TW201836374A - Vehicle platoon resource configuration method and related device - Google Patents

Abstract

The present application relates to the technical field of wireless communications, and in particular, to a vehicle platoon resource configuration method and a related device, used to solve a problem in the prior art of no method existing for configuring a platoon resource during driving of a vehicle platoon. According to embodiments of the present application, after a first device in a vehicle of a platoon determines that resource sending pools of second devices in some or all of the vehicles of the platoon need to be replaced, the first device determines a new resource sending pool for each second device that needs to replace a resource sending pool, and replaces resource receiving pools of the vehicle platoon according to the new resource sending pool; and the first device configures new resource sending pools for second devices that need to replace resource sending pools, and configures changed resource receiving pools for all the second devices in the vehicle platoon.

Description

   Method and related equipment for resource allocation of fleet   

The invention belongs to the field of wireless communication technology, and particularly relates to a method and related equipment for resource allocation of a fleet.

eV2X (enhancement of Vehicle to Everything) communication is an evolution of V2X (Vehicle to Everything) communication. It is communicated in the V2X workshop based on the LTE (Long Term Evolution) network. On the basis, V2X communication is further implemented through LTE / 5G technology, which is applied to smart application scenarios such as collaborative driving of the fleet, autonomous driving, sensor information sharing, and remote driving. In eV2X, vehicles, pedestrians, and drive test equipment interact to support more types of information, such as on-board sensor data, driving directions, more collaboration, how to team up vehicles, coordinated driving, coordinated risk aversion, and more vehicles. Driving modes, such as fleet driving and autonomous driving, make V2X technology more flexible, safe and reliable to meet the needs of smart transportation.

The application scenarios of eV2X include platooning. A convoy is composed of several vehicles to form a convoy. The leading car is driving in front, and the following car automatically keeps a small distance to drive, forming a train-like driving mode. There is a small distance (1 meter or 2 meters) between the car and the car, and the car is far away. It is much smaller than the normal vehicle-to-vehicle distance maintained by a person driving a motor vehicle, so that the motor vehicle can reduce wind resistance, reduce fuel consumption, save driving manpower, and increase the driving safety factor. In the application scenario of eV2X, communication devices on each vehicle in the fleet communicate with each other through a resource pool allocated for the vehicle. During the driving of the convoy, there may be situations in which the resource pool needs to be replaced for communication equipment in a certain vehicle of the convoy. However, at present, there is no method for resource allocation for this situation.

In summary, at present, there is no method for allocating the resources of the fleet while the fleet is driving.

The invention provides a method and related equipment for resource allocation of a fleet, which is used to solve the problem that in the prior art, there is no method for resource allocation of a fleet during driving of a fleet.

In a first aspect, an embodiment of the present invention provides a method for resource allocation of a fleet. The method includes: determining that a first device in a vehicle of a fleet needs to replace a sending resource pool of a second device in some or all of the vehicles in the fleet After that, the first device determines a new sending resource pool of each second device that needs to replace the sending resource pool, and replaces the receiving resource pool of the fleet according to the new sending resource pool; the first device reports to the sending resource pool that needs to be replaced. A second sending device is configured with a new sending resource pool, and a replacement receiving resource pool is configured with all the second devices in the fleet.

Optionally, the first device in the fleet determines that the sending resource pool used by the second device in some or all of the vehicles in the fleet needs to be replaced, including: the first device determines the first in one or all of the vehicles in the fleet. The two devices meet the conditions for replacing the sending resource pool; wherein the conditions for replacing the sending resource pool include: the congestion rate of the sending resource pool is greater than the first threshold value; and / or the interference of the sending resource pool is greater than the second threshold value.

Optionally, the determining, by the first device, a new sending resource pool of each second device that needs to replace the sending resource pool includes: obtaining, by the first device, a new A sending resource pool; or the first device selects an idle resource pool from a resource pool stored by itself as a new sending resource pool for each second device that needs to replace the sending resource pool.

Optionally, after the first device configures a new sending resource pool to a second device that needs to replace the sending resource pool, and configures the replaced receiving resource pool to all the second devices in the fleet, the method further includes: If the first device receives a feedback message indicating that the replacement is successful within the first preset time after the configuration, the first device determines that the configuration is successful; if the first preset time after the configuration is performed, If the feedback message returned by all the second devices in the fleet is not received, the first device reconfigures the second device that does not return feedback information.

Optionally, after the first device is reconfigured for the second device that does not return feedback information, the method further includes: if all the second devices that do not return feedback information are received within a second preset time after reconfiguration. If the feedback information returned by the device is determined, the first device determines that the configuration is successful; if all the feedback information returned by the second device that does not return the feedback information is not received within the second preset time after reconfiguration, the first device The device notifies the second device that needs to replace the sending resource pool to use the sending resource pool before the replacement, and notifies all the second devices in the fleet to use the receiving resource pool before the replacement.

According to a second aspect, an embodiment of the present invention provides a method for configuring resource resources of a fleet. The method includes: receiving, by a second device in a vehicle of the fleet, a new sending resource pool and replacement of the first device configuration in a vehicle of the fleet. A new receiving resource pool; the new sending resource pool is configured by the first device for the second device after determining that the sending resource pool of the second device needs to be replaced, and the changed receiving resource pool is based on the The new sending resource pool is updated; if the second device determines to use the new sending resource pool and the replaced receiving resource pool, the second device according to the new sending resource pool and the replaced receiving resource Pool for configuration.

Optionally, after the second device determines to use the new sending resource pool and the replaced receiving resource pool, the method further includes that the second device receives the new sending resource pool and In the first preset time after the replacement receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the method further includes: if it is determined that the new sending resource pool and the replaced receiving resource pool are not to be used, the second device ignores the new sending resource pool and the replacement after the first device configuration. Receiving resource pool.

Optionally, after the second device ignores the new sending resource pool and the replaced receiving resource pool configured by the first device, the method further includes: receiving, by the second device, the new configuration reconfigured by the first device. The sending resource pool and the replaced receiving resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, the second device according to the new sending resource pool and the replaced receiving resource Pool configuration, and within a second preset time after receiving the new sending resource pool and the replaced receiving resource pool reconfigured by the first device, return to the first device a feedback indicating a successful replacement Message to enable the first device to determine whether the configuration is successful based on the feedback message; if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the second device ignores the reconfiguration of the first device The new sending resource pool and the replaced receiving resource pool.

Optionally, after the second device ignores the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device, the method further includes: after the second device receives the notification from the first device , Use the sending resource pool before replacement and the receiving resource pool before replacement.

According to a third aspect, an embodiment of the present invention provides a method for configuring resource resources of a fleet. The method includes: a second device in a vehicle of the fleet receiving a replacement receiving resource pool of a first device configuration in a vehicle of the fleet; The replacement receiving resource pool is updated according to the new sending resource pool of other second devices in the fleet. The new sending resource pool of the other second device is that the first device determines that it is necessary to replace the The sending resource pool of the other second device is configured for the other second device; if the second device determines to use the replaced receiving resource pool, the second device performs configuration according to the replaced receiving resource pool.

Optionally, after the second device determines to use the replaced receiving resource pool, the method further includes a first preset time after the second device receives the replaced receiving resource pool configured by the first device. Then, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the method further includes: if it is determined not to use the replaced receiving resource pool, the second device ignores the replaced receiving resource pool configured by the first device.

Optionally, after the second device ignores the replaced receiving resource pool configured by the first device, the method further includes: receiving, by the second device, the replaced receiving resource pool reconfigured by the first device; If it is determined to use the replaced receiving resource pool, the second device configures according to the replaced receiving resource pool, and receives the first receiving device after the first receiving device reconfigures the replaced receiving resource pool. Within a preset time, return a feedback message indicating that the replacement is successful to the first device, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined that the replacement receiving resource pool is not used, the second device The device ignores the replaced receiving resource pool that is reconfigured by the first device.

Optionally, after the second device ignores the replaced receiving resource pool that is reconfigured by the first device, the method further includes: after receiving the notification from the first device, the second device uses the receiving resource before the replacement. Pool.

According to a fourth aspect, an embodiment of the present invention provides a first device for configuring resource resources of a fleet, including: a determining module, configured to determine after determining that a sending resource pool of a second device in some or all of the vehicles in the fleet needs to be replaced; A new sending resource pool for each second device that needs to replace the sending resource pool, and replace the receiving resource pool of the fleet according to the new sending resource pool; a configuration module for configuring the second device that needs to replace the sending resource pool A new sending resource pool, and a replacement receiving resource pool configured for all second devices in the fleet.

Optionally, the determining module is specifically configured to determine that the second device in some or all of the vehicles in the fleet meets the conditions for replacing the sending resource pool; wherein the conditions for replacing the sending resource pool include: congestion in the sending resource pool The rate is greater than the first threshold value; and / or the interference of the sending resource pool is greater than the second threshold value.

Optionally, the determining module is specifically configured to: obtain a new sending resource pool for each second device that needs to replace the sending resource pool from the base station side; or select an idle resource pool from each of the resource pools stored by itself as each A second sending resource pool needs to be replaced by the second device of the sending resource pool.

Optionally, the configuration module is further configured to: after configuring a new sending resource pool to the second device that needs to change the sending resource pool, and after configuring the changed receiving resource pool to all the second devices in the fleet, If the feedback message indicating that the replacement is successful is received within the first preset time after the configuration is performed, the configuration is determined to be successful; if it is not received within the first preset time after the configuration is performed, The feedback message returned to all the second devices in the fleet is reconfigured for the second device that does not return feedback information.

Optionally, the configuration module is further configured to: after reconfiguring a second device that does not return feedback information, if all the non-return feedback information is received within a second preset time after reconfiguration The feedback information returned by the second device determines that the configuration is successful; if all the feedback information returned by the second device that does not return the feedback information is not received within the second preset time after reconfiguration, it is notified that the replacement needs to be sent The second device in the resource pool uses the sending resource pool before replacement, and all second devices in the fleet are notified to use the receiving resource pool before replacement.

According to a fifth aspect, an embodiment of the present invention provides a second device for resource allocation of a fleet, including: a first receiving module, configured to receive a new sending resource pool and a replacement resource configuration of the first device in vehicles in the fleet; A receiving resource pool; wherein the new sending resource pool is configured by the first device for the second device after determining that the sending resource pool of the second device needs to be replaced, and the changed receiving resource pool is based on the new The sending resource pool is updated; the first processing module is configured to, if it is determined to use the new sending resource pool and the replaced receiving resource pool, perform processing according to the new sending resource pool and the replaced receiving resource pool. Configuration.

Optionally, the first processing module is further configured to: after determining to use the new sending resource pool and the replaced receiving resource pool, after receiving the new sending resource pool and In the first preset time after the replacement receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the first processing module is further configured to: if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, ignore the new sending resource pool and the configuration of the first device. Replaced receiving resource pool.

Optionally, the first processing module is further configured to: after ignoring the new sending resource pool and the replaced receiving resource pool configured by the first device, receive the new configuration reconfigured by the first device The sending resource pool and the replaced receiving resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, configure according to the new sending resource pool and the replaced receiving resource pool, And within a second preset time after receiving the new sending resource pool and the replaced receiving resource pool reconfigured by the first device, returning a feedback message to the first device indicating that the replacement was successful, so that The first device judges whether the configuration is successful according to the feedback message; if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the new sending resource pool and the new device configured by the first device are ignored. Replaced receiving resource pool.

Optionally, the first processing module is further configured to: after ignoring the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device, after receiving a notification from the first device , Use the sending resource pool before replacement and the receiving resource pool before replacement.

According to a sixth aspect, an embodiment of the present invention provides a second device for configuring a fleet resource, including: a second receiving module configured to receive a replacement receiving resource pool of a first device configuration located in a vehicle of the fleet; wherein, The replacement receiving resource pool is updated according to the new sending resource pool of other second devices in the fleet, and the new sending resource pool of the other second device is that the first device determines that the other first device needs to be replaced. The sending resource pool of the two devices is configured for the other second device; the second processing module is configured to, if it is determined to use the replaced receiving resource pool, perform configuration according to the replaced receiving resource pool.

Optionally, the second processing module is further configured to: after determining to use the replaced receiving resource pool, a first preset time after receiving the replaced receiving resource pool configured by the first device Then, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the second processing module is further configured to: if it is determined not to use the replaced receiving resource pool, ignore the replaced receiving resource pool configured by the first device.

Optionally, the second processing module is further configured to: after ignoring the changed receiving resource pool configured by the first device, receive the changed receiving resource pool configured by the first device again; If it is determined to use the replaced receiving resource pool, perform configuration according to the replaced receiving resource pool, and a second preset time after receiving the replaced receiving resource pool reconfigured by the first device And return a feedback message to the first device indicating that the replacement is successful, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined that the replacement receiving resource pool is not used, the first device is ignored and restarted The configured receiving resource pool after the replacement.

Optionally, the second processing module is further configured to: after ignoring the replacement receiving resource pool that is reconfigured by the first device, after receiving a notification from the first device, using the receiving resource before the replacement Pool.

After the first device of the embodiment of the present invention determines that the sending resource pool of the second device in some or all vehicles in the fleet needs to be replaced, it can determine that a new sending resource pool needs to be allocated to the second device that needs to replace the sending resource pool. And configure the new resource pool to the second device that needs to replace the sending resource pool; and can replace the receiving resource pool of the fleet according to the new sending resource pool, and notify each second device in the fleet. Since the embodiment of the present invention is capable of configuring a new sending resource pool and a new receiving resource pool for members of the fleet when it is determined that the sending resource pool of some or all of the second equipment needs to be replaced during the running of the fleet, a simple method is provided. Effective management of fleet resources.

401 ~ 402, 701 ~ 702, 1001 ~ 1002, 1201 ~ 1205, 1301 ~ 1304, 1601 ~ 1602, 1901 ~ 1902, 2101 ~ 2104, 2201 ~ 2205, 2501 ~ 2502, 2801 ~ 2802‧‧‧‧ steps

101‧‧‧The first equipment

102‧‧‧Second Equipment

201‧‧‧ Determine the module

202‧‧‧Configuration Module

1101‧‧‧Third Device

1102‧‧‧Fourth Device

1401‧‧‧Third receiving module

1402‧‧‧First sending module

1701‧‧‧Second sending module

1702‧‧‧Fourth receiving module

2001‧‧‧Fifth Equipment

2002‧‧‧Sixth Equipment

2301‧‧‧Judgment Module

2302‧‧‧ Third Sending Module

2601‧‧‧Fifth receiving module

2602‧‧‧Processing Module

501‧‧‧First receiving module

502‧‧‧first processing module

801‧‧‧Second receiving module

802‧‧‧Second Processing Module

300, 600, 900, 1500, 1800, 2400, 2700‧‧‧ bus

301, 601, 901, 1501, 1801, 2401, 2701‧‧‧ processors

302, 602, 902, 1502, 1802, 2402, 2702‧‧‧ transceivers

303, 603, 903, 1503, 1803, 2403, 2703‧‧‧ bus interface

304, 604, 904, 1504, 1804, 2404, 2704‧‧‧Memory

305, 605, 905, 1505, 1805, 2405, 2705‧‧‧ user interface

FIG. 1 is a schematic structural diagram of a system for configuring a fleet resource according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a first device for configuring a fleet resource according to an embodiment of the present invention; Schematic diagram of the structure of the first device for resource allocation; FIG. 4 is a flowchart of a method for assisting the configuration of fleet resources by the first device according to the embodiment of the present invention; FIG. 6 is a schematic structural diagram of a second device for configuring a fleet resource according to a second embodiment of the present invention; FIG. 7 is a flowchart of a method for assisting to configure a fleet resource by a second device according to an embodiment of the present invention; FIG. 8 is The third embodiment of the present invention is a schematic structural diagram of a second device that configures fleet resources. FIG. 9 is the fourth embodiment of the present invention. A flowchart of a method for assisting the configuration of fleet resources by a second device; FIG. 11 is a schematic structural diagram of a system for adding a vehicle to a fleet according to an embodiment of the present invention; 12 is an overall flowchart of a method for adding a vehicle to a fleet according to an embodiment of the present invention; FIG. 13 is an overall flowchart of a method for adding a vehicle to a fleet according to an embodiment of the present invention; FIG. 14 is a third device for adding a vehicle to a fleet according to an embodiment of the present invention; FIG. 15 is a schematic structural diagram of a third device for adding a second vehicle to a fleet according to an embodiment of the present invention; FIG. 16 is a flowchart of a method for adding a vehicle to a fleet according to a first embodiment of the present invention; FIG. 17 is The schematic diagram of the fourth device of the first type of vehicle added to the fleet according to the embodiment of the present invention; FIG. 18 is the schematic diagram of the fourth device of the second type of vehicle added to the fleet according to the embodiment of the present invention; A flowchart of a method for a vehicle to join a fleet according to an embodiment of the invention; FIG. 20 is a schematic structural diagram of a system for vehicles to leave a fleet according to an embodiment of the invention; Method 2 of the method for vehicles leaving the fleet; FIG. 23 is a schematic structural diagram of the fifth device of the first type of vehicles leaving the fleet according to the embodiment of the present invention; The structural schematic diagram of the fifth device of the second type of vehicle leaving the fleet in the embodiment; FIG. 25 is a flowchart of the method of the first type of vehicle leaving the fleet according to the embodiment of the present invention; Schematic diagram of the six devices; FIG. 27 is a schematic diagram of the sixth device of the second type of vehicle leaving the fleet according to the embodiment of the present invention; and FIG. 28 is a flowchart of the method of the second type of vehicle leaving the fleet according to the embodiment of the present invention.

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making progressive labor belong to the protection scope of the present invention.

The embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

In the following description, the system for configuring fleet resources according to the embodiment of the present invention is first described from the cooperative implementation of the first device side and the second device side, and finally from the first device side and the second device side, respectively. The implementation is described, but this does not mean that the two must be implemented in cooperation. In fact, when the first device side and the second device side are implemented separately, the existence of the first device side and the second device side is also resolved. The problem. When only the two are used in combination, better technical results will be obtained.

As shown in FIG. 1, a system for configuring a fleet resource provided by an embodiment of the present invention includes a first device 101 located in a vehicle of the fleet and at least one second device 102 located in a vehicle outside the fleet.

The first device 101 is configured to determine a new transmission resource pool for each second device that needs to be replaced with a transmission resource pool after determining that the transmission resource pool for a second device in some or all of the vehicles in the fleet needs to be replaced And replace the receiving resource pool of the fleet according to the new sending resource pool; configure a new sending resource pool to the second device that needs to replace the sending resource pool, and configure the changed receiving resource pool.

The second device 102 is configured to receive a new sending resource pool and a replaced receiving resource pool configured by the first device in the vehicles in the fleet; wherein the new sending resource pool is the first device that determines that it needs to be replaced The sending resource pool of the second device is configured for the second device, and the changed receiving resource pool is updated according to the new sending resource pool; if it is determined to use the new sending resource pool and the changed The receiving resource pool is configured according to the new sending resource pool and the replaced receiving resource pool.

Alternatively, after the first device 101 is used to determine that the sending resource pool of the second device in some or all of the vehicles in the fleet needs to be replaced, the first device determines that each second device in the sending resource pool needs to be replaced with a new one. The sending resource pool, and the receiving resource pool of the fleet is replaced according to the new sending resource pool; all the second devices in the fleet are configured with the replaced receiving resource pool.

The second device 102 is configured to receive a replacement receiving resource pool of a first device configuration in a vehicle in the fleet; wherein the replaced receiving resource pool is based on new transmissions of other second devices in the fleet. The resource pool is updated, and the new sending resource pool of the other second device is configured by the first device for the other second device after determining that the sending resource pool of the other second device needs to be replaced; if it is determined to use the replacement The subsequent receiving resource pool, the second device configures according to the replaced receiving resource pool.

It should be noted that both the first device and the second device are located in vehicles of the fleet. The first device may be located in a lead vehicle of the fleet, or the first device may be located in a predetermined vehicle in the fleet. In the embodiment of the present invention, it is described that the first device is located in the front car of the fleet, but the method for configuring resource allocation of the fleet to be protected in the embodiment of the present invention is not limited to the first device located in the front car of the fleet.

For a lead vehicle included in a fleet, the lead vehicle can form a fleet or manage the vehicles in the fleet. For example, the lead vehicle can control the driving path, direction, and speed of the fleet, and can exclude certain members or members. Vehicles can also increase the number of member vehicles.

When the vehicles of the fleet join the fleet, the lead vehicle will allocate a sending resource pool for each joining vehicle; accordingly, the collection of the sending resource pool of each vehicle in the fleet is the receiving resource pool of the fleet.

For example, the fleet members include the leading vehicle, vehicle A, vehicle B, and vehicle C; the sending resource pool of the leading vehicle is resource pool 1, the sending resource pool configured for vehicle A is resource pool 2, and the sending resource pool configured for vehicle B For resource pool 3, the transmission resource pool configured for vehicle C is resource pool 4; then the receiving resource pool used by the current fleet is resource pool 1, resource pool 2, resource pool 3, and resource pool 4.

In step 101, when the first device determines that it is necessary to replace the sending resource pool of the second device in some or all of the vehicles in the fleet, the following two methods can be adopted: Method 1. The first device periodically detects each of the first devices in the fleet. Whether the sending resource pool of the second device meets the condition for replacing the resource pool; Method 2: When the second device determines that it meets the condition for replacing the resource pool, it reports to the first device.

Specifically, the method for determining that the first device needs to replace the sending resource pool of some or all of the vehicles in the fleet is to determine that the second device of some or all of the vehicles in the fleet meets the conditions for replacing the sending resource pool; The conditions for replacing the sending resource pool include: the congestion rate of the sending resource pool is greater than the first threshold value; and / or the interference of the sending resource pool is greater than the second threshold value.

That is, the conditions for changing the sending resource pool include the following three situations:

Scenario 1. The congestion rate of the sending resource pool is greater than the first threshold; for example, the fleet members include the leading vehicle, vehicle A, vehicle B, and vehicle C; where the sending resource pool of the leading vehicle is resource pool 1, and the sending resource of vehicle A The pool is resource pool 2, the transmission resource pool of vehicle B is resource pool 3, and the transmission resource pool of vehicle C is resource pool 4. The receiving resource pool used by the current fleet is resource pool 1, resource pool 2, resource pool 3, resources Pool 4. The condition for changing the sending resource pool includes that the congestion rate of the sending resource pool is greater than a first threshold. If the lead vehicle determines that the congestion rate of the transmission resource pool of the vehicle A is greater than the first threshold value, it determines that the vehicle A meets the condition for replacing the transmission resource pool.

Scenario 2: The interference of the transmission resource pool is greater than the second threshold; for example, the fleet members include the leading vehicle, vehicle A, vehicle B, and vehicle C; where the sending resource pool of the leading vehicle is resource pool 1, and the sending resource pool of vehicle A It is resource pool 2, the transmission resource pool of vehicle B is resource pool 3, and the transmission resource pool of vehicle C is resource pool 4. The receiving resource pool used by the current fleet is resource pool 1, resource pool 2, resource pool 3, and resource pool. 4. The condition for replacing the sending resource pool includes that the interference of the sending resource pool is greater than the second threshold. If the lead vehicle determines that the interference of the transmission resource pool of the vehicle B is greater than the second threshold value, it determines that the vehicle B meets the condition for replacing the transmission resource pool.

Scenario 3: The congestion rate of the sending resource pool is greater than the first threshold value, and the interference of the sending resource pool is greater than the second threshold value; for example, the fleet members include the leading vehicle, vehicle A, vehicle B, and vehicle C; The sending resource pool is resource pool 1, the sending resource pool of vehicle A is resource pool 2, the sending resource pool of vehicle B is resource pool 3, and the sending resource pool of vehicle C is resource pool 4. The receiving resource pool used by the current fleet is Resource pool 1, resource pool 2, resource pool 3, and resource pool 4. The condition for replacing the sending resource pool includes that the congestion rate of the sending resource pool is greater than the first threshold value, and the interference of the sending resource pool is greater than the second threshold value. If the lead vehicle determines that the congestion rate of the transmission resource pool of vehicle C is greater than the first threshold value, and the interference of the transmission resource pool is greater than the second threshold value, then it is determined that vehicle C meets the condition for replacing the transmission resource pool.

After the first device determines that the transmission resource pool of the second device in some or all of the vehicles in the fleet needs to be replaced, the first device determines a new transmission resource pool for each second device in the transmission resource pool that needs to be replaced.

Embodiments of the present invention may determine but not limited to the following two ways to determine a new sending resource pool of the second device:

Method 1: The first device obtains a new sending resource pool for each second device that needs to replace the sending resource pool from the base station side.

When the first device determines that the sending resource pool of the second device needs to be replaced, the first device sends a request to the base station to request the base station to allocate a new resource pool to the second device that needs to replace the resource pool.

After the first device obtains a new transmission resource pool for each second device that needs to replace the transmission resource pool from the base station side, it configures the new transmission resource pool for each second device that needs to replace the transmission resource pool.

Manner 2: The first device selects an idle resource pool from a resource pool stored by itself as a new sending resource pool for each second device that needs to replace the sending resource pool.

In the embodiment of the present invention, after determining a new sending resource pool for each second device that needs to replace the sending resource pool, the receiving resource pool of the fleet is replaced according to the new sending resource pool.

For example, the fleet members include the leading vehicle, vehicle A, vehicle B, and vehicle C; the sending resource pool of the leading vehicle is resource pool 1, the sending resource pool of vehicle A is resource pool 2, and the sending resource pool of vehicle B is resource pool 3. , The sending resource pool of vehicle C is resource pool 4; then the receiving resource pool used by the current fleet is resource pool 1, resource pool 2, resource pool 3, and resource pool 4. If the lead vehicle determines that vehicle A and vehicle B meet the conditions for changing the transmission resource pool, and determines that the new transmission resource pool of vehicle A is resource pool 5, and the new transmission resource pool of vehicle B is resource pool 6, then the replacement fleet receives The resource pools are: resource pool 2, resource pool 3, resource pool 5, resource pool 6.

In the embodiment of the present invention, after determining a new sending resource pool for each second device that needs to replace the sending resource pool and a receiving resource pool after the fleet is replaced, a new sending is configured for each second device that needs to change the sending resource pool. A resource pool, and a replacement receiving resource pool for all second equipment in the fleet.

Correspondingly, after determining that the new sending resource pool is successfully configured, the second device that needs to replace the sending resource pool returns a feedback message indicating that the replacement is successful. The second device that does not need to replace the sending resource pool also needs to return a feedback message to the first device after determining that the replacement receiving resource pool is successfully configured.

Optionally, within a first preset time after receiving the new sending resource pool and the replaced receiving resource pool configured by the first device, the second device returns a feedback indicating that the replacement is successful to the first device. Message. If it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the new sending resource pool and the replaced receiving resource pool configured by the first device are ignored.

It should be noted that the second device that needs to replace the sending resource pool returns a feedback message, which means that the second device that needs to replace the sending resource pool agrees to use the new sending resource pool and the replaced receiving resource pool. The second device that does not need to replace the sending resource pool returns a feedback message, which indicates that the second device that needs to replace the sending resource pool agrees to use the replaced receiving resource pool.

If a feedback message indicating that the replacement is successful is received within the first preset time after the configuration is performed, the first device determines that the configuration is successful; if the first preset after the configuration is performed, If the feedback message returned by all the second devices in the fleet is not received within the time, the first device reconfigures the second device that does not return feedback information.

For example, suppose the first preset time is 8s, and the fleet members include the lead vehicle, vehicle A, vehicle B, and vehicle C; where the sending resource pool of the leading vehicle is resource pool 1, the sending resource pool of vehicle A is resource pool 2, and the vehicle The sending resource pool of B is resource pool 3, and the sending resource pool of vehicle C is resource pool 4. The receiving resource pool used by the current fleet is resource pool 1, resource pool 2, resource pool 3, and resource pool 4. If the lead vehicle determines that vehicle A and vehicle B meet the conditions for changing the transmission resource pool, and determines that the new transmission resource pool of vehicle A is resource pool 5, and the new transmission resource pool of vehicle B is resource pool 6, then the replacement fleet receives The resource pools are: resource pool 2, resource pool 3, resource pool 5, resource pool 6.

The leading vehicle configures a new sending resource pool for vehicle A as resource pool 5, and configures the new sending resource pool for vehicle B as resource pool 6; and the leading vehicle configures the sending resource pool for vehicle A, vehicle B, and vehicle C after replacement. Resource pool 2, resource pool 3, resource pool 5, resource pool 6.

Assume that the lead vehicle receives the feedback information of vehicle A, vehicle B, and vehicle C within 8s. Then the lead vehicle determines that the configuration is successful, and it is determined that the members of the fleet use the updated sending and receiving resource pool for communication. Assume that the lead vehicle receives the feedback information of vehicle A and vehicle C within 8s, and has not received the feedback information of vehicle B after 8s, then the lead vehicle reconfigures the second device located in vehicle B.

Correspondingly, if the second device is the second device that needs to replace the sending resource pool, after receiving the new sending resource pool and the replaced receiving resource pool that the first device reconfigures, if the second device determines to use the The new sending resource pool and the replaced receiving resource pool, the second device configures according to the new sending resource pool and the replaced receiving resource pool, and reconfigures the received first device after receiving the Within a second preset time after the new sending resource pool and the replaced receiving resource pool, a feedback message indicating a successful replacement is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message If it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the replaced receiving resource pool that is reconfigured by the first device is ignored.

If the second device is a second device that does not need to replace the sending resource pool, the second device determines if it receives a reconfigured replacement receiving resource pool or a new sending resource pool and the replaced receiving resource pool. Using the replaced receiving resource pool, the second device configures according to the replaced receiving resource pool, and receives a second preset after receiving the replaced receiving resource pool reconfigured by the first device Within a time, a feedback message indicating the replacement is returned to the first device, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined that the replacement receiving resource pool is not used, the second device ignores the The first device reconfigures the replaced receiving resource pool.

After the first device is reconfigured for the second device that does not return feedback information, if all the feedback information returned by the second device that does not return feedback information is received within a second preset time after the reconfiguration, The first device determines that the configuration is successful; if all the feedback information returned by the second device that does not return feedback information is not received within the second preset time after reconfiguration, the first device notifies that the sending resource pool needs to be replaced The second device uses the sending resource pool before the replacement, and notifies all second devices in the fleet to use the receiving resource pool before the update.

For example, assume that the first preset time is 8s and the second preset time is 5s. The fleet members include the leading vehicle, vehicle A, vehicle B, and vehicle C; the sending resource pool of the leading vehicle is resource pool 1, the sending resource pool of vehicle A is resource pool 2, the sending resource pool of vehicle B is resource pool 3, and vehicle The sending resource pool of C is resource pool 4; then the receiving resource pool used by the current fleet is resource pool 1, resource pool 2, resource pool 3, and resource pool 4. If the lead vehicle determines that vehicle A and vehicle B meet the conditions for changing the transmission resource pool, and determines that the new transmission resource pool of vehicle A is resource pool 5, and the new transmission resource pool of vehicle B is resource pool 6, then the replacement fleet receives The resource pools are: resource pool 2, resource pool 3, resource pool 5, resource pool 6.

The leading vehicle configures a new sending resource pool for vehicle A as resource pool 5, and configures the new sending resource pool for vehicle B as resource pool 6; and the leading vehicle configures the sending resource pool for vehicle A, vehicle B, and vehicle C after replacement. Resource pool 2, resource pool 3, resource pool 5, resource pool 6.

Assume that the lead vehicle receives the feedback information of vehicle A and vehicle C within 8s, and has not received the feedback information of vehicle B after 8s, then the lead vehicle reconfigures the second device located in vehicle B.

If within 5 s after reconfiguration, the lead vehicle receives the feedback information of vehicle B, the lead vehicle determines that the configuration is successful, and it is determined that members of the fleet use the updated sending and receiving resource pool for communication.

If within 5 s after reconfiguration, the lead vehicle does not receive feedback information from vehicle B, the lead vehicle determines that the configuration fails, the lead vehicle notifies vehicle A to continue to use resource pool 2 as the sending resource pool, and notifies vehicle B to continue to use the resource pool 3 as the sending resource pool; and the lead vehicle notifies vehicle A, vehicle B, and vehicle C to continue to use resource pool 1, resource pool 2, resource pool 3, and resource pool 4 as receiving resource pools.

Based on the same inventive concept, this discovery embodiment also provides a first device for fleet resource allocation. Since the principle of the device to solve the problem is similar to the system for fleet resource allocation in the embodiment of the present invention, the implementation of the device can refer to the system The implementation is not repeated here.

As shown in FIG. 2, the first first device for resource allocation of a fleet provided by an embodiment of the present invention includes: a determining module 201 configured to determine that a second device in some or all of the vehicles in the fleet needs to be replaced. After sending the resource pool, determine a new sending resource pool for each second device that needs to replace the sending resource pool, and replace the receiving resource pool of the fleet according to the new sending resource pool; a configuration module 202 is used to The second device of the resource pool is configured with a new sending resource pool, and all the second devices in the fleet are configured with the replaced receiving resource pool.

It should be noted that the first device in the embodiment of the present invention may be located in a lead vehicle of the fleet.

Optionally, the determining module 201 is specifically configured to: determine that the second device in some or all of the vehicles in the fleet meets the conditions for replacing the sending resource pool; wherein the conditions for replacing the sending resource pool include: The congestion rate is greater than the first threshold value; and / or the interference of the sending resource pool is greater than the second threshold value.

Optionally, the determining module 201 is specifically configured to: obtain a new sending resource pool for each second device that needs to replace the sending resource pool from the base station side; or select an idle resource pool from the resource pool stored by itself as the Each second device that needs to replace the sending resource pool has a new sending resource pool.

Optionally, the configuration module 202 is further configured to: after configuring a new sending resource pool to the second device that needs to replace the sending resource pool, and after configuring the changed receiving resource pool to all the second devices in the fleet If the feedback message indicating that the replacement is successful is received within the first preset time after the configuration is performed, it is determined that the configuration is successful; if the configuration message is not received within the first preset time after the configuration is performed, After receiving the feedback message returned by all the second devices in the fleet, reconfiguration is performed for the second device that does not return the feedback information.

Optionally, the configuration module 202 is further configured to: after reconfiguring a second device that does not return feedback information, if all the non-return feedback information is received within a second preset time after reconfiguration If the feedback information returned by the second device is determined, the configuration is successful; if all the feedback information returned by the second device that does not return the feedback information is not received within the second preset time after reconfiguration, the notification is required to be replaced The second device of the sending resource pool uses the sending resource pool before the replacement, and all the second devices in the fleet are notified to use the receiving resource pool before the update.

As shown in FIG. 3, the second type of first device for resource allocation of a fleet provided by an embodiment of the present invention, where the first device is located in a vehicle of the fleet, includes: a bus 300, a processor 301, a transceiver 302, and a bus An interface 303, a memory 304, and a user interface 305.

The processor 301 is configured to read the program in the memory 304 and execute the following process: after determining that the sending resource pool of the second device in some or all of the vehicles in the fleet needs to be replaced, determine each of the sending resource pools that need to be replaced. The second device sends a new sending resource pool, and replaces the receiving resource pool of the fleet according to the new sending resource pool; configures a new sending resource pool to the second device that needs to replace the sending resource pool, and sends all the first sending resource pools in the fleet to the first sending resource pool. The receiving resource pool after the device configuration is changed.

The transceiver 302 is configured to receive and send data under the control of the processor 301.

Optionally, the processor 301 is specifically configured to determine that the second device in some or all of the vehicles in the fleet meets the conditions for replacing the sending resource pool, wherein the conditions for replacing the sending resource pool include: congestion in the sending resource pool The rate is greater than the first threshold value; and / or the interference of the sending resource pool is greater than the second threshold value.

Optionally, the processor 301 is specifically configured to: obtain, from the base station side, a new sending resource pool of each second device that needs to replace the sending resource pool; or select an idle resource pool from each of its stored resource pools as each A second sending resource pool needs to be replaced by the second device of the sending resource pool.

Optionally, the processor 301 is further configured to: after configuring a new sending resource pool to the second device that needs to replace the sending resource pool, and after configuring the changed receiving resource pool to all the second devices in the fleet, If the feedback message indicating that the replacement is successful is received within the first preset time after the configuration is performed, the configuration is determined to be successful; if it is not received within the first preset time after the configuration is performed, The feedback message returned to all the second devices in the fleet is reconfigured for the second device that does not return feedback information.

Optionally, the processor 301 is further configured to: after reconfiguring the second device that does not return feedback information, if all the non-return feedback information is received within a second preset time after reconfiguration The feedback information returned by the second device determines that the configuration is successful; if all the feedback information returned by the second device that does not return the feedback information is not received within the second preset time after reconfiguration, it is notified that the replacement needs to be sent The second device in the resource pool uses the sending resource pool before the replacement, and all second devices in the fleet are notified to use the receiving resource pool before the update.

In FIG. 3, the bus architecture (represented by the bus 300). The bus 300 may include any number of interconnected buses and bridges. The bus 300 will include one or more processors represented by a general-purpose processor 301. It is connected to various circuits of the memory represented by the memory 304. The bus 300 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, they are not described further herein. The bus interface 303 provides an interface between the bus 300 and the transceiver 302. The transceiver 302 may be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. For example: the transceiver 302 receives external data from other devices. The transceiver 302 is configured to send the data processed by the processor 301 to other devices. Depending on the nature of the computing system, a user interface 305 may also be provided, such as a keypad, display, speaker, microphone, joystick.

The processor 301 is responsible for managing the bus 300 and general processing, as described above, running a general-purpose operating system. The memory 304 can be used to store data used by the processor 301 when performing operations.

Optionally, the processor 301 may be a CPU (central embedded device), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable) Logic Device).

Based on the same inventive concept, this discovery embodiment also provides a method for fleet resource allocation. Since the principle of solving the problem by this method is similar to the system for fleet resource allocation in the embodiment of the present invention, the implementation of this method can refer to the implementation of the system The duplicates will not be repeated.

As shown in FIG. 4, an embodiment of the present invention provides a method for resource allocation of a fleet, which includes: Step 401: It is determined that a first device in a vehicle of the fleet needs to replace a second device in some or all of the vehicles in the fleet. After the sending resource pool, the first device determines a new sending resource pool for each second device that needs to replace the sending resource pool, and replaces the receiving resource pool of the fleet according to the new sending resource pool; step 402, the first device A new sending resource pool is configured for the second device that needs to replace the sending resource pool, and a changed receiving resource pool is configured for all the second devices in the fleet.

Optionally, the first device in the fleet determines that the sending resource pool used by the second device in some or all of the vehicles in the fleet needs to be replaced, including: the first device determines the first in one or all of the vehicles in the fleet. The two devices meet the conditions for replacing the sending resource pool; wherein the conditions for replacing the sending resource pool include: the congestion rate of the sending resource pool is greater than the first threshold value; and / or the interference of the sending resource pool is greater than the second threshold value.

Optionally, the determining, by the first device, a new sending resource pool of each second device that needs to replace the sending resource pool includes: obtaining, by the first device, a new A sending resource pool; or the first device selects an idle resource pool from a resource pool stored by itself as a new sending resource pool for each second device that needs to replace the sending resource pool.

Optionally, after the first device configures a new sending resource pool to a second device that needs to replace the sending resource pool, and configures the replaced receiving resource pool to all the second devices in the fleet, the method further includes: If the first device receives a feedback message indicating that the replacement is successful within the first preset time after the configuration, the first device determines that the configuration is successful; if the first preset time after the configuration is performed, If the feedback message returned by all the second devices in the fleet is not received, the first device reconfigures the second device that does not return feedback information.

Optionally, after the first device is reconfigured for the second device that does not return feedback information, the method further includes: if all the second devices that do not return feedback information are received within a second preset time after reconfiguration. The first device determines that the configuration is successful; if the second device does not receive all the feedback information returned by the second device that does not return the feedback information within the second preset time after reconfiguration, the first device determines that the configuration is successful; The device notifies the second device that needs to replace the sending resource pool to use the sending resource pool before the replacement, and notifies all the second devices in the fleet to use the receiving resource pool before the replacement.

Based on the same inventive concept, the embodiment of the present invention also provides a second device for configuring the resource of the fleet. Since the principle of solving the problem of the device is similar to the system of configuring the resource of the fleet according to the embodiment of the present invention, the implementation of the device can refer to the system The implementation is not repeated here.

As shown in FIG. 5, the first second device for configuring resource of a fleet provided by an embodiment of the present invention includes: a first receiving module 501 configured to receive a new transmission configured by the first device in a vehicle of the fleet A resource pool and a replaced receiving resource pool; wherein the new sending resource pool is configured by the first device for the second device after determining that the sending resource pool of the second device needs to be replaced, and the replaced receiving resource The pool is updated according to the new sending resource pool; the first processing module 502 is configured to, if it is determined to use the new sending resource pool and the replaced receiving resource pool, according to the new sending resource pool and the Configure the replacement receiving resource pool.

Optionally, the first processing module 502 is further configured to: after determining to use the new sending resource pool and the replaced receiving resource pool, after receiving the new sending resource pool configured by the first device And within a first preset time after the replacement receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the first processing module 502 is further configured to: if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, ignore the new sending resource pool and the new sending resource pool configured by the first device. The replacement receiving resource pool.

Optionally, the first processing module 502 is further configured to: after ignoring the new sending resource pool and the replaced receiving resource pool configured by the first device, receive the first reconfiguration of the first device. A new sending resource pool and the replaced receiving resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, configure it according to the new sending resource pool and the replaced receiving resource pool And within a second preset time after receiving the new sending resource pool and the replaced receiving resource pool reconfigured by the first device, return a feedback message to the first device indicating that the replacement was successful, to Causing the first device to determine whether the configuration is successful according to the feedback message; if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the new sending resource pool and The replacement receiving resource pool.

Optionally, the first processing module 502 is further configured to: after ignoring the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device, receive a notification from the first device After that, the sending resource pool before the replacement and the receiving resource pool before the replacement are used.

As shown in FIG. 6, a second device for resource allocation of a fleet is provided in an embodiment of the present invention. The second device is located in a vehicle of the fleet, and includes: a bus 600, a processor 601, a transceiver 602, and a bus. An interface 603, a memory 604, and a user interface 605.

The processor 601 is configured to read the program in the memory 604 and execute the following process: receiving, through the transceiver 602, a new sending resource pool and a replaced receiving resource pool of a first device configuration in a vehicle in a fleet; The new sending resource pool is configured by the first device for the second device after determining that the sending resource pool of the second device needs to be replaced, and the changed receiving resource pool is performed according to the new sending resource pool. Updated; if it is determined to use the new sending resource pool and the replaced receiving resource pool, configuration is performed according to the new sending resource pool and the replaced receiving resource pool.

The transceiver 602 is configured to receive and send data under the control of the processor 601.

Optionally, the processor 601 is further configured to: after determining to use the new sending resource pool and the replaced receiving resource pool, after receiving the new sending resource pool and the replacement configured by the first device In the first preset time after the subsequent receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the processor 601 is further configured to: if it is determined that the new sending resource pool and the replaced receiving resource pool are not to be used, ignore the new sending resource pool and the replacement after the first device configuration. Receiving resource pool.

Optionally, the processor 601 is further configured to: after ignoring the new sending resource pool and the replaced receiving resource pool configured by the first device, receive the new sending configured by the first device again The resource pool and the replaced receiving resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, configure it according to the new sending resource pool and the replaced receiving resource pool, and configure After receiving the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device, a feedback message indicating a successful replacement is returned to the first device within a second preset time, so that the first device A device judges whether the configuration is successful according to the feedback message; if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the new sending resource pool and the replacement after the first device reconfigures are ignored. Receiving resource pool.

Optionally, the processor 601 is further configured to: after ignoring the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device, after receiving a notification from the first device, use Send resource pool before replacement and receive resource pool before replacement.

In FIG. 6, the bus architecture (represented by the bus 600). The bus 600 may include any number of interconnected buses and bridges. The bus 600 will include one or more processors represented by a general-purpose processor 601. It is connected to various circuits of the memory represented by the memory 604. The bus 600 can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, they will not be further described herein. The bus interface 603 provides an interface between the bus 600 and the transceiver 602. The transceiver 602 may be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. For example: the transceiver 602 receives external data from other devices. The transceiver 602 is configured to send the data processed by the processor 601 to other devices. Depending on the nature of the computing system, a user interface 605 may also be provided, such as a keypad, display, speaker, microphone, joystick.

The processor 601 is responsible for managing the bus 600 and general processing, as described above, running a general-purpose operating system. The memory 604 can be used to store data used by the processor 601 when performing operations.

Optionally, the processor 601 may be a CPU, an ASIC, an FPGA, or a CPLD.

Based on the same inventive concept, the embodiment of the present invention also provides a method for assisting the configuration of fleet resources with a second device. Since the principle of solving the problem by this method is similar to the system for configuring fleet resources in the embodiment of the present invention, the implementation of this method can Refer to the implementation of the system, the duplicates will not be repeated.

As shown in FIG. 7, a method for resource allocation of a fleet includes the following steps. Step 701: A second device in a vehicle of the fleet receives a new sending resource pool and replacement of the first device configured in the vehicle of the fleet. A new receiving resource pool; the new sending resource pool is configured by the first device for the second device after determining that the sending resource pool of the second device needs to be replaced, and the changed receiving resource pool is based on the The new sending resource pool is updated; step 702, if the second device determines to use the new sending resource pool and the replaced receiving resource pool, the second device according to the new sending resource pool and the replacement Receive resource pool.

Optionally, after the second device determines to use the new sending resource pool and the replaced receiving resource pool, the method further includes that the second device receives the new sending resource pool and In the first preset time after the replacement receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the method further includes: if it is determined that the new sending resource pool and the replaced receiving resource pool are not to be used, the second device ignores the new sending resource pool and the replacement after the first device configuration. Receiving resource pool.

Optionally, after the second device ignores the new sending resource pool and the replaced receiving resource pool configured by the first device, the method further includes: receiving, by the second device, the new configuration reconfigured by the first device. The sending resource pool and the replaced receiving resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, the second device according to the new sending resource pool and the replaced receiving resource Pool configuration, and within a second preset time after receiving the new sending resource pool and the replaced receiving resource pool reconfigured by the first device, return to the first device a feedback indicating a successful replacement Message to enable the first device to determine whether the configuration is successful based on the feedback message; if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the second device ignores the reconfiguration of the first device The new sending resource pool and the replaced receiving resource pool.

Optionally, after the second device ignores the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device, the method further includes: after the second device receives the notification from the first device , Use the sending resource pool before replacement and the receiving resource pool before replacement.

Based on the same inventive concept, the embodiment of the present invention also provides a second device for configuring the resource of the fleet. Since the principle of solving the problem of the device is similar to the system of configuring the resource of the fleet according to the embodiment of the present invention, the implementation of the device can refer to the system The implementation is not repeated here.

As shown in FIG. 8, a third type of second device for resource allocation of a fleet provided by an embodiment of the present invention includes: a second receiving module 801, configured to receive a changed configuration of the first device in a vehicle of the fleet. A receiving resource pool; wherein the replaced receiving resource pool is updated according to a new sending resource pool of another second device in the fleet, and the new sending resource pool of the other second device is the first device in the It is determined that the sending resource pool of the other second device needs to be replaced and is configured for the other second device; the second processing module 802 is configured to, if it is determined to use the replaced receiving resource pool, according to the replaced receiving resource Pool for configuration.

Optionally, the second processing module 802 is further configured to: after determining to use the replaced receiving resource pool, after receiving the first preset configured by the first device after the replaced receiving resource pool Within a time period, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the second processing module 802 is further configured to: if it is determined that the replacement receiving resource pool is not used, ignore the replacement receiving resource pool configured by the first device.

Optionally, the second processing module 802 is further configured to: after ignoring the changed receiving resource pool configured by the first device, receive the changed receiving resource pool configured by the first device again ; If it is determined to use the replaced receiving resource pool, perform configuration according to the replaced receiving resource pool, and receive a second preset after receiving the replaced receiving resource pool reconfigured by the first device Within a time, a feedback message indicating the replacement is returned to the first device, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined that the replacement receiving resource pool is not used, the first device is ignored and restarted The configured receiving resource pool after the replacement.

Optionally, the second processing module 802 is further configured to: after ignoring the replacement receiving resource pool that is reconfigured by the first device, after receiving a notification from the first device, use the reception before replacement Resource pool.

As shown in FIG. 9, a fourth device for resource allocation of a fleet is provided in an embodiment of the present invention. The second device is located in a vehicle of the fleet and includes: a bus 900, a processor 901, a transceiver 902, and a bus. An interface 903, a memory 904, and a user interface 905.

The processor 901 is configured to read a program in the memory 904 and execute the following process: receiving, by using the transceiver 902, a changed receiving resource pool of a first device configuration located in a vehicle of a fleet; wherein the changed receiving resource The pool is updated according to the new sending resource pool of the other second device in the fleet, and the new sending resource pool of the other second device is the sending resource pool of the first device when it is determined that the other second device needs to be replaced It is configured for the other second device later; if it is determined that the replacement receiving resource pool is used, configuration is performed according to the replacement receiving resource pool.

The transceiver 902 is configured to receive and send data under the control of the processor 901.

Optionally, the processor 901 is further configured to: after determining to use the replaced receiving resource pool, within a first preset time after receiving the replaced receiving resource pool configured by the first device, A feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the processor 901 is further configured to: if it is determined that the replacement receiving resource pool is not used, ignore the replacement receiving resource pool configured by the first device.

Optionally, the processor 901 is further configured to: after ignoring the changed receiving resource pool configured by the first device, receive the changed receiving resource pool configured by the first device again; if determined Using the replaced receiving resource pool, performing configuration according to the replaced receiving resource pool, and within a second preset time after receiving the replaced receiving resource pool reconfigured by the first device, Return a feedback message to the first device indicating that the replacement is successful, so that the first device determines whether the configuration is successful according to the feedback message; if it is determined that the replacement receiving resource pool is not used, the first device is reconfigured The replacement receiving resource pool.

Optionally, the processor 901 is further configured to: after ignoring the replacement receiving resource pool that is reconfigured by the first device, and after receiving a notification from the first device, use the receiving resource pool before replacement.

In FIG. 9, the bus architecture (represented by the bus 900). The bus 900 may include any number of interconnected buses and bridges. The bus 900 will include one or more processors represented by the general-purpose processor 901. It is connected to various circuits of the memory represented by the memory 904. The bus 900 can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, they are not described further herein. The bus interface 903 provides an interface between the bus 900 and the transceiver 902. The transceiver 902 may be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. For example: the transceiver 902 receives external data from other devices. The transceiver 902 is configured to send the data processed by the processor 901 to other devices. Depending on the nature of the computing system, a user interface 905 may also be provided, such as a keypad, display, speaker, microphone, joystick.

The processor 901 is responsible for managing the bus 900 and general processing, as described above, running a general-purpose operating system. The memory 904 can be used to store data used by the processor 901 when performing operations.

Optionally, the processor 901 may be a CPU, an ASIC, an FPGA, or a CPLD.

Based on the same inventive concept, the embodiment of the present invention also provides a method for assisting the configuration of fleet resources with a second device. Since the principle of solving the problem by this method is similar to the system for configuring fleet resources in the embodiment of the present invention, the implementation of this method can Refer to the implementation of the system, the duplicates will not be repeated.

As shown in FIG. 10, an embodiment of the present invention provides a method for configuring a fleet resource. The method includes: Step 1001, a second device in a vehicle of the fleet receives a replacement of a first device configuration in a vehicle of the fleet The receiving resource pool is updated according to the new sending resource pool of the other second devices in the fleet, and the new sending resource pool of the other second devices is the first device. Configured for the other second device after determining that the sending resource pool of the other second device needs to be replaced; step 1002, if the second device determines to use the replaced receiving resource pool, the second device according to the replacement Receive resource pool.

Optionally, after the second device determines to use the replaced receiving resource pool, the method further includes a first preset time after the second device receives the replaced receiving resource pool configured by the first device. Then, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.

Optionally, the method further includes: if it is determined not to use the replaced receiving resource pool, the second device ignores the replaced receiving resource pool configured by the first device.

Optionally, after the second device ignores the replaced receiving resource pool configured by the first device, the method further includes: receiving, by the second device, the replaced receiving resource pool reconfigured by the first device; If it is determined to use the replaced receiving resource pool, the second device configures according to the replaced receiving resource pool, and receives the first receiving device after the first receiving device reconfigures the replaced receiving resource pool. Within a preset time, return a feedback message indicating that the replacement is successful to the first device, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined that the replacement receiving resource pool is not used, the second device The device ignores the replaced receiving resource pool that is reconfigured by the first device.

Optionally, after the second device ignores the replaced receiving resource pool that is reconfigured by the first device, the method further includes: after receiving the notification from the first device, the second device uses the receiving resource before the replacement. Pool.

In addition, an embodiment of the present invention also provides a system for vehicles to join a fleet, as shown in FIG. 11, including a third device 1101 located in a vehicle of the fleet and at least one fourth device 1102 located in a vehicle outside the fleet.

The third device 1101 is configured to, after receiving a request message sent by a fourth device among vehicles outside the fleet, determine whether to allow the vehicle where the fourth device is located to join the fleet according to the request message; if the first device is allowed to join the fleet; The vehicle in which the fourth device is located joins the fleet, and then a permission to join message is returned to the fourth device, so that the fourth device controls the vehicle in which the fourth device is located to join the fleet after receiving the permission to join message.

The fourth device 1102 sends a request message to the third device of a vehicle in the fleet; if a join permission message returned by the third device is received, the vehicle on which the fourth device is located is controlled to join the fleet.

The system for adding a vehicle to a fleet according to the embodiment of the present invention is applied to a scenario where vehicles outside the fleet need to be added to the fleet. When a vehicle located outside the fleet needs to join the fleet, the fourth device in the vehicle communicates with the third device in the fleet.

The third device periodically broadcasts access channel resources. The access channel resources include some or all of the following information: frequency points, sub-frames, and available frequency-domain resource locations within the sub-frames.

The fourth device periodically monitors an access channel resource broadcast by the third device; and the fourth device uses the access channel resource to send a request message to the third device.

Specifically, after the fourth device receives the access channel resource broadcast by the third device, if the access channel resource includes multiple available frequency domain resource positions, the fourth device selects from the available frequency domain resource positions in the sub-frame. A frequency domain resource location uses an access channel resource including a frequency point, a sub-frame, and a selected frequency resource location to send a request message to a third device.

The request message may be RRC (Radio Resource Control) signaling or PC5 signaling; the request message may be transmitted through a Sidelink (through link) or a Uu port.

The request message includes some or all of the following information: the fleet ID, the leader ID in the fleet, the vehicle ID to join the fleet, the type of vehicle to join the fleet, and the reason for joining the fleet.

The following describes the various types of information that may be included in the request message:

1. Team logo.

In order that other vehicles can identify the fleet, each fleet has a fleet ID. After the request message is necessary to add the fleet ID, so that the third device can determine the need to join according to the fleet ID after receiving the request message sent by the vehicle that needs to join the fleet. The fleet of vehicles the fleet wants to join.

2. The leading car logo in the fleet.

The leading cars in the fleet can form a fleet and manage the vehicles in the fleet. Among them, the management of vehicles can be the coordination of the vehicles in the convoy, such as the management of driving direction and speed; it can also manage each vehicle member in the convoy, such as reducing the number of vehicles in the convoy and increasing The number of vehicles in the fleet. For a fleet, the lead vehicle plays an important role, so in order for other vehicles to identify the lead vehicle in the fleet, the lead vehicle in each fleet has a lead vehicle identifier, and the leader vehicle identifier is added to the request message so that the third device After receiving the request message sent by the vehicles that need to join the fleet, the fleet that the vehicles that need to join the fleet want to join can be further determined according to the identification of the leading car in the fleet.

3. Vehicle identification of joining the fleet.

In order to facilitate vehicle identification, each vehicle has its corresponding vehicle identification, and the vehicle identification corresponding to each vehicle is configured according to a preset rule. The request message includes the vehicle identification for joining the fleet, so that after the third device receives the request message, it determines whether the vehicle is allowed to join the fleet according to the vehicle identification corresponding to the vehicle.

4. Types of vehicles joining the fleet.

The type of vehicle may be a car, a truck, or the like. The request message includes the type of the vehicle to join the fleet, so that after receiving the request message, the third device determines whether the vehicle is allowed to join the fleet according to the type of vehicle that joins the fleet.

5. Reasons to join the team.

The reasons for joining the team can be bike joining, group joining, etc. Among them, bicycle joining means that the vehicle that needs to join is one; group joining means that the vehicle that needs to join is a group of vehicles, that is, a fleet. The request message includes the reason for joining the fleet, so that after receiving the request message, the third device determines whether the vehicle is allowed to join the fleet according to the reason for joining the fleet.

After receiving the request message sent by the fourth device, the third device determines whether the vehicle on which the fourth device is located is allowed to join the fleet according to the request message.

Specifically, according to the request message sent by the fourth device, the third device determines that the third device allows the vehicle where the fourth device is located to join the fleet when some or all of the following conditions are met: Condition 1, the third device Determine the vehicle identification of the vehicle joining the fleet included in the request message, which is within the range of the vehicle identification allowed by the vehicle fleet; condition 2, the third device determines the type of vehicle included in the fleet included in the request message, and the The vehicle types of the vehicles are the same; Condition 3. When the method of joining the fleet included in the request message is bicycle joining, the third device determines that the fleet can accommodate the vehicle in which the fourth device is located; Condition 4. In the request message The included method for joining the fleet is that when the fleet joins, the third device determines that the fleet can accommodate the fleet in which the fourth device is located.

For condition 1, the vehicle identification corresponding to each vehicle is configured according to a preset rule. For example, different ranges of vehicle identifiers can be configured for vehicles based on the type of vehicle. Assume that when the vehicle identification is a four-digit number, for the same type of vehicle, the first digit from left to right in the vehicle identification is fixed. For example, when the vehicle type is a car, the vehicle identifier configured for it is 1XXX, and when the vehicle type is a truck, the vehicle identifier configured for it is 2XXX. It is also possible to configure different ranges of vehicle identification for the vehicle according to the driving mode of the vehicle. Assume that when the vehicle identification is a four-digit number, for vehicles in the same driving mode, the first digit from left to right in the vehicle identification is fixed. For example, when the driving mode of the vehicle is a fully automatic driving mode, the vehicle identifier configured for it is 1XXX, and when the driving mode of the vehicle is a manual driving mode, the vehicle identifier configured for it is 2XXX.

After the third device receives the request message, according to the vehicle identification of the vehicle joining the fleet in the request message, when the third device determines that the vehicle identification is within the range of vehicle identifications allowed by the fleet, it determines that the vehicle requesting to join the fleet is allowed to join Convoy.

For the above condition 2, the request message sent by the fourth device to the third device includes the vehicle type of the vehicle in which the fourth device is located. For example, the vehicle type may be a car, a van, a truck, or the like. When the third device determines that the vehicle type of the vehicle to be added to the fleet is consistent with the vehicle type of the vehicles in the fleet, the third device determines to allow the vehicle of the fourth device requesting to join the fleet to join the fleet.

For the above conditions 3 and 4, the methods for joining the fleet include bicycle joining and group joining. When the method of joining the fleet included in the request message received by the third device is bicycle joining, the third device judges whether the fleet can accommodate the fleet according to the number of vehicles that the fleet can still accommodate and the number of idle resource pools of the fleet. The vehicle on which the fourth device is located, if yes, it is determined that the vehicle on which the fourth device requesting to join the fleet is allowed to join the fleet.

Correspondingly, when the mode of joining the fleet included in the request message received by the third device is group joining, the third device determines whether the fleet can accommodate vehicles and the number of idle resource pools of the fleet. It can accommodate the fleet where the fourth device is located, and if so, it is determined to allow the fleet where the fourth device requesting to join the fleet is allowed to join the fleet.

After the third device according to the embodiment of the present invention determines whether the vehicle on which the fourth device is allowed to join the fleet according to the above conditions, if the vehicle on which the fourth device is allowed to join the fleet, the third device sends the permission to join to the fourth device. Message; if the vehicle where the fourth device is located is not allowed to join the fleet, the third device sends a join rejection message to the fourth device.

The following is a description of each situation:

1. The third device determines that the vehicle on which the fourth device is located is allowed to join the fleet.

The third device allows the vehicle in which the fourth device is located to join the fleet, and returns a join permission message to the fourth device; accordingly, the fourth device receives the join permission message returned by the third device, and the fourth device controls the The vehicle where the fourth device is located joins the fleet.

The request message may be RRC signaling or PC5 signaling; the request message may be transmitted through a Sidelink or a Uu port.

It should be noted that, since the vehicles in the fleet are in an automatic driving mode, the vehicle includes a main control module for controlling the vehicle, which is used to control the driving state of the vehicle. The fourth device and the main control module can be the same module, that is, the fourth device can both communicate with other communication devices in the fleet and control the vehicle; in this case, the fourth device is receiving After the message of joining is allowed, directly control the vehicle to join the fleet.

In addition, the fourth device and the master control module may also be located in different modules. After receiving the permission to join message, the fourth device notifies the master control module to join the fleet, so that the vehicle controlled by the master control module joins the fleet. .

The permission to join message includes some or all of the following information: the receiving resource pool of the fleet, information about the vehicles in the fleet, the sending resource pool configured for joining the vehicle, a dedicated time-frequency resource for the fourth device to feedback the success of joining the fleet, Synchronous configuration information and sensing configuration information for sensing whether resources are available.

The receiving resource pool of the fleet is a receiving resource pool shared by the fleet; for example, vehicle A, vehicle B, vehicle C, and vehicle D in the fleet, the sending resource pool of vehicle A is resource pool 1, and the sending resource pool of vehicle B is resource Pool 2, the sending resource pool of vehicle C is resource pool 3, and the sending resource pool of vehicle D is resource pool 4. The receiving resource pool of the fleet is resource pool 1, resource pool 2, resource pool 3, and resource pool 4.

The related information of the vehicles in the convoy may specifically be the vehicle identification of the vehicles in the convoy, or the related information of the vehicles may be other information that can indicate the identity of the vehicle.

Synchronous configuration information is used to synchronize the clock with other vehicles in the fleet after the vehicle joins the fleet.

As shown in FIG. 12, an overall flowchart of a method for adding a vehicle to a fleet according to an embodiment of the present invention includes: step 1201, a third device periodically broadcasts access channel resources; step 1202, a fourth device should use the access channel resources Send a request message to the third device; wherein the request message includes part or all of the following information: the fleet ID, the leader ID in the fleet, the vehicle ID to join the fleet, the type of vehicle to join the fleet, and the way to join the fleet; step 1203 3. The third device determines that the vehicle on which the fourth device is allowed to join the fleet according to the request message; step 1204, the third device returns a permission to join message to the fourth device; wherein the permission to join message includes part of the following information or All: the receiving resource pool of the fleet, information about the vehicles in the fleet, the sending resource pool configured for joining the vehicle, dedicated time-frequency resources for the fourth device to return to the success of joining the fleet, synchronization configuration information, and the ability to sense whether resources are available Perceive sensing configuration information; step 1205, the fourth device receives the permission returned by the third device After the addition message, the fourth control apparatus where the vehicle was added to the team.

The following uses a specific example for illustration.

Fleet 1 is a fleet capable of accommodating 5 trucks, of which truck 1 is the lead vehicle, and truck 2 and truck 3 are already included in the fleet. The lead vehicle broadcasts the access channel resources periodically. Truck 4 wants to join the fleet 1. After acquiring the access channel resources sent by the lead vehicle, truck 4 initiates a request to join the lead vehicle on the access channel (the fleet request message is an RRC message), which contains the following: Fleet 1), front car identification (wagon 1), vehicle identification (wagon 4) wishing to join the fleet, vehicle type (wagon), method of joining (bicycle joining); then wagon 4 continues until the joining process is completed Monitor access to the feedback channel. The lead vehicle returns to the truck 4 to allow the join message: the allow to join message is an RRC message, which contains the following: the receiving resource pool of the fleet, the sending resource pool configured for joining the vehicle (truck 4), and a dedicated time to reward the success of joining the fleet Frequency resources, synchronization configuration, sensing configuration, etc. The truck 4 joins the fleet 1 after receiving the permission to join message.

2. The third device determines that the vehicle where the fourth device is located is not allowed to join the fleet.

The third device does not allow the vehicle in which the fourth device is located to access the fleet, and returns a refusal to join message to the fourth device; correspondingly, the fourth device determines that the third device is not allowed to join and rejects the first The vehicle where the four devices are located joins the fleet.

The request message may be RRC signaling or PC5 signaling; the request message may be transmitted through a Sidelink or a Uu port.

It should be noted that, since the vehicles in the fleet are in an automatic driving mode, the vehicle includes a main control module for controlling the vehicle, which is used to control the driving state of the vehicle. The fourth device and the main control module can be the same module, that is, the fourth device can both communicate with other communication devices in the fleet and control the vehicle; in this case, the fourth device is receiving After the refusal to join the message, the vehicle under control does not join the fleet.

In addition, the fourth device and the main control module may also be located in different modules. After receiving the permission to join message, the fourth device notifies the main control module that it cannot join the fleet.

The refusal to join includes information about the reason for the refusal and / or other teams.

Among them, the reasons for rejection include that the fleet is full and / or does not belong to the type of vehicles that can join the fleet.

The information of other teams is used to enable the fourth device to discover other teams; specifically, it can be the team logo, or the frequency of the team's work; so that after the fourth device receives the information of the other team, Information can find the fleet corresponding to the information of the other fleet and send a request message to the fleet to request to join the fleet corresponding to the information of the other fleet.

As shown in FIG. 13, an overall flowchart of a method for adding a vehicle to a fleet according to an embodiment of the present invention includes: step 1301, a third device periodically broadcasts access channel resources; step 1302, a fourth device uses the access channel resources Send a request message to the third device; wherein, the request message includes part or all of the following information: the fleet ID, the leader of the fleet, the identity of the vehicle joining the fleet, the type of vehicle joining the fleet, and the method of joining the fleet; step 1303 3. The third device determines according to the request message that the vehicle where the fourth device is located is not allowed to join the fleet; step 1304, the third device returns a refusal to join message to the fourth device; wherein the refusal to join message includes the reason for rejection and / or Information of other fleets; Step 1305. After receiving the refusal to join message returned by the third device, the fourth device determines that the vehicle where the fourth device is located is not allowed to join the fleet.

Based on the same inventive concept, the embodiment of the present invention also provides a first third device for the vehicle to join the fleet. Since the principle of solving the problem by the third device is similar to the system for adding the vehicle to the fleet in the embodiment of the present invention, the implementation of this device can Refer to the implementation of the system, the duplicates will not be repeated.

As shown in FIG. 14, a first device provided by an embodiment of the present invention joins a third device of a fleet, where the third device is located in a vehicle of the fleet, and includes: a third receiving module 1401 configured to receive After a request message sent by a fourth device in a vehicle other than the fleet, it is determined according to the request message whether the vehicle where the fourth device is allowed to join the fleet; the first sending module 1402 is used to allow the fourth device to be located if allowed If the vehicle that has joined the convoy, returns a join permission message to the fourth device, so that the fourth device controls the vehicle where the fourth device is located to join the fleet after receiving the join permission message.

Optionally, the first sending module 1402 is further configured to: if the vehicle on which the fourth device is located is not allowed to access the fleet, return a join rejection message to the fourth device.

Optionally, the third receiving module 1401 is further configured to: before receiving a request message sent by a fourth device in a vehicle outside the fleet, periodically broadcast access channel resources, so that the first Four devices use the access channel resource to send a request message to the third device.

Optionally, the request message includes part or all of the following information: the fleet ID, the leader ID in the fleet, the vehicle ID to join the fleet, the type of vehicle to join the fleet, and the way to join the fleet.

Optionally, the first sending module 1402 is specifically configured to allow the vehicle where the fourth device is located to join the fleet when some or all of the following conditions are satisfied: determine the vehicles included in the fleet included in the request message Identification, within the scope of the vehicle identification allowed to join the fleet; determine that the type of vehicle included in the request message is consistent with the vehicle type of the vehicle in the fleet; the method of joining the fleet included in the request message is When a bicycle joins, it is determined that the fleet can accommodate the vehicle in which the fourth device is located; when the method included in the request message is to join the fleet, it is determined that the fleet can accommodate the fleet in which the fourth device is located.

Optionally, the permission to join message includes some or all of the following information: the receiving resource pool of the fleet, information about the vehicles in the fleet, the sending resource pool configured for joining the vehicle, and a dedicated device for the fourth device to feedback the success of joining the fleet Time-frequency resources, synchronization configuration information, and sensing sensing configuration information for sensing whether resources are available.

Optionally, the refusal message includes information on the reason for the refusal and / or other teams.

As shown in FIG. 15, a second third device for managing a fleet provided by an embodiment of the present invention, where the third device is located in a vehicle of the fleet, includes: a bus 1500, a processor 1501, a transceiver 1502, and a bus Row interface 1503, memory 1504, and user interface 1505.

The processor 1501 is configured to read a program in the memory 1504 and execute the following process: after receiving a request message sent by a fourth device in a vehicle located outside the fleet through the transceiver 1502, determine whether or not according to the request message Allow the vehicle on which the fourth device is located to join the fleet; if the vehicle on which the fourth device is located is allowed to join the fleet, return a join permission message to the fourth device through the transceiver 1502, so that the fourth device receives the After the join message is permitted, the vehicle where the fourth device is located is controlled to join the fleet.

The transceiver 1502 is configured to receive and send data under the control of the processor 1501.

Optionally, the processor 1501 is further configured to: if the vehicle on which the fourth device is located is not allowed to access the fleet, return a join rejection message to the fourth device.

Optionally, the processor 1501 is further configured to: before receiving a request message sent by a fourth device in a vehicle outside the fleet, periodically broadcast access channel resources, so that the fourth device uses The access channel resource sends a request message to the third device.

Optionally, the request message includes part or all of the following information: the fleet ID, the leader ID in the fleet, the vehicle ID to join the fleet, the type of vehicle to join the fleet, and the way to join the fleet.

Optionally, the processor 1501 is specifically configured to allow the vehicle where the fourth device is located to join the fleet when some or all of the following conditions are met: determine the vehicle identification of the joining fleet included in the request message, and Within the scope of the vehicle identification allowed by the fleet; determine the type of vehicle included in the request message that is consistent with the vehicle type of the vehicle in the fleet; when the method of joining the fleet included in the request message is bicycle joining To determine that the fleet can accommodate the vehicle in which the fourth device is located; when the method of joining the fleet included in the request message is to join the fleet, determine that the fleet can accommodate the vehicle in which the fourth device is located.

Optionally, the permission to join message includes some or all of the following information: the receiving resource pool of the fleet, information about the vehicles in the fleet, the sending resource pool configured for joining the vehicle, and a dedicated device for the fourth device to feedback the success of joining the fleet Time-frequency resources, synchronization configuration information, and sensing sensing configuration information for sensing whether resources are available.

Optionally, the refusal message includes information on the reason for the refusal and / or other teams.

In FIG. 15, the bus architecture (represented by the bus 1500), the bus 1500 may include any number of interconnected buses and bridges, and the bus 1500 will include one or more processors represented by the general-purpose processor 1501 It is connected to various circuits of the memory represented by the memory 1504. The bus 1500 can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, they are not described further herein. The bus interface 1503 provides an interface between the bus 1500 and the transceiver 1502. The transceiver 1502 may be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. For example: the transceiver 1502 receives external data from other devices. The transceiver 1502 is configured to send the data processed by the processor 1501 to other devices. Depending on the nature of the computing system, a user interface 1505 may also be provided, such as a keypad, display, speaker, microphone, joystick.

The processor 1501 is responsible for managing the bus 1500 and general processing, as described above, running a general-purpose operating system. The memory 1504 can be used to store data used by the processor 1501 when performing operations.

Optionally, the processor 1501 may be a CPU (central embedded device), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable) Logic Device).

Based on the same inventive concept, an embodiment of the present invention also provides a method for assisting a vehicle to join a fleet by a third device. Since the principle of solving the problem by this method is similar to the system for managing the first fleet in the embodiment of the present invention, For implementation, please refer to the implementation of the system.

As shown in FIG. 16, a method for adding a vehicle to a fleet according to an embodiment of the present invention includes: Step 1601, a third device in a vehicle in the fleet receives a request sent by a fourth device in a vehicle outside the fleet After the message, determine whether the vehicle on which the fourth device is allowed to join the fleet according to the request message; step 1602, if the third device allows the vehicle on which the fourth equipment is allowed to join the fleet, return the permission to join to the fourth device Message to enable the fourth device to control the vehicle in which the fourth device is located to join the fleet after receiving the join permission message.

Optionally, the method further includes: if the third device does not allow a vehicle in which the fourth device is located to access the fleet, returning a join rejection message to the fourth device.

Optionally, before the third device in the fleet receives the request message sent by the fourth device in a vehicle outside the fleet, the method further includes: the third device periodically broadcasts access channel resources, so that The fourth device uses the access channel resource to send a request message to the third device.

Optionally, the request message includes part or all of the following information: the fleet ID, the leader ID in the fleet, the vehicle ID to join the fleet, the type of vehicle to join the fleet, and the way to join the fleet.

Optionally, the third device allows the vehicle on which the fourth device is located to join the fleet when some or all of the following conditions are met: the third device determines the vehicle identification of the joining fleet included in the request message, and Within the scope of the vehicle identification allowed by the fleet; the third device determines that the type of vehicle included in the request message is consistent with the vehicle type of the vehicle in the fleet; the method of joining the fleet included in the request message is When a bicycle joins, the third device determines that the fleet can accommodate the vehicle in which the fourth device is located; when the method of joining the fleet included in the request message is that the fleet joins, the third device determines that the fleet can accommodate the fourth device The fleet it belongs to.

Optionally, the permission to join message includes some or all of the following information: the receiving resource pool of the fleet, information about the vehicles in the fleet, the sending resource pool configured for joining the vehicle, and a dedicated device for the fourth device to feedback the success of joining the fleet Time-frequency resources, synchronization configuration information, and sensing sensing configuration information for sensing whether resources are available.

Optionally, the refusal message includes information on the reason for the refusal and / or other teams.

Based on the same inventive concept, the embodiment of the present invention also provides a fourth device for the first vehicle to join the fleet. Since the principle of the fourth device to solve the problem is similar to the system for adding the vehicle to the fleet in the embodiment of the present invention, the implementation of this device can Refer to the implementation of the system, the duplicates will not be repeated.

As shown in FIG. 17, a first device provided by an embodiment of the present invention joins a fourth device of a fleet, where the fourth device is located in a vehicle outside the fleet, and includes: a second sending module 1701, configured to provide a vehicle to the fleet. The third device of the vehicle in question sends a request message; a fourth receiving module 1702 is configured to control the vehicle in which the fourth device is located to join the fleet if a join permission message returned by the third device is received.

Optionally, the fourth receiving module 1702 is further configured to: if receiving a refusal to join message returned by the third device, determine that the vehicle on which the fourth device is located is not allowed to join the fleet.

Optionally, the second sending module 1701 is further configured to: before sending a request message to a third device of a vehicle in a fleet, periodically monitor the access channel resource broadcast by the third device; the second The sending module 1701 is specifically configured to: use the access channel resource to send a request message to the third device.

Optionally, the request message includes part or all of the following information: the fleet ID, the leader ID in the fleet, the vehicle ID to join the fleet, the type of vehicle to join the fleet, and the way to join the fleet.

Optionally, the refusal to join message includes information of other teams, and the fourth receiving module 1702 is further configured to: after determining that the vehicle where the fourth device is located is not allowed to join the team, according to the information of the other teams To send a request message to that other fleet.

As shown in FIG. 18, the second type of fourth device managed by the fleet according to the embodiment of the present invention, where the third device is located in a vehicle of the fleet, includes: a bus 1800, a processor 1801, a transceiver 1802, and a bus Interface 1803, memory 1804, and user interface 1805.

The processor 1801 is configured to read the program in the memory 1804 and execute the following processes: sending a request message to the third device of the vehicle in the fleet through the transceiver 1802; if the return from the third device is received through the transceiver 1802 The join message is allowed to control the vehicle in which the fourth device is located to join the fleet.

The transceiver 1802 is configured to receive and send data under the control of the processor 1801.

Optionally, the processor 1801 is further configured to: if a join rejection message returned by the third device is received, determine that the vehicle on which the fourth device is located is not allowed to join the fleet.

Optionally, the processor 1801 is further configured to: before sending a request message to a third device of a vehicle in the fleet, periodically monitor the access channel resource broadcast by the third device; the processor 1801, specifically, Used for: a request message sent to the third device by using the access channel resource.

Optionally, the request message includes part or all of the following information: the fleet ID, the leader ID in the fleet, the vehicle ID to join the fleet, the type of vehicle to join the fleet, and the way to join the fleet.

Optionally, the refusal to join message includes information of other teams, and the processor 1801 is further configured to: after determining that the vehicle on which the fourth device is not allowed to join the team, send information to the team according to the information of the other team Request messages from other fleets.

In FIG. 18, the bus architecture (represented by bus 1800), the bus 1800 may include any number of interconnected buses and bridges, and the bus 1800 will include one or more processors represented by a general-purpose processor 1801 It is connected to various circuits of the memory represented by the memory 1804. The bus 1800 can also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, they are not described further herein. The bus interface 1803 provides an interface between the bus 1800 and the transceiver 1802. The transceiver 1802 may be one element or multiple elements, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on a transmission medium. For example: the transceiver 1802 receives external data from other devices. The transceiver 1802 is configured to send the data processed by the processor 1801 to other devices. Depending on the nature of the computing system, a user interface 1805 may also be provided, such as a keypad, display, speaker, microphone, joystick.

The processor 1801 is responsible for managing the bus 1800 and general processing, as described above, running a general-purpose operating system. The memory 1804 can be used to store data used by the processor 1801 when performing operations.

Optionally, the processor 1801 may be a CPU, an ASIC, an FPGA, or a CPLD.

Based on the same inventive concept, an embodiment of the present invention also provides a method for assisting a vehicle to join a fleet by a fourth device. Since the principle of solving the problem by this method is similar to the system of adding a fleet of vehicles to an embodiment of the present invention, the implementation of this method can refer to the system. The implementation is not repeated here.

As shown in FIG. 19, a method for adding a vehicle to a fleet according to an embodiment of the present invention includes: Step 1901, a fourth device in a vehicle located outside the fleet sends a request message to a third device of a vehicle located in the fleet; step 1902, If the joining permission message returned by the third device is received, the fourth device controls the vehicle in which the fourth device is located to join the fleet.

Optionally, the method further includes: if receiving a refusal to join message returned by the third device, the fourth device determines that the vehicle in which the fourth device is located is not allowed to join the fleet.

Optionally, before the fourth device in a vehicle located outside the fleet sends a request message to the third device of a vehicle located in the fleet, the method further includes: the fourth device periodically monitors the access broadcast by the third device Channel resource; the fourth device in the vehicle located outside the fleet sends a request message to the third device of the vehicle located in the fleet, including the request message sent by the fourth device to the third device using the access channel resource .

Optionally, the request message includes part or all of the following information: the fleet ID, the leader ID in the fleet, the vehicle ID to join the fleet, the type of vehicle to join the fleet, and the way to join the fleet.

Optionally, the refusal to join message includes information of other fleets, and after the fourth device determines that the vehicle on which the fourth equipment is located is not allowed to join the fleet, it further includes that the fourth equipment is based on the information of the other fleets, Send a request message to the other fleet.

In addition, an embodiment of the present invention also provides a system in which a vehicle leaves a fleet. As shown in FIG. 20, a fifth device 2001 in vehicles of the fleet and at least one sixth device 2002 in vehicles of the fleet are included.

A fifth device 2001 is used to determine whether the vehicle in which the sixth device is located meets the conditions for leaving the fleet; if it is determined that the vehicle in which the sixth device is located meets the conditions for leaving the fleet, send a leave message to the sixth device so that the sixth device After receiving the departure message, control the vehicle in which the sixth device is located to leave the fleet.

The sixth device 2002 is configured to receive a departure message sent by a fifth device among vehicles in the fleet; after receiving the departure message, control the vehicle in which the sixth device is located to leave the fleet; wherein the departure message is the The fifth device is sent after determining that the vehicle in which the sixth device is located meets the conditions for leaving the fleet.

It should be noted that the fifth device 2001 and the sixth device 2002 are located in vehicles of the fleet. The fifth device may be located in the lead vehicle of the fleet, or the fifth device may be located in a predetermined vehicle in the fleet. In the embodiment of the present invention, the fifth device is located in the front car of the fleet as an example for description. However, the system for leaving the fleet of the vehicle to be protected in the embodiment of the present invention is not limited to the fifth device located in the front car of the fleet.

This embodiment of the present invention triggers the fifth device to determine whether the vehicle in which the sixth device is located meets the conditions for leaving the fleet, including but not limited to the following two methods:

Method 1: After receiving the request to leave message sent by the sixth device, the fifth device determines whether the vehicle in which the sixth device is located meets the conditions for leaving the fleet.

The request to leave message includes the reason for leaving and / or the vehicle identification where the sixth device is located.

Among them, the reason for leaving may be changing to a non-full-automatic driving mode, or the vehicle may reach the destination.

Method 2: The fifth device actively judges whether the vehicle where the sixth device is located meets the conditions for leaving the fleet.

It should be noted that before the fifth device actively judges whether the vehicle where the sixth device is located meets the conditions for leaving the fleet, the fifth device is generally triggered by an event to make a judgment. A specific event triggering method may be that the base station notifies the fifth device to determine whether the vehicle in which the sixth device is located meets the conditions for leaving the fleet. For example, the base station notifies the fifth device that the road ahead is narrow or the road ahead is blocked.

The fifth device determines whether the vehicle on which the sixth device is located meets the departure conditions. The conditions for leaving the fleet include some or all of the following conditions: Condition 1, the driving mode of the vehicle is changed to a non-automatic driving mode; condition 2, the vehicle has reached its purpose Ground; condition 3, the current road conditions allow vehicles to leave the fleet.

For example, when the fifth device determines that the driving mode of the vehicle where the sixth device is located is changed to a non-automatic driving mode, and the current road conditions allow the vehicle to leave the fleet, it is determined that the vehicle where the sixth device is located meets the departure condition; or when the fifth device determines When the vehicle on which the sixth device is located has reached its destination and the current road conditions allow the vehicle to leave the convoy, it is determined that the vehicle on which the sixth device is located meets the departure conditions.

The following separately explains whether the fifth device allows the sixth device to leave the fleet.

1. The fifth device determines that the vehicle in which the sixth device is located meets the departure conditions.

The fifth device sends a departure message to the sixth device; accordingly, the sixth device controls the vehicle in which the sixth device is located to leave the fleet after receiving the departure message.

The leaving message may be RRC signaling or PC5 signaling; the leaving message may be transmitted through a Sidelink or a Uu port.

It should be noted that, since the vehicles in the fleet are in an automatic driving mode, the vehicle includes a main control module for controlling the vehicle, which is used to control the driving state of the vehicle. The sixth device and the main control module can be the same module, that is, the sixth device can communicate with other communication devices in the fleet and control the vehicle; in this case, the sixth device is receiving After the departure message, control the vehicle directly to leave the fleet.

In addition, the sixth device and the main control module may be located in different modules. After receiving the departure message, the sixth device notifies the main control module to leave the fleet, so that the vehicle controlled by the main control module leaves the fleet.

After the vehicle in which the sixth device is located leaves the fleet, the sixth device releases the sending and receiving resource configuration related to the fleet.

The following describes the overall flowchart of the method for leaving a vehicle fleet according to the embodiment of the present invention as an example.

As shown in FIG. 21, the method for leaving a fleet of vehicles provided by an embodiment of the present invention includes: Step 2101: The sixth device sends a request to leave message to the fifth device; wherein the request to leave message includes the reason for leaving and / or the location of the sixth device Step 2102: The fifth device determines that the vehicle on which the sixth device is located meets the conditions for leaving the fleet according to the request departure message; step 2103, the fifth device sends a departure message to the sixth device; step 2104, the sixth device is in After receiving the departure message, the vehicle where the sixth device is located is controlled to leave the fleet, and the sending and receiving resource configuration related to the fleet is released.

2. The fifth device determines that the vehicle in which the sixth device is located does not meet the departure conditions.

The fifth device sends a rejection leave message to the sixth device; accordingly, the sixth device receives the rejection leave message sent by the fifth device; after receiving the rejection leave message, controls the vehicle in which the sixth device is located to continue in the The convoy traveled.

The rejection leave message may be RRC signaling or PC5 signaling; the rejection leave message may be transmitted through a Sidelink or a Uu port.

It is assumed that the conditions for leaving the fleet are that the driving mode of the vehicle is changed to a non-automatic driving mode, and the current road conditions allow the vehicle to leave the fleet. If the fifth device determines that the driving mode of the vehicle where the sixth device is located is changed to a non-automatic driving mode after receiving the request message for leaving the sixth device, but the current road conditions do not allow the vehicle to leave the fleet, the fifth device determines where the sixth device is located. The vehicle does not meet the conditions for leaving the fleet, and the fifth device sends a rejection message to the sixth device.

The refusal to leave message includes the reason for the refusal and / or the waiting time.

Among them, the reason for refusal may be that the driving mode is not allowed to be changed, or the current road conditions are not allowed to leave the convoy.

The waiting time included in the rejection message is used to notify the sixth device to send a request leaving message to the fifth device again after the waiting time has elapsed.

That is, if the rejection fleet message includes a waiting time; after the waiting time has elapsed, the sixth device sends a request to leave message to the fifth device again.

After receiving the refusal to leave message, the sixth device controls the vehicle to remain in the fleet and continue to use the fleet's related sending and receiving resource configuration. If the refusal to leave message includes the waiting time, the sixth device will start to the car after the waiting time has passed. Request to leave message.

As shown in FIG. 22, the overall flowchart of the method for leaving a vehicle fleet provided by an embodiment of the present invention includes: Step 2201, the sixth device sends a request to leave message to the fifth device; wherein the request to leave message includes the reason for leaving and / or the first The identification of the vehicle where the sixth device is located; step 2202, the fifth device determines that the vehicle where the sixth device is located does not meet the conditions for leaving the fleet according to the request leaving message; step 2203, the fifth device sends a rejection departure message to the sixth device; The departure message includes a waiting time; step 2204, the sixth device controls the vehicle in which the sixth device is located to continue to drive in the fleet after receiving the refusal to leave the message; step 2205, the sixth device sends the request again after the waiting time elapses. The fifth device sends a request to leave message.

Based on the same inventive concept, the embodiment of the present invention also provides a fifth device for the first vehicle to leave the fleet. Since the principle of the fifth device to solve the problem is similar to the system for the vehicle to leave the fleet in the embodiment of the present invention, the implementation of this device can Refer to the implementation of the system, the duplicates will not be repeated.

As shown in FIG. 23, the first device of the embodiment of the present invention leaves the fifth device of the fleet. The fifth device is located in the vehicle of the fleet and includes a determination module 2301 for determining the sixth device in the fleet of vehicles. Whether the vehicle in question satisfies the condition of leaving the fleet; a third sending module 2302 is configured to, if it is determined that the vehicle in which the sixth device is located meets the condition of leaving the fleet, send a departure message to the sixth device, so that the sixth device is receiving After the departure message, the vehicle in which the sixth device is controlled leaves the convoy.

Optionally, the conditions for leaving the fleet include some or all of the following: the driving mode of the vehicle is changed to a non-automatic driving mode; the vehicle has reached its destination; the current road conditions allow the vehicle to leave the fleet.

Optionally, the judging module 2301 is further configured to: before judging whether the vehicle in which the sixth device of the fleet of vehicles meets the conditions for leaving the fleet, receive a request to leave message sent by the sixth device.

Optionally, the third sending module 2302 is further configured to: if it is determined that the vehicle in which the sixth device is located does not meet the conditions for leaving the convoy, send a rejection rejection message to the sixth device.

As shown in FIG. 24, the fifth device for the second vehicle to leave the fleet provided by the embodiment of the present invention includes a bus 2400, a processor 2401, a transceiver 2402, a bus interface 2403, a memory 2404, and a user interface 2405. .

The processor 2401 is configured to read the program in the memory 2404 and execute the following process: determine whether the vehicle in which the sixth device in the vehicle of the convoy meets the conditions for leaving the vehicle; if it is determined that the vehicle in which the sixth device is located meets the departure vehicle As a condition, a departure message is sent to the sixth device through the transceiver 2402, so that the sixth device controls the vehicle where the sixth device is located to leave the fleet after receiving the departure message.

The transceiver 2402 is configured to receive and send data under the control of the processor 2401.

Optionally, the conditions for leaving the fleet include some or all of the following: the driving mode of the vehicle is changed to a non-automatic driving mode; the vehicle has reached its destination; the current road conditions allow the vehicle to leave the fleet.

Optionally, the processor 2401 is further configured to: before judging whether a vehicle in which the sixth device of the fleet of vehicles meets the conditions for leaving the fleet, receive a request to leave message sent by the sixth device.

Optionally, the processor 2401 is further configured to: if it is determined that the vehicle in which the sixth device is located does not meet the conditions for leaving the convoy, send a rejection rejection message to the sixth device.

In FIG. 24, the bus architecture (represented by the bus 2400). The bus 2400 may include any number of interconnected buses and bridges. The bus 2400 will include one or more processors represented by a general-purpose processor 2401. It is connected to various circuits of the memory represented by the memory 2404. The bus 2400 can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore will not be described further herein. The bus interface 2403 provides an interface between the bus 2400 and the transceiver 2402. The transceiver 2402 may be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. For example: the transceiver 2402 receives external data from other devices. The transceiver 2402 is configured to send the data processed by the processor 2401 to other devices. Depending on the nature of the computing system, a user interface 2405 may also be provided, such as a keypad, display, speaker, microphone, joystick.

The processor 2401 is responsible for managing the bus 2400 and general processing, as described above, running a general-purpose operating system. The memory 2404 can be used to store data used by the processor 2401 when performing operations.

Optionally, the processor 2401 may be a CPU, an ASIC, an FPGA, or a CPLD.

Based on the same inventive concept, an embodiment of the present invention also provides a method for assisting a vehicle to leave the fleet by a fifth device. Since the principle of solving the problem by this method is similar to the system for vehicles leaving the fleet in the embodiment of the present invention, the implementation of this method can refer to The implementation of the system will not be repeated here.

As shown in FIG. 25, the method for leaving a fleet of vehicles provided by an embodiment of the present invention includes: Step 2501, a fifth device in the vehicles of the fleet determines whether the vehicle in which the sixth device of the vehicles in the fleet meets the conditions for leaving the fleet; step 2502. If it is determined that the vehicle in which the sixth device is located meets the departure fleet condition, the fifth device sends a departure message to the sixth device, so that the sixth device controls the sixth device in which the sixth device is located after receiving the departure message. The vehicle left the convoy.

Optionally, the conditions for leaving the fleet include some or all of the following: the driving mode of the vehicle is changed to a non-automatic driving mode; the vehicle has reached its destination; the current road conditions allow the vehicle to leave the fleet.

Optionally, before the fifth device in the vehicle in the fleet determines whether the vehicle in which the sixth device in the vehicle of the fleet meets the conditions for leaving the fleet, the method further includes: the fifth device receives the request to leave sent by the sixth device Message.

Optionally, the method further includes: if it is determined that the vehicle in which the sixth device is located does not meet the conditions for leaving the fleet, the fifth device sends a rejection rejection message to the sixth device.

Based on the same inventive concept, the embodiment of the present invention also provides a sixth device for the first vehicle to leave the fleet. Since the principle of the sixth device to solve the problem is similar to the system for vehicles leaving the fleet in the embodiment of the present invention, the implementation of this device can Refer to the implementation of the system, the duplicates will not be repeated.

As shown in FIG. 26, a sixth device provided by an embodiment of the present invention for a first vehicle to leave the convoy is located in the vehicle of the convoy and includes a fifth receiving module 2601 for receiving the vehicle located in the convoy. The departure message sent by the fifth device in the device; wherein the departure message is sent by the fifth device after determining that the vehicle in which the sixth device is located meets the conditions for leaving the fleet; the processing module 2602 is configured to receive the departure message Then, the vehicle in which the sixth device is controlled leaves the fleet.

Optionally, the fifth receiving module 2601 is further configured to: before receiving a departure message sent by a fifth device in a vehicle in the fleet, send a request leaving message to the fifth device, so that the fifth device It is determined whether the vehicle in which the sixth device is located meets the conditions for leaving the fleet according to the request leaving message.

Optionally, the fifth receiving module 2601 is further configured to: receive a rejection leave message sent by the fifth device; wherein the rejection leave message is that the fifth device determines that the vehicle in which the sixth device is located does not satisfy the departure requirement Sent after the convoy conditions; after receiving the refusal to leave message, the vehicle that controls the sixth device continues to drive in the convoy.

Optionally, the fleet rejection message includes a waiting time; the fifth receiving module 2601 is further configured to: after controlling the vehicle where the sixth device is located to continue driving in the fleet, after the waiting time has elapsed, The fifth device sends a request to leave message.

As shown in FIG. 27, a sixth device for a second vehicle to leave the fleet provided by an embodiment of the present invention includes a bus 2700, a processor 2701, a transceiver 2702, a bus interface 2703, a memory 2704, and a user interface 2705. .

The processor 2701 is configured to read a program in the memory 2704 and execute the following process: receiving a departure message sent by a fifth device in a vehicle of the fleet; wherein the departure message is that the fifth device is determining the sixth Sent by the vehicle where the equipment is located to meet the conditions for leaving the fleet; after receiving the departure message, control the vehicle where the sixth equipment is located to leave the fleet.

The transceiver 2702 is configured to receive and send data under the control of the processor 2701.

Optionally, the processor 2701 is further configured to: before receiving a departure message sent by a fifth device in a vehicle in the fleet, send a request to leave message to the fifth device, so that the fifth device responds to the request The departure message determines whether the vehicle in which the sixth device is located meets the conditions for leaving the fleet.

Optionally, the processor 2701 is further configured to: receive a rejection leave message sent by the fifth device; wherein the rejection leave message is after the fifth device determines that the vehicle in which the sixth device is located does not meet the conditions for leaving the fleet Sent; after receiving the refusal to leave message, the vehicle that controls the sixth device continues to drive in the fleet.

In Figure 27, the bus architecture (represented by the bus 2700). The bus 2700 can include any number of interconnected buses and bridges. The bus 2700 will include one or more processors represented by a general-purpose processor 2701. It is connected to various circuits of the memory represented by the memory 2704. The bus 2700 can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore will not be described further herein. The bus interface 2703 provides an interface between the bus 2700 and the transceiver 2702. The transceiver 2702 may be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. For example: the transceiver 2702 receives external data from other devices. The transceiver 2702 is configured to send the data processed by the processor 2701 to other devices. Depending on the nature of the computing system, a user interface 2705 may also be provided, such as a keypad, display, speaker, microphone, joystick.

The processor 2701 is responsible for managing the bus 2700 and general processing, as described above, which runs a general-purpose operating system. The memory 2704 can be used to store data used by the processor 2701 when performing operations.

Optionally, the processor 2701 may be a CPU, an ASIC, an FPGA, or a CPLD.

Based on the same inventive concept, an embodiment of the present invention also provides a method for assisting a vehicle to leave a fleet by a sixth device. Since the principle of solving the problem by this method is similar to the system for managing a second fleet in the embodiment of the present invention, For implementation, please refer to the implementation of the system.

As shown in FIG. 28, a method for leaving a vehicle fleet provided by an embodiment of the present invention includes: Step 2801: A sixth device in a vehicle in the fleet receives a departure message sent by a fifth device in a vehicle in the fleet; The departure message is sent by the fifth device after determining that the vehicle in which the sixth device is located meets the conditions for leaving the fleet; step 2802, after receiving the departure message, the sixth device controls the vehicle in which the sixth device is located to leave the vehicle. Convoy.

Optionally, before the sixth device in the vehicle in the fleet receives the departure message sent by the fifth device in the vehicle in the fleet, the method further includes: the sixth device sends a request to leave message to the fifth device to The fifth device is caused to determine whether the vehicle in which the sixth device is located meets a condition of leaving the fleet according to the request leaving message.

Optionally, the method further includes: the sixth device receives a rejection leave message sent by the fifth device; wherein the rejection leave message is after the fifth device determines that the vehicle in which the sixth device is located does not meet the conditions for leaving the fleet Sent; after receiving the message of refusing to leave, the sixth device controls the vehicle in which the sixth device is located to continue to drive in the fleet.

Optionally, the message of rejecting the fleet includes a waiting time; after the sixth device controls the vehicle in which the sixth device is located to continue to drive in the fleet, the method further includes: after the waiting time has elapsed, the sixth device sends the request to the vehicle again. The fifth device sends a request to leave message.

It should be noted that the system for adding vehicles to the fleet and the system for leaving vehicles in the embodiment of the present invention may be implemented by one system. Although in the foregoing content of the embodiment of the present invention, the process of joining a vehicle and the process of leaving a vehicle are implemented by two systems, it does not mean that the two processes must be implemented separately.

At the same time, it should be noted that in the foregoing content of the embodiment of the present invention, the process of adding a vehicle to a fleet and the process of leaving a fleet are described in two scenarios, but the technical solution to be protected in the embodiment of the present invention also includes that the vehicle joins the fleet The process and the process of vehicles leaving the fleet are implemented in one scenario. Since the process of the vehicle joining the fleet and the process of leaving the fleet in one scheme are similar to the schemes of the respective embodiments, they will not be described in detail again.

The present invention has been described above with reference to block diagrams and / or flowcharts showing methods, devices (systems) and / or computer program products according to embodiments of the present invention. It should be understood that one block of the block diagram and / or the flowchart diagram and a combination of blocks of the block diagram and / or the flowchart diagram can be implemented by computer program instructions. These computer program instructions may be provided to a general-purpose computer, a processor of a special-purpose computer, and / or other programmable data processing device to generate a machine for creation of instructions executed by the computer processor and / or other programmable data processing device A method for implementing the function / action specified in the block diagram and / or the flowchart block.

Accordingly, the present invention can also be implemented in hardware and / or software (including firmware, resident software, microcode, etc.). Still further, the present invention may take the form of a computer program product on a computer-usable or computer-readable storage medium having computer-usable or computer-readable code implemented in the medium for use by an instruction execution system or Used in conjunction with the instruction execution system. In the context of the present invention, a computer-usable or computer-readable medium may be any medium that may contain, store, communicate, transmit, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device, Device or equipment.

Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and variations of the present invention fall within the scope of the patent application for the present invention and the scope of equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (30)

    A method for resource allocation of a fleet, characterized in that the method includes: after determining that a first device in a vehicle of a fleet needs to replace a sending resource pool of a second device in some or all of the vehicles in the fleet, the first device The device determines a new sending resource pool for each second device that needs to replace the sending resource pool, and replaces the receiving resource pool of the fleet according to the new sending resource pool; the first device configures the second device that needs to replace the sending resource pool A new sending resource pool, and a replacement receiving resource pool configured for all second devices in the fleet.         The method for configuring a fleet resource according to claim 1, wherein the first device in the fleet determines that the sending resource pool used by the second device in some or all of the vehicles in the fleet needs to be replaced, including: the first The device determines that the second device in some or all of the vehicles in the fleet meets the conditions for replacing the transmission resource pool; wherein the conditions for replacing the transmission resource pool include: the congestion rate of the transmission resource pool is greater than the first threshold; and / or the transmission The interference from the resource pool is greater than the second threshold.         The method for configuring a fleet resource according to claim 1, wherein the determining, by the first device, a new sending resource pool of each second device that needs to replace the sending resource pool includes: the first device obtains each New sending resource pool of the second device that needs to replace the sending resource pool; or the first device selects an idle resource pool from the resource pool stored by itself as the new sending resource pool of each second device that needs to replace the sending resource pool .         The method for configuring a fleet resource according to claim 1, wherein the first device configures a new sending resource pool to a second device that needs to replace the sending resource pool, and configures replacement of all the second devices in the fleet. After the subsequent receiving resource pool, the method further includes: if the feedback message indicating that the replacement is successful is received by all the second devices in the fleet within the first preset time after the configuration, the first device determines that the configuration is successful; If the feedback message returned by all the second devices in the fleet is not received within the first preset time after the configuration, the first device reconfigures the second device that does not return feedback information.         The method for configuring a fleet resource according to claim 4, wherein after the first device reconfigures the second device that does not return feedback information, the method further includes: if the second preset time after the reconfiguration is performed If all the feedback information returned by the second device that does not return the feedback information is received, the first device determines that the configuration is successful; if all the unreturned feedback information is not received within the second preset time after the reconfiguration is performed, The feedback information returned by the second device, the first device notifies the second device that needs to replace the sending resource pool to use the sending resource pool before replacement, and notifies all the second devices in the fleet to use the receiving resource pool before replacement.         A method for resource allocation of a fleet, characterized in that the method includes: a second device in a vehicle of the fleet receiving a new sending resource pool and a replacement receiving resource pool configured by the first device in the vehicle of the fleet Where the new sending resource pool is configured by the first device for the second device after determining that the sending resource pool of the second device needs to be replaced, and the changed receiving resource pool is based on the new sending resource pool The update is performed; if the second device determines to use the new sending resource pool and the replaced receiving resource pool, the second device performs configuration according to the new sending resource pool and the replaced receiving resource pool.         The method for configuring a fleet resource according to claim 6, wherein after the second device determines to use the new sending resource pool and the replaced receiving resource pool, the method further includes that the second device receives the A feedback message indicating a successful replacement is returned to the first device within a first preset time after the new sending resource pool and the replaced receiving resource pool configured by the first device, so that the first device is based on the feedback The message determines whether the configuration is successful.         The method for configuring fleet resources according to claim 6, wherein the method further comprises: if it is determined not to use the new sending resource pool and the replaced receiving resource pool, the second device ignores the first device The configured new sending resource pool and the replaced receiving resource pool.         The method for configuring a fleet resource according to claim 8, wherein after the second device ignores the new sending resource pool and the replaced receiving resource pool configured by the first device, the method further includes: the second device The device receives the new sending resource pool and the replaced receiving resource pool reconfigured by the first device; if it is determined to use the new sending resource pool and the replaced receiving resource pool, the second device according to the Configure a new sending resource pool and the replaced receiving resource pool, and within a second preset time after receiving the new sending resource pool and the replaced receiving resource pool reconfigured by the first device Returning a feedback message indicating the replacement success to the first device, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the The second device ignores the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device.         The method for configuring a fleet resource according to claim 9, wherein after the second device ignores the new sending resource pool and the replaced receiving resource pool that the first device reconfigures, the method further includes: After receiving the notification from the first device, the second device uses the sending resource pool before replacement and the receiving resource pool before replacement.         A method for resource allocation of a fleet, characterized in that the method includes: a second device in a vehicle of the fleet receiving a replacement receiving resource pool of a first device configuration in a vehicle of the fleet; wherein, after the replacement, The receiving resource pool of is updated according to the new sending resource pool of the other second equipment in the fleet, and the new sending resource pool of the other second equipment is the first equipment that determines that the other second equipment needs to be replaced. Configured for the other second device after the sending resource pool; if the second device determines to use the replaced receiving resource pool, the second device performs configuration according to the replaced receiving resource pool.         The method for configuring a fleet resource according to claim 11, wherein after the second device determines to use the replaced receiving resource pool, the method further includes: after the second device receives the replacement configured by the first device In the first preset time after the subsequent receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.         The method for configuring fleet resources according to claim 11, wherein the method further comprises: if it is determined not to use the replacement receiving resource pool, the second device ignores the replacement receiving configured by the first device Resource pool.         The method for configuring a fleet resource according to claim 13, wherein after the second device ignores the replacement receiving resource pool configured by the first device, the method further includes: the second device receives the first device and restarts The configured receiving resource pool after the replacement is performed; if it is determined to use the replaced receiving resource pool, the second device performs configuration according to the replaced receiving resource pool, and upon receiving the first device, reconfigures the In the second preset time after the replacement receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined not to use the replacement A subsequent receiving resource pool, the second device ignores the replaced receiving resource pool that was reconfigured by the first device.         The method for configuring a fleet resource according to claim 10, wherein after the second device ignores the replaced receiving resource pool that is reconfigured by the first device, the method further includes: receiving, by the second device, the first After the notification of a device, the receiving resource pool before replacement is used.         A first device for resource allocation of a fleet, comprising: a determining module, configured to determine that each sending resource needs to be replaced after determining that a sending resource pool of a second device in some or all of the vehicles in the fleet needs to be replaced A new sending resource pool of the second device of the resource pool, and the receiving resource pool of the fleet is replaced according to the new sending resource pool; a configuration module is configured to configure a new sending resource pool to the second device that needs to replace the sending resource pool , And configure the replacement receiving resource pool for all second equipment in the fleet.         The first device for configuring a fleet resource according to claim 16, wherein the determining module is specifically configured to: determine that the second device in some or all of the vehicles in the fleet meets the conditions for replacing the sending resource pool; The conditions for replacing the sending resource pool include: the congestion rate of the sending resource pool is greater than the first threshold value; and / or the interference of the sending resource pool is greater than the second threshold value.         The first device for configuring fleet resources according to claim 16, wherein the determining module is specifically configured to: obtain, from the base station side, a new sending resource pool for each second device that needs to replace the sending resource pool; or A free resource pool is selected from the resource pools stored by itself as a new sending resource pool for each second device that needs to replace the sending resource pool.         The first device for configuring a fleet resource as described in claim 16, wherein the configuration module is further configured to: configure a new sending resource pool to a second device that needs to replace the sending resource pool; After all of the second device of the device are configured with the receiving resource pool after the replacement, if the feedback message indicating that the replacement is successful is received within the first preset time after the configuration, the configuration is determined to be successful; if If the feedback message returned by all the second devices in the fleet is not received within the first preset time after the configuration, the second device that does not return the feedback information is reconfigured.         The first device for configuring fleet resources according to claim 19, wherein the configuration module is further configured to: after reconfiguring the second device that does not return feedback information, if the first device If all the feedback information returned by the second device that does not return the feedback information is received within the preset time, it is determined that the configuration is successful; if all the unreturned feedback information is not received within the second preset time after the reconfiguration is performed The feedback information returned by the second device notifies the second device that needs to replace the sending resource pool to use the sending resource pool before the replacement, and notifies all second devices in the fleet to use the receiving resource pool before the replacement.         A second device for resource allocation of a fleet, comprising: a first receiving module, configured to receive a new sending resource pool and a replacement receiving resource pool configured by the first device in a vehicle of the fleet; The new sending resource pool is configured by the first device for the second device after determining that the sending resource pool of the second device needs to be replaced, and the changed receiving resource pool is updated according to the new sending resource pool. The first processing module is configured to configure according to the new sending resource pool and the replaced receiving resource pool if it is determined to use the new sending resource pool and the replaced receiving resource pool.         The second device for configuring fleet resources according to claim 21, wherein the first processing module is further configured to: after determining to use the new sending resource pool and the replaced receiving resource pool, Within a first preset time after the new sending resource pool and the replaced receiving resource pool configured by the first device, a feedback message indicating a successful replacement is returned to the first device, so that the first device can The feedback message determines whether the configuration is successful.         The second device for configuring fleet resources according to claim 21, wherein the first processing module is further configured to: if it is determined not to use the new sending resource pool and the replaced receiving resource pool, ignore it The new sending resource pool and the replaced receiving resource pool configured by the first device.         The second device for configuring fleet resources according to claim 23, wherein the first processing module is further configured to: ignore the new sending resource pool and the replaced receiving resource configured by the first device After the pool, the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device are received; if it is determined that the new sending resource pool and the replaced receiving resource pool are to be used, according to the new The sending resource pool and the replaced receiving resource pool are configured, and within a second preset time after receiving the new sending resource pool and the replaced receiving resource pool reconfigured by the first device, The first device returns a feedback message indicating that the replacement is successful, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the first A device reconfigures the new sending resource pool and the replaced receiving resource pool.         The second device for configuring a fleet resource according to claim 24, wherein the first processing module is further configured to: ignore the new sending resource pool and the replacement device after reconfiguring the first device. After receiving the resource pool, after receiving the notification from the first device, the sending resource pool before replacement and the receiving resource pool before replacement are used.         A second device for resource allocation of a fleet, comprising: a second receiving module configured to receive a replacement receiving resource pool of a first device configuration located in a vehicle of the fleet; wherein the replacement receiving The resource pool is updated according to the new sending resource pool of the other second devices in the fleet. The new sending resource pool of the other second device is the sending resource of the first device that determines that the other second device needs to be replaced. It is configured for the other second device after the pool; and the second processing module is configured to perform configuration according to the replaced receiving resource pool if it is determined to use the replaced receiving resource pool.         The second device for configuring fleet resources according to claim 26, wherein the second processing module is further configured to: after determining to use the replacement receiving resource pool, after receiving the first device configuration In the first preset time after the replacement receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device determines whether the configuration is successful according to the feedback message.         The second device for configuring fleet resources according to claim 26, wherein the second processing module is further configured to: if it is determined that the replacement receiving resource pool is not used, ignore the configuration configured by the first device Replaced receiving resource pool.         The second device for configuring fleet resources according to claim 28, wherein the second processing module is further configured to: after ignoring the replacement receiving resource pool configured by the first device, receive the first The device reconfigures the replaced receiving resource pool; if it is determined to use the replaced receiving resource pool, the configuration is performed according to the replaced receiving resource pool, and when the first device is reconfigured, In the second preset time after the replacement receiving resource pool, a feedback message indicating that the replacement is successful is returned to the first device, so that the first device judges whether the configuration is successful according to the feedback message; if it is determined not to use the replacement Subsequent receiving resource pools, the replaced receiving resource pool that is reconfigured by the first device is ignored.         The second device for configuring fleet resources according to claim 29, wherein the second processing module is further configured to: after ignoring the replacement receiving resource pool that is reconfigured by the first device, receive After the notification of the first device, the receiving resource pool before replacement is used.