WO2023207598A1 - 一种信息传输方法、装置、车辆及车联网设备 - Google Patents

一种信息传输方法、装置、车辆及车联网设备 Download PDF

Info

Publication number
WO2023207598A1
WO2023207598A1 PCT/CN2023/087843 CN2023087843W WO2023207598A1 WO 2023207598 A1 WO2023207598 A1 WO 2023207598A1 CN 2023087843 W CN2023087843 W CN 2023087843W WO 2023207598 A1 WO2023207598 A1 WO 2023207598A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
message
vehicles
internet
information
Prior art date
Application number
PCT/CN2023/087843
Other languages
English (en)
French (fr)
Inventor
张学艳
Original Assignee
中信科智联科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中信科智联科技有限公司 filed Critical 中信科智联科技有限公司
Publication of WO2023207598A1 publication Critical patent/WO2023207598A1/zh

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

Definitions

  • the present disclosure relates to the technical field of Internet of Vehicles, and in particular, to an information transmission method, device, vehicle, and Internet of Vehicles equipment.
  • the first-stage application scenario is mainly for status sharing, that is, the vehicle shares its real-time status information with surrounding devices, mainly for broadcast applications, and does not require interaction;
  • the second-stage application scenario is mainly for intent sharing and vehicle-road collaboration, where the vehicle Not only does it send real-time status information, it also sends its own vehicle's intention information, and can then request cooperation with surrounding vehicles or roadside devices.
  • surrounding vehicles or roadside equipment mainly consider the vehicle's priority when deciding whether to cooperate, and the vehicle's priority is mainly based on traffic rules in related technologies.
  • This algorithm does not It cannot solve the gaming problem of vehicles with the same road rights, nor can it solve the problem of poor user experience when vehicles with lower road rights cannot complete driving tasks for a long time.
  • the purpose of this disclosure is to provide an information transmission method, device, vehicle and Internet of Vehicles equipment, thereby solving the game problem of vehicles with the same right of way not being considered in the vehicle-road collaboration process in related technologies and the long-term problem of vehicles with lower right of way. The problem of being unable to complete the driving task.
  • embodiments of the present disclosure provide an information transmission method, which is applied to the first vehicle.
  • the method includes:
  • sending the first message to the Internet of Vehicles device includes:
  • the first message is sent to the Internet of Vehicles device.
  • the first information includes at least one of the following:
  • the identity information of the Internet of Vehicles device is the identity information of the Internet of Vehicles device.
  • the information related to the collaboration request includes at least one of the following:
  • the method further includes:
  • the method further includes:
  • Indication information used to indicate that the first vehicle has successfully received the traffic strategy
  • the action that the first vehicle is about to perform is about to perform.
  • the method further includes:
  • the access policy includes denial and/or the third information
  • sending the updated first message includes:
  • the updated first message is sent at a first time, and the first time is separated from the current time by a first length of time.
  • the method before the step of sending the updated first message, the method further includes:
  • the sending of the updated first message includes:
  • inventions of the present disclosure provide an information transmission method, which is applied to Internet of Vehicles equipment.
  • the method includes:
  • a first message sent by the first vehicle is received, wherein the first message includes a right-of-way level and/or first information related to the right-of-way level.
  • the first information includes at least one of the following:
  • the identity information of the Internet of Vehicles device is the identity information of the Internet of Vehicles device.
  • the information related to the collaboration request includes at least one of the following:
  • the Internet of Vehicles device has a network connection function and supports a collaborative function; the method further includes:
  • a passage policy is sent to the first vehicle, where the passage policy includes at least one of consent, rejection, second information representing consent, and third information representing rejection.
  • the method also includes:
  • a third message is sent to the second vehicle so that the second vehicle can The message assists the first vehicle to pass.
  • the method also includes:
  • the sending of a traffic strategy to the first vehicle according to the first message includes:
  • corresponding traffic strategies are sent to each of the first vehicles in sequence.
  • the method before the step of sending a traffic policy to the first vehicle according to the first message, the method further includes:
  • the passage strategy is determined based on the right-of-way level of the first vehicle and/or the right-of-way level of the third vehicle.
  • an embodiment of the present disclosure provides a vehicle, including a transceiver, a memory, a processor, and a program or instructions stored in the memory and run on the processor.
  • the processor When the program or instruction is executed, the information transmission method as described in the first aspect is implemented.
  • embodiments of the present disclosure provide an Internet of Vehicles device, including a transceiver, a memory, a processor, and a program or instructions stored on the memory and run on the processor.
  • the processor executes the program or instruction, the information transmission method as described in the second aspect is implemented.
  • an embodiment of the present disclosure provides an information transmission device, which is applied to the first vehicle.
  • the device includes:
  • a sending module configured to send a first message to the Internet of Vehicles device, where the first message includes the following: One item missing:
  • inventions of the present disclosure provide an information transmission device for use in Internet of Vehicles equipment.
  • the device includes:
  • a receiving module configured to receive a first message sent by the first vehicle, wherein the first message includes a right-of-way level and/or first information related to the right-of-way level.
  • embodiments of the present disclosure provide a readable storage medium on which a program is stored, and when the program is executed by a processor, the information transmission method as described in the first aspect is implemented, or, as The information transmission method described in the second aspect.
  • the first vehicle sends the first message including the right-of-way level and/or the first information related to the right-of-way level to the Internet of Vehicles device, so that the Internet of Vehicles device can be based on the first vehicle. Decisions are made based on the right-of-way level, which avoids the gaming problem of vehicles with the same right-of-way and solves the problem of vehicles with lower right-of-way being unable to complete driving tasks for a long time, thereby improving the user's driving experience.
  • Figure 1 is one of the schematic flow diagrams of an information transmission method according to an embodiment of the present disclosure
  • Figure 2 is a second schematic flowchart of an information transmission method according to an embodiment of the present disclosure
  • Figure 3 is a schematic structural diagram of an information transmission device according to an embodiment of the present disclosure.
  • Figure 4 is a second structural schematic diagram of an information transmission device according to an embodiment of the present disclosure.
  • Figure 5 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure.
  • B corresponding to A means that B is associated with A, and B can be determined based on A.
  • determining B based on A does not mean determining B only based on A.
  • B can also be determined based on A and/or other information.
  • self-driving and manual driving vehicles mix, in order to ensure safety, self-driving vehicles will mostly adopt parking, avoidance and lane keeping strategies, resulting in low traffic efficiency; if self-driving and self-driving vehicles collide in certain scenes or road conditions When encountering each other, the two vehicles may take a long time due to game problems during the decision-making process, and even end up having to choose to park. Take the ramp merging scene as an example.
  • the autonomous vehicle's decision is generally to slow down and give way; if an autonomous vehicle meets an autonomous vehicle and there is a collision between the two vehicles, If the risk is high, both vehicles may decide to slow down and give way at the same time, which may result in the risk of collision remaining unresolved and affecting traffic efficiency.
  • Ramp vehicles merge into the main road, and the right of way for the main road vehicles is higher than that of the ramp vehicles. If the vehicle density on the main road is high, even if there is only one vehicle on the ramp, it may take a long time to merge into the main road.
  • the queue length of the vehicles on the ramp may always be lower than that of the vehicles on the main road, so for the vehicles on the ramp For vehicles, they can quickly merge into the main road, but the main road vehicles need to continue to give way to the ramp vehicles, which is contrary to the principle that the right of way of the main road vehicles is higher than the right of way of the ramp vehicles, affecting the traffic efficiency and user experience of the main road vehicles.
  • Lateral driving behavior solutions in related technologies mainly assist vehicles in making decisions by collecting dynamic driving parameters (speed, acceleration, etc.) of surrounding vehicles and predicting the driving trajectories of surrounding vehicles. They are mainly divided into two major categories of solutions:
  • Roadside equipment senses surrounding vehicle information and sends decisions to relevant vehicles. For example, if self-driving vehicle A sends a lane change request, and RSU determines that it will affect self-driving vehicle B and requires vehicle B to give way, RSU will send the decision information to vehicle A and vehicle B, and vehicle A and vehicle B will follow the decision. Results drive.
  • Self-driving vehicle A sends a lane change request, and there is self-driving vehicle B around it.
  • vehicle B After receiving vehicle A's lane change request, vehicle B mainly includes the vehicle's real-time driving information (speed, location, etc.) and basic attribute information of the vehicle (such as size, vehicle type, etc.), decide whether to give way, and inform vehicle A of the decision result.
  • the above two solutions can solve the traffic strategy of autonomous vehicles in scenarios such as lane changes, entrances, intersections, etc. to a certain extent, but they cannot solve the game problems and user experience issues in specific scenarios.
  • Solution 1 can solve the game problem through collaborative decision-making by roadside equipment, that is, autonomous vehicles can clearly know the passing sequence, but this decision may affect the user experience of some vehicles.
  • Option 2 Vehicle collaborative decision-making.
  • the data in related technologies cannot support the universal decision of whether to give way to an autonomous vehicle (if it is based on the distance from the vehicle in front, it is likely to sacrifice the passing efficiency of the own vehicle); on the other hand,
  • the standards in related technologies only stipulate the messages sent after vehicles decide to cooperate, but do not specify the circumstances under which cooperation must occur. Vehicles that request cooperation from other vehicles may not receive coordination support from surrounding vehicles for a long time, affecting the user experience.
  • FIG. 1 it is one of the flow diagrams of the information transmission method according to the embodiment of the present disclosure.
  • the method is applied to the first vehicle, and the method includes:
  • Step 101 Send a first message to the Internet of Vehicles device, where the first message includes at least one of the following:
  • the first vehicle may send the first message periodically, or send the first message based on a specific scenario or situation.
  • the timing of sending the first message is not specifically limited.
  • the Internet of Vehicles equipment is a device with a network connection function within the first range, such as other vehicles in the first range (receiver vehicle), third-party equipment around the first vehicle, such as: road Road Side Unit (RSU), road side infrastructure, cloud platform server, Multi-access Mobile Edge Computing (MEC) server, etc.
  • the first range is related to the first vehicle, for example: within 50m centered on the first vehicle; or the range is related to the business scenario where the first vehicle is located, for example, when the first vehicle exits the highway, the first range
  • the range may be the range between the highway exit and the location of the first vehicle.
  • the first range may be the gap between two vehicles in the adjacent lane where lane changes can be made safely.
  • the information transmission method of the embodiment of the present disclosure uses the first vehicle to send the first message including the right-of-way level and/or the first information related to the right-of-way level to the Internet of Vehicles device, so that the Internet of Vehicles device can be based on the first vehicle Decisions are made based on the right-of-way level, which avoids the gaming problem of vehicles with the same right-of-way and solves the problem of vehicles with lower right-of-way being unable to complete driving tasks for a long time, thereby improving the user's driving experience.
  • the first vehicle may send the first message through any of a broadcast mode, a unicast mode, and a multicast mode; the embodiment of the present disclosure does not specifically limit the sending mode of the first message.
  • step 101 sending a first message to the Internet of Vehicles device, includes:
  • the first message is sent to the Internet of Vehicles device.
  • the first vehicle when the first vehicle determines that it needs the cooperation of other vehicles, for example, it needs to change lanes or merge into an intersection in the current path planning, the first vehicle reports to the Internet of Vehicles The device sends the first message, so that the Internet of Vehicles device can determine the right-of-way level of the first vehicle based on the first message, so as to make collaborative decisions based on the right-of-way level of the first vehicle, so that other vehicles assist the first vehicle. Complete tasks that require collaboration.
  • step 101 sends a first message to the Internet of Vehicles device, including any of the following:
  • the first message is sent to the Internet of Vehicles device.
  • the first vehicle when the first vehicle requires vehicle collaboration, the first vehicle can send the collaboration request and the first message at the same time; it can also send the first message first, and then send the collaboration request; it can also send the collaboration request first, and then send the third message.
  • One message that is, there is no chronological relationship between the sending timing and sending order of the collaboration request and the first message.
  • the first information includes at least one of the following:
  • the identity information of the Internet of Vehicles device is the identity information of the Internet of Vehicles device.
  • vehicle types may include, for example: special vehicles (ambulances, fire trucks, police cars, etc.), public vehicles (buses, shuttles, etc.), special vehicles (such as sanitation vehicles, road maintenance vehicles, etc.) work vehicles), etc., ordinary vehicles (such as passenger cars, taxis), etc.
  • the Internet of Vehicles device that receives the first message may be the only Internet of Vehicles device or it may not be the only Internet of Vehicles device, therefore, if it is the only Internet of Vehicles device, the first Internet of Vehicles device
  • the message should contain the identity information of the recipient. If it is not the only recipient device, the first message can contain the identity information of all recipients within a certain range.
  • the vehicle networking device in the embodiment of the present disclosure includes at least one second vehicle and/or third-party device with networking function. In this way, the optimal traffic decision can be achieved through communication between the first vehicle and the Internet of Vehicles device.
  • the Internet of Vehicles device also supports a collaboration function. In this way, when the first vehicle needs to cooperate, the Internet of Vehicles device can assist the first vehicle. Complete the operation corresponding to the collaboration request.
  • a possible implementation is: before sending the first message to the Internet of Vehicles device in step 101, the method further includes:
  • the second vehicle and/or the third party device are determined in the at least one communication device according to a communication process with at least one communication device surrounding the first vehicle.
  • the first vehicle can select the Internet of Vehicles device with the Internet of Vehicles function among these communication devices through communication with the surrounding communication devices, or select the Internet of Vehicles device with the Internet of Vehicles function and the collaboration function, thereby Send the first message to the determined vehicle networking device.
  • the first vehicle does not need to predetermine the Internet of Vehicles device, but the first vehicle directly sends the first message to the communication devices around it, and can receive the communication of the first message.
  • the device is the Internet of Vehicles device in the embodiment of the present disclosure.
  • the first message may not carry the identity information of the Internet of Vehicles device.
  • the information related to the collaboration request includes at least one of the following:
  • the waiting time of the collaboration request; the waiting time of the collaboration request is the time interval ⁇ t between the first collaboration request and the current collaboration request, etc.
  • the number of rejections of collaboration requests is the number of rejections reported by other vehicles, etc.;
  • the purpose of the cooperation request includes refueling, charging, accidents in front of the lane, road construction ahead, etc.;
  • the relationship between path planning and collaboration requests can be whether collaboration is initiated according to path planning needs, etc. Specifically, when the first vehicle needs to collaboratively change lanes, whether the lane change request It is the only path in the path planning, that is: whether it is necessary to change lanes;
  • the location where the collaboration request is initiated; the location where the collaboration request is initiated can be, for example, the distance between the first vehicle and the exit, the lane in which the first vehicle is located, etc. Based on the location where the collaboration request is initiated, the impact on overall traffic efficiency when the collaboration request fails can be determined. Influence;
  • Abnormal conditions of the vehicle such as vehicle failure, vehicle loss of control, etc.
  • the Internet of Vehicles device can determine the right of way of the first vehicle based on the information related to the collaboration request. Specifically, it can be based on the mapping relationship between the preconfigured right of way level and the content in the first information (configuration as follows) (Table 2) to determine the right of way of the first vehicle; as a specific example, if multiple items in Table 2 are met at the same time, the highest communication right level can be selected.
  • Table 2 Correspondence between information related to collaboration requests and right-of-way levels
  • Table 2 is an example of the mapping relationship between the right-of-way level and the content in the first information.
  • the mapping relationship can be configured based on specific requirements, and is not specifically limited in this embodiment of the disclosure.
  • the method further includes:
  • the Internet of Vehicles device can determine the traffic strategy based on the received first message and send the traffic strategy to the first vehicle. Specifically, in the case where the first message includes the right-of-way level, the traffic strategy can be determined based on the received first message.
  • the Internet of Vehicles device may directly determine the traffic strategy based on the right-of-way level of the first vehicle.
  • the Internet of Vehicles device may determine the traffic policy corresponding to the first information based on the above Table 2.
  • Right-of-way level and determine the access strategy based on the determined communication right level.
  • the Internet of Vehicles device can determine the collaboration strategy based on the following Table 3, and further determine the access strategy based on the collaboration strategy.
  • should agree means must agree, that is, if the priority level of the first vehicle is 1, the recipient must agree to the collaboration; representatives of suitable and agreeable can refuse.
  • the traffic strategy may be determined based on the right-of-way level of the first vehicle and the right-of-way level of the second vehicle, where the second vehicle assists the first vehicle in completing the task corresponding to the collaboration request.
  • Vehicles operated include the following situations:
  • the right-of-way level of the first vehicle is Level 2 or Level 3.
  • Table 3 By looking up Table 3, it can be seen that the collaborative strategy is appropriate, indicating that the demand of the first vehicle is urgent.
  • the right-of-way of the second vehicle (receiver) The right-of-way level is higher than that of the first vehicle (sender), indicating that the urgency of the second vehicle is higher, and the second vehicle determines "reject”.
  • the right-of-way level of the second vehicle (receiver) is less than or Equal to the right-of-way level of the first vehicle (sender), at this time the second vehicle determines "agree";
  • the right-of-way level of the first vehicle is Level 4 or Level 5.
  • the collaborative strategy is agreeable, indicating that the demand of the first vehicle is not urgent.
  • it can be: ignore the second vehicle (receiver) by default Whether the right-of-way level of the first vehicle (sender) is higher than that of the first vehicle (sender), the second vehicle does not agree, or, combined with the current road congestion, the second vehicle's own condition (electricity/fuel level) and other external factors, Based on the principle of giving priority to safety and efficiency, the second vehicle determines whether to agree.
  • the second information and the third information may be information related to the cooperation request of the first vehicle. If the cooperation request is to change lanes, the second information may be please change lanes or please change lanes at a certain time. Change lanes, etc.; the third information may be please drive along the current road, etc.
  • the method further includes:
  • Indication information used to indicate that the first vehicle has successfully received the traffic strategy
  • the action that the first vehicle is about to perform is about to perform.
  • the first vehicle can send a response message to the Internet of Vehicles device to inform the Internet of Vehicles device that it has successfully received the communication policy, where the second message can also be To further include actions that are about to be performed by the first vehicle. For example, if the collaboration request of the first vehicle is lane change and the traffic policy is consent or second information, then the action that is about to be performed by the first vehicle is the lane change operation corresponding to the collaboration request; The first vehicle's cooperation request is lane change and the traffic policy is rejection or third information, then the action to be performed by the first vehicle is to continue driving along the current road.
  • the first vehicle may not send a response message to the Internet of Vehicles device, but perform corresponding operations based on the access policy. For example, if the access policy is consent and/or second information, then the first vehicle executes the collaboration request. Corresponding operation; if the access policy is rejection and/or third information, update the first message and send it, or stop sending the first message.
  • the method further includes: when the passage policy is consent and/or second information, the first vehicle performs an operation corresponding to the collaboration request. Similarly, the second vehicle also performs corresponding operations based on the traffic strategy. For example, if the first vehicle's collaborative request is to change lanes, and the second vehicle is located in the target lane of the first vehicle and behind the first vehicle, then the first vehicle The action that the vehicle is about to perform is to change lanes to the target lane, and the action that the second vehicle is about to perform is to decelerate.
  • the method further includes:
  • the access policy includes denial and/or the third information
  • the first vehicle can regenerate the first message based on the current situation and send the updated first message; or, the first vehicle can continue driving according to the current status without Make a collaboration request again.
  • sending the updated first message includes:
  • the updated first message is sent at a first time, and the first time is separated from the current time by a first length of time.
  • the first vehicle can immediately update the first message according to the current situation, and then The updated first message is sent after an interval of a first period of time, or the first vehicle updates the first message according to the current situation after an interval of a first period of time, and immediately sends the updated first message. That is to say, the embodiment of the present disclosure does not limit the timing of sending the updated first message, and it can be determined according to actual needs.
  • the method before the step of sending the updated first message, the method further includes:
  • the sending of the updated first message includes:
  • the Internet of Vehicles device that assists the first vehicle in completing the corresponding operation of the collaboration request will change. Therefore, before sending the updated first message, it is necessary to first determine to receive the updated first message. Messages to connected car devices.
  • the Internet of Vehicles device that collaborates with the first vehicle can be determined, the content in the first message can be updated, and the first message and/or the collaboration request can be updated.
  • the sending timing is to send the updated first message to the currently determined Internet of Vehicles device at the currently determined sending opportunity, so that the Internet of Vehicles device cooperates with the first vehicle to pass based on the first message.
  • the first vehicle sends a first message to the Internet of Vehicles device, and the Internet of Vehicles device specifies a communication strategy related to the first vehicle according to the first message.
  • the Internet of Vehicles device specifies a communication strategy related to the first vehicle according to the first message.
  • an embodiment of the present disclosure also provides an information transmission method, which is applied to Internet of Vehicles equipment.
  • the method includes:
  • Step 202 Receive a first message sent by a first vehicle, where the first message includes a right-of-way level and/or first information related to the right-of-way level.
  • the Internet of Vehicles equipment includes a second vehicle and/or a third-party device, where the second vehicle is a vehicle that assists the first vehicle in passing, and the third-party device can be an RSU, roadside infrastructure, or cloud platform server. , MEC server, etc.
  • the Internet of Vehicles device in the embodiment of the present disclosure receives the first message sent by the first vehicle, thereby being able to assist the first vehicle in passing according to the first message. In this way, the game problem of vehicles with the same right of way is avoided. It solves the problem of vehicles with lower road rights being unable to complete driving tasks for a long time, thereby improving the user's driving experience.
  • the first vehicle may periodically send the first message.
  • special vehicles ambulances, fire trucks, etc.
  • the Internet of Vehicles When the device receives the first message, it directly assists the first vehicle to pass based on the first message.
  • the Internet of Vehicles device is a second vehicle located in front of the first vehicle. The second vehicle receives the first message. Then perform lane changing and other operations to ensure that the road currently traveled by the first vehicle is smooth and allow the first vehicle to pass as quickly as possible. That is to say, when the first vehicle periodically sends the first message, the Internet of Vehicles device performs an operation of assisting the passage of the first vehicle based on the first message. If the Internet of Vehicles device is a third-party device, the Internet of Vehicles device It is necessary to communicate with the vehicle assisting the first vehicle to pass to ensure the safe and fast passage of the first vehicle.
  • the first vehicle may send the first message when vehicle collaboration is required; specifically, the first message may be sent before the collaboration request is sent, or the collaboration request may be sent at the same time. and first news.
  • the first information includes at least one of the following:
  • the identity information of the Internet of Vehicles device is the identity information of the Internet of Vehicles device.
  • the information related to the collaboration request includes at least one of the following:
  • the Internet of Vehicles device has a network connection function and supports a collaborative function; the method further includes:
  • a passage policy is sent to the first vehicle, where the passage policy includes at least one of consent, rejection, second information representing consent, and third information representing rejection.
  • the vehicle networking device after receiving the first message, the vehicle networking device further sends the message to the vehicle according to the first message.
  • the first vehicle sends a traffic policy to inform the first vehicle whether this collaboration request is successful.
  • the Internet of Vehicles device first determines the right-of-way level of the first vehicle based on the first message. Specifically, if the first message includes the right-of-way level, it can directly obtain the right-of-way level of the first vehicle.
  • the right-of-way level when the first vehicle includes the first information, determines the right-of-way level corresponding to the first information according to the aforementioned Table 2; then, determines the right-of-way level corresponding to the first vehicle according to the aforementioned Table 3
  • the corresponding collaborative strategy determine the access strategy based on the collaborative strategy. Among them, when the collaborative strategy is level 1 and should be agreed, the passage strategy is agreed.
  • the right-of-way level of the second vehicle assisting the first vehicle to pass and the right-of-way level of the first vehicle can be used.
  • the right-of-way grade determines whether access is granted. For example: when the passing priority of the first vehicle is higher than the passing priority of the second vehicle, the passing policy is determined to be consent/second information.
  • the method also includes:
  • a third message is sent to the second vehicle so that the second vehicle can The message assists the first vehicle to pass.
  • the Internet of Vehicles device is a third-party device and the third-party device determines that it needs to assist the first vehicle in passing, it will send a third message to the second vehicle that assists the first vehicle to assist the first vehicle.
  • the third message includes collaborative suggestions, collaborative instructions, collaborative commands, collaborative messages, etc.
  • the method also includes:
  • the sending of a traffic strategy to the first vehicle according to the first message includes:
  • corresponding traffic strategies are sent to each of the first vehicles in sequence.
  • the Internet of Vehicles device when the Internet of Vehicles device receives coordination requests sent by multiple first vehicles, it can assist each first vehicle to pass in sequence based on the level of the right of way of each first vehicle.
  • priority should be given to Assist the first vehicle with a higher right-of-way level to pass.
  • the method before the step of sending a traffic policy to the first vehicle according to the first message, the method further includes:
  • the passage strategy is determined based on the right-of-way level of the first vehicle and/or the right-of-way level of the third vehicle.
  • the decision can be made based on the right-of-way levels of the first vehicle and the third vehicle assisting the first vehicle in passing.
  • the access strategy is Agree.
  • the access strategy is Reject.
  • the right-of-way level of the first vehicle is the same as that of the third vehicle, the right-of-way level of the first vehicle can be considered.
  • the road condition information around a vehicle is used to make traffic strategy decisions.
  • the Internet of Vehicles device is a vehicle
  • the third vehicle in this specific implementation is the Internet of Vehicles device.
  • Example 1 The first vehicle sends a right-of-way level and requests the second vehicle to cooperate.
  • Vehicle A (the first vehicle) is an ordinary vehicle. According to the path planning, it should exit the current highway at the front exit. The current distance from the highway is 1km. Vehicle A initiates a lane change request. The right-of-way level in the request is set to level 5. Vehicle B (the first vehicle) After receiving the request from vehicle A, the second vehicle) sends a rejection request for cooperation; while vehicle A is driving forward, it continues to send lane change requests to other vehicles until the distance from the exit is less than 100m and the right-of-way level of vehicle A meets For Level 1 conditions, after receiving vehicle A's lane change request, vehicle D (the second vehicle) makes the decision to agree to the collaboration request. The subsequent collaboration process between vehicle A and vehicle D.
  • vehicle D the second vehicle
  • Example 2 The first vehicle sends the first information related to the right-of-way level and requests the second vehicle to cooperate.
  • Vehicle A (the first vehicle) is an ordinary vehicle. According to the path planning, vehicle A should exit the current highway at the front exit. The current distance from the highway is 500m. Vehicle A sends a lane change request and related information about the coordination request, such as requesting a waiting time of 10 seconds. , the number of rejections is 6 times, the originating location of the request is 500m, etc., after vehicle B (the second vehicle) receives the request information from vehicle A, it determines that the right-of-way level of vehicle A is level 2, and the formulated access policy is agreed.
  • Example 3 The first vehicle sends the right-of-way level, and the third-party device formulates the access strategy
  • Vehicle A (the first vehicle) is an ordinary vehicle and sends a collaborative lane change request 500m away from the highway exit, and the right-of-way level is level 4.
  • the RSU third-party device
  • Vehicle A continues to drive forward and still sends cooperative lane change request information.
  • the RSU determines that vehicle A's request is urgent and sends collaborative commands/suggestions/messages to other vehicle B. etc., such as acceleration/deceleration, etc.
  • Vehicle B adjusts its speed according to the instructions of the RSU, and cooperates with vehicle A to complete the lane change and exit the highway exit.
  • Example 4 The first vehicle sends the right-of-way level, and the third-party device formulates the traffic strategy
  • Vehicles A and B are ordinary vehicles. According to the path planning, vehicle A is driving on the main road, 500m away from the front exit, and vehicle B is driving on the ramp, 100m away from the front entrance.
  • RSU third-party equipment
  • the RSU receives the collaboration requests from vehicles A and B, as well as the specific collaboration request information.
  • the RSU determines that the traffic priority level of vehicle B is level 2, and that of vehicle A is level 4. If the priority level of vehicle B is higher, the RSU takes priority. Process the collaborative merging request of vehicle B. After completing the collaboration, process the collaborative lane change request of vehicle A.
  • an embodiment of the present disclosure provides an information transmission device applied to a first vehicle.
  • the device includes:
  • the first sending module 301 is used to send a first message to the Internet of Vehicles device, where the first message includes at least one of the following:
  • the information transmission device in the embodiment of the present disclosure sends the first message including the right-of-way level and/or the first information related to the right-of-way level to the Internet of Vehicles device through the first sending module 301, so that the Internet of Vehicles device can be based on the first Decisions are made based on the right-of-way level of a vehicle to avoid vehicles with the same right-of-way. It solves the problem of vehicles with low road rights being unable to complete driving tasks for a long time, thereby improving the user's driving experience.
  • the first sending module 301 is specifically used to:
  • the first message is sent to the Internet of Vehicles device.
  • the first information includes at least one of the following:
  • the identity information of the Internet of Vehicles device is the identity information of the Internet of Vehicles device.
  • the information related to the collaboration request includes at least one of the following:
  • the device also includes:
  • a receiving module configured to receive the traffic policy sent by the Internet of Vehicles device after the first sending module 301 sends the first message to the Internet of Vehicles device when the first vehicle requires vehicle cooperation, wherein , the access policy includes at least one of the following: consent; rejection; second information representing consent; third information representing rejection.
  • the device also includes:
  • the second sending module is configured to send a second message to the Internet of Vehicles device after the receiving module receives the access policy sent by the Internet of Vehicles device, where the second message includes at least one of the following:
  • Indication information used to indicate that the first vehicle has successfully received the traffic strategy
  • the action that the first vehicle is about to perform is about to perform.
  • the device also includes:
  • An execution module configured to perform any of the following operations when the access policy includes rejection and/or the third information:
  • the execution module when used to send the updated first message, it is specifically configured to: send the updated first message at a first time, and the first time is separated from the current time by a first length of time. .
  • the device also includes:
  • a determination module configured to determine an Internet of Vehicles device for receiving the updated first message before the execution module sends the updated first message
  • execution module When the execution module is used to send the updated first message, it is specifically configured to: send the updated first message to the Internet of Vehicles device used to receive the updated first message.
  • an embodiment of the present disclosure also provides an information transmission device, which is applied to Internet of Vehicles equipment, including:
  • the receiving module 401 is configured to receive a first message sent by a first vehicle, where the first message includes a right-of-way level and/or first information related to the right-of-way level.
  • the receiving module 401 receives the first message sent by the first vehicle, so that the information transmission device can assist the first vehicle to pass according to the first message. In this way, the game problem of vehicles with the same road rights is avoided, and the problem of vehicles with lower road rights being unable to complete driving tasks for a long time is solved, thereby improving the user's driving experience.
  • the first information includes at least one of the following:
  • the identity information of the Internet of Vehicles device is the identity information of the Internet of Vehicles device.
  • the information related to the collaboration request includes at least one of the following:
  • the Internet of Vehicles device has a network connection function and supports a collaborative function; the device further includes:
  • a first sending module configured to send a passage policy to the first vehicle according to the first message, where the passage policy includes at least one of consent, rejection, second information representing consent, and third information representing rejection. .
  • the device also includes:
  • a second sending module configured to send a third message to the second vehicle when the Internet of Vehicles device is a third-party device and the access policy includes consent and/or the second information, so that the third vehicle The two vehicles assist the first vehicle in passing according to the third message.
  • the device also includes:
  • a first determination module configured to determine the right-of-way level of each corresponding first vehicle according to each first message when receiving first messages sent by multiple first vehicles;
  • a processing module configured to sort the right-of-way levels of each of the first vehicles according to preset rules
  • the first sending module is specifically configured to send corresponding traffic strategies to each of the first vehicles in sequence according to the order of the right-of-way levels of each of the first vehicles.
  • the device also includes:
  • a second determination module configured to determine the right-of-way level of the first vehicle according to the first message
  • a third determination module configured to determine the right-of-way level of a third vehicle, where the third vehicle is a vehicle assisting the passage of the first vehicle;
  • a fourth determination module is configured to determine the passage strategy according to the right-of-way level of the first vehicle and/or the right-of-way level of the third vehicle.
  • an embodiment of the present disclosure also provides a vehicle, including: a transceiver 510 , a processor 500 , a memory 520 , and programs or instructions stored on the memory 520 and executable on the processor 500 ;
  • the processor executes the program or instruction, it implements each process of the information transmission method embodiment applied to the first vehicle as described above, and can achieve the same technical effect. In order to avoid duplication, it will not be described again here.
  • the transceiver 510 is used to receive and send data under the control of the processor 500.
  • the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 500 and various circuits of the memory represented by memory 520 are connected together.
  • the bus architecture also connects together various other circuits such as peripherals, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein.
  • the bus interface provides the interface.
  • Transceiver 510 may be a plurality of elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium.
  • the user interface 530 can also be an interface that can connect external and internal required devices.
  • the connected devices include but are not limited to keypads, monitors, speakers, microphones, joysticks, etc.
  • the processor 500 is responsible for managing the bus architecture and general processing, and the memory 520 can store data used by the processor 500 when performing operations.
  • Embodiments of the present disclosure also provide an Internet of Vehicles device, including a transceiver, a memory, a processor, and a program or instructions stored in the memory and run on the processor.
  • the processor executes the program or instructions.
  • the structure of the Internet of Vehicles device is similar to the structure of the vehicle. Therefore, the structure of the Internet of Vehicles device can be referred to FIG. 5 .
  • an embodiment of the present disclosure also provides a readable storage medium.
  • a program is stored on the readable storage medium.
  • the program is executed by a processor, the above-mentioned processes of the information transmission method embodiment applied to the first vehicle are implemented. , or the various processes of the information transmission method embodiments applied to the Internet of Vehicles equipment as described above, and can achieve the same technical effect. To avoid duplication, they will not be described again here.
  • the computer-readable storage medium such as read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
  • each component or each step can be decomposed and/or recombined. These decompositions and/or recombinations should be considered equivalent versions of the present disclosure.
  • the steps for executing the above series of processing can naturally be performed in the order described or in time. They are executed sequentially, but they do not need to be executed in chronological order; some steps can be executed in parallel or independently of each other.
  • all or any steps or components of the methods and devices of the present disclosure can be implemented in any computing device (including processor, storage medium, etc.) or a network of computing devices in the form of hardware or firmware. , software or their combination, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present disclosure.
  • the objects of the present disclosure can also be achieved by running a program or a set of programs on any computing device.
  • the computing device may be a well-known general-purpose device. Therefore, the object of the present disclosure can also be achieved only by providing a program product containing a program code for implementing the method or apparatus. That is, such a program product also constitutes the present disclosure, and a storage medium storing such a program product can also constitute the present disclosure.
  • the storage medium may be any known storage medium or any storage medium developed in the future.
  • each module above is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or it can also be physically separated.
  • these modules can all be implemented in the form of software calling through processing components; they can also all be implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing components, and some modules can be implemented in the form of hardware.
  • the determination module can be a separate processing element, or can be integrated into a chip of the above device.
  • it can also be stored in the memory of the above device in the form of program code, and can be processed by a certain processing element of the above device. Call and execute the functions of the above identified modules.
  • the implementation of other modules is similar.
  • each step of the above method or each of the above modules can be completed by instructions in the form of hardware integrated logic circuits or software in the processor element.
  • each module, unit, sub-unit or sub-module may be one or more integrated circuits configured to implement the above method, such as: one or more Application Specific Integrated Circuits (ASICs), or one or Multiple microprocessors (digital signal processor, DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, FPGA), etc.
  • ASICs Application Specific Integrated Circuits
  • DSP digital signal processor
  • FPGA Field Programmable Gate Array
  • the processing element can be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that can call program code.
  • CPU central processing unit
  • these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).
  • SOC system-on-a-chip

Abstract

一种信息传输方法、装置、车辆及车联网设备，涉及车联网技术领域，该方法应用于第一车辆，该方法包括：向车联网设备发送第一消息，第一消息包括以下至少一项：通行权等级；与通行权等级相关的第一信息（101）。

Description

一种信息传输方法、装置、车辆及车联网设备
相关申请的交叉引用
本公开主张在2022年04月25日在中国提交的中国专利申请号No.202210442527.4的优先权，其全部内容通过引用包含于此。
技术领域
本公开涉及车联网技术领域，尤其是涉及一种信息传输方法、装置、车辆及车联网设备。
背景技术
随着车联网技术的迅速发展，搭载智能网联功能的汽车市场规模持续扩大。国内外标准组织已制定丰富的应用场景标准。一阶段的应用场景主要是做状态共享，即车辆向周围设备分享自己的实时状态信息，主要是做广播应用，不需要交互；二阶段的应用场景则主要是做意图共享和车路协作，车辆不仅发送实时状态信息，还要发送自车的意图信息，进而可与周围的车辆或路侧设备请求协作。
但是，在进行车路协作时，周围的车辆或路侧设备在决策是否协同时，主要考虑车辆的通行优先权，而车辆的优先通行权主要是基于相关技术中的交通规则，这种算法没法解决路权相同的车辆的博弈难题，也没法解决路权较低的车辆长时间无法完成驾驶任务时用户体验不好的问题。
发明内容
本公开的目的在于提供一种信息传输方法、装置、车辆及车联网设备，从而解决相关技术中车路协作过程中没有考虑到路权相同的车辆的博弈难题和路权较低的车辆长时间无法完成驾驶任务的问题。
第一方面，为了达到上述目的，本公开实施例提供一种信息传输方法，应用于第一车辆，所述方法包括：
向车联网设备发送第一消息，所述第一消息包括以下至少一项：
通行权等级；
与所述通行权等级相关的第一信息。
可选地，所述向车联网设备发送第一消息，包括：
在所述第一车辆需要车辆协同的情况下，向所述车联网设备发送所述第一消息。
可选地，所述第一信息包括以下至少一项：
所述第一车辆的车辆类型；
与协同请求相关的信息；
所述车联网设备的身份信息。
可选地，所述与协同请求相关的信息包括以下至少一项：
协同请求的等待时间；
协同请求被拒次数；
协同请求的目的；
路径规划与协同请求的关系；
发起协同请求的位置；
车辆的异常情况。
可选地，所述在所述第一车辆需要车辆协同的情况下，向所述车联网设备发送第一消息的步骤之后，所述方法还包括：
接收所述车联网设备发送的通行策略，其中，所述通行策略包括以下至少一项：同意；拒绝；表征同意的第二信息；表征拒绝的第三信息。
可选地，所述接收所述车联网设备发送的通行策略的步骤之后，所述方法还包括：
向所述车联网设备发送第二消息，所述第二消息包括以下至少一项：
指示信息，用于指示所述第一车辆已成功接收到所述通行策略；
所述第一车辆即将执行的动作。
可选地，所述接收所述车联网设备发送的通行策略的步骤之后，所述方法还包括：
在所述通行策略包括拒绝和/或所述第三信息的情况下，执行以下任一项操作：
发送更新后的第一消息；
停止发送第一消息。
可选地，所述发送更新后的第一消息，包括：
在第一时刻发送所述更新后的第一消息，所述第一时刻与当前时刻间隔第一时长。
可选地，所述发送更新后的第一消息的步骤之前，所述方法还包括：
确定用于接收所述更新后的第一消息的车联网设备；
所述发送更新后的第一消息，包括：
向所述用于接收所述更新后的第一消息的车联网设备发送所述更新后的第一消息。
第二方面，为了达到上述目的，本公开实施例提供一种信息传输方法，应用于车联网设备，所述方法包括：
接收第一车辆发送的第一消息，其中，所述第一消息包括通行权等级和/或与所述通行权等级相关的第一信息。
可选地，所述第一信息包括以下至少一项：
所述第一车辆的车辆类型；
与协同请求相关的信息；
所述车联网设备的身份信息。
可选地，所述与协同请求相关的信息包括以下至少一项：
协同请求的等待时间；
协同请求被拒次数；
协同请求的目的；
路径规划与协同请求的关系；
发起协同请求的位置；
车辆的异常情况。
可选地，所述车联网设备具有网联功能且支持协同功能；所述方法还包括：
根据所述第一消息，向所述第一车辆发送通行策略，所述通行策略包括同意、拒绝、表征同意的第二信息和表征拒绝的第三信息中的至少一个。
可选地，所述方法还包括：
在所述车联网设备为第三方设备且所述通行策略包括同意和/或所述第二信息的情况下，向第二车辆发送第三消息，以使所述第二车辆根据所述第三消息协助所述第一车辆通行。
可选地，所述方法还包括：
在接收到多个所述第一车辆发送的第一消息的情况下，根据各个所述第一消息，确定对应的各个所述第一车辆的通行权等级；
按照预设规则，对各个所述第一车辆的通行权等级进行排序；
所述根据所述第一消息，向所述第一车辆发送通行策略，包括：
根据各个所述第一车辆的通行权等级的排列顺序，依次向各个所述第一车辆发送对应的通行策略。
可选地，所述根据所述第一消息，向所述第一车辆发送通行策略的步骤之前，所述方法还包括：
根据所述第一消息，确定所述第一车辆的通行权等级；
确定第三车辆的通行权等级，所述第三车辆为协助所述第一车辆通行的车辆；
根据所述第一车辆的通行权等级和/或所述第三车辆的通行权等级，确定所述通行策略。
第三方面，为了达到上述目的，本公开实施例提供一种车辆，包括收发机、存储器、处理器及存储在所述存储器上并在所述处理器上运行的程序或指令，所述处理器执行所述程序或指令时实现如第一方面所述的信息传输方法。
第四方面，为了达到上述目的，本公开实施例提供一种车联网设备，包括收发机、存储器、处理器及存储在所述存储器上并在所述处理器上运行的程序或指令，所述处理器执行所述程序或指令时实现如第二方面所述的信息传输方法。
第五方面，为了达到上述目的，本公开实施例提供一种信息传输装置，应用于第一车辆，所述装置包括：
发送模块，用于向车联网设备发送第一消息，所述第一消息包括以下至 少一项：
通行权等级；
与所述通行权等级相关的第一信息。
第六方面，为了达到上述目的，本公开实施例提供一种信息传输装置，应用于车联网设备，所述装置包括：
接收模块，用于接收第一车辆发送的第一消息，其中，所述第一消息包括通行权等级和/或与所述通行权等级相关的第一信息。
第七方面，为了达到上述目的，本公开实施例提供一种可读存储介质，其上存储有程序，所述程序被处理器执行时实现如第一方面所述的信息传输方法，或者，如第二方面所述的信息传输方法。
本公开的上述技术方案至少具有如下有益效果：
本公开实施例的信息传输方法，通过第一车辆向车联网设备发送包括通行权等级和/或与所述通行权等级相关的第一信息的第一消息，能够使得车联网设备基于第一车辆的通行权等级进行决策，避免了路权相同的车辆的博弈难题，解决了路权较低的车辆长时间无法完成驾驶任务的问题，从而提高了用户的驾乘体验。
附图说明
图1为本公开实施例的信息传输方法的流程示意图之一；
图2为本公开实施例的信息传输方法的流程示意图之二；
图3为本公开实施例的信息传输装置的结构示意图之一；
图4为本公开实施例的信息传输装置的结构示意图之二；
图5为本公开实施例的车辆的结构示意图。
具体实施方式
为使本公开要解决的技术问题、技术方案和优点更加清楚，下面将结合附图及具体实施例进行详细描述。在下面的描述中，提供诸如具体的配置和组件的特定细节仅仅是为了帮助全面理解本公开的实施例。因此，本领域技术人员应该清楚，可以对这里描述的实施例进行各种改变和修改而不脱离本 公开的范围和精神。另外，为了清楚和简洁，省略了对已知功能和构造的描述。
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本公开的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定的特征、结构或特性可以任意适合的方式结合在一个或多个实施例中。
在本公开的各种实施例中，应理解，下述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本公开实施例的实施过程构成任何限定。
在本公开所提供的实施例中，应理解，“与A相应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其它信息确定B。
在进行本公开实施例的说明时，首先对与本公开实施例相关的技术或问题进行说明：
1、车辆的博弈难题：
若自动驾驶与人工驾驶车辆混行，为了保证安全性，自动驾驶车辆采取的多为停车、避让和车道保持的策略，交通效率较低；若自动驾驶与自动驾驶车辆在某些场景或路况下相遇，在决策过程中两车可能会由于博弈问题，耗费较长的时间，甚至最终只能选择停车。以匝道汇入场景为例，若是人工驾驶车辆与自动驾驶车辆相遇，若两车存在碰撞风险，自动驾驶车辆决策一般是减速让行；若是自动驾驶车辆与自动驾驶车辆相遇，且两车存在碰撞风险，则两车可能会同时决策减速让行，可能导致碰撞风险仍然无法解除，影响交通效率。
2、长时间等待导致用户体验差的示例：
匝道车辆向主道汇入，主道车辆的路权高于匝道车辆，若主道车辆密度较高，即使匝道车辆只有一辆车，可能也需要等待较长时间才能汇入主路。若是根据主道和匝道车辆的排队长度决定车辆的通行优先权，在主道车辆密度较高的情况下，匝道车辆排队长度可能一直低于主道车辆，则对于匝道车 辆来说，可快速汇入主道，但是主道车辆需要持续让行匝道车辆，与主道车辆路权高于匝道车辆路权的原则相违背，影响主道车辆的通行效率和用户体验。
3、自动驾驶车辆在纵向驾驶行为的决策上的研究已经比较成熟，如纵向速度、加速度的控制，如下表1中一阶段场景中的前向碰撞预警、紧急制动预警、异常车辆提醒、车辆失控预警、道路危险状况提示、限速预警、闯红灯预警等；但是在横向驾驶行为的决策上还需要深入的研究，如变道、匝道汇入、交叉口通行等，如下表1中二阶段场景中的协作式变道、协作式车辆汇入、协作式交叉口通行等。

表1一阶段和二阶段应用场景列表
相关技术中的横向驾驶行为解决方案主要是通过采集周围车辆动态行驶参数(速度、加速度等)以及预测周围车辆行驶轨迹的方法来辅助车辆进行决策，主要分为两大类方案：
方案1：路侧辅助实现
路侧设备(Road Side Unit，RSU)感知周围的车辆信息，并将决策下发至相关车辆。如，自动驾驶车辆A发送变道请求，RSU判定会影响到自动驾驶车辆B，且需车辆B让行，则RSU会将决策信息下发至车辆A和车辆B，车辆A和车辆B按照决策结果行驶。
方案2：车辆协同决策实现
自动驾驶车辆A发送变道请求，周围存在自动驾驶车辆B，车辆B在接收到A车的变道请求后，根据自身目前可获取到的周围车辆的信息主要包括车辆的实时行驶信息(速度、位置等)和车辆的基本属性信息(如尺寸、车辆类型等)，决策是否让行，并将决策结果告知车辆A。
上述两种方案可以一定程度上解决自动驾驶车辆在变道、汇入口、交叉口等场景下的通行策略，但是无法解决特定场景下的博弈难题和用户体验的问题。
例如，方案1通过路侧设备协同决策，可以解决博弈难题，即自动驾驶车辆可清楚的知道通行顺序，但是该决策可能会影响某些车辆的用户体验。方案2车辆协同决策，一方面，相关技术中的数据无法支撑自动驾驶车辆做出是否让行的通用性决策(若根据与前车间距，则很有可能会牺牲自车的通行效率)；另一方面，相关技术中标准只规定了车辆决定协同后发送的消息，但是没有规定什么情况下必须协同，请求他车协同的车辆可能会迟迟得不到周围车辆的协同支持，影响用户体验。
下面结合附图，通过具体的实施例及其应用场景对本公开实施例提供的信息传输方法、装置、车辆及车联网设备进行详细地说明。
如图1所示，为本公开实施例的信息传输方法的流程示意图之一，该方 法应用于第一车辆，该方法包括：
步骤101，向车联网设备发送第一消息，所述第一消息包括以下至少一项：
通行权等级；
与所述通行权等级相关的第一信息。
这里，需要说明的是，第一车辆可以周期性的发送该第一消息，或者，基于特定场景或特定情况，发送该第一消息，这里，对第一消息的发送时机不做具体限定。
这里，还需要说明的是，车联网设备为第一范围内的具有网联功能的设备，如，第一范围的其他车辆(接收方车辆)、第一车辆周围的第三方设备，如：路侧设备(Road Side Unit，RSU)、路侧基础设施、云平台服务器、多接入移动边缘计算(Multi-access Mobile Edge Computing，MEC)服务器等。其中，第一范围与第一车辆相关，例如：以第一车辆为中心的50m内；或者，与第一车辆所处的业务场景相关的范围，如，第一车辆驶出高速时，第一范围可以为高速出口与第一车辆所处位置之间的范围，又如，第一车辆请求变道时，第一范围可以是相邻车道中的可以安全变道的两车间隙。
本公开实施例的信息传输方法，通过第一车辆向车联网设备发送包括通行权等级和/或与所述通行权等级相关的第一信息的第一消息，使得车联网设备能够基于第一车辆的通行权等级进行决策，避免了路权相同的车辆的博弈难题，解决了路权较低的车辆长时间无法完成驾驶任务的问题，从而提高了用户的驾乘体验。
可选地，第一车辆可以通过广播方式、单播方式和组播方式中的任一种，发送所述第一消息；本公开实施例对第一消息的发送方式不做具体限定。
作为一个可选的实现方式，步骤101，向车联网设备发送第一消息，包括：
在所述第一车辆需要车辆协同的情况下，向所述车联网设备发送所述第一消息。
也就是说，本可选的实现方式中，在第一车辆确定其自身需要其他车辆协同时，如，当前路径规划中需要变道或者汇入路口等，第一车辆向车联网 设备发送所述第一消息，以使得车联网设备能够基于该第一消息确定第一车辆的通行权等级，从而基于第一车辆的通行权等级进行协同决策，以使得其他车辆协助该第一车辆完成需要协同的业务。
可选地，步骤101向车联网设备发送第一消息，包括以下任一项：
在发送协同请求时，向车联网设备发送所述第一消息；
在发送所述协同请求之前，向车联网设备发送所述第一消息；
在发送所述协同请求之后，向车联网设备发送所述第一消息。
也就是说，在第一车辆需要车辆协同时，第一车辆可以同时发送协同请求和第一消息；也可以先发送第一消息，然后再发送协同请求；也可以先发送协同请求，再发送第一消息，即：协同请求和第一消息的发送时机和发送顺序无时间先后顺序关系。
作为一个可选的实现方式，所述第一信息包括以下至少一项：
所述第一车辆的车辆类型；
与协同请求相关的信息；
所述车联网设备的身份信息。
本可选实现方式中，车辆类型例如可以包括：特殊车辆(救护车、消防车、警车等)、公共车辆(公交车、班车等)、专用车辆(如环卫车、道路养护车工程作业等专项作业车)等，普通车辆(如乘用车、出租车)等。
这里，需要说明的是，由于接收第一消息的车联网设备(接收方设备)可以是唯一车联网设备，也可以以是不唯一的车联网设备，因此，若是唯一的车联网设备，第一消息中应包含接收方的身份信息，若是不唯一的接收方设备，则第一消息中可以包含一定范围内所有接收方的身份信息，其中，在需要协同时，在协同的道路范围内的车辆应都是接收方设备。因此，本公开实施例中的车联网设备包括具有网联功能的至少一个第二车辆和/或第三方设备。如此，可以通过第一车辆与车联网设备之间通信实现最优的通行决策，进一步地，车联网设备还支持协同功能，如此，可以在第一车辆需要协同时，车联网设备协助第一车辆完成与协同请求相对应的操作。
在此基础上，一种可能的实现方式为：在步骤101，向车联网设备发送第一消息之前，所述方法还包括：
根据与所述第一车辆周围的至少一个通信设备的通信过程，在所述至少一个通信设备中确定所述第二车辆和/或所述第三方设备。
也就是说，第一车辆可以通过与周围的通信设备的通信，在这些通信设备中选择出具有车联网功能的车联网设备，或者，选择出具有车联网功能和协同功能的车联网设备，从而向确定出的车联网设备发送所述第一消息。
在此基础上，另一种可能的实现方式为：第一车辆无需预先确定车联网设备，而是第一车辆直接向其周围的通信设备发送第一消息，能够接收到该第一消息的通信设备即为本公开实施例中的车联网设备，其中，这种可能的实现方式中，第一消息可以不携带所述车联网设备的身份信息。
作为一个具体的实现方式，所述与协同请求相关的信息包括以下至少一项：
协同请求的等待时间；所述协同请求的等待时间为首次发起协同请求与本次发起协同请求的时间间隔△t等，
协同请求被拒次数；所述协同请求被拒次数为其他车辆反馈拒绝的次数等；
协同请求的目的；例如，所述协同请求的目的包括加油、充电、车道前方发生事故、前方道路施工等；
路径规划与协同请求的关系；例如，所述路径规划与协同请求的关系可以是是否是按照路径规划需要发起的协同等，具体的，在第一车辆需要协同变道时，该变道请求是否为路径规划中唯一的路径，即：是否必须要变道；
发起协同请求的位置；所述发起协同请求的位置如可以为第一车辆与出口距离，第一车辆所处的车道等，基于该发起协同请求的位置可以确定协同请求失败时对于整体交通效率的影响；
车辆的异常情况，例如，车辆故障，车辆失控等。
这里，需要说明的是，车联网设备可以基于与协同请求相关的信息确定第一车辆的通行权，具体可以基于预先配置的通行权等级和第一信息中的内容之间的映射关系(如下配置的表2)，确定第一车辆的通行权；其中，作为一个具体示例，若同时满足表2中的多项时，可以选择最高的通信权等级。

表2与协同请求相关的信息与通行权等级的对应关系表
结合表2可知，若车辆类型为特殊车辆，或者车辆的异常情况为发生异常，则车辆拥有优先通行权，此类车辆发起协同请求或周期性发送第一消息时，其它车辆应避让；若车辆类别为普通车辆，则需根据其协同请求相关信息对应的级别来判断其所属的优先权等级。
这里，需要说明的是，表2为通行权等级与第一信息中的内容的映射关系的一个示例，在实际应用中可以基于具体需求配置该映射关系，本公开实施例不做具体限定。
作为一个可选的实现方式，所述在所述第一车辆需要车辆协同的情况下，向所述车联网设备发送第一消息的步骤之后，所述方法还包括：
接收所述车联网设备发送的通行策略，其中，所述通行策略包括以下至少一项：同意；拒绝；表征同意的第二信息；表征拒绝的第三信息。
这里，需要说明的是，所述车联网设备可以基于接收到的第一消息确定通行策略，并将通行策略发送给第一车辆，具体的，在第一消息包括通行权等级的情况下，所述车联网设备可以直接基于所述第一车辆的通行权等级确定通行策略，在第一消息包括第一信息的情况下，所述车联网设备可以基于上述表2，确定与第一信息对应的通行权等级，并基于确定的通信权等级确定通行策略。
具体的，车联网设备可以基于下述表3，确定协同策略，并进一步基于协同策略进行通行策略的确定。

表3
其中，应同意即必须同意，也就是，如果第一车辆的优先权等级为1，则接收方必须同意协同；宜同意和可同意代表可以拒绝。在确定协同策略为宜同意或可同意时，可以基于第一车辆的通行权等级和第二车辆的通行权等级确定通行策略，其中，第二车辆为协助第一车辆完成与协同请求相对应的操作的车辆，具体包括以下几种情况：
(1)第一车辆的通行权等级为等级2或等级3，通过查表3可知协同策略为宜同意，表明第一车辆的需求比较迫切，此时如果第二车辆(接收方)的通行权等级高于第一车辆(发送方)的通行权等级，说明第二车辆的迫切度更高，则第二车辆确定“拒绝”，相反，如果第二车辆(接收方)的通行权等级小于或等于第一车辆(发送方)的通行权等级，此时第二车辆确定“同意”；
(2)第一车辆的通行权等级为等级4或等级5，通过查表3可知协同策略为可同意，表明第一车辆的需求不迫切，此时可以：默认不管第二车辆(接收方)的通行权等级是否高于第一车辆(发送方)的通行权等级，第二车辆都不同意，或者，结合当前道路拥堵情况、第二车辆自身车况(电量/油高低)等其他外界因素，本着安全、效率优先的原则，第二车辆判断是否同意。
这里，还需要说明的是，第二信息和第三信息可以为与第一车辆的协同请求相关的信息，如协同请求为变道，则第二信息可以为请变道或请在某一时刻变道等；第三信息可以为请沿当前道路行驶等。
进一步地，作为一个可选的实现方式，所述接收所述车联网设备发送的通行策略的步骤之后，所述方法还包括：
向所述车联网设备发送第二消息，所述第二消息包括以下至少一项：
指示信息，用于指示所述第一车辆已成功接收到所述通行策略；
所述第一车辆即将执行的动作。
也就是说，第一车辆在接收到通行策略之后，可以向车联网设备发送响应消息，以告知车联网设备已成功接收到通信策略，其中，该第二消息还可 以进一步包括第一车辆即将执行的动作，例如，第一车辆的协同请求为变道且通行策略为同意或第二信息，则第一车辆即将执行的动作为与协同请求对应的变道操作；第一车辆的协同请求为变道且通行策略为拒绝或第三信息，则第一车辆即将执行的动作为继续沿当前道路行驶。
当然，第一车辆在接收到通行策略之后，可以不向车联网设备发送响应消息，而是基于通行策略执行相应的操作，如，通行策略为同意和/或第二信息，则执行与协同请求相对应的操作；如通行策略为拒绝和/或第三信息，则更新第一消息并发送，或者，停止发送第一消息。
可选地，所述方法还包括：在所述通行策略为同意和/或第二信息的情况下，第一车辆执行与协同请求相对应的操作。同样的，第二车辆也基于通行策略执行相对应的操作，如：第一车辆的协同请求为变道，第二车辆位于第一车辆的目标车道，且位于第一车辆的后方，则第一车辆即将执行的动作为向目标车道变道，第二车辆即将执行的动作为减速。
进一步地，作为一个可选的实现方式，所述接收所述车联网设备发送的通行策略的步骤之后，所述方法还包括：
在所述通行策略包括拒绝和/或所述第三信息的情况下，执行以下任一项操作：
发送更新后的第一消息；
停止发送第一消息。
也就是说，在本次协同请求失败的情况下，第一车辆可以基于当前的情况重新生成第一消息，并发送更新后的第一消息；或者，第一车辆按照当前的状态继续行驶，不再进行协同请求。
作为一个具体的实现方式，所述发送更新后的第一消息，包括：
在第一时刻发送所述更新后的第一消息，所述第一时刻与当前时刻间隔第一时长。
也就是说，第一车辆在接收到的通行策略为拒绝和/或第三信息的情况下，即本次协同请求失败的情况下，第一车辆可以立即根据当前状况更新第一消息，然后再间隔第一时长后发送更新的第一消息，或者，第一车辆在间隔第一时长后根据当前状况更新第一消息，并立即发送更新后的第一消息。也就 是说，本公开实施例对发送更新后的第一消息的时机不进行限定，可以根据实际需要确定。
更进一步地，作为一个可选的实现方式，所述发送更新后的第一消息的步骤之前，所述方法还包括：
确定用于接收所述更新后的第一消息的车联网设备；
所述发送更新后的第一消息，包括：
向所述用于接收所述更新后的第一消息的车联网设备发送所述更新后的第一消息。
也就是说，随着各个车辆的行驶，协助第一车辆完成协同请求的对应操作的车联网设备会发生变化，因此，在发送更新后的第一消息之前，需要首先确定接收更新后的第一消息的车联网设备。
简言之，在当前协同请求失败的情况下，可以基于第一车辆的实时情况，确定协同第一车辆的车联网设备、更新第一消息中的内容并更新第一消息和/或协同请求的发送时机，以在当前确定的发送时机向当前确定的车联网设备发送更新后的第一消息，实现车联网设备基于该第一消息协同第一车辆通行。
本公开实施例的信息传输方法，第一车辆向车联网设备发送第一消息，车联网设备根据第一消息指定与第一车辆相关的通信策略，如此，实现了针对不同的协作请求制定清晰的协同规则，减少了辆车在决策过程中的博弈难题，且通过更新第一消息，实现了基于协作请求的不同阶段，制定不同的协同规则，确保协作式比较急迫的情况能够快速的得到协同，改善用户体验。
如图2所示，本公开实施例还提供一种信息传输方法，应用于车联网设备，所述方法包括：
步骤202，接收第一车辆发送的第一消息，其中，所述第一消息包括通行权等级和/或与所述通行权等级相关的第一信息。
这里，需要说明的是，车联网设备包括第二车辆和/或第三方设备，其中，第二车辆为协助第一车辆通行的车辆，第三方设备可以为RSU、路侧基础设施、云平台服务器、MEC服务器等。
本公开实施例的车联网设备接收第一车辆发送的第一消息，从而能够根据该第一消息协助第一车辆通行。如此，避免了路权相同的车辆的博弈难题， 解决了路权较低的车辆长时间无法完成驾驶任务的问题，从而提高了用户的驾乘体验。
这里，需要说明的是，第一车辆可以是周期性的发送第一消息，例如，特殊车辆(救护车、消防车等)在执行任务的过程中，可以周期性的发送第一消息，车联网设备在接收到该第一消息时，直接基于该第一消息协助第一车辆通行，具体的，例如车联网设备为位于第一车辆前方的第二车辆，第二车辆在接收到该第一消息则执行变道等操作，以保证第一车辆当前行驶的道路的畅通，使得第一车辆尽快通行。也就是说，在第一车辆周期性发送第一消息的情况下，车联网设备根据该第一消息执行协助第一车辆通行的操作，其中，若车联网设备为第三方设备，则车联网设备需要向与协助第一车辆通行的车辆进行通信，确保第一车辆安全、快速的通行。
这里，还需要说明的是，第一车辆可以是在需要车辆协同的情况下，发送所述第一消息；具体的，可以是在发送协同请求之前发送第一消息，也可以是同时发送协同请求和第一消息。
作为一个可选的实现方式，所述第一信息包括以下至少一项：
所述第一车辆的车辆类型；
与协同请求相关的信息；
所述车联网设备的身份信息。
具体的，所述与协同请求相关的信息包括以下至少一项：
协同请求的等待时间；
协同请求被拒次数；
协同请求的目的；
路径规划与协同请求的关系；
发起协同请求的位置；
车辆的异常情况。
这里，需要说明的时，对第一消息中包括的信息的具体说明可以参见前述应用于第一车辆的信息传输方法中的说明，这里不再赘述。
作为一个可选的实现方式，所述车联网设备具有网联功能且支持协同功能；所述方法还包括：
根据所述第一消息，向所述第一车辆发送通行策略，所述通行策略包括同意、拒绝、表征同意的第二信息和表征拒绝的第三信息中的至少一个。
也就是说，在第一车辆是在需要车辆协同的情况下发送所述第一消息的情况下，所述车联网设备在接收到所述第一消息之后，还根据所述第一消息，向所述第一车辆发送通行策略，以告知第一车辆本次协同请求是否成功。
具体的，车联网设备在接收到第一消息后，首先根据第一消息确定第一车辆的通行权等级，具体的，在第一消息包括通行权等级的情况下，可以直接获取第一车辆的通行权等级，在第一车辆包括第一信息的情况下，根据前述的表2，确定与第一信息对应的通行权等级；然后，根据前述的表3，确定与第一车辆的通行权等级对应的协同策略，最后，根据协同策略确定通行策略。其中，在协同策略为等级1对应的应同意时，通行策略为同意，在协同策略为宜同意或可同意时，可以根据协助第一车辆通行的第二车辆的通行权等级和第一车辆的通行权等级确定是否同意通行。如：第一车辆的通行优先权高于第二车辆的通行优先权时，确定通行策略为同意/第二信息。
进一步地，作为一个可选的实现方式，所述方法还包括：
在所述车联网设备为第三方设备且所述通行策略包括同意和/或所述第二信息的情况下，向第二车辆发送第三消息，以使所述第二车辆根据所述第三消息协助所述第一车辆通行。
也就是说，在所述车联网设备为第三方设备时，第三方设备确定需要协助第一车辆通行的情况下，会向协助第一车辆的第二车辆发送第三消息，以协助第一车辆通行，其中，第三消息包括协同建议、协同指令、协同命令、协同消息等。
进一步地，作为一个可选的实现方式，所述方法还包括：
在接收到多个所述第一车辆发送的第一消息的情况下，根据各个所述第一消息，确定对应的各个所述第一车辆的通行权等级；
按照预设规则，对各个所述第一车辆的通行权等级进行排序；
所述根据所述第一消息，向所述第一车辆发送通行策略，包括：
根据各个所述第一车辆的通行权等级的排列顺序，依次向各个所述第一车辆发送对应的通行策略。
也就是说，在车联网设备接收到多个第一车辆发送的协同请求的情况下，可以基于各个第一车辆的通行权等级的高低，依次协助各个第一车辆通行，可选地，应优先协助通行权等级高的第一车辆通行。
作为一个具体的实现方式，所述根据所述第一消息，向所述第一车辆发送通行策略的步骤之前，所述方法还包括：
根据所述第一消息，确定所述第一车辆的通行权等级；
确定第三车辆的通行权等级，所述第三车辆为协助所述第一车辆通行的车辆；
根据所述第一车辆的通行权等级和/或所述第三车辆的通行权等级，确定所述通行策略。
也就是说，在确定通行策略时，可以基于第一车辆和协助第一车辆通行的第三车辆的通行权等级进行决策，如第一车辆的通行权等级高于第三车辆的通行权等级时，通行策略为同意，第一车辆的通行权等级低于第三车辆的通行权等级时，通行策略为拒绝，第一车辆的通行权等级与第三车辆的通行权等级相同时，可以考虑第一车辆周围的路况信息进行通行策略的决策。
这里，需要说明的是，在车联网设备为车辆时，本具体实现方式中第三车辆即为该车联网设备。
下面，结合具体示例，对本公开实施例的信息传输方法的实现过程进行说明：
示例一：第一车辆发送通行权等级，请求第二车辆协同
车辆A(第一车辆)为普通车辆，按照路径规划，应在前方出口驶出当前高速，当前距离高速1km，车辆A发起变道请求，请求中通行权等级设为等级5，车辆B(第二车辆)收到车辆A的请求后，发送拒绝协同请求；车辆A在向前行驶的过程中，继续向其它车辆发送变道请求，直到距离出口的长度小于100m，车辆A的通行权等级满足等级1的条件，车辆D(第二车辆)在接收到车辆A的变道请求后，决策为同意协同请求。车辆A与车辆D交互后续的协同过程。
示例二：第一车辆发送与通行权等级相关的第一信息，请求第二车辆协同
车辆A(第一车辆)为普通车辆，按照路径规划，车辆A应在前方出口驶出当前高速，当前距离高速500m，车辆A发送变道请求，以及协同请求的相关信息，如请求等待时间10s、被拒次数6次、请求的发起位置500m等，车辆B(第二车辆)接收到车辆A的请求信息后，判定车辆A的通行权等级为等级2，制定的通行策略为同意。
示例三：第一车辆发送通行权等级，第三方设备制定通行策略
车辆A(第一车辆)为普通车辆，在距离高速出口500m的位置发送协作式变道请求，且通行权等级为等级4，RSU(第三方设备)接收到车辆A的请求后，判定车辆A的请求程度非迫切，不向其它车辆发送协同信息，并向车辆A发送拒绝协同信息。车辆A继续向前行驶，仍然保持发送协作式变道请求信息，当车辆A距离高速出口位置小于100m时，RSU判定车辆A的请求程度为迫切，则向其它车辆B发送协同命令/建议/消息等，例如加速/减速等。车辆B按照RSU的指令调整速度，配合车辆A完成变道驶出高速口。
示例四：第一车辆发送通行权等级，第三方设备制定通行策略
车辆A和B为普通车辆，按照路径规划，车辆A在主道行驶，距离前方出口500m，车辆B在匝道行驶，距离前方入口100m，RSU(第三方设备)负责制定通行策略。RSU接收到车辆A和B的协作请求，以及具体的协同请求信息，RSU判定车辆B的通行优先权等级为2级，车辆A的为4级，车辆B的优先权等级更高，则RSU优先处理车辆B的协作式汇入请求，完成该协同后，再处理车辆A的协作式变道请求。
如图3所示，本公开实施例提供一种信息传输装置，应用于第一车辆，所述装置包括：
第一发送模块301，用于向车联网设备发送第一消息，所述第一消息包括以下至少一项：
通行权等级；
与所述通行权等级相关的第一信息。
本公开实施例的信息传输装置，通过第一发送模块301向车联网设备发送包括通行权等级和/或与所述通行权等级相关的第一信息的第一消息，使得车联网设备能够基于第一车辆的通行权等级进行决策，避免了路权相同的车 辆的博弈难题，解决了路权较低的车辆长时间无法完成驾驶任务的问题，从而提高了用户的驾乘体验。
可选地，所述第一发送模块301具体用于：
在所述第一车辆需要车辆协同的情况下，向所述车联网设备发送所述第一消息。
可选地，所述第一信息包括以下至少一项：
所述第一车辆的车辆类型；
与协同请求相关的信息；
所述车联网设备的身份信息。
可选地，所述与协同请求相关的信息包括以下至少一项：
协同请求的等待时间；
协同请求被拒次数；
协同请求的目的；
路径规划与协同请求的关系；
发起协同请求的位置；
车辆的异常情况。
进一步地，所述装置还包括：
接收模块，用于在所述第一发送模块301在所述第一车辆需要车辆协同的情况下，向所述车联网设备发送第一消息之后，接收所述车联网设备发送的通行策略，其中，所述通行策略包括以下至少一项：同意；拒绝；表征同意的第二信息；表征拒绝的第三信息。
进一步地，所述装置还包括：
第二发送模块，用于在所述接收模块接收所述车联网设备发送的通行策略之后，向所述车联网设备发送第二消息，所述第二消息包括以下至少一项：
指示信息，用于指示所述第一车辆已成功接收到所述通行策略；
所述第一车辆即将执行的动作。
进一步地，所述装置还包括：
执行模块，用于在所述通行策略包括拒绝和/或所述第三信息的情况下，执行以下任一项操作：
发送更新后的第一消息；
停止发送第一消息。
可选地，所述执行模块在用于发送更新后的第一消息时，具体用于：在第一时刻发送所述更新后的第一消息，所述第一时刻与当前时刻间隔第一时长。
可选地，所述装置还包括：
确定模块，用于在所述执行模块发送更新后的第一消息的之前，确定用于接收所述更新后的第一消息的车联网设备；
所述执行模块在用于发送更新后的第一消息时，具体用于：向所述用于接收所述更新后的第一消息的车联网设备发送所述更新后的第一消息。
如图4所示，本公开实施例还提供一种信息传输装置，应用于车联网设备，包括：
接收模块401，用于接收第一车辆发送的第一消息，其中，所述第一消息包括通行权等级和/或与所述通行权等级相关的第一信息。
本公开实施例的通过接收模块401接收第一车辆发送的第一消息，从而使得信息传输装置能够根据该第一消息协助第一车辆通行。如此，避免了路权相同的车辆的博弈难题，解决了路权较低的车辆长时间无法完成驾驶任务的问题，从而提高了用户的驾乘体验。
可选地，所述第一信息包括以下至少一项：
所述第一车辆的车辆类型；
与协同请求相关的信息；
所述车联网设备的身份信息。
可选地，所述与协同请求相关的信息包括以下至少一项：
协同请求的等待时间；
协同请求被拒次数；
协同请求的目的；
路径规划与协同请求的关系；
发起协同请求的位置；
车辆的异常情况。
可选地，所述车联网设备具有网联功能且支持协同功能；所述装置还包括：
第一发送模块，用于根据所述第一消息，向所述第一车辆发送通行策略，所述通行策略包括同意、拒绝、表征同意的第二信息和表征拒绝的第三信息中的至少一个。
可选地，所述装置还包括：
第二发送模块，用于在所述车联网设备为第三方设备且所述通行策略包括同意和/或所述第二信息的情况下，向第二车辆发送第三消息，以使所述第二车辆根据所述第三消息协助所述第一车辆通行。
可选地，所述装置还包括：
第一确定模块，用于在接收到多个所述第一车辆发送的第一消息的情况下，根据各个所述第一消息，确定对应的各个所述第一车辆的通行权等级；
处理模块，用于按照预设规则，对各个所述第一车辆的通行权等级进行排序；
在此基础上，所述第一发送模块具体用于：根据各个所述第一车辆的通行权等级的排列顺序，依次向各个所述第一车辆发送对应的通行策略。
可选地，所述装置还包括：
第二确定模块，用于根据所述第一消息，确定所述第一车辆的通行权等级；
第三确定模块，用于确定第三车辆的通行权等级，所述第三车辆为协助所述第一车辆通行的车辆；
第四确定模块，用于根据所述第一车辆的通行权等级和/或所述第三车辆的通行权等级，确定所述通行策略。
如图5所示，本公开实施例还提供一种车辆，包括：收发机510、处理器500、存储器520及存储在所述存储器520上并可在所述处理器500上运行的程序或指令；所述处理器执行所述程序或指令时实现如上所述的应用于第一车辆的信息传输方法实施例的各个过程，且能达到相同的技术效果，为了避免重复，这里不再赘述。
所述收发机510，用于在处理器500的控制下接收和发送数据。
其中，在图5中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器500代表的一个或多个处理器和存储器520代表的存储器的各种电路连接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路连接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机510可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元。针对不同的设备，用户接口530还可以是能够外接内接需要设备的接口，连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。
处理器500负责管理总线架构和通常的处理，存储器520可以存储处理器500在执行操作时所使用的数据。
本公开实施例还提供一种车联网设备，包括收发机、存储器、处理器及存储在所述存储器上并在所述处理器上运行的程序或指令，所述处理器执行所述程序或指令时实现如上所述的应用于车联网设备的信息传输方法实施例的各个过程，且能达到相同的技术效果，为了避免重复，这里不再赘述。
这里，需要说明的是，车联网设备的结构与车辆的结构类似，因此，车联网设备的结构可参照图5。
本领域技术人员可以理解，实现上述实施例的全部或者部分步骤可以通过硬件来完成，也可以通过程序或指令来指示相关的硬件来完成，所述程序或指令包括执行上述方法的部分或者全部步骤的程序或指令；且该程序可以存储于一可读存储介质中，存储介质可以是任何形式的存储介质。
另外，本公开实施例还提供一种可读存储介质，可读存储介质上存储有程序，该程序被处理器执行时实现如上所述的应用于第一车辆的信息传输方法实施例的各个过程，或者，如上所述的应用于车联网设备的信息传输方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，该计算机可读存储介质，如只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
此外，需要指出的是，在本公开的装置和方法中，显然，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本公开的等效方案。并且，执行上述系列处理的步骤可以自然地按照说明的顺序或按时间 顺序执行，但是并不需要一定按照时间顺序执行，某些步骤可以并行或彼此独立地执行。对本领域的普通技术人员而言，能够理解本公开的方法和装置的全部或者任何步骤或者部件，可以在任何计算装置(包括处理器、存储介质等)或者计算装置的网络中，以硬件、固件、软件或者它们的组合加以实现，这是本领域普通技术人员在阅读了本公开的说明的情况下运用他们的基本编程技能就能实现的。
因此，本公开的目的还可以通过在任何计算装置上运行一个程序或者一组程序来实现。所述计算装置可以是公知的通用装置。因此，本公开的目的也可以仅仅通过提供包含实现所述方法或者装置的程序代码的程序产品来实现。也就是说，这样的程序产品也构成本公开，并且存储有这样的程序产品的存储介质也能构成本公开。显然，所述存储介质可以是任何公知的存储介质或者将来所开发出来的任何存储介质。
需要说明的是，应理解以上各个模块的划分仅仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。且这些模块可以全部以软件通过处理元件调用的形式实现；也可以全部以硬件的形式实现；还可以部分模块通过处理元件调用软件的形式实现，部分模块通过硬件的形式实现。例如，确定模块可以为单独设立的处理元件，也可以集成在上述装置的某一个芯片中实现，此外，也可以以程序代码的形式存储于上述装置的存储器中，由上述装置的某一个处理元件调用并执行以上确定模块的功能。其它模块的实现与之类似。此外这些模块全部或部分可以集成在一起，也可以独立实现。这里所述的处理元件可以是一种集成电路，具有信号的处理能力。在实现过程中，上述方法的各步骤或以上各个模块可以通过处理器元件中的硬件的集成逻辑电路或者软件形式的指令完成。
例如，各个模块、单元、子单元或子模块可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个特定集成电路(Application Specific Integrated Circuit，ASIC)，或，一个或多个微处理器(digital signal processor，DSP)，或，一个或者多个现场可编程门阵列(Field Programmable Gate Array，FPGA)等。再如，当以上某个模块通过处理元件调度程序代码的形式实现时，该处理元件可以是通用处理器，例如中央处理器(Central Processing Unit， CPU)或其它可以调用程序代码的处理器。再如，这些模块可以集成在一起，以片上系统(system-on-a-chip，SOC)的形式实现。
本公开的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例，例如除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。此外，说明书以及权利要求中使用“和/或”表示所连接对象的至少其中之一，例如A和/或B和/或C，表示包含单独A，单独B，单独C，以及A和B都存在，B和C都存在，A和C都存在，以及A、B和C都存在的7种情况。类似地，本说明书以及权利要求中使用“A和B中的至少一个”应理解为“单独A，单独B，或A和B都存在”。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述是本公开的可选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开所述原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。

Claims (21)

  1. 一种信息传输方法，应用于第一车辆，所述方法包括：
    向车联网设备发送第一消息，所述第一消息包括以下至少一项：
    通行权等级；
    与所述通行权等级相关的第一信息。
  2. 根据权利要求1所述的方法，其中，所述向车联网设备发送第一消息，包括：
    在所述第一车辆需要车辆协同的情况下，向所述车联网设备发送所述第一消息。
  3. 根据权利要求1或2所述的方法，其中，所述第一信息包括以下至少一项：
    所述第一车辆的车辆类型；
    与协同请求相关的信息；
    所述车联网设备的身份信息。
  4. 根据权利要求3所述的方法，其中，所述与协同请求相关的信息包括以下至少一项：
    协同请求的等待时间；
    协同请求被拒次数；
    协同请求的目的；
    路径规划与协同请求的关系；
    发起协同请求的位置；
    车辆的异常情况。
  5. 根据权利要求2所述的方法，其中，所述在所述第一车辆需要车辆协同的情况下，向所述车联网设备发送第一消息的步骤之后，所述方法还包括：
    接收所述车联网设备发送的通行策略，其中，所述通行策略包括以下至少一项：
    同意；
    拒绝；
    表征同意的第二信息；
    表征拒绝的第三信息。
  6. 根据权利要求5所述的方法，其中，所述接收所述车联网设备发送的通行策略的步骤之后，所述方法还包括：
    向所述车联网设备发送第二消息，所述第二消息包括以下至少一项：
    指示信息，用于指示所述第一车辆已成功接收到所述通行策略；
    所述第一车辆即将执行的动作。
  7. 根据权利要求5所述的方法，其中，所述接收所述车联网设备发送的通行策略的步骤之后，所述方法还包括：
    在所述通行策略包括拒绝和/或所述第三信息的情况下，执行以下任一项操作：
    发送更新后的第一消息；
    停止发送第一消息。
  8. 根据权利要求7所述的方法，其中，所述发送更新后的第一消息，包括：
    在第一时刻发送所述更新后的第一消息，所述第一时刻与当前时刻间隔第一时长。
  9. 根据权利要求7或8所述的方法，其中，所述发送更新后的第一消息的步骤之前，所述方法还包括：
    确定用于接收所述更新后的第一消息的车联网设备；
    所述发送更新后的第一消息，包括：
    向所述用于接收所述更新后的第一消息的车联网设备发送所述更新后的第一消息。
  10. 一种信息传输方法，应用于车联网设备，所述方法包括：
    接收第一车辆发送的第一消息，其中，所述第一消息包括通行权等级和/或与所述通行权等级相关的第一信息。
  11. 根据权利要求10所述的方法，其中，所述第一信息包括以下至少一项：
    所述第一车辆的车辆类型；
    与协同请求相关的信息；
    所述车联网设备的身份信息。
  12. 根据权利要求11所述的方法，其中，所述与协同请求相关的信息包括以下至少一项：
    协同请求的等待时间；
    协同请求被拒次数；
    协同请求的目的；
    路径规划与协同请求的关系；
    发起协同请求的位置；
    车辆的异常情况。
  13. 根据权利要求10所述的方法，其中，所述车联网设备具有网联功能且支持协同功能；所述方法还包括：
    根据所述第一消息，向所述第一车辆发送通行策略，所述通行策略包括同意、拒绝、表征同意的第二信息和表征拒绝的第三信息中的至少一个。
  14. 根据权利要求13所述的方法，其中，所述方法还包括：
    在所述车联网设备为第三方设备且所述通行策略包括同意和/或所述第二信息的情况下，向第二车辆发送第三消息，以使所述第二车辆根据所述第三消息协助所述第一车辆通行。
  15. 根据权利要求13所述的方法，其中，所述方法还包括：
    在接收到多个所述第一车辆发送的第一消息的情况下，根据各个所述第一消息，确定对应的各个所述第一车辆的通行权等级；
    按照预设规则，对各个所述第一车辆的通行权等级进行排序；
    所述根据所述第一消息，向所述第一车辆发送通行策略，包括：
    根据各个所述第一车辆的通行权等级的排列顺序，依次向各个所述第一车辆发送对应的通行策略。
  16. 根据权利要求13所述的方法，其中，所述根据所述第一消息，向所述第一车辆发送通行策略的步骤之前，所述方法还包括：
    根据所述第一消息，确定所述第一车辆的通行权等级；
    确定第三车辆的通行权等级，所述第三车辆为协助所述第一车辆通行的 车辆；
    根据所述第一车辆的通行权等级和/或所述第三车辆的通行权等级，确定所述通行策略。
  17. 一种车辆，包括收发机、存储器、处理器及存储在所述存储器上并在所述处理器上运行的程序或指令，其中，所述处理器执行所述程序或指令时实现如权利要求1至9中任一项所述的信息传输方法。
  18. 一种车联网设备，包括收发机、存储器、处理器及存储在所述存储器上并在所述处理器上运行的程序或指令，其中，所述处理器执行所述程序或指令时实现如权利要求10至16中任一项所述的信息传输方法。
  19. 一种信息传输装置，应用于第一车辆，所述装置包括：
    发送模块，用于向车联网设备发送第一消息，所述第一消息包括以下至少一项：
    通行权等级；
    与所述通行权等级相关的第一信息。
  20. 一种信息传输装置，应用于车联网设备，所述装置包括：
    接收模块，用于接收第一车辆发送的第一消息，其中，所述第一消息包括通行权等级和/或与所述通行权等级相关的第一信息。
  21. 一种可读存储介质，其上存储有程序，所述程序被处理器执行时实现如权利要求1至9中任一项所述的信息传输方法，或者，如权利要求10至16中任一项所述的信息传输方法。
PCT/CN2023/087843 2022-04-25 2023-04-12 一种信息传输方法、装置、车辆及车联网设备 WO2023207598A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210442527.4A CN116994447A (zh) 2022-04-25 2022-04-25 一种信息传输方法、装置、车辆及车联网设备
CN202210442527.4 2022-04-25

Publications (1)

Publication Number Publication Date
WO2023207598A1 true WO2023207598A1 (zh) 2023-11-02

Family

ID=88517448

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/087843 WO2023207598A1 (zh) 2022-04-25 2023-04-12 一种信息传输方法、装置、车辆及车联网设备

Country Status (2)

Country Link
CN (1) CN116994447A (zh)
WO (1) WO2023207598A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101710294A (zh) * 2009-12-21 2010-05-19 北京中星微电子有限公司 一种优先级比较器及优先级比较方法
CN107886740A (zh) * 2017-10-25 2018-04-06 华为技术有限公司 一种车辆合流的方法及装置
CN109313853A (zh) * 2016-09-09 2019-02-05 华为技术有限公司 车辆路权管理方法、装置及终端
US20190236948A1 (en) * 2018-01-29 2019-08-01 Fujitsu Limited Fragmentation-aware intelligent autonomous intersection management using a space-time resource model
CN111065573A (zh) * 2017-09-06 2020-04-24 高通股份有限公司 用于车辆之间的协调式车道改变协商的系统及方法
CN113320532A (zh) * 2017-12-28 2021-08-31 北京百度网讯科技有限公司 合作式变道控制方法、装置及设备
WO2021203372A1 (en) * 2020-04-09 2021-10-14 Qualcomm Incorporated Priority indication in maneuver coordination message
CN114120623A (zh) * 2020-08-28 2022-03-01 长沙智能驾驶研究院有限公司 路权分配与监管方法及装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101710294A (zh) * 2009-12-21 2010-05-19 北京中星微电子有限公司 一种优先级比较器及优先级比较方法
CN109313853A (zh) * 2016-09-09 2019-02-05 华为技术有限公司 车辆路权管理方法、装置及终端
CN111065573A (zh) * 2017-09-06 2020-04-24 高通股份有限公司 用于车辆之间的协调式车道改变协商的系统及方法
CN107886740A (zh) * 2017-10-25 2018-04-06 华为技术有限公司 一种车辆合流的方法及装置
CN113320532A (zh) * 2017-12-28 2021-08-31 北京百度网讯科技有限公司 合作式变道控制方法、装置及设备
US20190236948A1 (en) * 2018-01-29 2019-08-01 Fujitsu Limited Fragmentation-aware intelligent autonomous intersection management using a space-time resource model
WO2021203372A1 (en) * 2020-04-09 2021-10-14 Qualcomm Incorporated Priority indication in maneuver coordination message
CN114120623A (zh) * 2020-08-28 2022-03-01 长沙智能驾驶研究院有限公司 路权分配与监管方法及装置

Also Published As

Publication number Publication date
CN116994447A (zh) 2023-11-03

Similar Documents

Publication Publication Date Title
US11087621B2 (en) Express lane planning method and unit
Englund et al. The grand cooperative driving challenge 2016: boosting the introduction of cooperative automated vehicles
CN112967514B (zh) 一种无信号灯交叉口下智能车辆高效行驶的分布式控制方法及系统
WO2019219078A1 (zh) 车辆行驶路线分析方法、装置、服务器和存储介质
CN114613179B (zh) 网联自动驾驶车辆混行交叉口集聚通行方法及其控制系统
CN111968396A (zh) 智能车联网驱动的应急救援车行驶优化方法
CN109272748A (zh) 车车通信结合辅助驾驶环境下匝道协同汇入方法及系统
CN111627205B (zh) 自动驾驶车辆与非机动车辆通行权分配方法
CN107507430A (zh) 一种城市路口交通控制方法及系统
JP2022514518A (ja) 自動運転車両隊列の隊列編入方法、装置及びシステム
WO2020216308A1 (zh) 一种网络资源调度方法及相关设备
CN111696371A (zh) 一种紧急车辆通行方法和系统
CN108564791A (zh) 交通信息处理方法、装置和计算设备
WO2016127895A1 (zh) 一种车路信息交互方法、设备及系统
Hou et al. Cooperative and integrated vehicle and intersection control for energy efficiency (CIVIC-E 2)
CN108806238A (zh) 车辆控制方法、装置、设备及存储介质
Younes et al. A vehicular network based intelligent lane change assistance protocol for highways
CN115376346A (zh) 混行条件下快速路合流区多模式驾驶车辆协同交汇方法
Du et al. On the v2x speed synchronization at intersections: Rule based system for extended virtual platooning
WO2023207598A1 (zh) 一种信息传输方法、装置、车辆及车联网设备
CN113660637B (zh) 基于车路协同系统的驾驶危险工况仲裁方法
Lombard et al. On the cooperative automatic lane change: Speed synchronization and automatic “courtesy”
WO2023207596A1 (zh) 一种信息传输方法、装置、车辆及车联网设备
Li et al. Managing mixed traffic at signalized intersections: An adaptive signal control and CAV coordination system based on deep reinforcement learning
CN113997934B (zh) 车道变换方法、装置、计算机设备及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23795031

Country of ref document: EP

Kind code of ref document: A1