirement of the second information to be sent to the vehicle, the information processing method further includes:

Receive vehicle information, including vehicle location information and vehicle route planning information;

Obtain the road information of the road indicated by the vehicle route planning information, the road information includes the operation information of N signal machines, N is an integer greater than 1, and the road facilities include signal machines;

generating second information according to vehicle location information and road information,

Wherein, the second information includes at least one of the first planned speed and the second planned speed, the first planned speed is the planned speed obtained according to the vehicle position information and the operation information of N signal machines, and the second planned speed is obtained according to the vehicle position information The planned speed obtained from the position information and the operation information of the target signal, where the target signal is the signal that matches the vehicle position information among the N signals.

Combined with an application scenario, when the vehicle is driving along the planned route, it may experience five traffic light intersections in the future. In order to enable the vehicle to quickly pass through the five traffic light intersections with as little parking as possible, the cloud server can receive vehicle information and road information to plan the driving speed of the vehicle.

For example, the cloud server can receive the vehicle location information and vehicle route planning information sent by the vehicle, so as to determine the N traffic light intersections that the vehicle will experience in the future. The cloud server communicates with traffic lights and other types of road facilities. Therefore, the cloud server can further obtain the operation information of the signals at the N traffic light intersections, for example, the phase and timing information of each signal.

On the one hand, the cloud server can determine an overall planned speed and send it to the vehicle based on the location information of the vehicle and the operation information of the N signals, so that the vehicle can pass through the N traffic light intersections without stopping. The overall planned vehicle speed corresponds to the above-mentioned first planned speed.

On the other hand, the cloud server can also determine the next traffic light intersection that the vehicle will pass through according to the location information of the vehicle, and obtain the operation information of the signal machine at the traffic light intersection, that is, obtain the operation information of the target signal machine. According to the position information of the vehicle and the operation information of the target signal machine, a more accurate planned speed can be determined and sent to the vehicle, so that the vehicle can pass through the traffic light intersection more smoothly. And this relatively precise planned vehicle speed corresponds to the above-mentioned second planned vehicle speed.

Of course, in practical applications, the cloud server can generate the first planned vehicle speed and/or the second planned vehicle speed and send them to the first vehicle as needed, so as to reduce the number of vehicle starts and stops, which in turn contributes to energy saving, emission reduction, environment optimization, Improve driving experience.

In an example, the above road information may also include road speed limit information. Correspondingly, the acquisition of the first planned vehicle speed and the second planned vehicle speed may further consider road speed limit information.

In one example, the second information of the first planned vehicle speed and/or the second planned vehicle speed can determine a target communication link corresponding to a higher delay requirement, so as to provide the planned vehicle speed to the vehicle in a more timely manner and improve driving experience.

In some application scenarios, such as a bus that is seriously delayed, or a fire truck rushing to a fire scene that needs to pass through various traffic light intersections as soon as possible, in order to avoid road congestion, the operating status of the signal machine, such as the phase and timing scheme can be adjusted. To clear the relevant roads as soon as possible.

For example, in some implementations, generating the second information according to the vehicle location information and road information may include:

According to the vehicle location information and road information, second information and third information are generated, wherein the second information matches the third information, and the third information is used to adjust the operating state of the associated traffic signal.

After generating the second information and the third information according to the vehicle position information and the road information, the information processing method further includes:

The third message is sent to the associated signal.

In this implementation manner, the second information may include the above-mentioned first planned speed or second planned speed, and the like. In some application scenarios, the second information may also include a replanned path and the like.

The third information can be used to adjust the operating state of the relevant signal machine. For example, in some application scenarios, vehicles may need to pass through multiple traffic light intersections, and the adjustment strategies for the operation status of traffic lights at different traffic light intersections may be different. Therefore, there is usually an association relationship between the third information and the signal machine.

For example, the adjustment strategy of the signal at the first traffic light intersection that the vehicle is about to pass may be to adjust to a green light after 5s, and the adjustment strategy of the signal at the second traffic light intersection that the vehicle is about to pass through may be to keep the green light after 20s.

Therefore, when sending the third information, the third information may be sent to the associated signal machine. As for the relationship between the third information and the traffic signal, it may be obtained by processing the vehicle location information and road information by the cloud server.

The second information and the third information may be matched with each other. For example, assume that the third information is used to control the signal machine at the first traffic light intersection to adjust to a green light after 10s, and according to the planning speed indicated by the second information, the vehicle may arrive at the traffic light intersection within 5s; at this time , the vehicle may not be able to quickly pass through the traffic light intersection, and the second information and the third information may be considered to be mismatched.

It can be seen that, in general, the second information and the third information match each other, and generally the vehicle and the traffic signal can be coordinated so that the vehicle can quickly pass through the intersection where the traffic signal is located.

It can be seen from the examples above that in many cases, the cloud server may generate the second information according to the vehicle information sent by the vehicle. Therefore, in some feasible implementation manners, the delay requirement of the second information may be determined according to the vehicle information sent by the vehicle.

Optionally, the above step 501, determining the delay requirement of the second information to be sent to the vehicle, may include at least one of the following:

Determining the delay requirement of the second information according to the information type of the second information and according to the preset correspondence between delay requirements of information types;

Determining the delay requirement of the first information sent by the vehicle as the delay requirement of the second information, wherein the delay requirement of the first information is determined according to at least one of the following: the preset communication link used to receive the first information . Vehicle location information indicated by the first information.

Determining the delay requirement of the second information according to the information type of the second information is actually similar to the method of determining the delay requirement of the first information according to the information type of the first information in the above embodiment, and details are not described here.

From the perspective of the vehicle, the vehicle can also have relevant communication link selection logic, for example, when the vehicle is in some complicated road conditions and sends vehicle information to the cloud server, or the vehicle needs to send some specific information to the cloud server. When requested, a communication link that can meet high latency requirements may be actively selected. The vehicle information or specific request here can be regarded as the first information sent by the vehicle.

In this case, the cloud server may determine the delay requirement of the first information according to the communication link used to receive the first information.

Certainly, the cloud server may also determine the time delay requirement of the vehicle information according to the vehicle location information included in the first information. For example, when the vehicle location information indicates that the vehicle is on an unobstructed section of the expressway, it can be considered that the first information has a low delay requirement; and when the vehicle location information indicates that the vehicle arrives at a traffic light intersection, it can be considered that the first information has a relatively high time delay requirement. delay request.

In this embodiment, the delay requirement of the first information sent by the vehicle can be determined as the delay requirement of the second information, and then the target communication link that can meet the delay requirement can be determined to ensure the timeliness of the transmission of the second information .

As shown in Figure 6, the embodiment of the present application also provides an information processing method applied to roadside units, including:

Step 601, in the case of receiving the first information sent by the vehicle, determine the second information requested by the first information, wherein the first information is the information sent by the vehicle through the first communication link, and the first communication link is The communication link formed by the sequential communication connection between the cloud server, the roadside unit and the vehicle;

Step 602, if the second information is preset information, send the second information to the vehicle in response to the first information.

As shown in the above embodiments, when the vehicle communicates with the cloud server, the RSU can be used as an intermediate terminal to form an N2I&I2V communication mode.

In this embodiment, when the vehicle sends the first information through the above-mentioned first communication link, the RSU can receive the first information.

Combined with some application scenarios, the first information sent by the vehicle may be to request a driving strategy to the cloud server, such as planning speed or planning route. The requested driving strategy can be regarded as the second information requested by the first information.

Of course, in practical applications, the second information requested by the first information may also be information of other contents, and examples are not given here.

When the second information is preset information, the RSU may directly respond to the first information and send the second information to the vehicle.

For RSU, it has certain information processing capabilities. For example, RSU can provide reference information for vehicles to change lanes based on the collected vehicle information on the road. For another example, the RSU can obtain the speed limit information covering the road area and the operation information of the signal machine connected to it, and provide reference speed for the vehicle according to the speed limit information and operation information.

It is easy to understand that the preset information can be information that can be obtained through RSU processing, and this part of information can be preset, such as the lane change reference information or reference speed mentioned in the example above.

In other words, in this embodiment, when the second information requested by the first information is information that the RSU can obtain without going through the cloud server, the RSU can directly respond to the first information and send the second information to the vehicle. information.

It can be seen that in this embodiment, on the one hand, the computing power of the cloud server can be saved by sending the second information to the vehicle through the RSU in response to the first information; on the other hand, the second information can be effectively guaranteed by sending the second information to the vehicle through the RSU. Timeliness of information transmission.

In some examples, in the above step 601, after receiving the first information sent by the vehicle, after determining the second information requested by the first information, the information processing method further includes:

When the second information is preset information, stop sending the first information to the cloud server; or,

When the second information is preset information, send fourth information to the cloud server, where the fourth information is used to instruct the cloud server not to respond to the first information.

In this example, the RSU may instruct the cloud server not to respond to the first information by stopping sending the first information to the cloud server, or by sending the fourth information to the cloud server. In this way, the cloud server does not need to process the first information to obtain the second information, saving the computing power of the cloud server.

Optionally, the preset information includes the second planned speed on the target road section, and the target road section is a road section matched with the roadside unit;

Correspondingly, in the above step 602, when the second information is preset information, sending the second information to the vehicle in response to the first information includes:

In the case that the second information requested by the first information is the second planned speed of the target road section, in response to the first information, obtain vehicle information and road information of the target road section;

generating a second planned speed according to vehicle information and road information;

A second projected speed is sent to the vehicle.

Combined with some application scenarios, the vehicle information can include information such as the location information and motion status of the vehicle, or the vehicle information can also include information such as the planned route of the vehicle. The road information may include the speed limit information of the road or the traffic light phase and timing information of the signal machine.

For a certain RSU, its communication distance is usually relatively fixed, for example, the communication range of the RSU covers the above-mentioned target road section. The RSU can acquire the vehicle information in the target road section, and at the same time, can also acquire the relevant information of the traffic signal connected to it. In addition, the speed limit information of the target road segment is often known.

In this embodiment, the second planning speed may be used to indicate the reference driving speed of the vehicle in the target road section. For example, when the vehicle is traveling at the second planned speed, it can pass through a traffic light intersection in the target road section without stopping.

Of course, in practical applications, the above-mentioned preset information may not be limited to the second planned speed of the target road segment, but may also be the traffic flow in the target road segment, or road pictures outside the vehicle's visual range and within the target road segment and many more.

In other words, the preset information may be determined according to the functions that the RSU can implement or the information processing capabilities it has. When the first information received by the RSU is used to request the preset information, the RSU can directly send the preset information to the vehicle without further processing by the cloud server, reducing the computing power consumption of the cloud server and providing the preset information Transmission timeliness.

Of course, when the second information requested by the first information is not preset information, or the first information is limited to information sent to the cloud server, or the RSU lacks the processing capability to obtain the second information based on the first information, the RSU The received first information may be sent to the cloud server without performing additional processing on the first information.

The information processing method provided by the embodiment of the present application will be described below in conjunction with some optional application examples.

Application example 1, bus priority.

As shown in Figure 7, in this application example, RSU, MEC, and intelligent sensing equipment can be installed on the roadside pole where the signal light is installed, and OBU can be installed on the bus to realize V2N and cloud communication between the bus and the cloud server. Dual link communication of N2I&I2V.

The communication method based on N2I&I2V benefits from not being limited by the communication range of LTE-V. The cloud server can obtain signal light status information and timing schemes at multiple intersections, the movement status and location information of multiple buses, and multiple edge Calculate the data of the unit, and at the same time, the vehicle end can also obtain map information at a place farther away from the intersection, so that the bus priority function can be realized globally. The cloud calculates a new timing plan based on the above data and sends it to the signal machine. Help the bus to pass quickly at the intersection. At the same time, another link V2N is used as an alternative communication path, and when the N2I&I2V link fails due to RSU, the function can continue to be guaranteed.

As shown in Figure 8, the cloud server receives raw data such as vehicles, signals, and sensing data, and uses the bus priority algorithm to calculate a priority policy for each bus passing through a signalized intersection based on the raw data.

In the N2I&I2V link, the cloud server can issue the bus priority policy to the RSU, and the RSU will issue the bus priority policy to the OBU, and the OBU will present the corresponding bus priority policy to the driver and passengers. In the V2N link, the cloud server sends the bus priority policy to the OBU, and the OBU presents the corresponding bus priority policy to the driver and passengers.

Limited by the communication range, the V2I-based RSU may only be able to obtain the information of one intersection signal and the bus vehicle data within its communication coverage area, so the bus priority function is limited to one intersection.

The use of dual-link communication can reduce the impact of LTE-V's communication range limitation, thereby realizing the bus priority function in the global range, and when one link is unreliable, the other link will still work , to ensure the reliability of communication.

The bus priority function based on dual links can be used in the following examples. For example, when the cloud server judges that a certain bus is seriously delayed according to the bus line operating timetable, and passengers at the downstream platform are too delayed, in order to alleviate the current situation in time, The cloud server retrieves the signal control status and timing plan information of the downstream intersection of the bus according to the operating route of the bus, and combines the real-time vehicle position and motion status data to expand the timing adjustment time window of the downstream intersection, and adjust the timing by pre-adjusting The scheme clears the social traffic flow in time, helps the bus to pass quickly, and alleviates the problem of bus delay. If the N2I&I2V link is detected to be faulty, the data of the N2I&I2V link can be supplemented, fused or replaced according to the data of the V2N link, and the communication can be effectively improved. reliability.

Of course, the RSU can also determine the timing plan information for the signal machine connected to the RSU in response to the delay information of the bus within the communication range, and send the bus priority policy to the bus.

Application example 2, providing green wave vehicle speed.

As shown in Figure 9, in this application example, the cloud server can make a judgment based on the information uploaded by the signal machine, the information uploaded by the vehicle, and the data provided by the edge computing unit, and combine the predicted time required for the vehicle to reach the stop line with the intersection at the current moment The signal light status and timing scheme provide drivers with suggested speed or assisted driving suggestions. According to the suggested speed, vehicles can pass through the intersection without stopping, reducing the number of starts and stops, which is helpful for energy saving and emission reduction, optimizing the environment, and improving Driving experience; if the system has calculated that the vehicle will need to stop at the intersection and wait for passage within the speed limit range, it will issue driving assistance information to the driver.

As shown in Figure 10, the cloud server receives raw data such as vehicles, signals, and sensing data, and uses the green wave speed suggestion algorithm to calculate the green wave speed for each vehicle passing a signalized intersection based on the original data.

In the N2I&I2V link, the cloud server can send the suggested speed to the RSU, and the RSU will send the suggested speed to the OBU, and the OBU will present the corresponding suggested speed to the driver and passengers. In the V2N link, the cloud server sends the suggested speed to the OBU, and the OBU presents the corresponding suggested speed to the driver and passengers.

Based on the N2I&I2V communication method, the cloud server can obtain the current state of the global intersection signal and the timing plan, and obtain vehicle data (moving state, vehicle position, vehicle driving path, traffic conditions, etc.) Plan the vehicle speed at each intersection in advance, and at the same time, use V2I direct wireless communication to fine-tune the suggested vehicle speed at each intersection. For example, the cloud server only roughly plans the vehicle speed according to the global road conditions. It is a multiple of 5 (5km/h, 10km/h, 15km/h, 20km/h, 25km/h, 30km/h, 35km/h...), when the vehicle reaches a certain intersection, use V2I direct connection and then use 1km /h (threshold adjustable) is a step-by-step recommended vehicle speed. Fine adjustment can better optimize system functions and improve driver experience.

Dual-link communication can overcome the problem of small communication range and only applicable to a single intersection caused by using V2I scheme alone; at the same time, it can solve the disadvantages of large data transmission delay caused by using V2N scheme alone; in addition, single-link Once there is a problem with the road scheme, the function will fail, and there are two links in the dual link. If it is detected that the N2I&I2V link is faulty and the data is abnormal, it can trigger the data of the N2I&I2V link to be supplemented according to the data of the V2N link. , integration or replacement, effectively improving the reliability of communication.

Application example three, beyond-horizon perception.

As shown in Figure 11, the cloud server performs calculations based on information uploaded by roadside equipment and vehicles (including vehicle speed, acceleration, position, heading, driving intention, etc.), and sends the over-the-horizon information to the corresponding vehicles. The over-the-horizon information may include information such as vehicles blocked ahead, obstacles on the road, traffic accidents, congestion information, traffic status, pictures, and pictures.

As shown in Figure 12, the cloud server receives raw data such as vehicle roadside perception data, and uses the beyond-horizon perception algorithm to determine the beyond-horizon information required by the vehicle based on the original data.

In the N2I&I2V link, the cloud server can send the over-the-horizon information to the RSU, and the RSU sends the over-the-horizon information to the OBU, and the OBU presents the corresponding over-the-horizon information to the driver and passengers. In the V2N link, the cloud server sends the over-the-horizon information to the OBU, and the OBU presents the corresponding over-the-horizon information to the driver and passengers.

Based on the dual-link method, compared with the coverage of V2I, the cloud server can obtain traffic data in a wider range, and realize the delivery of accurate over-the-horizon perception information and map data to the vehicle in advance. The data judges the traffic status of the driving path planned by the self-vehicle, so as to determine whether the travel route needs to be changed. In addition, the N2I&I2V link will not be effective in the section where the RSU is not installed on the roadside, but at this time the cloud server and There are also V2N links between vehicles that can be used to provide beyond-horizon information related functions can still operate normally; when abnormalities are detected on the N2I&I2V link, V2N data can be used to complete, fuse or replace; in addition For different application scenarios, over-the-horizon perception should be clear about which link to use first. For scenarios with high latency requirements, such as ghost probe scenarios where blocked pedestrians and vehicles are in danger of colliding, N2I&I2V can be used first. The communication method is to ensure that the over-the-horizon information is presented to the driver in a timely manner to avoid danger; for those with low requirements for time delay, such as videos showing traffic conditions far ahead, the V2N communication method can be used first, and which one to use is determined according to the scene. This link can effectively allocate communication resources and reduce channel congestion.

Combining the above application examples, it can be seen that the information processing method provided by the embodiment of the present application is expanded and integrated on the basis of the framework of the existing single-link communication mode V2I or V2N, thereby realizing the dual-link communication of V2N and N2I&I2V.

The cloud server can obtain the data of signals and edge computing units at multiple intersections, and can selectively send it to the vehicle OBU terminal; the communication range between the cloud server and the vehicle can be independent of the LTE-V direct connection communication technology The cloud can obtain the location and motion status information of a larger number of farther vehicles, and the vehicles can also obtain distant map information in advance; based on more and more comprehensive vehicle-side and roadside information, the overall function of the realization Local optimization can also be done while controlling; when one link fails in the dual-link communication method, the other link can still function, effectively improving the reliability of communication; the two communication methods of the dual-link can be supported separately The two types of functions with high time sensitivity and low time sensitivity can better allocate and utilize communication resources than the single-link method.

As shown in Figure 13, the embodiment of the present application also provides a vehicle, including:

The first determination module 1301 is configured to determine the delay requirement of the first information to be sent to the vehicle;

The second determination module 1302 is configured to determine the target communication link from the P preset communication links according to the delay requirement of the first information and the preset communication link correspondence between the delay requirement, where P is greater than 1 integer;

The first selecting and sending module 1303 is configured to select Q preset communication links from the P preset communication links to send the first information to the vehicle, wherein the Q preset communication links include a target communication link , Q is a positive integer less than or equal to P.

Optionally, the P preset communication links include a first communication link and a second communication link, wherein the first communication link is a communication link formed by sequential communication connections between a cloud server, a roadside unit, and a vehicle road; the second communication link is a communication link formed by a cloud server and a vehicle communication connection.

Optionally, the first determination module 1301 may include at least one of the following:

The first determining unit is configured to determine the information type of the first information, and determine the delay requirement of the first information according to the preset correspondence between delay requirements of information types;

The second determining unit is configured to acquire the location information of the vehicle, and determine the delay requirement of the first information according to the location information.

Optionally, the above vehicle may also include:

The removal module is used to switch the first preset communication link from Q preset communication links when it is detected that the channel congestion degree of the first preset communication link is higher than the channel congestion threshold when Q is greater than 1. The first default communication link is a default communication link other than the target communication link among the Q preset communication links.

Optionally, the above vehicle may also include:

The update module is used to update the target communication link when Q is equal to 1 and detects that the target communication link is abnormal, wherein the updated target communication link is among the P preset communication links, A default communication link other than the target communication link before the update.

It should be noted that the vehicle is a device corresponding to the above-mentioned information processing method applied to the vehicle, and all the implementation methods in the above-mentioned method embodiments are applicable to the vehicle embodiment, and can also achieve the same technical effect.

As shown in Figure 14, the embodiment of the present application also provides a cloud server, including:

A third determining module 1401, configured to determine the delay requirement of the second information to be sent to the vehicle;

The fourth determination module 1402 is used to determine the target communication link from the P preset communication links according to the delay requirement of the second information and the correspondence between the preset delay requirement communication links, where P is greater than 1 integer;

The second selecting and sending module 1403 is configured to select Q preset communication links from the P preset communication links to send the second information to the vehicle, wherein the Q preset communication links include a target communication link , Q is a positive integer less than or equal to P.

Optionally, the cloud server may also include:

The receiving module is used to receive vehicle information, and the vehicle information includes vehicle location information and vehicle route planning information;

The obtaining module is used to obtain road information of the road indicated by the vehicle route planning information, the road information includes the operation information of N signal machines, N is an integer greater than 1, and the road facilities include signal machines;

a generating module, configured to generate second information according to vehicle location information and road information,

Optionally, generate modules that can include:

The first generating unit is configured to generate second information and third information according to the vehicle location information and road information, wherein the second information matches the third information, and the third information is used to adjust the operating state of the associated signal machine;

Correspondingly, the cloud server may also include:

The second sending module is used to send the third information to the associated signal machine.

Optionally, the third determining module 1401 includes at least one of the following:

The third determining unit is configured to determine the delay requirement of the second information according to the information type of the second information and according to the preset correspondence between delay requirements of information types;

The fourth determining unit is configured to determine the delay requirement of the first information sent by the vehicle as the delay requirement of the second information, wherein the delay requirement of the first information is determined according to at least one of the following contents: The preset communication link used, and the vehicle location information indicated by the first information.

It should be noted that the cloud server is a device corresponding to the above-mentioned information processing method applied to the cloud server, and all the implementation methods in the above method embodiments are applicable to the cloud server, and can also achieve the same technical effect.

As shown in Figure 15, the embodiment of the present application also provides a roadside unit, including:

The fifth determination module 1501 is configured to determine the second information requested by the first information when the first information sent by the vehicle is received, wherein the first information is the information sent by the vehicle through the first communication link, and the second A communication link is a communication link formed by successive communication connections between the cloud server, the roadside unit and the vehicle;

The first sending module 1502 is configured to send the second information to the vehicle in response to the first information when the second information is preset information.

Correspondingly, the first sending module 1502 may include:

An acquiring unit, configured to acquire vehicle information and road information of the target road segment in response to the first information when the second information requested by the first information is the second planned speed of the target road segment;

a second generating unit, configured to generate a second planned speed according to vehicle information and road information;

A sending unit, configured to send the second planned speed to the vehicle.

It should be noted that the roadside unit is a device corresponding to the above-mentioned information processing method applied to the roadside unit, and all the implementation methods in the above-mentioned method embodiments are applicable to the embodiment of the roadside unit, and can also achieve the same technical effect.

FIG. 16 shows a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present application.

The electronic device may include a processor 1601 and a memory 1602 storing computer program instructions.

Optionally, the processor 1601 may include a central processing unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits in the embodiments of the present application.

Memory 1602 may include mass storage for data or instructions. By way of example and not limitation, memory 1602 may include a hard disk drive (Hard Disk Drive, HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (Universal Serial Bus, USB) drive or two or more Combinations of multiple of the above. Storage 1602 may include removable or non-removable (or fixed) media, where appropriate. Under appropriate circumstances, the storage 1602 can be inside or outside the comprehensive gateway disaster recovery device. In a particular embodiment, memory 1602 is a non-volatile solid-state memory.

Memory may include read only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions, and when the software is executed (e.g., by one or multiple processors), it is operable to perform the operations described with reference to the information processing method according to the present application.

The processor 1601 reads and executes the computer program instructions stored in the memory 1602 to implement any one of the information processing methods in the foregoing embodiments.

In an example, the electronic device may further include a communication interface 1603 and a bus 1604 . Wherein, as shown in FIG. 16 , a processor 1601 , a memory 1602 , and a communication interface 1603 are connected through a bus 1604 to complete mutual communication.

The communication interface 1603 is mainly used to realize the communication between various modules, devices, units and/or devices in the embodiments of the present application.

The bus 1604 includes hardware, software or both, and couples the components of the online data traffic charging device to each other. By way of example and not limitation, the bus may include Accelerated Graphics Port (AGP) or other graphics bus, Enhanced Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), HyperTransport (HT) interconnect, Industry Standard Architecture (ISA) Bus, Infiniband Interconnect, Low Pin Count (LPC) Bus, Memory Bus, Micro Channel Architecture (MCA) Bus, Peripheral Component Interconnect (PCI) Bus, PCI-Express (PCI-X) Bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or a combination of two or more of these. Bus 1604 may comprise one or more buses, where appropriate. Although the embodiments of this application describe and illustrate a particular bus, this application contemplates any suitable bus or interconnect.

In addition, in combination with the information processing method in the foregoing embodiments, the embodiments of the present application may provide a computer storage medium for implementation. Computer program instructions are stored on the computer storage medium; when the computer program instructions are executed by a processor, any one of the information processing methods in the foregoing embodiments is implemented.

It is to be understood that the application is not limited to the specific configurations and processes described above and shown in the figures. For conciseness, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art may make various changes, modifications and additions, or change the order of the steps after understanding the spirit of the present application.

The functional blocks shown in the structural block diagrams described above may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the present application are the programs or code segments employed to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted over transmission media or communication links by data signals carried in carrier waves. "Machine-readable medium" may include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. Code segments may be downloaded via a computer network such as the Internet, an Intranet, or the like.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is to say, the steps may be performed in the order mentioned in the embodiment, or may be different from the order in the embodiment, or several steps may be performed simultaneously.

Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present application. It will be understood that each block of the flowchart and/or block diagrams, and combinations of blocks in the flowchart and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that execution of these instructions via the processor of the computer or other programmable data processing apparatus enables Implementation of the functions/actions specified in one or more blocks of the flowchart and/or block diagrams. Such processors may be, but are not limited to, general purpose processors, special purpose processors, application specific processors, or field programmable logic circuits. It can also be understood that each block in the block diagrams and/or flowcharts and combinations of blocks in the block diagrams and/or flowcharts can also be realized by dedicated hardware for performing specified functions or actions, or can be implemented by dedicated hardware and Combination of computer instructions to achieve.

The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described systems, modules and units can refer to the foregoing method embodiments The corresponding process in , will not be repeated here. It should be understood that the protection scope of the present application is not limited thereto, and any person familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the application, and these modifications or replacements should cover all Within the protection scope of this application.

Claims

An information processing method applied to a vehicle, the method comprising:

Determining the delay requirement of the first information to be sent to the cloud server;

Determine the target communication link from the P preset communication links according to the delay requirement of the first information and the preset delay requirement communication link correspondence, where P is an integer greater than 1;

Selecting Q preset communication links from the P preset communication links to send the first information to the cloud server, wherein the Q preset communication links include the target communication link , Q is a positive integer less than or equal to P.
The method according to claim 1, wherein the P preset communication links include a first communication link and a second communication link, and the first communication link is through the cloud server, the road The side unit and the vehicle are sequentially connected to form a communication link, and the second communication link is a communication link formed by communicating with the vehicle through the cloud server.
The method according to claim 1 or 2, wherein said determining the delay requirement of the first information to be sent to the cloud server includes at least one of the following:

Determine the information type of the first information, and determine the delay requirement of the first information according to the preset correspondence between delay requirements of information types;

Acquire the location information of the vehicle, and determine the delay requirement of the first information according to the location information.
The method according to claim 1 or 2, wherein, when the Q is greater than 1, selecting Q preset communication links from the P preset communication links to send the After the first information, the method also includes:

When it is detected that the channel congestion degree of the first preset communication link is higher than the channel congestion threshold, the first preset communication link is removed from the Q preset communication links, and the first preset communication link is removed from the Q preset communication links. It is assumed that the communication link is a default communication link among the Q preset communication links except the target communication link.
The method according to claim 1 or 2, wherein, when the Q is equal to 1, selecting Q preset communication links from the P preset communication links to send the After the first information, the method also includes:

In the case of detecting that the target communication link is abnormal, update the target communication link, wherein, the updated target communication link is among the P preset communication links, except the target communication link before updating other than the default communication link.
An information processing method applied to a cloud server, the method comprising:

determining a latency requirement for the second information to be sent to the vehicle;

Determine the target communication link from the P preset communication links according to the delay requirement of the second information and the preset delay requirement communication link correspondence, where P is an integer greater than 1;

Selecting Q preset communication links from the P preset communication links to send the second information to the vehicle, wherein the Q preset communication links include the target communication link, Q is a positive integer less than or equal to P.
The method according to claim 6, wherein, before said determining the delay requirement of the second information to be sent to the vehicle, said method further comprises:

receiving vehicle information, the vehicle information including vehicle location information and vehicle route planning information;

Acquiring road information of the road indicated by the vehicle route planning information, the road information including the operation information of N signal machines, where N is an integer greater than 1;

generating the second information according to the vehicle location information and the road information,

Wherein, the second information includes at least one of a first planning speed and a second planning speed, and the first planning speed is a planning speed obtained according to the vehicle position information and the operation information of the N signal machines , the second planned speed is a planned speed obtained according to the vehicle position information and the operation information of a target signal, and the target signal is a signal among the N signals that matches the vehicle position information.
The method according to claim 7, wherein generating the second information according to the vehicle position information and the road information includes:

Generate the second information and third information according to the vehicle position information and the road information, wherein the second information matches the third information, and the third information is used to adjust the associated traffic signal Operating status;

After generating the second information and the third information according to the vehicle location information and the road information, the method further includes:

Sending the third information to an associated signaling machine.
The method according to claim 6, wherein said determining the delay requirement of the second information to be sent to the vehicle comprises at least one of the following:

determining the delay requirement of the second information according to the information type of the second information and according to the preset correspondence between delay requirements of information types;

Determining the delay requirement of the first information sent by the vehicle as the delay requirement of the second information, wherein the delay requirement of the first information is determined according to at least one of the following: receiving the first information The adopted preset communication link and the vehicle location information indicated by the first information.
An information processing method applied to a roadside unit, the method comprising:

In the case of receiving the first information sent by the vehicle, determine the second information requested by the first information, wherein the first information is the information sent by the vehicle through the first communication link, and the first information is the information sent by the vehicle through the first communication link. A communication link is a communication link formed by successive communication connections between the cloud server, the roadside unit and the vehicle;

In the case that the second information is preset information, the second information is sent to the vehicle in response to the first information.
The method according to claim 10, wherein the preset information includes a second planned speed on a target road section, and the target road section is a road section matched with the roadside unit,

In the case that the second information is preset information, sending the second information to the vehicle in response to the first information includes:

In the case that the second information requested by the first information is the second planned speed on the target road segment, in response to the first information, obtain vehicle information and road information of the target road segment;

generating the second planned speed according to the vehicle information and the road information;

The second planned speed is sent to the vehicle.
A vehicle comprising:

A first determining module, configured to determine the delay requirement of the first information to be sent to the vehicle;

The second determination module is used to determine the target communication link from the P preset communication links according to the delay requirement of the first information and the preset delay requirement communication link correspondence, where P is greater than 1 an integer of

A first selecting and sending module, configured to select Q preset communication links from the P preset communication links to send the first information to the vehicle, wherein the Q preset communication links include With the target communication link, Q is a positive integer less than or equal to P.
The vehicle according to claim 12, wherein the P preset communication links include a first communication link and a second communication link, and the first communication link is through the cloud server, the road The side unit and the vehicle are sequentially connected to form a communication link, and the second communication link is a communication link formed by communicating with the vehicle through the cloud server.
The vehicle according to claim 12 or 13, wherein the first determination module comprises at least one of the following:

The first determining unit is configured to determine the information type of the first information, and determine the delay requirement of the first information according to the preset correspondence between delay requirements of information types;

The second determining unit is configured to acquire the location information of the vehicle, and determine the delay requirement of the first information according to the location information.
A vehicle as claimed in claim 12 or 13, further comprising:

A removal module, configured to remove the first preset communication link from the Q preset communication links when detecting that the channel congestion level of the first preset communication link is higher than the channel congestion threshold , the first default communication link is a default communication link other than the target communication link among the Q preset communication links.
A vehicle as claimed in claim 12 or 13, further comprising:

An updating module, configured to update the target communication link when detecting that the target communication link is abnormal, wherein the updated target communication link is one of the P preset communication links, except for updating A default communication link other than the previous target communication link.
A cloud server, comprising:

A third determining module, configured to determine the delay requirement of the second information to be sent to the vehicle;

The fourth determination module is used to determine the target communication link from the P preset communication links according to the delay requirement of the second information and the preset delay requirement communication link correspondence, where P is greater than 1 an integer of

The second selecting and sending module is configured to select Q preset communication links from the P preset communication links to send the second information to the vehicle, wherein the Q preset communication links include With the target communication link, Q is a positive integer less than or equal to P.
The cloud server according to claim 17, further comprising:

A receiving module, configured to receive vehicle information, the vehicle information including vehicle location information and vehicle route planning information;

An acquisition module, configured to acquire the road information of the road indicated by the vehicle route planning information, the road information includes the operation information of N signal machines, and N is an integer greater than 1;

a generating module, configured to generate the second information according to the vehicle location information and the road information,

Wherein, the second information includes at least one of a first planning speed and a second planning speed, and the first planning speed is a planning speed obtained according to the vehicle position information and the operation information of the N signal machines , the second planned speed is a planned speed obtained according to the vehicle position information and the operation information of a target signal, and the target signal is a signal among the N signals that matches the vehicle position information.
The cloud server according to claim 18, wherein the generating module comprises:

A first generating unit, configured to generate the second information and third information according to the vehicle location information and the road information, wherein the second information matches the third information, and the third information is used To adjust the running state of the associated signal machine;

The cloud server also includes:

The second sending module is configured to send the third information to an associated signal machine.
The cloud server according to claim 17, wherein the third determination module includes at least one of the following:

A third determining unit, configured to determine the delay requirement of the second information according to the information type of the second information and according to the preset correspondence between delay requirements of information types;

A fourth determining unit, configured to determine the delay requirement of the first information sent by the vehicle as the delay requirement of the second information, wherein the delay requirement of the first information is determined according to at least one of the following contents : the preset communication link adopted for receiving the first information, and the vehicle location information indicated by the first information.
A roadside unit comprising:

The fifth determination module is configured to determine the second information requested by the first information when the first information sent by the vehicle is received, wherein the first information is that the vehicle passes through the first communication link For the information sent, the first communication link is a communication link formed by sequential communication connections between the cloud server, the roadside unit and the vehicle;

The first sending module is configured to send the second information to the vehicle in response to the first information when the second information is preset information.
The roadside unit according to claim 21, wherein the preset information includes a second planned speed on a target road section, the target road section is a road section matching the roadside unit, and the first sending module includes :

An acquisition unit, configured to acquire vehicle information and a road of the target road section in response to the first information when the second information requested by the first information is the second planned speed at the target road section information;

a second generating unit, configured to generate the second planned speed according to the vehicle information and the road information;

A sending unit, configured to send the second planned speed to the vehicle.
An electronic device comprising: a processor and a memory storing computer program instructions;

When the processor executes the computer program instructions, it realizes the information processing method according to any one of claims 1-5; or, realizes the information processing method according to any one of claims 6-9; or, realizes The information processing method according to any one of claims 10-11.
A computer storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the information processing method according to any one of claims 1-5 is realized; or, the method according to any one of claims 1-5 is realized; The information processing method described in any one of claims 6-9; or, the information processing method described in any one of claims 10-11.