CN113132425B - A fleet information transmission method, device and equipment - Google Patents

Abstract

The invention provides a fleet information transmission method, device and equipment, and relates to the communication field. The method is applied to the first vehicle in the formation, and includes: acquiring configuration information, the configuration information configuring information that the first vehicle is a communication node for the target vehicle in the formation; in response to the configuration information, the The first vehicle, as a communication node, performs information interaction with the non-staff vehicles. The solution of the present invention solves the problem that each vehicle in the formation independently exchanges basic safety information with vehicles outside the formation, resulting in a large consumption of communication resources.

Description

A fleet information transmission method, device and equipment

technical field

The present invention relates to the field of communications, in particular to a vehicle fleet information transmission method, device and equipment.

Background technique

In recent years, C-V2X (Cellular Vehicle to Everything, cellular network-based vehicle networking communication) is currently developing from information service applications to traffic safety and efficiency applications, and formation driving, as one of the important application scenarios, involves formation creation , vehicles entering the team, vehicles leaving the team, formation disbanding and other functions, the formation has complex communication requirements. In addition, formation driving also needs to exchange basic safety information with vehicles outside the formation to ensure driving safety.

At present, each vehicle in the formation independently exchanges basic security information with vehicles outside the formation. This will consume communication resources, cause communication quality to decline, and increase the complexity of information processing by vehicles.

Contents of the invention

The purpose of the present invention is to provide a fleet information transmission method, device and equipment to solve the problem that each vehicle in the formation independently exchanges basic safety information with vehicles outside the formation, resulting in a large consumption of communication resources.

In order to achieve the above purpose, an embodiment of the present invention provides a fleet information transmission method, which is applied to the first vehicle in the formation, and the method includes:

Acquiring configuration information, the configuration information configures information that the first vehicle is a communication node for the target vehicle in the formation;

In response to the configuration information, the first vehicle, as a communication node, performs information exchange with the non-staff vehicle.

Optionally, the information interaction between the first vehicle as a communication node and non-staff vehicles includes:

If the first vehicle is the target vehicle, sending the first basic safety information to the non-staff vehicle;

If the first vehicle is not the target vehicle, after receiving the first basic safety information sent by the target vehicle, the first basic safety information is forwarded to the non-staffed vehicle.

Optionally, the information interaction between the first vehicle as a communication node and non-staff vehicles includes:

The second basic safety information sent by the non-staff vehicle is received.

Optionally, the first vehicle is not the target vehicle, and after receiving the second basic safety information sent by the non-staff vehicle, the method further includes:

forwarding the second basic security information to the target vehicle; or,

If the target vehicle has not received the second basic safety information, forwarding the second basic safety information to the target vehicle.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

In order to achieve the above purpose, an embodiment of the present invention also provides a fleet information transmission method, which is applied to the target vehicles in the formation, and the method includes:

Configuring the first vehicle in the formation as a communication node in the formation to perform information exchange with the non-staffed vehicles.

Optionally, the configuring the first vehicle in the formation as a communication node in the formation, before performing information exchange with the non-staffed vehicles, includes:

using the first preset vehicle in the formation as the first vehicle; or,

The first vehicle is selected according to the driving information of the vehicles in the formation.

Optionally, the driving information includes: total number of vehicles, distance between vehicles, body length and communication distance;

The selecting the first vehicle according to the driving information of the vehicles in the formation includes:

By formula Ng=floor[L/(G+l)], calculate the interval vehicle number Ng of the adjacent first vehicle, wherein L is the communication distance, G is the distance between vehicles, and l is the body length;

Starting from the second preset vehicle, the first vehicle is selected according to the interval vehicle number.

Optionally, configuring the first vehicle in the formation as a communication node in the formation to perform information interaction with non-staffed vehicles includes:

Based on preset conditions, the first vehicle in the formation is configured as a communication node in the formation to perform information interaction with non-staffed vehicles; wherein the preset conditions include at least one of the following:

preset time;

preset events.

Optionally, the configuring the first vehicle in the formation as a communication node in the formation, after information interaction with the non-staffed vehicles, further includes:

sending first basic safety information to the supernumerary vehicle by the first vehicle;

The second basic safety information sent by the non-staff vehicle is received by the first vehicle.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

In order to achieve the above object, an embodiment of the present invention also provides a communication device, which is applied to the first vehicle in the formation, including a transceiver, a memory, a processor, and a communication device stored in the memory and capable of running on the processor. computer program;

The transceiver is used to obtain configuration information, the configuration information configures the first vehicle as a communication node for the target vehicle in the formation;

The processor is configured to respond to the configuration information, and the first vehicle acts as a communication node to perform information exchange with the non-staffed vehicles.

Optionally, the transceiver is also used for:

If the first vehicle is the target vehicle, sending the first basic safety information to the non-staff vehicle;

If the first vehicle is not the target vehicle, after receiving the first basic safety information sent by the target vehicle, the first basic safety information is forwarded to the non-staffed vehicle.

Optionally, the transceiver is also used for:

The second basic safety information sent by the non-staff vehicle is received.

Optionally, the first vehicle is not the target vehicle, and the transceiver is further used for:

forwarding the second basic security information to the target vehicle; or,

If the target vehicle has not received the second basic safety information, forwarding the second basic safety information to the target vehicle.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

In order to achieve the above object, the embodiment of the present invention also provides a communication device, which is applied to the target vehicles in the formation, including a transceiver, a memory, a processor, and a communication device stored on the memory and operable on the processor. Computer program;

The processor is configured to configure the first vehicle in the formation as a communication node in the formation to perform information exchange with vehicles outside the formation.

Optionally, the processor is also used for:

using the first preset vehicle in the formation as the first vehicle; or,

The first vehicle is selected according to the driving information of the vehicles in the formation.

Optionally, the driving information includes: total number of vehicles, distance between vehicles, body length and communication distance;

The processor is also used to:

By formula Ng=floor[L/(G+l)], calculate the interval vehicle number Ng of the adjacent first vehicle, wherein L is the communication distance, G is the distance between vehicles, and l is the body length;

Starting from the second preset vehicle, the first vehicle is selected according to the interval vehicle number.

Optionally, the processor is also used for:

Based on preset conditions, the first vehicle in the formation is configured as a communication node in the formation to perform information interaction with non-staffed vehicles; wherein the preset conditions include at least one of the following:

preset time;

preset events.

Optionally, the transceiver is used for:

sending first basic safety information to the supernumerary vehicle by the first vehicle;

The second basic safety information sent by the non-staff vehicle is received by the first vehicle.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

In order to achieve the above purpose, an embodiment of the present invention also provides a fleet information transmission device, which is applied to the first vehicle in the formation, including:

An acquisition module, configured to acquire configuration information, the configuration information configuring the first vehicle as a communication node for the target vehicle in the formation;

The communication module is used for responding to the configuration information, and the first vehicle acts as a communication node to perform information exchange with the non-staffed vehicles.

In order to achieve the above purpose, an embodiment of the present invention also provides a fleet information transmission device, which is applied to the target vehicles in the formation, including:

The configuration module is configured to configure the first vehicle in the formation as a communication node in the formation, and perform information exchange with non-staffed vehicles.

In order to achieve the above object, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for transmitting fleet information applied to the first vehicle in the formation is realized as above, Alternatively, implement the fleet information transmission method applied to the target vehicles in the formation as above.

The beneficial effects of above-mentioned technical scheme of the present invention are as follows:

In the method of the embodiment of the present invention, by obtaining the configuration information that the target vehicle in the formation configures the first vehicle as a communication node, in response to the configuration information, information exchange is performed between the communication node and the non-staffed vehicles, so that the vehicles in the formation, only The first vehicle configured with the target vehicle can perform information interaction with the non-formation vehicles, avoiding the communication resource consumption of each vehicle in the formation independently interacting with the non-formation vehicles.

Description of drawings

1 is a schematic flow diagram of a fleet information transmission method applied to a first vehicle in a formation according to an embodiment of the present invention;

Figure 2 is one of the communication schematic diagrams between formation vehicles and non-staff vehicles;

Fig. 3 is the second schematic diagram of communication between formation vehicles and non-staff vehicles;

FIG. 4 is a schematic flow diagram of a fleet information transmission method applied to target vehicles in a formation according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a communication device according to an embodiment of the present invention;

Fig. 6 is the structural representation of the device corresponding to Fig. 1 method;

Figure 7 is a schematic structural diagram of the device corresponding to the method in Figure 4.

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

As shown in Figure 1, a method for transmitting fleet information according to an embodiment of the present invention is applied to the first vehicle in the formation, and the method includes:

Step 101, acquiring configuration information, the configuration information configuring the information that the first vehicle is a communication node for the target vehicle in the formation;

Step 102 , in response to the configuration information, the first vehicle acts as a communication node to perform information interaction with the non-staffed vehicles.

Here, the target vehicle in the formation first configures the first vehicle as a communication node in the formation to exchange information with the non-staffed vehicles, so the target vehicle generates corresponding configuration information. The first vehicle can, by acquiring the configuration information and responding to the configuration information, act as a communication node to perform information interaction with the non-staffed vehicles. In this way, among the vehicles in the formation, only the first vehicle configured by the target vehicle can exchange information with the non-formation vehicles, which prevents each vehicle in the formation from independently interacting with the non-formation vehicles and consumes a large amount of communication resources.

In this embodiment, the pilot vehicle of the formation is used as the target vehicle to configure the first vehicle. First, the first vehicle can be selected according to different selection strategies. Wherein, the first preset vehicle in the formation is used as the first vehicle; or, the first vehicle is selected according to the driving information of the vehicles in the formation.

Wherein, the first preset vehicle is pre-defined. For example, the pilot vehicle of the formation is defined as the first preset vehicle, that is, after the formation formation is completed, the pilot vehicle selects itself as the communication node, as shown in FIG. 2 . Of course, multiple first vehicles can also be defined at the same time. For example, the leading vehicle and the tail vehicle of the formation are defined as the first vehicle. After the formation is completed, the leader vehicle selects itself and the tail vehicle of the team as communication nodes, as shown in Figure 3 Show.

Optionally, the driving information includes: the total number of vehicles, the distance between vehicles, the length of the vehicle body and the communication distance; the target vehicle can calculate the number of vehicles adjacent to the first vehicle at intervals through the formula Ng=floor[L/(G+l)] Ng, where L is the communication distance, G is the distance between vehicles, and l is the body length; starting from the second preset vehicle, select the first vehicle according to Ng. Preferably, L is the maximum communication distance for ensuring communication quality.

For example, after the formation of vehicles is completed, G=20 meters, l=5 meters, there are N=20 vehicles in the fleet, L=90 meters, therefore, Ng=floor[L/(G+l)]=floor [90/(20+5)]=3, if the second preset vehicle is set to be the lead car in the fleet, the number of the lead car is No. 1 car, and the tail car is No. 20 car, then the lead car and the tail car are communication nodes , and the cars numbered 4, 7, 10, 13, 16, and 19 will be selected from the pilot car as communication nodes, and the final cars numbered 1, 4, 7, 10, 13, 16, 19, and 20 will be used as communication nodes.

Of course, considering changes in driving road conditions or driving states, the target vehicle configures the first vehicle in the formation as a communication node in the formation, and exchanges information with the non-staffed vehicles, including:

Based on preset conditions, the first vehicle in the formation is configured as a communication node in the formation to perform information interaction with non-staffed vehicles; wherein the preset conditions include at least one of the following:

preset time;

preset events.

In this way, the target vehicle can configure the communication node every preset time, or reconfigure the communication node when preset events such as vehicle departure, vehicle entry, convoy turning, convoy accident, etc. occur.

For example, after selecting vehicles numbered 1, 4, 7, 10, 13, 16, 19, and 20 above as communication nodes, due to the occurrence of a vehicle turning event, the vehicle decelerates, and the distance between vehicles is reduced to G=15 meters, Ng=floor [L/(G+l)]=floor[90/(15+5)]=4, then re-select vehicles numbered 1, 5, 9, 13, 17, and 20 as communication nodes.

In this embodiment, when a preset event occurs and the communication node needs to be reconfigured, in order to maintain communication with the non-staffed vehicles, the pilot car will configure the vehicles in the formation to communicate with the non-staffed vehicles independently to ensure driving safety.

It should be known that in this embodiment, the information exchanged between the vehicles in the formation and the vehicles outside the formation is mainly the basic safety information BSM of the vehicles, and the basic safety information of the vehicles in the formation is generated by the pilot car. Therefore, optionally, The information interaction between the first vehicle as a communication node and non-staff vehicles includes:

If the first vehicle is the target vehicle, sending the first basic safety information to the non-staff vehicle;

If the first vehicle is not the target vehicle, after receiving the first basic safety information sent by the target vehicle, the first basic safety information is forwarded to the non-staffed vehicle.

In this way, if the first vehicle is the target vehicle, the first basic safety information generated by itself can be sent to the non-staffed vehicles; if the first vehicle is not the target vehicle, it is necessary to receive the first basic safety information sent by the target vehicle Thereafter, the first basic safety information is forwarded to the non-staff vehicle.

In addition, considering that the vehicles in the formation also need to know the BSM of the vehicles outside the formation, optionally, the first vehicle, as a communication node, performs information interaction with the vehicles outside the formation, including:

The second basic safety information sent by the non-staff vehicle is received.

However, the BSM of vehicles outside the formation needs to be processed by the leading vehicle of the formation. Therefore, the first vehicle is not the target vehicle. After receiving the second basic safety information sent by the vehicles outside the formation, it also includes:

forwarding the second basic security information to the target vehicle; or,

If the target vehicle has not received the second basic safety information, forwarding the second basic safety information to the target vehicle.

Here, according to the BSM reception policy of the non-pilot vehicle communication node, the first vehicle can directly forward the second BSM to the target vehicle after receiving the second BSM sent by the non-staff vehicle; on the other hand, in order to reduce the signaling overhead , the first vehicle forwards the second BSM to the target vehicle only when it receives the second BSM sent by the non-staff vehicle and the target vehicle does not receive the second BSM.

Certainly, in this embodiment, the way of sending or receiving the BSM between the first vehicle and the non-staffed vehicles is not limited to the above content, and will not be listed here.

In this embodiment, optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

Among them, based on the basic safety information of all vehicles in the formation, the process of integrating the obtained basic safety information can take the fleet as a virtual vehicle, set the length of the vehicle to the length of the entire fleet, and set the width of the vehicle to the width of the widest vehicle in the fleet. method, which will not be repeated here.

Below, the application of the method in the embodiment of the present invention is described in combination with specific scenarios:

Scenario 1: After the formation vehicles complete the creation of the formation, the pilot vehicle chooses itself as the communication node. At this time, the pilot vehicle sends the basic safety information of the first and last vehicles in the fleet to the non-staff vehicles and receives the basic safety information of the non-staff vehicles. After 40 seconds, car No. 2 in the formation needs to leave the convoy, and the request to leave the convoy will be sent to the lead car, then all the vehicles in the lead car configuration formation can exchange basic safety information with the non-staffed vehicles independently, and after the vehicles drive in the same lane, The pilot car continues to configure the communication node as itself. At this time, the pilot car sends the basic safety information of the leading car and the tail car in the fleet to the non-staff vehicles, and receives the basic safety information of the non-staff vehicles.

Scenario 2: After the formation vehicles complete formation creation, the pilot vehicle selects itself and the tail vehicle of the fleet as the communication node. At this time, the communication node sends the basic security information of the fleet integrated by the pilot vehicle to the non-staff vehicles (the external vehicle receives the basic security information of the vehicle). The information describes the fleet as a vehicle whose length is the length of the fleet), and receives the basic safety information of the non-staffed vehicles. Information is not forwarded. One minute later, the pilot car reselects the communication node, and continues to select the leading car and the trailing car as communication nodes.

To sum up, in the method of the embodiment of the present invention, the first vehicle obtains the configuration information of the target vehicle in the formation and configures the first vehicle as a communication node, and responds to the configuration information to perform information interaction between the communication node and the non-staffed vehicles. , so that among the vehicles in the formation, only the first vehicle configured by the target vehicle can exchange information with the non-formation vehicles, which prevents each vehicle in the formation from independently interacting with the non-formation vehicles and consumes a large amount of communication resources.

As shown in Fig. 4, the embodiment of the present invention also provides a kind of convoy information transmission method, is applied to the target vehicle in formation, and described method comprises:

Step 401, configuring the first vehicle in the formation as a communication node in the formation to perform information exchange with vehicles outside the formation.

According to this step 401, the target vehicle in the formation configures the first vehicle as a communication node in the formation to exchange information with the non-staffed vehicles, so the first vehicle can obtain the configuration information and respond to the configuration information to serve as a communication node Information exchange with non-staffed vehicles. In this way, among the vehicles in the formation, only the first vehicle configured by the target vehicle can exchange information with the non-formation vehicles, which prevents each vehicle in the formation from independently interacting with the non-formation vehicles and consumes a large amount of communication resources.

Optionally, before step 401, it also includes:

using the first preset vehicle in the formation as the first vehicle; or,

The first vehicle is selected according to the driving information of the vehicles in the formation.

In this embodiment, the pilot vehicle of the formation is used as the target vehicle to configure the first vehicle. First, the first vehicle can be selected according to different selection strategies. Wherein, the first preset vehicle is pre-defined. For example, the pilot vehicle of the formation is defined as the first preset vehicle, that is, after the formation formation is completed, the pilot vehicle selects itself as the communication node, as shown in FIG. 2 . Of course, multiple first vehicles can also be defined at the same time. For example, the leading vehicle and the tail vehicle of the formation are defined as the first vehicle. After the formation is completed, the leader vehicle selects itself and the tail vehicle of the team as communication nodes, as shown in Figure 3 Show.

Optionally, the driving information includes: total number of vehicles, distance between vehicles, body length and communication distance;

The selecting the first vehicle according to the driving information of the vehicles in the formation includes:

By formula Ng=floor[L/(G+l)], calculate the interval vehicle number Ng of the adjacent first vehicle, wherein L is the communication distance, G is the distance between vehicles, and l is the body length;

Starting from the second preset vehicle, the first vehicle is selected according to the interval vehicle number.

Preferably, L is the maximum communication distance for ensuring communication quality.

For example, after the formation of vehicles is completed, G=20 meters, l=5 meters, there are N=20 vehicles in the fleet, L=90 meters, therefore, Ng=floor[L/(G+l)]=floor [90/(20+5)]=3, if the second preset vehicle is set to be the lead car in the fleet, the number of the lead car is No. 1 car, and the tail car is No. 20 car, then the lead car and the tail car are communication nodes , and the cars numbered 4, 7, 10, 13, 16, and 19 will be selected from the pilot car as communication nodes, and the final cars numbered 1, 4, 7, 10, 13, 16, 19, and 20 will be used as communication nodes.

Certainly, considering the change of driving conditions or driving state, step 401 includes:

Based on preset conditions, the first vehicle in the formation is configured as a communication node in the formation to perform information interaction with non-staffed vehicles; wherein the preset conditions include at least one of the following:

preset time;

preset events.

In this way, the target vehicle can configure the communication node every preset time, or reconfigure the communication node when preset events such as vehicle departure, vehicle entry, convoy turning, convoy accident, etc. occur.

For example, after selecting vehicles numbered 1, 4, 7, 10, 13, 16, 19, and 20 above as communication nodes, due to the occurrence of a vehicle turning event, the vehicle decelerates, and the distance between vehicles is reduced to G=15 meters, Ng=floor [L/(G+l)]=floor[90/(15+5)]=4, then re-select vehicles numbered 1, 5, 9, 13, 17, and 20 as communication nodes.

In this embodiment, when a preset event occurs and the communication node needs to be reconfigured, in order to maintain communication with the non-staffed vehicles, the pilot car will configure the vehicles in the formation to communicate with the non-staffed vehicles independently to ensure driving safety.

In this embodiment, optionally, after step 401, it also includes:

sending first basic safety information to the supernumerary vehicle by the first vehicle;

The second basic safety information sent by the non-staff vehicle is received by the first vehicle.

In this way, if the target vehicle is not a communication node, in order to complete the information interaction, the target vehicle will send the first basic safety information generated by itself to the non-staff vehicles through the first vehicle, and receive the second information sent by the non-staff vehicles through the first vehicle. Basic Safety Information.

Among them, according to the BSM receiving strategy of the non-pilot vehicle communication node, the first vehicle can directly forward the second BSM to the target vehicle after receiving the second BSM sent by the non-staff vehicle; on the other hand, in order to reduce the signaling overhead , the first vehicle forwards the second BSM to the target vehicle only when it receives the second BSM sent by the non-staff vehicle and the target vehicle does not receive the second BSM.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

Among them, based on the basic safety information of all vehicles in the formation, the process of integrating the obtained basic safety information can take the fleet as a virtual vehicle, set the length of the vehicle to the length of the entire fleet, and set the width to the width of the widest vehicle in the fleet. method, which will not be repeated here.

It should be noted that this method is implemented in cooperation with the above-mentioned fleet information transmission method applied to the first vehicle in the formation, and the implementation methods of the above-mentioned method embodiments are applicable to this method and can also achieve the same technical effect.

As shown in FIG. 5 , an embodiment of the present invention also provides a communication device, which is applied to the first vehicle in the formation, and includes a transceiver 510, a memory 520, a processor 500, and is stored in the memory 520 and can be used in a computer program running on the processor 500;

The transceiver 510 is used to obtain configuration information, the configuration information configures the first vehicle as a communication node for the target vehicle in the formation;

The processor 500 is configured to, in response to the configuration information, perform information exchange between the first vehicle as a communication node and the non-staff vehicle.

Optionally, the transceiver 510 is also used for:

If the first vehicle is the target vehicle, sending the first basic safety information to the non-staff vehicle;

If the first vehicle is not the target vehicle, after receiving the first basic safety information sent by the target vehicle, the first basic safety information is forwarded to the non-staffed vehicle.

Optionally, the transceiver 510 is also used for:

The second basic safety information sent by the non-staff vehicle is received.

Optionally, the first vehicle is not the target vehicle, and the transceiver 510 is further used for:

forwarding the second basic security information to the target vehicle; or,

If the target vehicle has not received the second basic safety information, forwarding the second basic safety information to the target vehicle.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

The communication device obtains the configuration information that the target vehicle in the formation configures the first vehicle as a communication node, responds to the configuration information, and performs information exchange between the communication node and the non-staffed vehicles, so that among the vehicles in the formation, only the target vehicle is configured The first vehicle can exchange information with the non-formation vehicles, avoiding each vehicle in the formation independently interacting with the non-formation vehicles and causing a large amount of communication resources to be consumed.

Since the problem-solving principle of the communication device is similar to the above-mentioned method applied to the first vehicle in the formation, the implementation of the communication device can refer to the implementation of the method, and the repetition will not be repeated.

In FIG. 5, the bus architecture (represented by a bus), the bus may include any number of interconnected buses and bridges, and the bus will include one or more processors represented by a general-purpose processor 500 and various memory devices represented by a memory 520. The circuits are linked together. The bus may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and therefore will not be further described herein. The bus interface provides an interface between the bus and transceiver 510 . Transceiver 510 may be a single element, or multiple elements, such as multiple receivers and transmitters, providing a means for communicating with various other devices over a transmission medium. For example: Transceiver 510 receives external data from other devices. The transceiver 510 is used to send the data processed by the processor 500 to other devices.

Depending on the nature of the computing system, a user interface 530 may also be provided, such as a keypad, display, speaker, microphone, joystick.

Processor 500 is responsible for managing the bus and general processing, while memory 520 may be used to store data used by processor 500 when performing operations.

Optionally, the processor 500 may be a CPU, ASIC, FPGA or CPLD.

The embodiment of the present invention also provides a communication device (not shown in the figure), which is applied to the target vehicle in the formation, including a transceiver, a memory, a processor and stored in the memory and can run on the processor computer program;

The processor is configured to configure the first vehicle in the formation as a communication node in the formation to perform information exchange with vehicles outside the formation.

Optionally, the processor is also used for:

using the first preset vehicle in the formation as the first vehicle; or,

The first vehicle is selected according to the driving information of the vehicles in the formation.

Optionally, the driving information includes: total number of vehicles, distance between vehicles, body length and communication distance;

The processor is also used to:

By formula Ng=floor[L/(G+l)], calculate the interval vehicle number Ng of the adjacent first vehicle, wherein L is the communication distance, G is the distance between vehicles, and l is the body length;

Starting from the second preset vehicle, the first vehicle is selected according to the interval vehicle number.

Optionally, the processor is also used for:

Based on preset conditions, the first vehicle in the formation is configured as a communication node in the formation to perform information interaction with non-staffed vehicles; wherein the preset conditions include at least one of the following:

preset time;

preset events.

Optionally, the transceiver is used for:

sending first basic safety information to the supernumerary vehicle by the first vehicle;

The second basic safety information sent by the non-staff vehicle is received by the first vehicle.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

The communication device configures the first vehicle as a communication node in the formation to exchange information with the non-staffed vehicles, so the first vehicle can obtain the configuration information and respond to the configuration information as a communication node to communicate with the non-staffed vehicles. interact. In this way, among the vehicles in the formation, only the first vehicle configured by the target vehicle can exchange information with the non-formation vehicles, which prevents each vehicle in the formation from independently interacting with the non-formation vehicles and consumes a large amount of communication resources.

The communication device can execute the above-mentioned embodiment of the target vehicle method applied in the formation, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

As shown in Figure 6, the embodiment of the present invention also provides a fleet information transmission device, which is applied to the first vehicle in the formation, including:

An acquisition module 610, configured to acquire configuration information, the configuration information configuring the first vehicle as a communication node for the target vehicle in the formation;

The communication module 620 is configured to, in response to the configuration information, perform information interaction between the first vehicle as a communication node and non-staffed vehicles.

Optionally, the communication module includes:

A first sending module, configured to send the first basic safety information to the non-staffed vehicle if the first vehicle is the target vehicle;

A second sending module, configured to forward the first basic safety information to the non-staff vehicle after receiving the first basic safety information sent by the target vehicle if the first vehicle is not the target vehicle .

Optionally, the communication module includes:

The first receiving module is configured to receive the second basic safety information sent by the non-staffed vehicle.

Optionally, the first vehicle is not the target vehicle, and the device further includes:

a forwarding module, configured to forward the second basic safety information to the target vehicle; or,

If the target vehicle has not received the second basic safety information, forwarding the second basic safety information to the target vehicle.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

The device obtains the configuration information that the target vehicle in the formation configures the first vehicle as a communication node, responds to the configuration information, and performs information exchange between the communication node and the non-staffed vehicles, so that the vehicles in the formation only have the configuration information of the target vehicle. The first vehicle can exchange information with the non-formation vehicles, which avoids the communication resource consumption of each vehicle in the formation independently interacting with the non-formation vehicles.

It should be noted that this device is a device that applies the above-mentioned method applied to the first vehicle in the formation, and the implementation of the embodiment of the above-mentioned method is applicable to this device, and can also achieve the same technical effect.

As shown in Figure 7, the embodiment of the present invention also provides a fleet information transmission device, which is applied to the target vehicles in the formation, including:

The configuration module 710 is configured to configure the first vehicle in the formation as a communication node in the formation, and perform information exchange with non-staffed vehicles.

Optionally, the device also includes:

A processing module, configured to use a first preset vehicle in the formation as the first vehicle; or, select the first vehicle according to the driving information of the vehicles in the formation.

Optionally, the driving information includes: total number of vehicles, distance between vehicles, body length and communication distance;

The processing modules include:

The first processing sub-module is used to calculate the number of vehicles Ng adjacent to the first vehicle at intervals by the formula Ng=floor[L/(G+l)], wherein L is the communication distance, G is the distance between vehicles, and l is the length of the vehicle body ;

The second processing sub-module is configured to select the first vehicle according to the number of vehicles at intervals starting from the second preset vehicle.

Optionally, the configuration module is also used for:

Based on preset conditions, the first vehicle in the formation is configured as a communication node in the formation to perform information interaction with non-staffed vehicles; wherein the preset conditions include at least one of the following:

preset time;

preset events.

Optionally, the device also includes:

A third sending module, configured to send the first basic safety information to the non-staffed vehicle through the first vehicle;

The second receiving module is configured to receive, through the first vehicle, the second basic safety information sent by the non-staffed vehicle.

Optionally, the first basic security information is:

Basic safety information for the leading and trailing vehicles in the formation; or,

The basic security information of the vehicle as the target node in the formation; or

Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated.

The device configures the first vehicle as a communication node in the formation to exchange information with the non-staff vehicles, so the first vehicle can obtain the configuration information and respond to the configuration information as a communication node to perform information interaction with the non-staff vehicles . In this way, among the vehicles in the formation, only the first vehicle configured by the target vehicle can exchange information with the non-formation vehicles, which prevents each vehicle in the formation from independently interacting with the non-formation vehicles and consumes a large amount of communication resources.

It should be noted that this device is a device that applies the above-mentioned method applied to the target vehicle in formation, and the implementation of the above-mentioned method embodiment is applicable to this device, and can also achieve the same technical effect.

Another embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method for transmitting fleet information as applied to the first vehicle in the formation is implemented as above, or, Realize the fleet information transmission method applied to the target vehicles in the formation as above.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should be further noted that many of the functional components described in this specification are called modules, in order to more particularly emphasize the independence of their implementation.

In the embodiments of the present invention, the modules may be implemented by software so as to be executed by various types of processors. An identified module of executable code may, by way of example, comprise one or more physical or logical blocks of computer instructions which may, for example, be structured as an object, procedure, or function. Notwithstanding, the executable code of an identified module need not be physically located together, but may include distinct instructions stored in different bits which, when logically combined, constitute the module and implement the specified Purpose.

Indeed, a module of executable code may be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs and across multiple memory devices. Likewise, operational data may be identified within modules, and may be implemented in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed in different locations (including on different storage devices), and may exist, at least in part, only as electronic signals on a system or network.

When the module can be realized by software, considering the level of the existing hardware technology, the module that can be realized by software, regardless of the cost, those skilled in the art can build the corresponding hardware circuit to realize the corresponding function. The hardware circuit includes conventional very large scale integration (VLSI) circuits or gate arrays as well as existing semiconductors such as logic chips, transistors, or other discrete components. A module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices, and the like.

The exemplary embodiments described above are described with reference to these drawings. Many different forms and embodiments are possible without departing from the spirit and teachings of the present invention. Therefore, the present invention should not be construed as the exemplary embodiments set forth herein. limits. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will convey the scope of the invention to those skilled in the art. In the drawings, component sizes and relative sizes may be exaggerated for clarity. The terminology used herein is for the purpose of describing certain exemplary embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include these plural forms unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprises", when used in this specification, indicate the presence of stated features, integers, steps, operations, components and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, components, components and/or groups thereof. Unless otherwise indicated, when stated a range of values includes the upper and lower limits of that range and any subranges therebetween.

The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (16)

1. A fleet information transmission method, applied to the first vehicle in the formation, characterized in that the method comprises: Obtaining configuration information, the configuration information configuring the first vehicle as a communication node for the target vehicle in the formation; the target vehicle is the pilot vehicle in the formation; Responding to the configuration information, the first vehicle serves as a communication node to perform information interaction with the non-staff vehicle; Wherein if the first vehicle is the target vehicle, sending the first basic safety information to the non-staffed vehicle; If the first vehicle is not the target vehicle, after receiving the first basic safety information sent by the target vehicle, forwarding the first basic safety information to the non-staffed vehicle; The first basic security information is: Basic safety information for the leading and trailing vehicles in the formation; or, The basic security information of the vehicle as the target node in the formation; or Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated. 2. The method according to claim 1, wherein the first vehicle, as a communication node, performs information interaction with non-staffed vehicles, comprising: The second basic safety information sent by the non-staff vehicle is received. 3. The method according to claim 2, wherein the first vehicle is not the target vehicle, and after receiving the second basic safety information sent by the non-staffed vehicle, further comprising: forwarding the second basic security information to the target vehicle; or, If the target vehicle has not received the second basic safety information, forwarding the second basic safety information to the target vehicle. 4. A convoy information transmission method, applied to target vehicles in the formation, characterized in that, the target vehicle is a pilot vehicle in the formation, and the method comprises: The first preset vehicle in the formation is used as the first vehicle; or, according to the driving information of the vehicles in the formation, the first vehicle is selected; the driving information includes: total number of vehicles, distance between vehicles, body length and communication distance; Configuring the first vehicle in the formation as a communication node in the formation to perform information exchange with non-staffed vehicles; The selecting the first vehicle according to the driving information of the vehicles in the formation includes: By formula Ng=floor[L/(G+l)], calculate the interval vehicle number Ng of the adjacent first vehicle, wherein L is the communication distance, G is the distance between vehicles, and l is the body length; Starting from the second preset vehicle, the first vehicle is selected according to the interval vehicle number. 5. The method according to claim 4, wherein the configuring the first vehicle in the formation to be a communication node in the formation to perform information interaction with non-staffed vehicles comprises: Based on preset conditions, the first vehicle in the formation is configured as a communication node in the formation to perform information interaction with non-staffed vehicles; wherein the preset conditions include at least one of the following: preset time; preset events. 6. The method according to claim 4, characterized in that, after configuring the first vehicle in the formation to be a communication node in the formation, after information interaction with the non-staffed vehicles, further comprising: sending first basic safety information to the supernumerary vehicle by the first vehicle; The second basic safety information sent by the non-staff vehicle is received by the first vehicle. 7. The method according to claim 6, wherein the first basic security information is: Basic safety information for the leading and trailing vehicles in the formation; or, The basic security information of the vehicle as the target node in the formation; or Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated. 8. A communication device, applied to the first vehicle in the formation, comprising a transceiver, a memory, a processor, and a computer program stored on the memory and operable on the processor; it is characterized in that, The transceiver is used to obtain configuration information, and the configuration information configures the first vehicle as a communication node for the target vehicle in the formation; the target vehicle is the pilot vehicle in the formation; The processor is configured to respond to the configuration information, and the first vehicle serves as a communication node to perform information interaction with the non-staff vehicle; The transceiver is also used to: If the first vehicle is the target vehicle, sending the first basic safety information to the non-staff vehicle; If the first vehicle is not the target vehicle, after receiving the first basic safety information sent by the target vehicle, forwarding the first basic safety information to the non-staffed vehicle; The first basic security information is: Basic safety information for the leading and trailing vehicles in the formation; or, The basic security information of the vehicle as the target node in the formation; or Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated. 9. The communication device according to claim 8, wherein the transceiver is further used for: The second basic safety information sent by the non-staff vehicle is received. 10. The communication device according to claim 9, wherein the first vehicle is not the target vehicle, and the transceiver is further used for: forwarding the second basic security information to the target vehicle; or, If the target vehicle has not received the second basic safety information, forwarding the second basic safety information to the target vehicle. 11. A kind of communication equipment, is applied to the target vehicle in formation, comprises transceiver, memory, processor and is stored on described memory and can run on the computer program of described processor; It is characterized in that, described target The vehicle is the lead vehicle in the formation; The first preset vehicle in the formation is used as the first vehicle; or, according to the driving information of the vehicles in the formation, the first vehicle is selected; the driving information includes: total number of vehicles, distance between vehicles, body length and communication distance; The processor is configured to configure the first vehicle in the formation as a communication node in the formation to perform information exchange with non-staffed vehicles; The processor is also used to: calculate the number of vehicles Ng adjacent to the first vehicle by the formula Ng=floor[L/(G+l)], wherein L is the communication distance, G is the distance between vehicles, and l is the length of the vehicle body ; Starting from the second preset vehicle, the first vehicle is selected according to the interval vehicle number. 12. The communication device according to claim 11, wherein the processor is further configured to: Based on preset conditions, the first vehicle in the formation is configured as a communication node in the formation to perform information interaction with non-staffed vehicles; wherein the preset conditions include at least one of the following: preset time; preset events. 13. The communication device according to claim 11, wherein the transceiver is used for: sending first basic safety information to the supernumerary vehicle by the first vehicle; The second basic safety information sent by the non-staff vehicle is received by the first vehicle. 14. A fleet information transmission device, applied to the first vehicle in the formation, characterized in that it comprises: An acquisition module, configured to acquire configuration information, the configuration information configuring the first vehicle as a communication node for the target vehicle in the formation; the target vehicle is the pilot vehicle in the formation; A communication module, configured to, in response to the configuration information, perform information interaction between the first vehicle as a communication node and the non-staff vehicle; Communication modules include: A first sending module, configured to send the first basic safety information to the non-staffed vehicle if the first vehicle is the target vehicle; A second sending module, configured to forward the first basic safety information to the non-staff vehicle after receiving the first basic safety information sent by the target vehicle if the first vehicle is not the target vehicle ; The first basic security information is: Basic safety information for the leading and trailing vehicles in the formation; or, The basic security information of the vehicle as the target node in the formation; or Based on the basic safety information of all vehicles in the formation, the obtained basic safety information is integrated. 15. A fleet information transmission device, which is applied to a target vehicle in a formation, wherein the target vehicle is a pilot vehicle in the formation; the device includes: A processing module, configured to use the first preset vehicle in the formation as the first vehicle; or, select the first vehicle according to the driving information of the vehicles in the formation; the driving information includes: total number of vehicles, driving Spacing, body length and communication distance; A configuration module, configured to configure the first vehicle in the formation as a communication node in the formation, and perform information interaction with non-staffed vehicles; The processing modules include: The first processing sub-module is used to calculate the number of vehicles Ng adjacent to the first vehicle at intervals by the formula Ng=floor[L/(G+l)], wherein L is the communication distance, G is the distance between vehicles, and l is the length of the vehicle body ; The second processing sub-module is configured to select the first vehicle according to the number of vehicles at intervals starting from the second preset vehicle. 16. A computer-readable storage medium, on which a computer program is stored, characterized in that, when the program is executed by a processor, the fleet information transmission method according to any one of claims 1 to 3 is realized, or, Realize the fleet information transmission method as described in any one of claims 4 to 7.

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