CN116133096A - Message sending method, system and electronic device for roadside terminal equipment - Google Patents

Abstract

Translated fromChinese

本申请公开了一种路侧终端设备的消息发送方法、系统和电子装置，其中，上述方法包括：在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制第一路侧终端设备处于低功耗模式，其中，在低功耗模式下，第一路侧终端设备停止广播路侧消息；在接收到第一车辆发送的车辆消息的情况下，根据第一车辆的车辆消息，确定第一车辆的车辆位置；在第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息。通过本申请，解决了相关技术中的路侧终端设备的消息发送方法存在由于路侧终端设备持续处于高功耗运行状态导致的资源消耗量大的问题。

The present application discloses a message sending method, system and electronic device of a roadside terminal device, wherein the above method includes: when no vehicle is detected in the message broadcast range of the first roadside terminal device, controlling the first roadside terminal device The terminal device is in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device stops broadcasting roadside messages; upon receiving the vehicle message sent by the first vehicle, according to the vehicle message of the first vehicle , determine the vehicle position of the first vehicle; when the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device End devices broadcast roadside messages. The present application solves the problem that the message sending method of the roadside terminal equipment in the related art consumes a lot of resources because the roadside terminal equipment is continuously in a state of high power consumption.

Description

Translated fromChinese

路侧终端设备的消息发送方法、系统和电子装置Message sending method, system and electronic device for roadside terminal equipment

技术领域technical field

本申请涉及车辆识别领域，具体而言，涉及一种路侧终端设备的消息发送方法、系统和电子装置。The present application relates to the field of vehicle identification, in particular, to a message sending method, system and electronic device of a roadside terminal device.

背景技术Background technique

目前，在V2X(Vehicle to Everything，车对外界的信息交换，X表示Everything)技术中，路侧终端设备通常采用广播的方式持续发送路侧消息，为了保证能够获取到发送路侧消息所需的信息，路侧终端设备需要实时与关联的路侧设备(例如，红绿灯、激光雷达等路侧设备)进行交互，从而获得实时交通信息，以保证广播的路侧消息中所携带信息的实时性和准确性，为此，路侧设备需要一直处于高功耗的运行状态。At present, in V2X (Vehicle to Everything, information exchange between vehicles and the outside world, X means Everything) technology, roadside terminal equipment usually uses broadcasting to continuously send roadside messages. information, roadside terminal equipment needs to interact with associated roadside equipment (such as traffic lights, lidar and other roadside equipment) in real time to obtain real-time traffic information, so as to ensure the real-time and Accuracy, for this reason, roadside equipment needs to be in the running state of high power consumption all the time.

由此可见，相关技术中的路侧终端设备的消息发送方法，存在由于路侧终端设备持续处于高功耗运行状态导致的资源消耗量大的问题。It can be seen that the message sending method of the roadside terminal device in the related art has the problem of large resource consumption due to the roadside terminal device being continuously in a high power consumption operating state.

发明内容Contents of the invention

本申请实施例提供了一种路侧终端设备的消息发送方法、系统和电子装置，以至少解决相关技术中的路侧终端设备的消息发送方法存在由于路侧终端设备持续处于高功耗运行状态导致的资源消耗量大的问题。Embodiments of the present application provide a message sending method, system, and electronic device for roadside terminal equipment, to at least solve the problems of the message sending method for roadside terminal equipment in the related art due to the continuous high power consumption of the roadside terminal equipment. The problem of large resource consumption caused by it.

根据本申请实施例的一个方面，提供了一种路侧终端设备的消息发送方法，包括：在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制所述第一路侧终端设备处于低功耗模式，其中，在所述低功耗模式下，所述第一路侧终端设备停止广播路侧消息；在接收到第一车辆发送的车辆消息的情况下，根据所述第一车辆的车辆消息，确定所述第一车辆的车辆位置；在所述第一车辆的车辆位置处于所述第一路侧终端设备的消息广播范围的情况下，控制所述第一路侧终端设备退出所述低功耗模式，并控制所述第一路侧终端设备广播路侧消息。According to an aspect of an embodiment of the present application, there is provided a message sending method of a roadside terminal device, including: when no vehicle is detected in the message broadcast range of the first roadside terminal device, controlling the first roadside terminal device to The terminal device is in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device stops broadcasting roadside messages; when receiving a vehicle message sent by the first vehicle, according to the The vehicle message of the first vehicle, determining the vehicle position of the first vehicle; when the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, controlling the first roadside terminal device The terminal device exits the low power consumption mode, and controls the first roadside terminal device to broadcast a roadside message.

根据本申请实施例的另一个方面，还提供了一种路侧终端设备的消息发送系统，包括：数据处理部件，用于在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制所述第一路侧终端设备处于低功耗模式，其中，在所述低功耗模式下，所述第一路侧终端设备停止广播路侧消息；在接收到第一车辆发送的车辆消息的情况下，根据所述第一车辆的车辆消息，确定所述第一车辆的车辆位置；在所述第一车辆的车辆位置处于所述第一路侧终端设备的消息广播范围的情况下，控制所述第一路侧终端设备退出所述低功耗模式，并控制所述第一路侧终端设备广播路侧消息。According to another aspect of the embodiment of the present application, there is also provided a message sending system of a roadside terminal device, including: a data processing component, used to detect a vehicle in the message broadcast range of the first roadside terminal device , controlling the first roadside terminal device to be in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device stops broadcasting roadside messages; In the case of a message, determine the vehicle position of the first vehicle according to the vehicle message of the first vehicle; if the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device , controlling the first roadside terminal device to exit the low power consumption mode, and controlling the first roadside terminal device to broadcast a roadside message.

根据本申请实施例的又一方面，还提供了一种计算机可读的存储介质，该计算机可读的存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述路侧终端设备的消息发送方法。According to yet another aspect of the embodiments of the present application, a computer-readable storage medium is also provided, and a computer program is stored in the computer-readable storage medium, wherein the computer program is set to execute the above-mentioned roadside terminal when running. The message sending method of the device.

根据本申请实施例的又一方面，还提供了一种电子装置，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，上述处理器通过计算机程序执行上述的路侧终端设备的消息发送方法。According to yet another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the above-mentioned processor executes the above-mentioned A message sending method of a roadside terminal device.

在本申请实施例中，采用通过车辆发送的车辆消息来触发路侧终端设备广播路侧消息的方式，通过在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制第一路侧终端设备处于低功耗模式，其中，在低功耗模式下，第一路侧终端设备停止广播路侧消息；在接收到第一车辆发送的车辆消息的情况下，根据第一车辆的车辆消息，确定第一车辆的车辆位置；在第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息，由于路侧终端设备可以仅在接收到车辆信息时触发开启对路侧消息的广播，而在没有车辆经过时，可以停止广播路侧消息，控制设备处于低功耗模式，可以实现避免路侧终端设备持续处于高功耗运行状态的目的，达到降低资源消耗量的技术效果，进而解决了相关技术中的路侧终端设备的消息发送方法存在由于路侧终端设备持续处于高功耗运行状态导致的资源消耗量大的问题。In this embodiment of the application, the vehicle message sent by the vehicle is used to trigger the roadside terminal device to broadcast the roadside message, and when the vehicle is not detected in the message broadcast range of the first roadside terminal device, the first roadside terminal device is controlled to The roadside terminal device is in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device stops broadcasting roadside messages; upon receiving the vehicle message sent by the first vehicle, according to the first vehicle's vehicle message, to determine the vehicle position of the first vehicle; when the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, control the first roadside terminal device to exit the low power consumption mode, and control the first The roadside terminal device broadcasts the roadside message. Since the roadside terminal device can trigger the broadcast of the roadside message only when it receives vehicle information, and can stop broadcasting the roadside message when no vehicle passes by, the control device is in a low power state. consumption mode, which can prevent the roadside terminal equipment from continuously operating at high power consumption and achieve the technical effect of reducing resource consumption. The problem of high resource consumption caused by continuous high power consumption operation.

附图说明Description of drawings

此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.

为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

图1是根据本申请实施例的一种可选的路侧终端设备的消息发送方法的硬件环境的示意图；FIG. 1 is a schematic diagram of a hardware environment of an optional message sending method of a roadside terminal device according to an embodiment of the present application;

图2是根据本申请实施例的一种可选的路侧终端设备的消息发送方法的流程示意图；FIG. 2 is a schematic flowchart of an optional message sending method of a roadside terminal device according to an embodiment of the present application;

图3是根据本申请实施例的一种可选的电子装置的结构框图。Fig. 3 is a structural block diagram of an optional electronic device according to an embodiment of the present application.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“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，以便这里描述的本申请的实施例能够以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。It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

根据本申请实施例的一个方面，提供了一种路侧终端设备的消息发送方法。可选地，在本实施例中，上述路侧终端设备的消息发送方法可以应用于如图1所示的包括路侧设备102和服务器104的硬件环境中。如图1所示，服务器104通过网络与路侧设备102进行连接，可用于基于路侧设备102确定的实时数据进行路侧终端设备的消息发送，可在服务器上或独立于服务器设置数据库，用于为服务器104提供数据存储服务。According to an aspect of the embodiments of the present application, a method for sending a message of a roadside terminal device is provided. Optionally, in this embodiment, the above method for sending a message by a roadside terminal device may be applied to a hardware environment including aroadside device 102 and aserver 104 as shown in FIG. 1 . As shown in Figure 1,server 104 is connected withroadside equipment 102 through network, can be used for carrying out the message transmission of roadside terminal equipment based on the real-time data determined byroadside equipment 102, can set database on server or independently of server, use To provide data storage services for theserver 104 .

上述网络可以包括但不限于以下至少之一：有线网络，无线网络。上述有线网络可以包括但不限于以下至少之一：广域网，城域网，局域网，上述无线网络可以包括但不限于以下至少之一：WIFI(Wireless Fidelity，无线保真)，蓝牙。路侧设备102可以是安装在路侧的各种设备，包括但不限于道路交通灯、激光传感器、道路摄像头、路侧终端设备(即，RSU，Road Side Unit，路侧单元)等。The foregoing network may include but not limited to at least one of the following: a wired network and a wireless network. The above-mentioned wired network may include but not limited to at least one of the following: wide area network, metropolitan area network, and local area network, and the above-mentioned wireless network may include but not limited to at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), Bluetooth. Theroadside equipment 102 may be various equipment installed on the roadside, including but not limited to road traffic lights, laser sensors, road cameras, roadside terminal equipment (that is, RSU, Road Side Unit, roadside unit) and the like.

本申请实施例的路侧终端设备的消息发送方法可以由服务器104来执行，也可以由路侧终端设备来执行，还可以是由服务器104和路侧终端设备共同执行。以由路侧终端设备来执行本实施例中的路侧终端设备的消息发送方法为例，图2是根据本申请实施例的一种可选的路侧终端设备的消息发送方法的流程示意图，如图2所示，该方法的流程可以包括以下步骤：The message sending method of the roadside terminal device in the embodiment of the present application may be executed by theserver 104, may also be executed by the roadside terminal device, or may be jointly executed by theserver 104 and the roadside terminal device. Taking the method for sending a message of a roadside terminal device in this embodiment performed by a roadside terminal device as an example, FIG. 2 is a schematic flowchart of an optional method for sending a message of a roadside terminal device according to an embodiment of the present application. As shown in Figure 2, the flow of the method may include the following steps:

步骤S202，在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制第一路侧终端设备处于低功耗模式，其中，在低功耗模式下，第一路侧终端设备停止广播路侧消息。Step S202, in the case that no vehicle is detected in the message broadcast range of the first roadside terminal device, control the first roadside terminal device to be in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device Stop broadcasting roadside messages.

本实施例中的路侧终端设备的消息发送方法可以应用到控制路侧终端设备对经过的车辆进行消息广播的场景。上述路侧终端设备可以如前述，其可以为部署在道路上的路侧单元RSU，可以接收各种路侧设备和服务器下发的实时交通信息，并发送给通行车辆，从而降低、规避交通事故，提升交通通行效率。上述场景可以是应用V2X(vehicle toeverything，即车对外界的信息交换)技术的场景。The message sending method of the roadside terminal device in this embodiment may be applied to a scenario where the roadside terminal device is controlled to broadcast messages to passing vehicles. The above-mentioned roadside terminal equipment can be as mentioned above, which can be a roadside unit RSU deployed on the road, which can receive real-time traffic information issued by various roadside equipment and servers, and send it to passing vehicles, thereby reducing and avoiding traffic accidents , improve traffic efficiency. The above-mentioned scenario may be a scenario in which V2X (vehicle to everything, that is, information exchange between the vehicle and the outside world) technology is applied.

目前，在V2X技术中，路侧终端设备对车辆进行的消息发送主要通过广播进行，为了保证经过路侧终端设备所在道路范围的车辆均能接收到各种车辆信息，路侧终端设备需要持续进行各种路侧消息的广播，才能避免遗漏车辆。这里，路侧消息可以包括但不限于MAP(即Map，地图消息)消息、RSI(Road Side Information，路侧信息)消息、SPAT(SignalPhase Timing Message，交通灯相位与时序消息)消息等。其中，MAP消息通常用于向车辆传递局部区域的地图信息，包括局部区域路口消息、路段消息、车道消息、道路之间的连接关系等。SPAT消息通常与MAP消息搭配使用，帮助车辆根据当前的位置及红绿灯信息来判断是否要激活闯红灯预警或者绿波车速引导等。RSI消息通常为路侧单元发布的交通事件消息，包括道路施工、限速标志、超速预警、公交车道预警等等。At present, in the V2X technology, the information sent by the roadside terminal equipment to the vehicle is mainly carried out through broadcasting. The broadcast of various roadside messages can avoid missing vehicles. Here, the roadside message may include but not limited to MAP (Map, map message) message, RSI (Road Side Information, roadside information) message, SPAT (SignalPhase Timing Message, traffic light phase and timing message) message, etc. Among them, the MAP message is usually used to transmit map information of a local area to the vehicle, including intersection information, section information, lane information, connection relationship between roads, etc. in the local area. SPAT messages are usually used in conjunction with MAP messages to help vehicles determine whether to activate red light warning or green wave speed guidance based on the current location and traffic light information. RSI messages are usually traffic event messages released by roadside units, including road construction, speed limit signs, speeding warnings, bus lane warnings, and so on.

由于路侧消息通常是结合各个路侧单元的信息确定的，为了能够进行持续的消息广播，需要路侧终端设备持续开启与各个路侧单元的交互功能，以实时获取当前交通状态(例如，通行的车辆信息、交通信号灯信息等)，从而导致路侧终端设备一直处于高功耗的运行状态。但有些路段由于位置偏远等原因可能车流量较少，有些车流量较多的路段也可能在夜间等某些时段出现车流量较少甚至无车的情况。对此，路侧终端设备持续广播的路侧消息，在某些时候可能并没有对应的接收车辆出现，从而导致消耗的资源出现浪费的情况。Since roadside messages are usually determined in combination with the information of each roadside unit, in order to be able to broadcast messages continuously, it is necessary for the roadside terminal equipment to continuously enable the interaction function with each roadside unit to obtain the current traffic status in real time (for example, traffic Vehicle information, traffic signal light information, etc.), resulting in roadside terminal equipment always in a high power consumption state. However, some road sections may have less traffic flow due to remote location and other reasons, and some road sections with more traffic flow may also have less traffic flow or even no cars at certain times such as night. In this regard, the roadside messages continuously broadcast by the roadside terminal equipment may not have corresponding receiving vehicles at certain times, resulting in waste of consumed resources.

为了至少解决上述的部分问题，在本实施例中，可以将路侧终端设备的消息发送设置触发条件，触发条件发生时才执行路侧消息的发送。触发条件可以是检测到车辆经过该路侧终端设备的消息广播范围(即，有车辆进入到该路侧终端设备的消息广播范围)。对车辆经过该消息广播范围的检测可以是通过接收到车辆的车载V2X终端发送的消息来确定的，也可以是通过道路上安装的其他设备检测到车辆的存在来确定的，还可以是通过其他方式确定的，本实施例对此不做限定。消息广播范围可以是路侧终端设备广播的路侧消息能够覆盖的范围，即，路侧终端设备的电子围栏范围。In order to solve at least part of the above-mentioned problems, in this embodiment, a trigger condition may be set for the message transmission of the roadside terminal device, and the transmission of the roadside message is performed only when the trigger condition occurs. The trigger condition may be the detection of a vehicle passing through the message broadcast range of the roadside terminal device (that is, a vehicle enters the message broadcast range of the roadside terminal device). The detection of the vehicle passing through the broadcast range of the message can be determined by receiving the message sent by the vehicle's vehicle-mounted V2X terminal, or by detecting the presence of the vehicle by other equipment installed on the road, or by other The method is determined, which is not limited in this embodiment. The message broadcast range may be the range covered by the roadside message broadcast by the roadside terminal device, that is, the electronic fence range of the roadside terminal device.

在本实施例中，在第一路侧终端设备的消息广播范围未检测到车辆的情况下，可以控制第一路侧终端设备处于低功耗模式，在低功耗模式下，第一路侧终端设备可以停止广播路侧消息。这里，低功耗模式可以是相对于第一路侧终端设备处于持续进行路侧消息的广播的模式而言的。可选地，在上述低功耗模式下，由于路侧终端设备不需要进行路侧消息的广播，可以仅开启路侧终端设备对消息的接收和与服务器的交互功能，对路侧消息的发送以及与其他路侧设备的交互功能等可以全部关闭。In this embodiment, when no vehicle is detected in the message broadcast range of the first roadside terminal device, the first roadside terminal device can be controlled to be in a low power consumption mode. In the low power consumption mode, the first roadside terminal device Terminal devices can stop broadcasting roadside messages. Here, the low power consumption mode may be relative to a mode in which the first roadside terminal device is continuously broadcasting roadside messages. Optionally, in the above-mentioned low power consumption mode, since the roadside terminal equipment does not need to broadcast roadside messages, it can only enable the roadside terminal equipment to receive messages and interact with the server. And the interactive functions with other roadside equipment can all be closed.

步骤S204，在接收到第一车辆发送的车辆消息的情况下，根据第一车辆的车辆消息，确定第一车辆的车辆位置。Step S204, if the vehicle message sent by the first vehicle is received, determine the vehicle position of the first vehicle according to the vehicle message of the first vehicle.

在本实施例中，车辆在运行的过程中，可以基于预设配置或者驾驶员等的触发，向周围广播车辆消息。第一路侧终端设备可以接收第一车辆发送的车辆消息，可以确定第一车辆与第一路侧终端设备的距离较近，可能即将经过第一路侧终端设备。这里，第一车辆可以是安装有车载V2X终端的车辆。车辆消息可以是车载V2X终端发送的BSM(Basic SafetyMessage，基础安全消息)，可以包括第一车辆的当前速度，转向，刹车，双闪，GPS(GlobalPositioning System，全球定位系统)位置等等。In this embodiment, during the running of the vehicle, vehicle messages can be broadcast to surroundings based on preset configurations or triggers by the driver or the like. The first roadside terminal device may receive the vehicle message sent by the first vehicle, and may determine that the distance between the first vehicle and the first roadside terminal device is relatively short, and may be about to pass the first roadside terminal device. Here, the first vehicle may be a vehicle installed with a vehicle-mounted V2X terminal. The vehicle message can be a BSM (Basic Safety Message) sent by a vehicle-mounted V2X terminal, which can include the current speed, steering, braking, double flashing, GPS (Global Positioning System, Global Positioning System) position of the first vehicle, and so on.

而由于车载V2X消息的发送范围与第一终端设备的消息广播范围可能是不同的，在接收到第一车辆发送的车辆消息时，第一车辆可能并未进入第一终端设备的消息广播范围。因此，在接收到第一车辆发送的车辆消息的情况下，可以先确定第一车辆的当前位置，再判断是否触发路侧消息的广播。这里，第一车辆的当前位置可以是根据接收到的第一车辆的车辆消息确定的。Since the sending range of the vehicle-mounted V2X message may be different from the message broadcasting range of the first terminal device, when receiving the vehicle message sent by the first vehicle, the first vehicle may not enter the message broadcasting range of the first terminal device. Therefore, in the case of receiving the vehicle message sent by the first vehicle, the current location of the first vehicle may be determined first, and then it is judged whether to trigger the broadcast of the roadside message. Here, the current location of the first vehicle may be determined according to the received vehicle message of the first vehicle.

例如，由于根据协议标准，在BSM消息协议中包含车辆的GPS位置信息，当有车辆行驶进V2X路侧终端设备的电子围栏路段时，V2X路侧终端设备通过接收到车载V2X终端发送的BSM消息来判断此车是否处于电子围栏内。For example, according to the protocol standard, the BSM message protocol contains the GPS location information of the vehicle. When a vehicle enters the electronic fence section of the V2X roadside terminal device, the V2X roadside terminal device receives the BSM message sent by the vehicle-mounted V2X terminal. To judge whether the car is in the electronic fence.

步骤S206，在第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息。Step S206, when the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device to broadcast the roadside message .

在本实施例中，在确定第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，可以控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息。In this embodiment, when it is determined that the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, the first roadside terminal device may be controlled to exit the low power consumption mode, and the first roadside terminal device may be controlled to The device broadcasts roadside messages.

可选地，在低功耗模式为仅开启第一路侧终端设备对消息的接收和与服务器的交互功能的情况下，控制第一路侧终端设备退出低功耗模式，可以包括：开启第一路侧终端设备与其他路侧设备的交互功能以及广播路侧消息，同时还可以包括对应调整第一路侧终端设备的系统资源。Optionally, when the low power consumption mode is to only enable the first roadside terminal device to receive messages and interact with the server, controlling the first roadside terminal device to exit the low power consumption mode may include: enabling the first roadside terminal device to exit the low power consumption mode. The interaction function between the roadside terminal device and other roadside devices and the broadcasting of roadside messages may also include correspondingly adjusting the system resources of the first roadside terminal device.

可选地，通过向第一车辆进行路侧消息的广播，可以将第一路侧终端设备所在路段的道路交通情况发送至第一车辆，包括但不限于前方路段的限速情况、施工情况、红绿灯情况等，对第一车辆进行车速引导和可能的危险预警等，辅助第一车辆的安全驾驶。Optionally, by broadcasting roadside messages to the first vehicle, the road traffic conditions of the road section where the first roadside terminal device is located can be sent to the first vehicle, including but not limited to speed limit conditions, construction conditions, Traffic light conditions, etc., provide speed guidance and possible danger warning to the first vehicle, etc., to assist the safe driving of the first vehicle.

通过上述步骤S202至步骤S206，在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制第一路侧终端设备处于低功耗模式，其中，在低功耗模式下，第一路侧终端设备停止广播路侧消息；在接收到第一车辆发送的车辆消息的情况下，根据第一车辆的车辆消息，确定第一车辆的车辆位置；在第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息，解决了相关技术中的路侧终端设备的消息发送方法存在由于路侧终端设备持续处于高功耗运行状态导致的资源消耗量大的问题，提高了路侧终端设备的消息发送的准确性。Through the above steps S202 to S206, when the vehicle is not detected in the message broadcast range of the first roadside terminal device, the first roadside terminal device is controlled to be in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device is controlled to be in a low power consumption mode. The roadside terminal device stops broadcasting roadside messages; in the case of receiving the vehicle message sent by the first vehicle, it determines the vehicle position of the first vehicle according to the vehicle message of the first vehicle; when the vehicle position of the first vehicle is in the first In the case of the message broadcast range of the roadside terminal equipment, the first roadside terminal equipment is controlled to exit the low power consumption mode, and the first roadside terminal equipment is controlled to broadcast the roadside message, which solves the problem of the roadside terminal equipment in the related art. The message sending method has the problem of high resource consumption caused by the roadside terminal equipment continuously operating at high power consumption, and improves the accuracy of message sending of the roadside terminal equipment.

在一个示例性实施例中，控制第一路侧终端设备退出低功耗模式，包括以下至少之一：In an exemplary embodiment, controlling the first roadside terminal device to exit the low power consumption mode includes at least one of the following:

S11，打开第一路侧终端设备的至少一个中央处理器CPU内核；S11, enabling at least one central processing unit CPU core of the first roadside terminal device;

S12，将第一路侧终端设备的CPU运行频率调整到与广播路侧消息所对应的运行频率；S12. Adjust the operating frequency of the CPU of the first roadside terminal device to the operating frequency corresponding to the broadcast roadside message;

S13，调高第一路侧终端设备上为广播路侧消息所分配的内存资源。S13. Increase the memory resource allocated for broadcasting the roadside message on the first roadside terminal device.

在本实施例中，控制第一路侧终端设备退出低功耗模式可以包括：调整第一路侧终端设备的系统资源，调整的系统资源可以是与需要广播的路侧消息及第一车辆相关的。由于在低功耗模式下，第一路侧终端设备可以仅保留与服务器的交互和接收车辆消息的功能，第一路侧终端设备的中央处理器可以运行在单核低频模式。In this embodiment, controlling the first roadside terminal device to exit the low power consumption mode may include: adjusting the system resource of the first roadside terminal device, and the adjusted system resource may be related to the roadside message to be broadcast and the first vehicle of. Since in the low power consumption mode, the first roadside terminal device can only retain the functions of interacting with the server and receiving vehicle messages, the central processor of the first roadside terminal device can run in a single-core low-frequency mode.

在本实施例中，在确定第一车辆的车辆位置处于第一路侧终端设备的消息广播范围后，可以根据第一车辆的车辆信息确定需要调整的第一路侧终端设备的系统资源，可以包括以下至少之一：打开第一路侧终端设备的至少一个CPU(Central Processing Unit，中央处理器)内核，将第一路侧终端设备的CPU运行频率调整到与广播路侧消息所对应的运行频率，调高第一路侧终端设备上为广播路侧消息所分配的内存资源。通过实时调整CPU核心数、内存资源或CPU运行频率，可以对应的改变第一路侧终端设备的运行功耗，使功耗的利用率最大化，达到节约资源的目的。In this embodiment, after it is determined that the vehicle position of the first vehicle is within the message broadcasting range of the first roadside terminal device, the system resources of the first roadside terminal device that need to be adjusted can be determined according to the vehicle information of the first vehicle. Including at least one of the following: opening at least one CPU (Central Processing Unit, central processing unit) core of the first roadside terminal device, adjusting the CPU operating frequency of the first roadside terminal device to the operation frequency corresponding to the broadcast roadside message Increase the memory resources allocated for broadcasting roadside messages on the first roadside terminal device. By adjusting the number of CPU cores, memory resources, or CPU operating frequency in real time, the operating power consumption of the first roadside terminal equipment can be changed correspondingly, so as to maximize the utilization rate of power consumption and achieve the purpose of saving resources.

可选地，上述CPU内核的数量、CPU运行频率、内存资源等数值可以结合第一车辆以及当前道路的交通状态确定，例如，在第一车辆与第一路侧终端设备的距离较远、而当前道路上车流量较多时，可以选择较多的CPU核心数或较高的运行频率，此外还可以选择较高的内存资源，以保证当前道路上所有车辆均能及时接收到路侧消息。Optionally, the above-mentioned number of CPU cores, CPU operating frequency, memory resources and other values can be determined in conjunction with the first vehicle and the current road traffic state, for example, when the distance between the first vehicle and the first roadside terminal device is relatively long, and When there is a lot of traffic on the current road, you can choose more CPU cores or a higher operating frequency, and you can also choose higher memory resources to ensure that all vehicles on the current road can receive roadside messages in time.

可选地，上述系统资源的调整还可以与需要打开的第一路侧终端与其他路侧设备的交互接口数量和种类相关，在确定需要打开与所有路侧设备的交互接口的情况下，可以选择提高的CPU核心数、内存资源或CPU运行频率，以保证与所有接口的正常交互。而确定打开的交互接口数量较少时，也可以对应的选择降低CPU核心数、内存资源或CPU运行频率。Optionally, the adjustment of the above-mentioned system resources may also be related to the number and types of interaction interfaces between the first roadside terminal and other roadside equipment that need to be opened. When it is determined that the interaction interfaces with all roadside equipment need to be opened, the Select an increased number of CPU cores, memory resources, or CPU operating frequency to ensure normal interaction with all interfaces. When it is determined that the number of open interactive interfaces is small, you can also choose to reduce the number of CPU cores, memory resources, or CPU operating frequency correspondingly.

例如，如果确定车辆是在V2X路侧终端设备的电子围栏内，则唤醒V2X路侧终端设备(第一路侧终端设备的一个示例)，打开与其它模块(红绿灯，激光雷达，MEC等路侧设备)交互的功能，开始下发V2X路侧终端设备协议消息，同时V2X路侧终端设备根据自适应算法，实时调整场景触发所需要的设备的资源，包括打开设备对应所需的CPU核心数，将CPU调整到对应频率下，打开相应接口等。自适应算法依据场景触发所需要的系统资源，确定调整的CPU核心数、内存资源、CPU运行频率、相应接口功能等。上述自适应算法所依据的要素同时也与设备的功耗相关，可以通过降低设备的运行核心数、内存资源、CPU运行频率，关闭硬件接口等操作来降低设备的功耗，反之，则提高设备的功耗。For example, if it is determined that the vehicle is within the electronic fence of the V2X roadside terminal device, then wake up the V2X roadside terminal device (an example of the first roadside terminal device), and turn on the communication with other modules (traffic lights, laser radar, MEC, etc.) device) interaction function, start sending V2X roadside terminal equipment protocol messages, and at the same time, V2X roadside terminal equipment adjusts the resources of the equipment required for scene triggering in real time according to the self-adaptive algorithm, including the number of CPU cores required to open the corresponding equipment, Adjust the CPU to the corresponding frequency, open the corresponding interface, etc. The adaptive algorithm determines the number of CPU cores, memory resources, CPU operating frequency, and corresponding interface functions to be adjusted according to the system resources required by the scene trigger. The elements based on the above adaptive algorithm are also related to the power consumption of the device. The power consumption of the device can be reduced by reducing the number of operating cores, memory resources, CPU operating frequency, and closing the hardware interface of the device. power consumption.

通过本实施例，根据接收到的车辆信息实时调整第一路侧终端设备的系统资源，可以提高设备功耗的利用率。Through this embodiment, the system resource of the first roadside terminal device is adjusted in real time according to the received vehicle information, so that the utilization rate of power consumption of the device can be improved.

在一个示例性实施例中，控制第一路侧终端设备退出低功耗模式，包括：In an exemplary embodiment, controlling the first roadside terminal device to exit the low power consumption mode includes:

S21，打开第一路侧终端设备上的目标交互接口，其中，目标交互接口为第一路侧终端设备与关联设备之间的交互接口，关联设备包括以下至少之一：交通控制信号灯，用于获取交通状态的激光传感器，用于获取交通状态的边缘计算设备。S21. Open the target interaction interface on the first roadside terminal device, where the target interaction interface is an interaction interface between the first roadside terminal device and an associated device, and the associated device includes at least one of the following: traffic control signal lights for A laser sensor for obtaining traffic status, and an edge computing device for obtaining traffic status.

第一路侧终端设备上需要打开的目标交互接口可以是结合第一车辆以及当前道路的交通状态确定的，可以是：根据当前道路的车流量以及第一车辆的种类、位置等信息，确定需要打开的目标交互接口。例如，在确定第一车辆的车型较大而车辆所在位置不容易采集车辆信息的情况下，可以确定需要打开的激光传感器及其数量。The target interactive interface that needs to be opened on the first roadside terminal device may be determined in conjunction with the traffic status of the first vehicle and the current road. Open target interaction interface. For example, when it is determined that the model of the first vehicle is relatively large and the location of the vehicle is not easy to collect vehicle information, the number of laser sensors that need to be turned on may be determined.

在本实施例中，在确定第一车辆的车辆位置处于第一路侧终端设备的消息广播范围后，可以打开第一路侧终端设备上的目标交互接口。这里，目标交互接口可以是第一路侧终端设备与关联设备之间的交互接口。关联设备可以包括以下至少之一：交通控制信号灯，用于获取交通状态的激光传感器，用于获取交通状态的边缘计算设备，例如，MEC(Multi-access Edge Computing，多接入边缘计算设备)。In this embodiment, after it is determined that the vehicle location of the first vehicle is within the message broadcast range of the first roadside terminal device, the target interaction interface on the first roadside terminal device may be opened. Here, the target interaction interface may be an interaction interface between the first roadside terminal device and the associated device. The associated device may include at least one of the following: a traffic control signal light, a laser sensor used to obtain the traffic state, an edge computing device used to obtain the traffic state, for example, MEC (Multi-access Edge Computing, multi-access edge computing device).

通过本实施例，根据接收到的车辆信息确定需要打开的交互接口，可以提高设备功耗的利用率，避免资源的浪费。Through this embodiment, the interaction interface that needs to be opened is determined according to the received vehicle information, which can improve the utilization rate of power consumption of the device and avoid waste of resources.

在一个示例性实施例中，在控制第一路侧终端设备退出低功耗模式之后，上述方法还包括：In an exemplary embodiment, after controlling the first roadside terminal device to exit the low power consumption mode, the above method further includes:

S31，根据预设时间内接收到的车辆消息，确定预设时间内处于第一路侧终端设备的消息广播范围内的参考车辆数量；S31. Determine the number of reference vehicles within the message broadcast range of the first roadside terminal device within the preset time according to the vehicle messages received within the preset time;

S32，根据参考车辆数量，调整第一路侧终端设备的消息广播范围，其中，第一路侧终端设备的消息广播范围与参考车辆数量正相关。S32. Adjust the message broadcast range of the first roadside terminal device according to the reference number of vehicles, where the message broadcast range of the first roadside terminal device is positively correlated with the reference number of vehicles.

由于第一路侧终端设备的消息广播范围的大小与第一路侧终端设备的发射功率是正相关的，发射功率越大，广播的覆盖范围越大，对应地，第一路侧终端设备的设备功耗也越大。为了在不影响实际使用的情况下达到降低设备功耗的目的，对于第一路侧终端设备的消息广播范围的大小，也可以根据当前的道路交通情况，进行实时的调整。Since the size of the message broadcast range of the first roadside terminal device is positively correlated with the transmit power of the first roadside terminal device, the greater the transmit power, the greater the coverage of the broadcast. Correspondingly, the device of the first roadside terminal device The power consumption is also greater. In order to achieve the purpose of reducing device power consumption without affecting actual use, the size of the message broadcast range of the first roadside terminal device can also be adjusted in real time according to the current road traffic conditions.

考虑到车流量较多时，可能会出现堵车等交通情况的发生，为了帮助交通正常运行，可以适当扩大第一路侧终端设备的消息广播范围，以便及时对每个车辆进行驾驶引导。而在车流量较少时，则可以适当缩小第一路侧终端设备的消息广播范围。在本实施例中，对于消息广播范围的调整，可以根据预设时间内接收到的车辆消息，确定预设时间内处于第一路侧终端设备的消息广播范围内的参考车辆数量，再结合参考车辆数量，调整第一路侧终端设备的消息广播范围。这里，第一路侧终端设备的消息广播范围可以与参考车辆数量正相关。Considering that there may be traffic jams and other traffic situations when there is a lot of traffic, in order to help the traffic run normally, the message broadcasting range of the first roadside terminal device can be appropriately expanded to provide driving guidance for each vehicle in a timely manner. However, when the traffic flow is small, the message broadcasting range of the first roadside terminal device may be appropriately narrowed. In this embodiment, for the adjustment of the message broadcast range, the number of reference vehicles within the message broadcast range of the first roadside terminal device within the preset time can be determined according to the vehicle messages received within the preset time, and combined with the reference Adjust the message broadcast range of the first roadside terminal device according to the number of vehicles. Here, the message broadcast range of the first roadside terminal device may be positively correlated with the number of reference vehicles.

例如，以消息广播范围为电子围栏为例，在V2X路侧终端设备里设置该设备的电子围栏，此电子围栏的范围设定与路侧V2X终端设备的信号覆盖范围有关。设备首次运行可以默认处于最大发射功率，将电子围栏范围设置到最大。在后续的实际使用中，根据路侧V2X终端设备的自适应算法对电子围栏的设定范围进行实时调整，电子围栏的自适应算法主要依据在该设备最大信号覆盖范围内的场景触发情况。根据在此设备最大信号覆盖范围内的不同时段的场景触发情况来建立学习模型，从而使电子围栏的设定更加高效，实用。由于电子围栏范围的调整对应设备功耗的增加或者减少，通过电子围栏范围的灵活设定，可以达到降低设备功耗的目的。For example, taking the message broadcast range as an electronic fence as an example, the electronic fence of the device is set in the V2X roadside terminal device, and the range setting of the electronic fence is related to the signal coverage of the roadside V2X terminal device. When the device is running for the first time, it can default to the maximum transmission power, and set the range of the electronic fence to the maximum. In the subsequent actual use, the setting range of the electronic fence is adjusted in real time according to the adaptive algorithm of the roadside V2X terminal equipment. The adaptive algorithm of the electronic fence is mainly based on the scene triggering situation within the maximum signal coverage of the device. The learning model is established according to the scene triggering situation in different time periods within the maximum signal coverage of the device, so that the setting of the electronic fence is more efficient and practical. Since the adjustment of the range of the electronic fence corresponds to the increase or decrease of the power consumption of the device, the purpose of reducing the power consumption of the device can be achieved through the flexible setting of the range of the electronic fence.

此外，第一路侧终端设备的消息广播范围的大小也可以根据第一路侧终端设备所在道路的类型进行调整。例如，出厂设备默认处于最大电子围栏设定，当设备安装到高速匝道场景时，路侧终端设备的工作范围会相对变小，对应地，其场景触发情况也较少，可以通过前述自适应算法来调小电子围栏所需要设定的范围，减小设备的发射功率，从而减小设备功耗。In addition, the message broadcast range of the first roadside terminal device may also be adjusted according to the type of road where the first roadside terminal device is located. For example, the factory equipment defaults to the maximum electronic fence setting. When the equipment is installed in a high-speed ramp scene, the working range of the roadside terminal equipment will be relatively smaller. To adjust the range that needs to be set for the electronic fence, reduce the transmission power of the device, and thereby reduce the power consumption of the device.

通过本实施例，通过实时调整路侧终端设备的消息广播范围，可以降低设备的运行功耗，提高资源的利用率。Through this embodiment, by adjusting the message broadcast range of the roadside terminal device in real time, the operating power consumption of the device can be reduced and the utilization rate of resources can be improved.

在一个示例性实施例中，在控制第一路侧终端设备退出低功耗模式之后，上述方法还包括：In an exemplary embodiment, after controlling the first roadside terminal device to exit the low power consumption mode, the above method further includes:

S41，获取第二车辆的车辆运行参数，其中，车辆运行参数用于描述第二车辆的运行状态的变化，第二车辆处于第一路侧终端设备的消息广播范围内；S41. Obtain vehicle operating parameters of the second vehicle, wherein the vehicle operating parameters are used to describe changes in the operating state of the second vehicle, and the second vehicle is within the message broadcast range of the first roadside terminal device;

S42，根据车辆运行参数对第二车辆进行预测，得到第二车辆的车辆预测结果，其中，车辆预测结果用于指示第二车辆待进入第二路侧终端设备的消息广播范围；S42. Predict the second vehicle according to the vehicle operating parameters to obtain a vehicle prediction result of the second vehicle, wherein the vehicle prediction result is used to indicate that the second vehicle is about to enter the message broadcast range of the second roadside terminal device;

S43，向第二路侧终端设备发送唤醒消息，其中，唤醒消息用于将处于低功耗模式的第二路侧终端设备唤醒。S43. Send a wake-up message to the second roadside terminal device, where the wake-up message is used to wake up the second roadside terminal device in the low power consumption mode.

为了降低路侧终端设备的触发的时间滞后性，避免因路侧终端设备触发时间较长导致的车辆接收到路侧消息的广播的时间较晚的情况发生，对于路侧终端设备对路侧消息的广播，除了采用车辆消息触发唤醒的方式以外，还可以采用级联唤醒的方式，提前唤醒车辆可能经过的下一路侧终端设备。In order to reduce the time lag of the triggering of the roadside terminal equipment and avoid the situation that the vehicle receives the broadcast of the roadside message late due to the long trigger time of the roadside terminal equipment, for the roadside terminal equipment to receive the roadside message In addition to using vehicle messages to trigger wake-up, cascade wake-up can also be used to wake up the next road-side terminal equipment that the vehicle may pass by in advance.

在本实施例中，在控制第一路侧终端设备退出低功耗模式之后，可以获取第二车辆的车辆运行参数。这里，车辆运行参数可以用于描述第二车辆的运行状态的变化，可以包括第二车辆的位置、速度、转向角等参数。第二车辆可以是除第一车辆以外的其他车辆，也可以是第一车辆，可以处于第一路侧终端设备的消息广播范围。In this embodiment, after the first roadside terminal device is controlled to exit the low power consumption mode, the vehicle operating parameters of the second vehicle may be acquired. Here, the vehicle operating parameters may be used to describe changes in the operating state of the second vehicle, and may include parameters such as the position, speed, and steering angle of the second vehicle. The second vehicle may be a vehicle other than the first vehicle, or may be the first vehicle, and may be within the message broadcast range of the first roadside terminal device.

根据车辆运行参数可以对第二车辆的未来一段时间的行驶路径进行预测，得到第二车辆的车辆预测结果。这里，车辆预测结果可以用于指示第二车辆待进入第二路侧终端设备的消息广播范围。According to the operating parameters of the vehicle, the driving route of the second vehicle for a certain period of time in the future can be predicted to obtain a vehicle prediction result of the second vehicle. Here, the vehicle prediction result may be used to indicate that the second vehicle will enter the message broadcast range of the second roadside terminal device.

根据车辆预测结果，可以确定第二车辆即将到达的第二路侧终端设备以及到达时间，并向第二路侧终端设备发送唤醒消息。这里，第二路侧终端设备可以是在车辆行驶路径上的第一路侧终端设备的下一路侧终端设备。唤醒消息可以用于将处于低功耗模式的第二路侧终端设备唤醒。According to the vehicle prediction result, the second roadside terminal device that the second vehicle is about to arrive and the arrival time can be determined, and a wake-up message can be sent to the second roadside terminal device. Here, the second roadside terminal device may be a roadside terminal device next to the first roadside terminal device on the driving path of the vehicle. The wakeup message may be used to wake up the second roadside terminal device in the low power consumption mode.

可选地，对第二路侧终端设备发送的唤醒消息，可以包括第二路侧终端设备的消息广播范围的建议大小。对于第二路侧终端设备的消息广播范围的大小的建议，可以是根据第一路侧终端设备对第二车辆调整的消息广播范围大小确定的，还可以结合当前交通状态以及对其他车辆的行驶预测来确定，本实施例对此不作限定。Optionally, the wake-up message sent to the second roadside terminal device may include a suggested size of the message broadcast range of the second roadside terminal device. The suggestion for the size of the message broadcast range of the second roadside terminal device may be determined according to the size of the message broadcast range adjusted by the first roadside terminal device to the second vehicle, and may also be combined with the current traffic status and the driving of other vehicles It is determined by prediction, which is not limited in this embodiment.

例如，在上一V2X路侧终端设备电子围栏范围内运行的车辆，通过车辆预测算法预测出要经过的下一V2X路侧终端设备范围，通过向V2X Server(服务器)平台发送唤醒消息，使下一V2X路侧终端设备被提前唤醒，以进入就绪状态，进行相关协议消息的下发。车辆预测算法主要依据车辆自身特性的参数(包括车辆GPS消息、速度、转向角等自身信息)来进行学习预测，同时根据场景的触发情况及时通知下一V2X路侧终端适时调整电子围栏的范围，使V2X协议场景的触发更加高效。For example, a vehicle running within the electronic fence range of the previous V2X roadside terminal equipment predicts the range of the next V2X roadside terminal equipment to pass through the vehicle prediction algorithm, and sends a wake-up message to the V2X Server (server) platform to make the next A V2X roadside terminal device is woken up in advance to enter the ready state to issue relevant protocol messages. The vehicle prediction algorithm is mainly based on the parameters of the vehicle's own characteristics (including vehicle GPS information, speed, steering angle and other self-information) to learn and predict, and at the same time notify the next V2X roadside terminal to adjust the range of the electronic fence in a timely manner according to the triggering situation of the scene. Make the triggering of V2X protocol scenarios more efficient.

通过本实施例，对路侧终端设备增加级联唤醒的方式，可以降低路侧终端设备触发的滞后性，提高路侧消息广播的效率。Through this embodiment, adding a method of cascading wake-up to the roadside terminal equipment can reduce the hysteresis of triggering by the roadside terminal equipment and improve the efficiency of roadside message broadcasting.

在一个示例性实施例中，根据车辆运行参数对第二车辆进行预测，得到第二车辆的车辆预测结果，包括：In an exemplary embodiment, the second vehicle is predicted according to the vehicle operating parameters, and the vehicle prediction result of the second vehicle is obtained, including:

S51，根据第二车辆的车辆转向角，确定第二车辆的行驶方向，其中，车辆运行参数包括车辆转向角；S51. Determine the driving direction of the second vehicle according to the vehicle steering angle of the second vehicle, wherein the vehicle operating parameters include the vehicle steering angle;

S52，根据第二车辆的车辆速度和第二车辆的车辆位置，确定第二车辆的行驶距离，其中，车辆运行参数还包括车辆速度和车辆位置；S52. Determine the traveling distance of the second vehicle according to the vehicle speed of the second vehicle and the vehicle position of the second vehicle, wherein the vehicle operating parameters also include the vehicle speed and the vehicle position;

S53，根据第二车辆的行驶方向和第二车辆的行驶距离、以及一组路侧终端设备中的每个路侧终端设备的消息广播范围，预测第二车辆待进入到对应的消息广播范围的路侧终端设备，得到车辆预测结果。S53. According to the traveling direction of the second vehicle, the traveling distance of the second vehicle, and the message broadcasting range of each roadside terminal device in a group of roadside terminal devices, predict the time when the second vehicle will enter the corresponding message broadcasting range The roadside terminal equipment obtains the vehicle prediction result.

对于根据运行参数对第二车辆即将到达的第二路侧设备的预测，可以是根据第二车辆发送的转向角、速度、位置结合进行的。在本实施例中，车辆运行参数可以包括车辆转向角、车辆速度和车辆位置。The prediction of the second roadside equipment that the second vehicle is about to arrive according to the operating parameters may be based on a combination of steering angle, speed, and position sent by the second vehicle. In this embodiment, the vehicle operating parameters may include vehicle steering angle, vehicle speed and vehicle position.

根据第二车辆的车辆转向角，可以确定第二车辆的行驶方向。根据第二车辆的车辆速度和第二车辆的车辆位置，可以确定第二车辆的行驶距离。结合确定的第二车辆的行驶方向和行驶距离，以及一组路侧终端设备中的每个路侧终端设备的消息广播范围，可以预测第二车辆待进入到对应的消息广播范围的下一路侧终端设备，从而得到预测结果。Based on the vehicle steering angle of the second vehicle, the direction of travel of the second vehicle may be determined. Based on the vehicle speed of the second vehicle and the vehicle position of the second vehicle, a travel distance of the second vehicle may be determined. Combined with the determined driving direction and driving distance of the second vehicle, and the message broadcast range of each roadside terminal device in a group of roadside terminal devices, it can be predicted that the second vehicle will enter the next roadside of the corresponding message broadcast range terminal equipment to obtain prediction results.

通过本实施例，通过车辆的转向角、速度和位置预测可能经过的下一终端设备，可以提高预测的准确性。Through this embodiment, the next terminal device that may pass by is predicted by the steering angle, speed and position of the vehicle, so that the prediction accuracy can be improved.

在一个示例性实施例中，在向第二路侧终端设备发送唤醒消息之前，上述方法还包括：In an exemplary embodiment, before sending the wake-up message to the second roadside terminal device, the above method further includes:

S61，在第二车辆的车辆类型为指定车辆类型的情况下，生成携带有目标标识的唤醒消息，其中，目标标识用于指示将对应的消息广播范围调整到最大值。S61. When the vehicle type of the second vehicle is a specified vehicle type, generate a wake-up message carrying a target identifier, where the target identifier is used to indicate that the corresponding message broadcast range is adjusted to a maximum value.

考虑到经过路侧终端设备的车辆可能属于特定车辆等需要快速到达目的地的车辆，对于第一路侧终端设备的消息广播范围的调整还可以根据车辆的类型确定，可以根据车辆需求将不同车辆类型分为指定车辆类型和非指定车辆类型。在确定经过第一路侧终端设备的消息广播范围的第二车辆的车辆类型为指定车辆类型的情况下，可以将第一路侧终端设备的消息广播范围调整为最大，以引导第二车辆尽可能地快速通过第一路侧终端设备的消息广播范围的对应路段。这里，特定车辆可以是包括救护车、消防车等在内的担负特定勤务工作的车辆。Considering that the vehicles passing the roadside terminal device may belong to specific vehicles and other vehicles that need to reach the destination quickly, the adjustment of the message broadcast range of the first roadside terminal device can also be determined according to the type of vehicle, and different vehicles can be allocated according to the vehicle demand. Types are divided into designated vehicle types and non-designated vehicle types. When it is determined that the vehicle type of the second vehicle passing through the message broadcast range of the first roadside terminal device is the specified vehicle type, the message broadcast range of the first roadside terminal device can be adjusted to the maximum to guide the second vehicle as soon as possible. It is possible to quickly pass through the corresponding road section of the message broadcast range of the first roadside terminal device. Here, the specific vehicle may be a vehicle responsible for specific duties including an ambulance, a fire engine, and the like.

此外，在本实施例中，在第二车辆的车辆类型为指定车辆类型的情况下，可以生成携带有目标标识的唤醒消息。这里，目标标识用于指示将对应的消息广播范围调整到最大值。In addition, in this embodiment, when the vehicle type of the second vehicle is a specified vehicle type, a wake-up message carrying the target identifier may be generated. Here, the target identifier is used to indicate that the corresponding message broadcasting range is adjusted to a maximum value.

例如，对于当有特定车辆(消防车、救护车等)经过时，可以通过上一路侧终端设备的捕获信息，上报平台，同时根据车辆的预测算法，及时唤醒下一路侧终端设备，同时将下一路侧终端设备的电子围栏覆盖范围调整到最大，以及时捕获特定车辆经过，为特定车辆提供路侧信息。For example, when a specific vehicle (fire engine, ambulance, etc.) The electronic fence coverage of the terminal equipment on the road side is adjusted to the maximum to capture the passage of specific vehicles in time and provide roadside information for specific vehicles.

通过本实施例，根据车辆类型确定消息广播范围，同时通知下一路侧终端设备调整消息广播范围，可以提高路侧终端设备的智能性。Through this embodiment, the message broadcast range is determined according to the vehicle type, and at the same time, the next roadside terminal device is notified to adjust the message broadcast range, which can improve the intelligence of the roadside terminal device.

下面结合可选示例对本申请实施例中的路侧终端设备的消息发送方法进行解释说明。在本可选示例中，路侧终端设备为V2X路侧终端设备，消息广播范围为电子围栏范围，车辆消息为BSM消息。The message sending method of the roadside terminal device in the embodiment of the present application will be explained below in combination with optional examples. In this optional example, the roadside terminal device is a V2X roadside terminal device, the message broadcast range is the electronic fence range, and the vehicle message is a BSM message.

本可选示例中提供了一种降低V2X设备运行功耗的方案，通过将V2X路侧终端设备的消息持续广播方式改为触发广播方式，在无触发时，仅开启接收车辆消息以及与平台交互的功能，关闭与其他模块交互等功能，可以达到降低设备功耗，节能减排的目的。此外，根据场景触发情况自适应实时调整路侧终端设备的系统资源和电子围栏范围，也可以最大限度的降低设备的功耗。This optional example provides a solution to reduce the power consumption of V2X devices. By changing the message continuous broadcast mode of V2X roadside terminal devices to triggered broadcast mode, when there is no trigger, only receive vehicle messages and interact with the platform. Functions such as turning off the interaction with other modules can achieve the purpose of reducing equipment power consumption, energy saving and emission reduction. In addition, adaptive real-time adjustment of the system resources of the roadside terminal equipment and the range of the electronic fence according to the triggering situation of the scene can also minimize the power consumption of the equipment.

本可选示例中的路侧终端设备的消息发送方法的流程可以包括以下步骤：The flow of the message sending method of the roadside terminal device in this optional example may include the following steps:

步骤1，V2X路侧终端设备接收到BSM消息后，根据消息中的定位信息，判断该车是否在电子围栏内。Step 1. After receiving the BSM message, the V2X roadside terminal device judges whether the vehicle is within the electronic fence according to the location information in the message.

车辆进入路侧终端设备的电子围栏路段后，路侧终端设备可以接收到车载V2X发送的BSM消息，BSM消息中包含车辆的GPS位置信息。After the vehicle enters the electronic fence section of the roadside terminal device, the roadside terminal device can receive the BSM message sent by the vehicle-mounted V2X, and the BSM message contains the GPS position information of the vehicle.

步骤2，在确定该车处于电子围栏范围内时，打开与其它模块(红绿灯，激光雷达，MEC等路侧设备)的交互功能，并下发V2X路侧终端设备协议消息，实时调整场景触发所需的设备资源。Step 2. When it is determined that the vehicle is within the range of the electronic fence, open the interaction function with other modules (traffic lights, laser radar, MEC and other roadside equipment), and send V2X roadside terminal equipment protocol messages to adjust the scene triggering in real time. required equipment resources.

步骤3，通过车辆预测算法预测出该车辆要经过的下一V2X路侧终端设备。Step 3: Predict the next V2X roadside terminal device that the vehicle will pass by through the vehicle prediction algorithm.

步骤4，通过向V2X Server平台发送唤醒消息，使下一V2X路侧终端设备提前唤醒进入就绪状态，并根据该车的场景触发情况，通知下一V2X路侧终端适时调整电子围栏的范围。Step 4. By sending a wake-up message to the V2X Server platform, the next V2X roadside terminal device wakes up in advance and enters the ready state, and according to the scene triggering situation of the vehicle, notifies the next V2X roadside terminal to adjust the range of the electronic fence in due course.

通过本可选示例，通过触发方式使V2X路侧终端设备进行消息发送，协助V2X场景的触发，在无车或者只有少辆车辆行驶经过的路段，使V2X路侧终端设备处于低功耗模式，只运行少部分的程序，以达到降低设备功耗，节能减排的目的。Through this optional example, the V2X roadside terminal device can be triggered to send messages to assist in the triggering of the V2X scene, and the V2X roadside terminal device can be placed in a low power consumption mode on road sections where there are no vehicles or only a few vehicles pass by. Only a small number of programs are run to achieve the purpose of reducing equipment power consumption, energy saving and emission reduction.

需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。It should be noted that for the foregoing method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Depending on the application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by this application.

通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM(Read-Only Memory，只读存储器)/RAM(Random Access Memory，随机存取存储器)、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is Better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM (Read-Only Memory, Read-only memory)/RAM (Random Access Memory, random access memory), magnetic disk, optical disk), including several instructions to make a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute this Applies the method of each embodiment.

根据本申请实施例的另一个方面，还提供了一种用于实施上述路侧终端设备的消息发送方法的路侧终端设备的消息发送系统。该路侧终端设备的消息发送系统可以包括：According to another aspect of the embodiments of the present application, a system for sending a message of a roadside terminal device for implementing the above method for sending a message of a roadside terminal device is also provided. The message sending system of the roadside terminal equipment may include:

数据处理部件，用于在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制第一路侧终端设备处于低功耗模式，其中，在低功耗模式下，第一路侧终端设备停止广播路侧消息；在接收到第一车辆发送的车辆消息的情况下，根据第一车辆的车辆消息，确定第一车辆的车辆位置；在第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息。The data processing component is used to control the first roadside terminal device to be in a low power consumption mode when no vehicle is detected in the message broadcast range of the first roadside terminal device, wherein, in the low power consumption mode, the first roadside terminal device The side terminal device stops broadcasting roadside messages; in the case of receiving the vehicle message sent by the first vehicle, determines the vehicle position of the first vehicle according to the vehicle message of the first vehicle; when the vehicle position of the first vehicle is on the first road In the case of the message broadcast range of the roadside terminal device, control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device to broadcast the roadside message.

需要说明的是，数据处理部件可以是服务器或者某一处理设备上执行前述确定车辆位置以及基于车辆位置确定控制路侧终端设备广播路侧消息的部件，例如，处理器、控制器等。确定车辆位置以及基于车辆位置确定控制路侧终端设备广播路侧消息的方式与前述实施例中类似，已经进行过说明的，在此不做赘述。It should be noted that the data processing component may be a server or a component on a certain processing device that performs the aforementioned determination of the vehicle position and controls the roadside terminal device to broadcast the roadside message based on the determination of the vehicle position, for example, a processor, a controller, and the like. The way of determining the vehicle position and controlling the roadside terminal device to broadcast the roadside message based on the vehicle position determination is similar to that in the foregoing embodiments, and what has been described has already been described and will not be repeated here.

通过上述系统，在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制第一路侧终端设备处于低功耗模式，其中，在低功耗模式下，第一路侧终端设备停止广播路侧消息；在接收到第一车辆发送的车辆消息的情况下，根据第一车辆的车辆消息，确定第一车辆的车辆位置；在第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息，解决了相关技术中的路侧终端设备的消息发送方法存在由于路侧终端设备持续处于高功耗运行状态导致的资源消耗量大的问题，降低了路侧终端设备的资源消耗量。Through the above system, in the case that no vehicle is detected in the message broadcast range of the first roadside terminal device, the first roadside terminal device is controlled to be in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device The device stops broadcasting roadside messages; in the case of receiving the vehicle message sent by the first vehicle, determine the vehicle position of the first vehicle according to the vehicle message of the first vehicle; the vehicle position of the first vehicle is at the first roadside terminal In the case of the message broadcast range of the device, the first roadside terminal device is controlled to exit the low power consumption mode, and the first roadside terminal device is controlled to broadcast the roadside message, which solves the problem of the message sending method of the roadside terminal device in the related art. The resource consumption of the roadside terminal equipment is reduced due to the large resource consumption caused by the continuous high power consumption of the roadside terminal equipment.

在一个示例性实施例中，数据处理部件，还用于打开第一路侧终端设备的至少一个中央处理器CPU内核；将第一路侧终端设备的CPU运行频率调整到与广播路侧消息所对应的运行频率；调高第一路侧终端设备上为广播路侧消息所分配的内存资源。In an exemplary embodiment, the data processing component is also used to open at least one central processing unit CPU core of the first roadside terminal device; Corresponding operating frequency; increase memory resources allocated for broadcasting roadside messages on the first roadside terminal device.

在一个示例性实施例中，数据处理部件，还用于打开第一路侧终端设备上的目标交互接口，其中，目标交互接口为第一路侧终端设备与关联设备之间的交互接口，关联设备包括以下至少之一：交通控制信号灯，用于获取交通状态的激光传感器，用于获取交通状态的边缘计算设备。In an exemplary embodiment, the data processing component is further configured to open a target interaction interface on the first roadside terminal device, wherein the target interaction interface is an interaction interface between the first roadside terminal device and an associated device, and the associated The device includes at least one of the following: a traffic control signal light, a laser sensor used to obtain the traffic state, and an edge computing device used to obtain the traffic state.

在一个示例性实施例中，数据处理部件，还用于根据预设时间内接收到的车辆消息，确定预设时间内处于第一路侧终端设备的消息广播范围内的参考车辆数量；根据参考车辆数量，调整第一路侧终端设备的消息广播范围，其中，第一路侧终端设备的消息广播范围与参考车辆数量正相关。In an exemplary embodiment, the data processing component is further configured to determine the number of reference vehicles within the message broadcast range of the first roadside terminal device within the preset time according to the vehicle messages received within the preset time; The number of vehicles adjusts the message broadcast range of the first roadside terminal device, wherein the message broadcast range of the first roadside terminal device is positively correlated with the number of reference vehicles.

在一个示例性实施例中，数据处理部件，还用于获取第二车辆的车辆运行参数，其中，车辆运行参数用于描述第二车辆的运行状态的变化，第二车辆处于第一路侧终端设备的消息广播范围内；根据车辆运行参数对第二车辆进行预测，得到第二车辆的车辆预测结果，其中，车辆预测结果用于指示第二车辆待进入第二路侧终端设备的消息广播范围；向第二路侧终端设备发送唤醒消息，其中，唤醒消息用于将处于低功耗模式的第二路侧终端设备唤醒。In an exemplary embodiment, the data processing component is also used to obtain vehicle operating parameters of the second vehicle, wherein the vehicle operating parameters are used to describe changes in the operating state of the second vehicle, and the second vehicle is at the first roadside terminal Within the message broadcast range of the device; predict the second vehicle according to the vehicle operating parameters to obtain the vehicle prediction result of the second vehicle, wherein the vehicle prediction result is used to indicate that the second vehicle is about to enter the message broadcast range of the second roadside terminal device ; Send a wake-up message to the second roadside terminal device, where the wake-up message is used to wake up the second roadside terminal device in the low power consumption mode.

在一个示例性实施例中，数据处理部件，还用于根据第二车辆的车辆转向角，确定第二车辆的行驶方向，其中，车辆运行参数包括车辆转向角；根据第二车辆的车辆速度和第二车辆的车辆位置，确定第二车辆的行驶距离，其中，车辆运行参数还包括车辆速度和车辆位置；根据第二车辆的行驶方向和第二车辆的行驶距离、以及一组路侧终端设备中的每个路侧终端设备的消息广播范围，预测第二车辆待进入到对应的消息广播范围的路侧终端设备，得到车辆预测结果。In an exemplary embodiment, the data processing component is further configured to determine the driving direction of the second vehicle according to the vehicle steering angle of the second vehicle, wherein the vehicle operating parameters include the vehicle steering angle; according to the vehicle speed and The vehicle position of the second vehicle, determining the driving distance of the second vehicle, wherein the vehicle operating parameters also include vehicle speed and vehicle position; according to the driving direction of the second vehicle and the driving distance of the second vehicle, and a set of roadside terminal equipment The message broadcasting range of each roadside terminal device in , predict the roadside terminal device that the second vehicle will enter the corresponding message broadcasting range, and obtain the vehicle prediction result.

在一个示例性实施例中，数据处理部件，还用于在第二车辆的车辆类型为指定车辆类型的情况下，生成携带有目标标识的唤醒消息，其中，目标标识用于指示将对应的消息广播范围调整到最大值。In an exemplary embodiment, the data processing component is further configured to generate a wake-up message carrying a target identifier when the vehicle type of the second vehicle is a specified vehicle type, wherein the target identifier is used to indicate that the corresponding message The broadcast range is adjusted to the maximum value.

此处需要说明的是，上述模块与对应的步骤所实现的示例和应用场景相同，但不限于上述实施例所公开的内容。需要说明的是，上述模块作为装置的一部分可以运行在如图1所示的硬件环境中，可以通过软件实现，也可以通过硬件实现，其中，硬件环境包括网络环境。It should be noted here that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that, as a part of the device, the above modules can run in the hardware environment shown in FIG. 1 , and can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

根据本申请实施例的又一个方面，还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以用于执行本申请实施例中上述任一项路侧终端设备的消息发送方法的程序代码。According to still another aspect of the embodiments of the present application, a storage medium is also provided. Optionally, in this embodiment, the above-mentioned storage medium may be used to execute the program code of any one of the above-mentioned message sending methods of the roadside terminal device in the embodiments of the present application.

可选地，在本实施例中，上述存储介质可以位于上述实施例所示的网络中的多个网络设备中的至少一个网络设备上。Optionally, in this embodiment, the foregoing storage medium may be located on at least one network device among the plurality of network devices in the network shown in the foregoing embodiments.

可选地，在本实施例中，存储介质被设置为存储用于执行以下步骤的程序代码：Optionally, in this embodiment, the storage medium is configured to store program codes for performing the following steps:

S1，在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制第一路侧终端设备处于低功耗模式，其中，在低功耗模式下，第一路侧终端设备停止广播路侧消息；S1. When no vehicle is detected in the message broadcast range of the first roadside terminal device, control the first roadside terminal device to be in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device stops broadcast roadside messages;

S2，在接收到第一车辆发送的车辆消息的情况下，根据第一车辆的车辆消息，确定第一车辆的车辆位置；S2, in the case of receiving the vehicle message sent by the first vehicle, determine the vehicle position of the first vehicle according to the vehicle message of the first vehicle;

S3，在第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息。S3. When the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device to broadcast the roadside message.

可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例中对此不再赘述。Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, which will not be repeated in this embodiment.

可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、ROM、RAM、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。Optionally, in this embodiment, the above-mentioned storage medium may include, but not limited to, various media capable of storing program codes such as USB flash drive, ROM, RAM, removable hard disk, magnetic disk, or optical disk.

根据本申请实施例的又一个方面，还提供了一种用于实施上述路侧终端设备的消息发送方法的电子装置，该电子装置可以是服务器、终端、或者其组合。According to yet another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the above method for sending a message by a roadside terminal device, where the electronic device may be a server, a terminal, or a combination thereof.

图3是根据本申请实施例的一种可选的电子装置的结构框图，如图3所示，包括处理器302、通信接口304、存储器306和通信总线308，其中，处理器302、通信接口304和存储器306通过通信总线308完成相互间的通信，其中，Fig. 3 is a structural block diagram of an optional electronic device according to an embodiment of the present application, as shown in Fig. 304 andmemory 306 complete mutual communication throughcommunication bus 308, wherein,

存储器306，用于存储计算机程序；memory 306, for storing computer programs;

处理器302，用于执行存储器306上所存放的计算机程序时，实现如下步骤：When theprocessor 302 is used to execute the computer program stored on thememory 306, the following steps are implemented:

S1，在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制第一路侧终端设备处于低功耗模式，其中，在低功耗模式下，第一路侧终端设备停止广播路侧消息；S1. When no vehicle is detected in the message broadcast range of the first roadside terminal device, control the first roadside terminal device to be in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device stops broadcast roadside messages;

S2，在接收到第一车辆发送的车辆消息的情况下，根据第一车辆的车辆消息，确定第一车辆的车辆位置；S2, in the case of receiving the vehicle message sent by the first vehicle, determine the vehicle position of the first vehicle according to the vehicle message of the first vehicle;

S3，在第一车辆的车辆位置处于第一路侧终端设备的消息广播范围的情况下，控制第一路侧终端设备退出低功耗模式，并控制第一路侧终端设备广播路侧消息。S3. When the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device to broadcast the roadside message.

可选地，通信总线可以是PCI(Peripheral Component Interconnect，外设部件互连标准)总线、或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。该通信总线可以分为地址总线、数据总线、控制总线等。为便于表示，图3中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。通信接口用于上述电子装置与其他设备之间的通信。Optionally, the communication bus may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 3 , but it does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the electronic device and other devices.

存储器可以包括RAM，也可以包括非易失性存储器(non-volatile memory)，例如，至少一个磁盘存储器。可选地，存储器还可以是至少一个位于远离前述处理器的存储装置。The memory may include RAM, and may also include non-volatile memory (non-volatile memory), for example, at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

处理器可以是通用处理器，可以包含但不限于：CPU、NP(Network Processor，网络处理器)等；还可以是DSP(Digital Signal Processing，数字信号处理器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。The processor can be a general-purpose processor, which can include but not limited to: CPU, NP (Network Processor, network processor), etc.; it can also be DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit, dedicated integrated circuit), FPGA (Field-Programmable Gate Array, Field Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例在此不再赘述。Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, and details are not repeated in this embodiment.

本领域普通技术人员可以理解，图3所示的结构仅为示意，实施上述路侧终端设备的消息发送方法的设备可以是终端设备，该终端设备可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌上电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。图3其并不对上述电子装置的结构造成限定。例如，电子装置还可包括比图3中所示更多或者更少的组件(如网络接口、显示装置等)，或者具有与图3所示的不同的配置。Those of ordinary skill in the art can understand that the structure shown in Figure 3 is only for illustration, and the device that implements the message sending method of the above-mentioned roadside terminal device can be a terminal device, and the terminal device can be a smart phone (such as an Android phone, an iOS phone, etc. ), Tablet PCs, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment. FIG. 3 does not limit the structure of the above-mentioned electronic device. For example, the electronic device may also include more or less components than those shown in FIG. 3 (such as a network interface, a display device, etc.), or have a different configuration from that shown in FIG. 3 .

本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令终端设备相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、ROM、RAM、磁盘或光盘等。Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can be Including: flash disk, ROM, RAM, magnetic disk or optical disk, etc.

上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the above embodiments of the present application are for description only, and do not represent the advantages and disadvantages of the embodiments.

上述实施例中的集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在上述计算机可读取的存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在存储介质中，包括若干指令用以使得一台或多台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。If the integrated units in the above embodiments are realized in the form of software function units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. Several instructions are included to make one or more computer devices (which may be personal computers, servers or network devices, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.

在本申请的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above-mentioned embodiments of the present application, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

在本申请所提供的几个实施例中，应该理解到，所揭露的客户端，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. Wherein, the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例中所提供的方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以至少两个单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may physically exist separately, or at least two units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。The above description is only the preferred embodiment of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, some improvements and modifications can also be made. These improvements and modifications are also It should be regarded as the protection scope of this application.

Claims (10)

Translated fromChinese

1.一种路侧终端设备的消息发送方法，其特征在于，包括：1. A message sending method of roadside terminal equipment, is characterized in that, comprises:在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制所述第一路侧终端设备处于低功耗模式，其中，在所述低功耗模式下，所述第一路侧终端设备停止广播路侧消息；In the case that no vehicle is detected in the message broadcast range of the first roadside terminal device, control the first roadside terminal device to be in a low power consumption mode, wherein, in the low power consumption mode, the first roadside terminal device The side terminal equipment stops broadcasting roadside messages;在接收到第一车辆发送的车辆消息的情况下，根据所述第一车辆的车辆消息，确定所述第一车辆的车辆位置；In the case of receiving the vehicle message sent by the first vehicle, determine the vehicle position of the first vehicle according to the vehicle message of the first vehicle;在所述第一车辆的车辆位置处于所述第一路侧终端设备的消息广播范围的情况下，控制所述第一路侧终端设备退出所述低功耗模式，并控制所述第一路侧终端设备广播路侧消息。When the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device to The side terminal equipment broadcasts the roadside message.2.根据权利要求1所述的方法，其特征在于，所述控制所述第一路侧终端设备退出所述低功耗模式，包括以下至少之一：2. The method according to claim 1, wherein the controlling the first roadside terminal device to exit the low power consumption mode comprises at least one of the following:打开所述第一路侧终端设备的至少一个中央处理器CPU内核；Turn on at least one central processing unit CPU core of the first roadside terminal device;将所述第一路侧终端设备的CPU运行频率调整到与广播路侧消息所对应的运行频率；adjusting the operating frequency of the CPU of the first roadside terminal device to the operating frequency corresponding to the broadcast roadside message;调高所述第一路侧终端设备上为广播路侧消息所分配的内存资源。Increase the memory resources allocated for broadcasting roadside messages on the first roadside terminal device.3.根据权利要求1所述的方法，其特征在于，所述控制所述第一路侧终端设备退出所述低功耗模式，包括：3. The method according to claim 1, wherein the controlling the first roadside terminal device to exit the low power consumption mode comprises:打开所述第一路侧终端设备上的目标交互接口，其中，所述目标交互接口为所述第一路侧终端设备与关联设备之间的交互接口，所述关联设备包括以下至少之一：交通控制信号灯，用于获取交通状态的激光传感器，用于获取交通状态的边缘计算设备。Opening a target interaction interface on the first roadside terminal device, wherein the target interaction interface is an interaction interface between the first roadside terminal device and an associated device, and the associated device includes at least one of the following: Traffic control signal lights, laser sensors used to obtain traffic status, and edge computing devices used to obtain traffic status.4.根据权利要求1所述的方法，其特征在于，在所述控制所述第一路侧终端设备退出所述低功耗模式之后，所述方法还包括：4. The method according to claim 1, characterized in that, after controlling the first roadside terminal device to exit the low power consumption mode, the method further comprises:根据预设时间内接收到的车辆消息，确定所述预设时间内处于所述第一路侧终端设备的消息广播范围内的参考车辆数量；Determine the number of reference vehicles within the message broadcasting range of the first roadside terminal device within the preset time according to the vehicle messages received within the preset time;根据所述参考车辆数量，调整所述第一路侧终端设备的消息广播范围，其中，所述第一路侧终端设备的消息广播范围与所述参考车辆数量正相关。Adjusting the message broadcast range of the first roadside terminal device according to the reference number of vehicles, wherein the message broadcast range of the first roadside terminal device is positively correlated with the reference number of vehicles.5.根据权利要求1至4中任一项所述的方法，其特征在于，在所述控制所述第一路侧终端设备退出所述低功耗模式之后，所述方法还包括：5. The method according to any one of claims 1 to 4, characterized in that, after controlling the first roadside terminal device to exit the low power consumption mode, the method further comprises:获取第二车辆的车辆运行参数，其中，所述车辆运行参数用于描述所述第二车辆的运行状态的变化，所述第二车辆处于所述第一路侧终端设备的消息广播范围内；Acquiring vehicle operating parameters of the second vehicle, wherein the vehicle operating parameters are used to describe changes in the operating state of the second vehicle, and the second vehicle is within the message broadcast range of the first roadside terminal device;根据所述车辆运行参数对所述第二车辆进行预测，得到所述第二车辆的车辆预测结果，其中，所述车辆预测结果用于指示所述第二车辆待进入第二路侧终端设备的消息广播范围；Predict the second vehicle according to the vehicle operating parameters to obtain a vehicle prediction result of the second vehicle, wherein the vehicle prediction result is used to indicate that the second vehicle is about to enter the second roadside terminal device message broadcast scope;向所述第二路侧终端设备发送唤醒消息，其中，所述唤醒消息用于将处于所述低功耗模式的所述第二路侧终端设备唤醒。sending a wakeup message to the second roadside terminal device, where the wakeup message is used to wake up the second roadside terminal device in the low power consumption mode.6.根据权利要求5所述的方法，其特征在于，所述根据所述车辆运行参数对所述第二车辆进行预测，得到所述第二车辆的车辆预测结果，包括：6. The method according to claim 5, wherein said predicting said second vehicle according to said vehicle operating parameters to obtain a vehicle prediction result of said second vehicle comprises:根据所述第二车辆的车辆转向角，确定所述第二车辆的行驶方向，其中，所述车辆运行参数包括所述车辆转向角；determining a driving direction of the second vehicle according to a vehicle steering angle of the second vehicle, wherein the vehicle operating parameters include the vehicle steering angle;根据所述第二车辆的车辆速度和所述第二车辆的车辆位置，确定所述第二车辆的行驶距离，其中，所述车辆运行参数还包括所述车辆速度和所述车辆位置；determining a travel distance of the second vehicle according to a vehicle speed of the second vehicle and a vehicle position of the second vehicle, wherein the vehicle operating parameters further include the vehicle speed and the vehicle position;根据所述第二车辆的行驶方向和所述第二车辆的行驶距离、以及一组路侧终端设备中的每个路侧终端设备的消息广播范围，预测所述第二车辆待进入到对应的消息广播范围的路侧终端设备，得到所述车辆预测结果。According to the driving direction of the second vehicle, the driving distance of the second vehicle, and the message broadcast range of each roadside terminal device in a group of roadside terminal devices, predicting that the second vehicle will enter the corresponding The roadside terminal equipment within the scope of the message broadcast obtains the vehicle prediction result.7.根据权利要求5所述的方法，其特征在于，在所述向所述第二路侧终端设备发送唤醒消息之前，所述方法还包括：7. The method according to claim 5, characterized in that, before sending the wake-up message to the second roadside terminal device, the method further comprises:在所述第二车辆的车辆类型为指定车辆类型的情况下，生成携带有目标标识的所述唤醒消息，其中，所述目标标识用于指示将对应的消息广播范围调整到最大值。If the vehicle type of the second vehicle is a specified vehicle type, the wake-up message carrying a target identifier is generated, wherein the target identifier is used to indicate that the corresponding message broadcast range is adjusted to a maximum value.8.一种路侧终端设备的消息发送系统，其特征在于，包括：8. A message sending system for roadside terminal equipment, characterized in that it comprises:数据处理部件，用于在第一路侧终端设备的消息广播范围未检测到车辆的情况下，控制所述第一路侧终端设备处于低功耗模式，其中，在所述低功耗模式下，所述第一路侧终端设备停止广播路侧消息；在接收到第一车辆发送的车辆消息的情况下，根据所述第一车辆的车辆消息，确定所述第一车辆的车辆位置；在所述第一车辆的车辆位置处于所述第一路侧终端设备的消息广播范围的情况下，控制所述第一路侧终端设备退出所述低功耗模式，并控制所述第一路侧终端设备广播路侧消息。The data processing unit is configured to control the first roadside terminal device to be in a low power consumption mode when no vehicle is detected in the message broadcast range of the first roadside terminal device, wherein, in the low power consumption mode , the first roadside terminal device stops broadcasting roadside messages; in the case of receiving the vehicle message sent by the first vehicle, determines the vehicle position of the first vehicle according to the vehicle message of the first vehicle; When the vehicle position of the first vehicle is within the message broadcast range of the first roadside terminal device, control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device to exit the low power consumption mode, and control the first roadside terminal device to End devices broadcast roadside messages.9.一种计算机可读的存储介质，其特征在于，所述计算机可读的存储介质包括存储的程序，其中，所述程序运行时执行权利要求1至7中任一项所述的方法。9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the method according to any one of claims 1 to 7 is executed when the program runs.10.一种电子装置，包括存储器和处理器，其特征在于，所述存储器中存储有计算机程序，所述处理器被设置为通过所述计算机程序执行权利要求1至7中任一项所述的方法。10. An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute any one of claims 1 to 7 through the computer program. Methods.

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