WO2018171388A1 - 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 for configuring fleet resource allocation and related equipment

This application claims the priority of the Chinese Patent Application filed on March 20, 2017, the Chinese Patent Application No. 201710166179.1, entitled "A Method for Deploying Team Resources and Related Equipment", the entire contents of which are incorporated by reference. In this application.

Technical field

The present application relates to the field of wireless communication technologies, and in particular, to a method and related device for performing fleet resource configuration.

Background technique

eV2X (enhancement of Vehicle to Everything) communication is an evolution of V2X (Vehicle to Everything) communication, based on LTE (Long Term Evolution) network V2X workshop communication, further V2X communication is realized by LTE/5G technology, which is applied to intelligent application scenarios such as team cooperative driving, automatic driving, sensor information sharing and remote driving. In eV2X, vehicles, pedestrians, and drive test equipment interact to support a wider variety of information, such as vehicle sensor data, driving routes, more collaboration, how to team up, collaborative driving, coordinated risk aversion, and more vehicle driving modes. Such as fleet driving and automatic driving, V2X technology can be more flexible, safe and reliable to meet the needs of intelligent transportation.

The application scenario of eV2X includes platooning, and the team is composed of several vehicles and a fleet. The head car is driving in the front, and the following car is automatically kept at a small distance to form a train-like driving mode. There is a small distance between the car and the car (1 meter or 2 meters), and the distance between the cars is far. It is much smaller than the distance of the car that is normally maintained by a person driving a motor vehicle, so that the motor vehicle can reduce the wind resistance, reduce the fuel consumption, and save the driving manpower, thereby increasing the driving safety factor. In the application scenario of the 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 fleet, there may be situations where it is necessary to replace the resource pool for the communication equipment in a certain vehicle of the fleet. However, there is currently no way to configure resources for this situation.

In summary, at present, there is no way to configure fleet resources during the driving process of the fleet.

Summary of the invention

The present application provides a method for configuring fleet resource allocation and related equipment to solve the problem in the prior art that there is no method for configuring fleet resource allocation during the running of the fleet.

In a first aspect, a method for configuring fleet resource configuration provided by an embodiment of the present application includes:

The first device in the vehicle of the fleet determines the need to replace the transmission resource pool of the second device in some or all of the vehicles, the first device determines each new device new that needs to replace the transmission resource pool Transmitting a resource pool and replacing the receiving resource pool of the fleet according to the new sending resource pool;

The first device configures a new sending resource pool to the second device that needs to replace the sending resource pool, and configures the replaced receiving resource pool to all second devices in the fleet.

Optionally, the first device in the fleet determines that a transmission 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 that a second device in some or all of the vehicles in the fleet meets a condition for replacing a transmission 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; and/or

The interference of the sending resource pool is greater than the second threshold.

Optionally, the first device determines a new sending resource pool of the second device that needs to replace the sending resource pool, including:

The first device acquires, from the base station side, a new sending resource pool of each second device that needs to replace the sending resource pool; or

The first device selects an idle resource pool from the resource pool that is stored by itself as a new transmission resource pool of the second device that needs to replace the sending resource pool.

Optionally, after the first device configures a new sending resource pool to the second device that needs to replace the sending resource pool, and after configuring the replaced receiving resource pool to all the second devices in the fleet, the method further includes:

If the feedback message indicating that the replacement is successful is returned by all the second devices in the fleet after the first preset time after the configuration is performed, 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 is performed, 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 the feedback information, the method further includes:

If the feedback information returned by the second device that does not return the feedback information is received in the second preset time after the configuration is re-configured, the first device determines that the configuration is successful;

If the feedback information returned by the second device that does not return the feedback information is not received in the second preset time after the re-configuration, the first device notifies the second device that needs to replace the sending resource pool. Use the pre-replacement send resource pool and notify all second devices in the fleet to use the pre-replacement receive resource pool.

In a second aspect, a method for configuring fleet resource configuration provided by an embodiment of the present application includes:

a second device in the vehicle of the fleet receives a new transmission resource pool and a replacement reception resource pool of the first device configuration in the vehicle of the fleet; wherein the new transmission resource pool is the first The device is configured for the second device after the device needs to replace the sending resource pool of the second device, and the replaced receiving resource pool is updated according to the new sending resource pool;

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. .

Optionally, after the second device determines to use the new sending resource pool and the replaced receiving resource pool, the method further includes:

Returning, by the second device, the first device to the first device within a first preset time after receiving the new sending resource pool configured by the first device and the replaced receiving resource pool, indicating that the replacement is successful a feedback message, 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 used, the second device ignores the new sending resource pool configured by the first device and the replaced 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 sending resource pool and the replaced receiving resource pool that are reconfigured by the first device;

If it is determined that the new sending resource pool and the replaced receiving resource pool are used, the second device is configured according to the new sending resource pool and the replaced receiving resource pool, and is received Returning, by the first device, the feedback message indicating that the replacement is successful, to the first device, in the second preset time after the re-configuring the new sending resource pool and the replaced receiving resource pool Determining, by the first device, 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 second device ignores the new sending resource pool reconfigured by the first device and the replaced Receive resource pools.

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 receiving the notification of the first device, the second device uses the sending resource pool before the replacement and the receiving resource pool before the replacement.

In a third aspect, a method for configuring a fleet resource provided by the embodiment of the present application includes:

a second device located in the vehicle of the fleet receives a replaced receiving resource pool of the first device configuration located in the vehicle of the fleet; wherein the replaced receiving resource pool is based on other seconds in the fleet The new transmission resource pool of the device is updated, and the new transmission resource pool of the other second device is the other device after the first device determines that the transmission resource pool of the other second device needs to be replaced. Equipment configuration

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:

Returning, by the second device, a feedback message indicating that the replacement is successful to the first device within a first preset time after receiving the replaced receiving resource pool configured by the first device, so that the The first device determines, according to the feedback message, whether the configuration is successful.

Optionally, the method further includes:

If it is determined that the replaced receiving resource pool is not used, 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 of the first device configuration, the method further includes:

Receiving, by the second device, the replaced receiving resource pool that is reconfigured by the first device;

If it is determined that the replaced receiving resource pool is used, the second device is configured according to the replaced receiving resource pool, and receives the replaced receiving after the first device is reconfigured. Returning, to the first device, a feedback message indicating that the replacement is successful, in the second preset time after the resource pool, so that the first device determines whether the configuration is successful according to the feedback message;

If it is determined that the replaced receiving resource pool is not used, the second 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 of the first device, the second device uses the receiving resource pool before the replacement.

In a fourth aspect, a first device for configuring fleet resource configuration provided by the embodiment of the present application includes:

a determining module, configured to determine, after the transmission resource pool of the second device in the part or all of the vehicles in the fleet needs to be replaced, a new transmission resource pool of the second device that needs to replace the sending resource pool, according to the The new sending resource pool replaces the receiving resource pool of the fleet;

And a configuration module, configured to configure a new sending resource pool to the second device that needs to replace the sending resource pool, and configure the replaced receiving resource pool to all second devices in the fleet.

Optionally, the determining module is specifically configured to:

Determining that a second device in some or all of the vehicles in the fleet meets a condition for replacing a transmission 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; and/or

The interference of the sending resource pool is greater than the second threshold.

Optionally, the determining module is specifically configured to:

Obtaining, from the base station side, a new transmission resource pool of each second device that needs to replace the sending resource pool; or

The idle resource pool is selected from the resource pools that are stored by itself as a new transmission resource pool of the second device that needs to replace 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 replace the sending resource pool, and configuring the replaced receiving resource pool to all the second devices in the fleet, if the first preset time after the configuration is performed Receiving a feedback message indicating that the replacement is successful by all the second devices in the fleet, determining that the configuration is successful; if all the second devices in the fleet are not received in the first preset time after the configuration is performed The feedback message is reconfigured for the second device that does not return feedback information.

Optionally, the configuration module is further configured to:

After re-configuring the second device that does not return the feedback information, if the feedback information returned by the second device that does not return the feedback information is received within the second preset time after the re-configuration, the configuration is determined to be successful. ;

If the feedback information returned by the second device that does not return the feedback information is not received within the second preset time after the re-configuration, notify the second device that needs to replace the sending resource pool to use the pre-replacement transmission. The resource pool, and all the second devices in the fleet are notified to use the pre-replacement receiving resource pool.

In a fifth aspect, a second device for configuring fleet resource configuration provided by the embodiment of the present application includes:

a first receiving module, configured to receive a new sending resource pool and a replaced receiving resource pool of the first device configured in the vehicle of the fleet; wherein the new sending resource pool is determined by the first device After the replacement of the sending resource pool of the second device is configured for the second device, the replaced receiving resource pool is updated according to the new sending resource pool;

The first processing module is configured to perform configuration 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.

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 configured by the first device and the replaced 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, the new sending resource pool configured by the first device and the replaced receiving resource pool are ignored.

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, receiving the new sending resource pool that is reconfigured by the first device, and the replaced Receiving a resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, configuring according to the new sending resource pool and the replaced receiving resource pool, and receiving the Returning, to the first device, a feedback message indicating that the replacement is successful, in the second preset time after the new sending resource pool configured by the first device and the replaced receiving resource pool, Determining, by the first device, 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, ignoring the new configuration that the first device reconfigures Sending a resource pool and the 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 the notification of the first device, using the sending resource pool before replacement and before replacing Receive resource pool.

In a sixth aspect, a second device for configuring fleet resource configuration provided by the embodiment of the present application includes:

a second receiving module, configured to receive a replaced receiving resource pool of the first device configuration in the vehicle of the fleet; wherein the replaced receiving resource pool is new according to other second devices in the fleet And sending, by the resource pool, the new sending resource pool of the other second device, where the first device configures the other second device after determining that the sending resource pool of the other second device needs to be replaced;

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.

Optionally, the second processing module is further configured to:

After determining to use the replaced receiving resource pool, returning to the first device after the receiving the replaced receiving resource pool configured by the first device indicates that the replacement is successful. a feedback message, 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 that the replaced receiving resource pool is not used, the replaced receiving resource pool configured by the first device is ignored.

Optionally, the second processing module is further configured to:

Receiving the replaced receiving resource pool that is reconfigured by the first device after ignoring the replaced receiving resource pool configured by the first device; and determining to use the replaced receiving resource after determining to use the replaced receiving resource pool The pool is configured according to the replaced receiving resource pool, and after receiving the replaced receiving resource pool that is reconfigured by the first device, to the second preset time Returning, by the device, a feedback message 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 replaced receiving resource pool is not used, ignoring the first device to reconfigure The replacement receiving resource pool.

Optionally, the second processing module is further configured to:

After ignoring the replaced receiving resource pool that is reconfigured by the first device, after receiving the notification of the first device, the receiving resource pool before replacement is used.

In a seventh aspect, the device for configuring fleet resource configuration provided by the embodiment of the present application, the first device in the vehicle of the fleet includes:

a memory for storing program instructions;

a processor, configured to invoke a program instruction stored in the memory, and execute according to the obtained program:

After determining that the transmission resource pool of the second device in some or all of the vehicles in the fleet needs to be replaced, determining a new transmission resource pool of each second device that needs to replace the transmission resource pool, and according to the new transmission resource pool Replacing the receiving resource pool of the fleet;

A new transmit resource pool is configured to the second device that needs to replace the transmit resource pool, and the replaced receive resource pool is configured to all second devices in the fleet.

In an eighth aspect, the device for configuring fleet resource configuration provided by the embodiment of the present application, the second device in the vehicle of the fleet includes:

a memory for storing program instructions;

a processor, configured to invoke a program instruction stored in the memory, and execute according to the obtained program:

Receiving a new transmission resource pool and a replacement reception resource pool of the first device configuration in the vehicle of the fleet; wherein the new transmission resource pool is that the first device determines that the vehicle located in the fleet needs to be replaced The sending resource pool of the second device is configured for the second device, and the replaced receiving resource pool is updated according to the new sending resource pool;

If it is determined that the second device uses the new sending resource pool and the replaced receiving resource pool, configuring according to the new sending resource pool and the replaced receiving resource pool.

A ninth aspect, the device for configuring fleet resource configuration provided by the embodiment of the present application, the second device located in the vehicle of the fleet includes:

a memory for storing program instructions;

a processor, configured to invoke a program instruction stored in the memory, and execute according to the obtained program:

Receiving a replaced receiving resource pool of the first device configuration in the vehicle of the fleet; wherein the replaced receiving resource pool is updated according to a new sending resource pool of other second devices in the fleet, 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 that the second device in the vehicle of the fleet uses the replaced receiving resource pool, the configuration is performed according to the replaced receiving resource pool.

In a tenth aspect, a computer storage medium is provided by the embodiment of the present application, where the computer storage medium stores computer executable instructions, and the computer executable instructions are used to cause the computer to execute any of the foregoing methods.

The first device of the embodiment of the present application, after determining that the transmission resource pool of the second device in the part or all of the vehicles in the fleet needs to be replaced, can determine that the second device needs to be configured to replace the transmission resource pool with the new transmission resource of the second device. The pool, and the new resource pool is configured to the second device that needs to replace the sending resource pool; and the receiving resource pool of the fleet can be replaced according to the new sending resource pool, and notified to each second device in the fleet. Since the embodiment of the present application provides a new transmission resource pool and a new reception resource pool for members in the fleet when determining that the transmission resource pool of some or all of the second devices needs to be replaced during the running of the fleet, Simple and effective solution for managing fleet resources.

DRAWINGS

1 is a schematic structural diagram of a system for configuring fleet resource allocation according to an embodiment of the present application;

2 is a schematic structural diagram of a first device for performing fleet resource configuration according to an embodiment of the present application;

3 is a schematic structural diagram of a first device for configuring fleet resource allocation according to a second embodiment of the present application;

4 is a flowchart of a method for assisting a fleet resource configuration by a first device according to an embodiment of the present application;

5 is a schematic structural diagram of a second device for configuring fleet resource allocation according to an embodiment of the present application;

6 is a schematic structural diagram of a second device for configuring fleet resource allocation according to an embodiment of the present application;

FIG. 7 is a flowchart of a method for assisting a configuration of a fleet resource by a second device according to a first embodiment of the present application;

8 is a schematic structural diagram of a third device for configuring fleet resource allocation according to an embodiment of the present application;

9 is a schematic structural diagram of a second device for configuring fleet resource allocation according to a fourth embodiment of the present application;

FIG. 10 is a flowchart of a method for assisting a fleet resource allocation according to a second second device in the embodiment of the present application;

11 is a schematic structural diagram of a system in which a vehicle is added to a fleet according to an embodiment of the present application;

12 is an overall flow chart 1 of a method for a vehicle to join a fleet according to an embodiment of the present application;

13 is an overall flow chart 2 of a method for a vehicle to join a fleet according to an embodiment of the present application;

14 is a schematic structural diagram of a third device in which a first vehicle is added to a vehicle fleet according to an embodiment of the present application;

15 is a schematic structural diagram of a third device in which a second vehicle is added to a fleet according to an embodiment of the present application;

16 is a flow chart of a method for a vehicle to join a fleet according to a first embodiment of the present application;

17 is a schematic structural diagram of a fourth device for a vehicle to join a fleet according to an embodiment of the present application;

18 is a schematic structural diagram of a fourth device in which a second vehicle is added to a vehicle fleet according to an embodiment of the present application;

19 is a flow chart of a method for joining a vehicle to a vehicle fleet according to a second embodiment of the present application;

20 is a schematic structural diagram of a system in which a vehicle leaves a fleet according to an embodiment of the present application;

21 is a flow chart 1 of a method for a vehicle to leave a fleet of an embodiment of the present application;

22 is a second flowchart of a method for a vehicle to leave a fleet according to an embodiment of the present application;

23 is a schematic structural diagram of a fifth device of a first vehicle leaving a fleet according to an embodiment of the present application;

24 is a schematic structural diagram of a fifth device of a second vehicle leaving a fleet according to an embodiment of the present application;

25 is a flow chart of a method for leaving a vehicle fleet according to a first embodiment of the present application;

26 is a schematic structural diagram of a sixth device of a first type of vehicle leaving a fleet according to an embodiment of the present application;

27 is a schematic structural diagram of a sixth device of a second vehicle leaving a fleet according to an embodiment of the present application;

28 is a flow chart of a method for a second vehicle to leave a fleet according to an embodiment of the present application.

detailed description

The present invention will be further described in detail with reference to the accompanying drawings, in which FIG. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

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

In the following description, the system for configuring the fleet resource of the embodiment of the present application is first described from the cooperation between 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 together. In fact, when the first device side and the second device side are separately implemented, the existence of the first device side and the second device side respectively is also solved. The problem. Only when the two are combined, will get better technical results.

As shown in FIG. 1, a system for configuring fleet resource allocation according to an embodiment of the present application includes a first device 101 in a vehicle of a fleet and at least one second device 102 in a vehicle outside the fleet.

a first device 101, configured to determine, after replacing a transmission resource pool of a second device in some or all of the vehicles in the fleet, the first device determines a new transmission of each second device that needs to replace the transmission resource pool The resource pool is configured to 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 replaced receiving resource pool.

a second device 102, configured to receive a new sending resource pool and a replaced receiving resource pool of the first device configured in the vehicle of the fleet; wherein the new sending resource pool is the first device After the transmission resource pool of the second device needs to be replaced and configured for the second device, the replaced receiving resource pool is updated according to the new sending resource pool; if it is determined to use the new The sending resource pool and the replaced receiving resource pool are configured according to the new sending resource pool and the replaced receiving resource pool.

Or, in the first device 101, after determining 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 each second device that needs to replace the sending resource pool. A new resource pool is sent, and the receiving resource pool of the fleet is replaced according to the new sending resource pool; and the replaced receiving resource pool is configured to all second devices in the fleet.

a second device 102, configured to receive a replaced receiving resource pool of a first device configuration in a vehicle of the fleet; wherein the replaced receiving resource pool is based on other second devices in the fleet The new transmission resource pool is updated, and the new transmission resource pool of the other second device is configured by the first device to configure the other second device after determining that the transmission resource pool of the other second device needs to be replaced. If it is determined that the replaced receiving resource pool is used, the second device is configured according to the replaced receiving resource pool.

It should be noted that both the first device and the second device are located in the vehicle of the fleet. Therein, the first device may be located in the head vehicle of the fleet, or the first device may be located in a predetermined vehicle in the fleet. In the embodiment of the present application, the first device is located in the vehicle of the fleet as an example. However, the method for configuring the fleet resource to be protected by the embodiment of the present application is not limited to the first device being located in the vehicle of the fleet.

For a head car included in a fleet, the head car can form a fleet or manage the vehicles in the team. For example, the head car can control the team's driving path, driving direction, driving speed, and can remove some or some members. Vehicles can also increase the number of member vehicles.

When the vehicle of the fleet joins the fleet, the first vehicle will allocate a transmission resource pool for each participating vehicle; correspondingly, the collection of the transmission resource pool of each vehicle in the fleet is the receiving resource pool of the fleet.

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

In step 101, when 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 following two methods may be adopted:

The first device periodically detects whether the sending resource pool of each second device in the fleet meets the replacement resource pool condition;

The mode 2 is reported to the first device when the second device determines that the device meets the condition of the replacement resource pool.

Specifically, the first device determines that the sending resource pool of the second device in the part or all of the vehicles needs to be replaced, and determines that the second device in some or all of the vehicles meets the condition 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; and/or

The interference of the sending resource pool is greater than the second threshold.

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

Case 1. The congestion rate of the sending resource pool is greater than the first threshold;

For example, the team members include the head car, the vehicle A, the vehicle B, and the vehicle C; wherein the sending resource pool of the head car is the resource pool 1, the sending resource pool of the vehicle A is the resource pool 2, and the sending resource pool of the vehicle B is the resource pool 3. The sending resource pool of the vehicle C is the resource pool 4; the receiving resource pool used by the current fleet is the resource pool 1, the resource pool 2, the resource pool 3, and the 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. If the head vehicle determines that the congestion rate of the transmission resource pool of the vehicle A is greater than the first threshold, it is determined that the vehicle A satisfies the condition for replacing the transmission resource pool.

Case 2: The interference of the sending resource pool is greater than the second threshold;

For example, the team members include the head car, the vehicle A, the vehicle B, and the vehicle C; wherein the sending resource pool of the head car is the resource pool 1, the sending resource pool of the vehicle A is the resource pool 2, and the sending resource pool of the vehicle B is the resource pool 3. The sending resource pool of the vehicle C is the resource pool 4; the receiving resource pool used by the current fleet is the resource pool 1, the resource pool 2, the resource pool 3, and the 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 head vehicle determines that the interference of the transmission resource pool of the vehicle B is greater than the second threshold, it is determined that the vehicle B satisfies the condition for replacing the transmission resource pool.

Case 3: The congestion rate of the sending resource pool is greater than the first threshold, and the interference of the sending resource pool is greater than the second threshold;

For example, the team members include the head car, the vehicle A, the vehicle B, and the vehicle C; wherein the sending resource pool of the head car is the resource pool 1, the sending resource pool of the vehicle A is the resource pool 2, and the sending resource pool of the vehicle B is the resource pool 3. The sending resource pool of the vehicle C is the resource pool 4; the receiving resource pool used by the current fleet is the resource pool 1, the resource pool 2, the resource pool 3, and the 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, and the interference of the sending resource pool is greater than the second threshold. If the head vehicle determines that the congestion rate of the transmission resource pool of the vehicle C is greater than the first threshold, and the interference of the transmission resource pool is greater than the second threshold, it is determined that the vehicle C satisfies 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 of the second device that needs to replace the transmission resource pool.

The embodiment of the present application may determine the new sending resource pool of the second device by using, but not limited to, the following two methods:

Manner 1: The first device acquires, from the base station side, a new sending resource pool of the second device that needs to replace the sending resource pool.

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 for the second device that needs to replace the resource pool.

After the first device obtains a new transmission resource pool of the second device that needs to be replaced by the sending resource pool, the first device allocates a new sending resource pool to each second device that needs to replace the sending resource pool.

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

After determining a new sending resource pool of the second device that needs to replace the sending resource pool, the embodiment of the present application replaces the receiving resource pool of the fleet according to the new sending resource pool.

For example, the team members include the head car, the vehicle A, the vehicle B, and the vehicle C; wherein the sending resource pool of the head car is the resource pool 1, the sending resource pool of the vehicle A is the resource pool 2, and the sending resource pool of the vehicle B is the resource pool 3. The sending resource pool of the vehicle C is the resource pool 4; the receiving resource pool used by the current fleet is the resource pool 1, the resource pool 2, the resource pool 3, and the resource pool 4. If the head vehicle determines that the vehicle A and the vehicle B satisfy the condition for replacing the transmission resource pool, and determines that the new transmission resource pool of the vehicle A is the resource pool 5, and the new transmission resource pool of the vehicle B is the resource pool 6, the reception of the replaced fleet is performed. The resource pool is: resource pool 2, resource pool 3, resource pool 5, and resource pool 6.

In the embodiment of the present application, after determining a new sending resource pool of the second device that needs to replace the sending resource pool and the receiving resource pool after the fleet replacement, configure a new sending for each second device that needs to replace the sending resource pool. A resource pool and a replacement receive resource pool for all second devices 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 to the first device. The second device that does not need to replace the sending resource pool needs to return a feedback message to the first device after determining that the configured receiving resource pool is successfully configured.

Optionally, the second device returns a representation to the first device within a first preset time after receiving the new sending resource pool configured by the first device and the replaced receiving resource pool Replace the successful 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 configured by the first device and the replaced receiving resource pool are ignored.

It should be noted that the second device that needs to replace the sending resource pool returns a feedback message, that is, 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, that is, the second device that needs to replace the sending resource pool agrees to use the replaced receiving resource pool.

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

For example, assuming that the first preset time is 8 s, the team members include the head car, the vehicle A, the vehicle B, and the vehicle C; wherein the sending resource pool of the head car is the resource pool 1, and the sending resource pool of the vehicle A is the resource pool 2, 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 head vehicle determines that the vehicle A and the vehicle B satisfy the condition for replacing the transmission resource pool, and determines that the new transmission resource pool of the vehicle A is the resource pool 5, and the new transmission resource pool of the vehicle B is the resource pool 6, the reception of the replaced fleet is performed. The resource pool is: resource pool 2, resource pool 3, resource pool 5, and resource pool 6.

The first vehicle configures a new transmission resource pool for the vehicle A as the resource pool 5, and configures the new transmission resource pool for the vehicle B as the resource pool 6; and the head vehicle is configured to replace the transmission resource pool for the vehicle A, the vehicle B, and the vehicle C. Resource pool 2, resource pool 3, resource pool 5, and resource pool 6.

It is assumed that within 8 s, the head vehicle receives the feedback information of the vehicle A, the vehicle B and the vehicle C, the head vehicle determines that the configuration is successful, and determines that the members in the fleet use the updated transceiver resource pool for communication. It is assumed that within 8 s, the head vehicle receives the feedback information of the vehicle A and the vehicle C, and after 8 s has not received the feedback information of the vehicle B, the head vehicle is reconfigured for the second device located in the vehicle B.

Correspondingly, if the second device is the second device that needs to replace the sending resource pool, the second device receives the new sending resource pool and the replaced receiving resource pool after the first device is reconfigured If it is determined that the new sending resource pool and the replaced receiving resource pool are used, the second device is configured according to the new sending resource pool and the replaced receiving resource pool, and is receiving Returning, to the first device, a feedback message indicating that the replacement is successful, to the second preset time after the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device, to Determining, by the first device, 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, ignoring the reconfiguring of the first device Received resource pool after replacement.

If the second device is the second device that does not need to replace the sending resource pool, if the second device receives the re-configured replacement receiving resource pool, or the new sending resource pool and the replaced receiving resource pool, if the second device determines After the replacement receiving resource pool is used, the second device is configured according to the replaced receiving resource pool, and after receiving the replaced receiving resource pool that is reconfigured by the first device Returning, to the first device, a feedback message 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 replaced receiving resource is not used The pool, the second device ignores the replaced receiving resource pool that is reconfigured by the first device.

After the first device is reconfigured for the second device that does not return the feedback information, if the feedback information returned by the second device that does not return the feedback information is received within the second preset time after the configuration is re-configured, The first device determines that the configuration is successful;

If the feedback information returned by the second device that does not return the feedback information is not received in the second preset time after the re-configuration, the first device notifies the second device that needs to replace the sending resource pool to use The pre-replacement resource pool is notified, and all second devices in the fleet are notified to use the pre-updated receiving resource pool.

For example, assume that the first preset time is 8 s and the second preset time is 5 s. The team members include the head car, the vehicle A, the vehicle B, and the vehicle C; wherein the sending resource pool of the head car is the resource pool 1, the sending resource pool of the vehicle A is the resource pool 2, and the sending resource pool of the vehicle B is the resource pool 3, the vehicle The sending resource pool of 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 head vehicle determines that the vehicle A and the vehicle B satisfy the condition for replacing the transmission resource pool, and determines that the new transmission resource pool of the vehicle A is the resource pool 5, and the new transmission resource pool of the vehicle B is the resource pool 6, the reception of the replaced fleet is performed. The resource pool is: resource pool 2, resource pool 3, resource pool 5, and resource pool 6.

The first vehicle configures a new transmission resource pool for the vehicle A as the resource pool 5, and configures the new transmission resource pool for the vehicle B as the resource pool 6; and the head vehicle is configured to replace the transmission resource pool for the vehicle A, the vehicle B, and the vehicle C. Resource pool 2, resource pool 3, resource pool 5, and resource pool 6.

It is assumed that within 8 s, the head vehicle receives the feedback information of the vehicle A and the vehicle C, and after 8 s has not received the feedback information of the vehicle B, the head vehicle is reconfigured for the second device located in the vehicle B.

If the head vehicle receives the feedback information of the vehicle B within 5 s after re-configuration, the head vehicle determines that the configuration is successful, and determines that the members in the fleet use the updated transceiver resource pool for communication.

If the head vehicle does not receive the feedback information of the vehicle B within 5 s after re-configuration, the head vehicle determines that the configuration fails, and the head vehicle notifies the vehicle A to continue to use the resource pool 2 as the transmission resource pool, and notifies the vehicle B to continue to use the resource pool. 3 as the transmission resource pool; and the head vehicle informs the vehicle A, the vehicle B, and the vehicle C to continue to use the resource pool 1, the resource pool 2, the resource pool 3, and the resource pool 4 as the receiving resource pool.

Based on the same inventive concept, the present discovery embodiment further provides a first device for configuring fleet resource. Since the principle of solving the problem is similar to the system for configuring fleet resource configuration in the embodiment of the present application, the implementation of the device can be seen. The implementation of the system, the repetition will not be repeated.

As shown in FIG. 2, the first device for performing fleet resource configuration in the first embodiment of the present application includes:

a determining module 201, configured to determine, after replacing a sending resource pool of the second device in some or all of the vehicles in the fleet, a new sending resource pool of the second device that needs to replace the sending resource pool, and Replacing the new sending resource pool to replace the receiving resource pool of the fleet;

The configuration module 202 is configured to configure a new sending resource pool to the second device that needs to replace the sending resource pool, and configure the replaced receiving resource pool to all the second devices in the fleet.

It should be noted that the first device of the embodiment of the present application may be located in the front car of the fleet.

Optionally, the determining module 201 is specifically configured to:

Determining that a second device in some or all of the vehicles in the fleet meets a condition for replacing a transmission 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; and/or

The interference of the sending resource pool is greater than the second threshold.

Optionally, the determining module 201 is specifically configured to:

Obtaining, from the base station side, a new transmission resource pool of each second device that needs to replace the sending resource pool; or

The idle resource pool is selected from the resource pools that are stored by itself as a new transmission resource pool of the second device that needs to replace the 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 configuring the replaced receiving resource pool to all the second devices in the fleet, if the first preset time after the configuration is performed Receiving a feedback message indicating that the replacement is successful by all the second devices in the fleet, determining that the configuration is successful; if all the second devices in the fleet are not received in the first preset time after the configuration is performed The feedback message is reconfigured for the second device that does not return feedback information.

Optionally, the configuration module 202 is further configured to:

After re-configuring the second device that does not return the feedback information, if the feedback information returned by the second device that does not return the feedback information is received within the second preset time after the re-configuration, the configuration is determined to be successful. ;

If the feedback information returned by the second device that does not return the feedback information is not received within the second preset time after the re-configuration, notify the second device that needs to replace the sending resource pool to use the pre-replacement transmission. A resource pool, and notifying all second devices in the fleet to use the pre-updated receive resource pool.

As shown in FIG. 3, a second device for configuring fleet resource allocation in the second embodiment of the present application, wherein the first device is located in a vehicle of a fleet includes: a bus 300, a processor 301, a transceiver 302, and a bus interface 303. Memory 304, user interface 305.

The processor 301 is configured to read a program in the memory 304 and perform the following process:

After determining that the transmission resource pool of the second device in some or all of the vehicles in the fleet needs to be replaced, determining a new transmission resource pool of each second device that needs to replace the transmission resource pool, and according to the new transmission resource pool Replacing the receiving resource pool of the fleet; configuring a new sending resource pool to the second device that needs to replace the sending resource pool, and configuring the replaced receiving resource pool to all second devices in the fleet.

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

Optionally, the processor 301 is specifically configured to:

Determining that a second device in some or all of the vehicles in the fleet meets a condition for replacing a transmission 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; and/or

The interference of the sending resource pool is greater than the second threshold.

Optionally, the processor 301 is specifically configured to:

Obtaining, from the base station side, a new transmission resource pool of each second device that needs to replace the sending resource pool; or

The idle resource pool is selected from the resource pools that are stored by itself as a new transmission resource pool of the second device that needs to replace 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 configuring the replaced receiving resource pool to all the second devices in the fleet, if the first preset time after the configuration is performed Receiving a feedback message indicating that the replacement is successful by all the second devices in the fleet, determining that the configuration is successful; if all the second devices in the fleet are not received in the first preset time after the configuration is performed The feedback message is reconfigured for the second device that does not return feedback information.

Optionally, the processor 301 is further configured to:

After re-configuring the second device that does not return the feedback information, if the feedback information returned by the second device that does not return the feedback information is received within the second preset time after the re-configuration, the configuration is determined to be successful. ;

If the feedback information returned by the second device that does not return the feedback information is not received within the second preset time after the re-configuration, notify the second device that needs to replace the sending resource pool to use the pre-replacement transmission. A resource pool, and notifying all second devices in the fleet to use the pre-updated receive resource pool.

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

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

Optionally, the processor 301 can 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). , complex programmable logic devices).

Based on the same inventive concept, the present discovery embodiment further provides a method for performing fleet resource configuration. The principle of solving the problem is similar to the system for configuring fleet resource configuration in the embodiment of the present application. Therefore, the implementation of the method can be referred to the system. Implementation, repetition will not be repeated.

As shown in FIG. 4, an embodiment of the present application provides a method for configuring a fleet resource, including:

Step 401: After determining, by the first device in the vehicle of the fleet, 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 that each of the transmission resource pools needs to be replaced. The second device sends a new resource pool, and replaces the receiving resource pool of the fleet according to the new sending resource pool;

Step 402: The first device configures a new sending resource pool to the second device that needs to replace the sending resource pool, and configures the replaced receiving resource pool to all second devices in the fleet.

Optionally, the first device in the fleet determines that a transmission 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 that a second device in some or all of the vehicles in the fleet meets a condition for replacing a transmission 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; and/or

The interference of the sending resource pool is greater than the second threshold.

Optionally, the first device determines a new sending resource pool of the second device that needs to replace the sending resource pool, including:

The first device acquires, from the base station side, a new sending resource pool of each second device that needs to replace the sending resource pool; or

The first device selects an idle resource pool from the resource pool that is stored by itself as a new transmission resource pool of the second device that needs to replace the sending resource pool.

Optionally, after the first device configures a new sending resource pool to the second device that needs to replace the sending resource pool, and after configuring the replaced receiving resource pool to all the second devices in the fleet, the method further includes:

If the feedback message indicating that the replacement is successful is returned by all the second devices in the fleet after the first preset time after the configuration is performed, 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 is performed, 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 the feedback information, the method further includes:

If the feedback information returned by the second device that does not return the feedback information is received in the second preset time after the configuration is re-configured, the first device determines that the configuration is successful;

If the feedback information returned by the second device that does not return the feedback information is not received in the second preset time after the re-configuration, the first device notifies the second device that needs to replace the sending resource pool. Use the pre-replacement send resource pool and notify all second devices in the fleet to use the pre-replacement receive resource pool.

Based on the same inventive concept, the present embodiment also provides a second device for configuring the fleet resource. The principle of solving the problem is similar to the system for configuring the fleet resource in the embodiment of the present application. The implementation of the system, the repetition will not be repeated.

As shown in FIG. 5, the second device for performing fleet resource configuration in the first embodiment of the present application includes:

a first receiving module 501, configured to receive a new sending resource pool and a replaced receiving resource pool of the first device configured in the vehicle of the fleet; wherein the new sending resource pool is determined by the first device After the sending resource pool of the second device needs to be replaced, the second receiving device is configured to be updated according to the new sending resource pool;

The first processing module 502 is configured to perform configuration 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.

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 the replaced 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, the new sending resource pool configured by the first device and the replaced receiving resource pool are ignored.

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, receiving the new sending resource pool that is reconfigured by the first device, and the replaced Receiving a resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, configuring according to the new sending resource pool and the replaced receiving resource pool, and receiving the Returning, to the first device, a feedback message indicating that the replacement is successful, in the second preset time after the new sending resource pool configured by the first device and the replaced receiving resource pool, Determining, by the first device, 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, ignoring the new configuration that the first device reconfigures Sending a resource pool and the replaced 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, after receiving the notification of the first device, using the sending resource pool before replacement and before replacing Receive resource pool.

As shown in FIG. 6 , a second device for configuring fleet resource allocation in the second embodiment of the present application, wherein the second device is located in a vehicle of the fleet includes: a bus 600, a processor 601, a transceiver 602, and a bus interface 603. Memory 604, user interface 605.

The processor 601 is configured to read a program in the memory 604 and perform the following process:

a new transmission resource pool and a replacement reception resource pool for receiving a first device configuration in a vehicle of the fleet through the transceiver 602; wherein the new transmission resource pool is determined by the first device to be replaced The sending resource pool of the second device is configured for the second device, and the replaced 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 replaced receiving resource pool is configured according to the new sending resource pool and the replaced receiving resource pool.

The transceiver 602 is configured to receive and transmit 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 configured by the first device and the replaced 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 used, the new sending resource pool configured by the first device and the replaced receiving resource pool are ignored.

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, receiving the new sending resource pool that is reconfigured by the first device, and the replaced Receiving a resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, configuring according to the new sending resource pool and the replaced receiving resource pool, and receiving the Returning, to the first device, a feedback message indicating that the replacement is successful, in the second preset time after the new sending resource pool configured by the first device and the replaced receiving resource pool, Determining, by the first device, 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, ignoring the new configuration that the first device reconfigures Sending a resource pool and the replaced 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 the notification of the first device, using the sending resource pool before replacement and before replacing Receive resource pool.

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

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

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

Based on the same inventive concept, the present discovery embodiment further provides a method for assisting the configuration of the fleet resources by the second device. The principle of solving the problem is similar to the system for configuring the fleet resource in the embodiment of the present application, so the implementation of the method is implemented. See the implementation of the system, and the details are not repeated here.

As shown in FIG. 7, a method for configuring fleet resource, the method includes:

Step 701: The second device in the vehicle of the fleet receives a new transmission resource pool and a replacement reception resource pool of the first device configuration in the vehicle of the fleet; wherein the new transmission resource pool is The first device is configured for the second device after determining that the sending resource pool of the second device needs to be replaced, and the replaced receiving resource pool is updated according to the new sending resource pool;

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 replaced receiving resource The pool is configured.

Optionally, after the second device determines to use the new sending resource pool and the replaced receiving resource pool, the method further includes:

Returning, by the second device, the first device to the first device within a first preset time after receiving the new sending resource pool configured by the first device and the replaced receiving resource pool, indicating that the replacement is successful a feedback message, 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 used, the second device ignores the new sending resource pool configured by the first device and the replaced 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 sending resource pool and the replaced receiving resource pool that are reconfigured by the first device;

If it is determined that the new sending resource pool and the replaced receiving resource pool are used, the second device is configured according to the new sending resource pool and the replaced receiving resource pool, and is received Returning, by the first device, the feedback message indicating that the replacement is successful, to the first device, in the second preset time after the re-configuring the new sending resource pool and the replaced receiving resource pool Determining, by the first device, 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 second device ignores the new sending resource pool reconfigured by the first device and the replaced Receive resource pools.

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 receiving the notification of the first device, the second device uses the sending resource pool before the replacement and the receiving resource pool before the replacement.

Based on the same inventive concept, the present embodiment also provides a second device for configuring the fleet resource. The principle of solving the problem is similar to the system for configuring the fleet resource in the embodiment of the present application. The implementation of the system, the repetition will not be repeated.

As shown in FIG. 8, the third device for performing fleet resource configuration in the embodiment of the present application includes:

a second receiving module 801, configured to receive a replaced receiving resource pool of a first device configuration in a vehicle of the fleet; wherein the replaced receiving resource pool is new according to other second devices in the fleet The sending 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. ;

The second processing module 802 is configured to perform configuration according to the replaced receiving resource pool if it is determined to use the replaced receiving resource pool.

Optionally, the second processing module 802 is further configured to:

After determining to use the replaced receiving resource pool, returning to the first device after the receiving the replaced receiving resource pool configured by the first device indicates that the replacement is successful. a feedback message, 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 replaced receiving resource pool is not used, the replaced receiving resource pool configured by the first device is ignored.

Optionally, the second processing module 802 is further configured to:

Receiving the replaced receiving resource pool that is reconfigured by the first device after ignoring the replaced receiving resource pool configured by the first device; and determining to use the replaced receiving resource after determining to use the replaced receiving resource pool The pool is configured according to the replaced receiving resource pool, and after receiving the replaced receiving resource pool that is reconfigured by the first device, to the second preset time Returning, by the device, a feedback message 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 replaced receiving resource pool is not used, ignoring the first device to reconfigure The replacement receiving resource pool.

Optionally, the second processing module 802 is further configured to:

After ignoring the replaced receiving resource pool that is reconfigured by the first device, after receiving the notification of the first device, the receiving resource pool before replacement is used.

As shown in FIG. 9 , a fourth device for configuring fleet resource allocation is provided in the fourth embodiment of the present application. 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 interface 903. Memory 904, user interface 905.

The processor 901 is configured to read a program in the memory 904 and perform the following process:

Receiving, by the transceiver 902, a replaced receiving resource pool of the first device configuration in the vehicle of the fleet; wherein the replaced receiving resource pool is a new sending resource pool according to other second devices in the fleet The new transmission resource pool of the other second device is configured, and the first device is configured for the other second device after determining that the transmission resource pool of the other second device needs to be replaced; if it is determined to be used The replaced receiving resource pool is configured according to the replaced receiving resource pool.

The transceiver 902 is configured to receive and transmit 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, returning to the first device after the receiving the replaced receiving resource pool configured by the first device indicates that the replacement is successful. a feedback message, 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 replaced receiving resource pool is not used, the replaced receiving resource pool configured by the first device is ignored.

Optionally, the processor 901 is further configured to:

Receiving the replaced receiving resource pool that is reconfigured by the first device after ignoring the replaced receiving resource pool configured by the first device; and determining to use the replaced receiving resource after determining to use the replaced receiving resource pool The pool is configured according to the replaced receiving resource pool, and after receiving the replaced receiving resource pool that is reconfigured by the first device, to the second preset time Returning, by the device, a feedback message 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 replaced receiving resource pool is not used, ignoring the first device to reconfigure The replacement receiving resource pool.

Optionally, the processor 901 is further configured to:

After ignoring the replaced receiving resource pool that is reconfigured by the first device, after receiving the notification of the first device, the receiving resource pool before replacement is used.

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

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

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

Based on the same inventive concept, the present discovery embodiment further provides a method for assisting the configuration of the fleet resources by the second device. The principle of solving the problem is similar to the system for configuring the fleet resource in the embodiment of the present application, so the implementation of the method is implemented. See the implementation of the system, and the details are not repeated here.

As shown in FIG. 10, the embodiment of the present application provides a method for configuring fleet resource, and the method includes:

Step 1001: The second device in the vehicle of the fleet receives the replaced receiving resource pool of the first device configuration in the vehicle of the fleet; wherein the replaced receiving resource pool is based on the fleet The new transmission resource pool of the other second device is updated, and the new transmission resource pool of the other second device is the first device after determining that the transmission resource pool of the other second device needs to be replaced. Other second device configuration;

Step 1002: 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:

Returning, by the second device, a feedback message indicating that the replacement is successful to the first device within a first preset time after receiving the replaced receiving resource pool configured by the first device, so that the The first device determines, according to the feedback message, whether the configuration is successful.

Optionally, the method further includes:

If it is determined that the replaced receiving resource pool is not used, 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 of the first device configuration, the method further includes:

Receiving, by the second device, the replaced receiving resource pool that is reconfigured by the first device;

If it is determined that the replaced receiving resource pool is used, the second device is configured according to the replaced receiving resource pool, and receives the replaced receiving after the first device is reconfigured. Returning, to the first device, a feedback message indicating that the replacement is successful, in the second preset time after the resource pool, so that the first device determines whether the configuration is successful according to the feedback message;

If it is determined that the replaced receiving resource pool is not used, the second 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 of the first device, the second device uses the receiving resource pool before the replacement.

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

The third device 1101 is configured to determine, according to the request message, whether to allow the vehicle where the fourth device is located to join the fleet after receiving the request message sent by the fourth device in the vehicle outside the fleet; If the vehicle in which the fourth device is located is allowed to join the fleet, returning an allow join message to the fourth device, so that the fourth device controls the fourth device after receiving the permission to join message The vehicle joins the fleet.

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

The system in which the vehicle of the embodiment of the present application is added to the fleet is applied to a scenario in which a vehicle located outside the fleet needs to be joined to the fleet. When a vehicle 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 resource includes some or all of the following information:

Frequency, sub-frame, and available frequency domain resource locations within a sub-frame.

The fourth device periodically monitors the access channel resource broadcast by the third device; and the fourth device uses the request message sent by the access channel resource 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 locations, the fourth device selects one of the available frequency domain resource locations in the subframe. The frequency domain resource location sends a request message to the third device using the access channel resource including the frequency point, the subframe, and the selected frequency resource location.

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 interface.

The request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle added to the team, and the reason for joining the team.

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

1. Team logo.

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

2. The head car logo in the team.

The first car in the team can form a fleet or manage the vehicles in the fleet. Among them, the management of the vehicle may be to coordinate the driving of the vehicles in the fleet, for example, to manage the driving direction and speed; and to manage each vehicle member in the fleet, for example, to reduce the number of vehicles in the fleet, and increase The number of vehicles in the fleet. For a fleet, the first car has an important role, so for other vehicles to identify the first car in the fleet, the first car in each team has a head car logo, the head car logo is added in the request message, so that the third device is After receiving the request message sent by the vehicle that needs to join the team, the team that needs to join the team can be further determined according to the head car logo in the team.

3. Join the vehicle logo of the team.

In order to facilitate identification of the vehicle, each vehicle has its corresponding vehicle identification, and the vehicle identification corresponding to each vehicle is configured according to a preset rule. The vehicle identification of the joining team is included in the request message, so that after the third device receives the request message, it is determined whether the vehicle is allowed to join the vehicle team according to the vehicle identification corresponding to the vehicle.

4. Type of vehicle added to the team.

The type of vehicle can be a car, a truck, or the like. The request message includes the type of vehicle added to the fleet, so that after receiving the request message, the third device determines whether to allow the vehicle to join the fleet according to the type of vehicle joining the fleet.

5. Reasons for joining the team.

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

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

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 determines that the vehicle identification of the participating fleet included in the request message is within a range of the vehicle identification that the fleet is allowed to join;

Condition 2, the third device determines that the type of the vehicle that joins the fleet included in the request message is consistent with the vehicle type of the vehicle in the fleet;

Condition 3, when the manner of joining the team included in the request message is a bicycle joining, the third device determines that the fleet is capable of accommodating the vehicle where the fourth device is located;

Condition 4: When the manner of joining the team included in the request message is when the team joins, the third device determines that the fleet can accommodate the fleet in which the fourth device is located.

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

After receiving the request message, the third device determines, according to the vehicle identification of the joining team in the request message, the third device determines that the vehicle that allows the request to join the team to join when determining that the vehicle identification is within the range of the vehicle identification that the vehicle team is allowed to join. The team.

For the above condition 2, the request message sent by the fourth device to the third device includes the vehicle type of the vehicle where the fourth device is located. For example, the vehicle type may be a car, a van, a truck, or the like. The third device determines that the vehicle in which the fourth device that requests the joining of the fleet is allowed to join the fleet when determining the vehicle type of the vehicle that needs to join the fleet is consistent with the vehicle type of the vehicle in the fleet.

For the above conditions 3 and 4, the method of joining the team includes bicycle joining and group joining. When the manner of joining the team included in the request message received by the third device is a bicycle joining, the third device determines whether the device can be accommodated according to the number of vehicles that the team can accommodate and the number of free resource pools of the team. The vehicle in which the fourth device is located, if so, determines that the vehicle in which the fourth device requesting to join the fleet is allowed to join the fleet.

Correspondingly, when the manner of joining the team included in the request message received by the third device is a group joining, the third device determines whether the number of the vehicles that can be accommodated by the fleet and the number of idle resource pools of the fleet. The fleet in which the fourth device is located can be accommodated, and if so, the fleet in which the fourth device requesting the request to join the fleet is allowed to join the fleet.

The third device of the embodiment of the present application determines whether to allow the vehicle where the fourth device is located to join the fleet according to the above condition, and if the vehicle where the fourth device is allowed to join the fleet, the third device sends the permission to join the fourth device. The message; if the vehicle where the fourth device is located is not allowed to join the fleet, the third device sends a reject join message to the fourth device.

The following is a description of the situation.

1. The third device determines that the vehicle in 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 an permission to join message to the fourth device;

Correspondingly, the fourth device receives the permission to join message returned by the third device, and the fourth device controls the vehicle where the fourth device is located to join the fleet.

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

It should be noted that since the vehicle in the fleet is in the automatic driving mode, the vehicle includes a main control module for controlling the vehicle for controlling the running state of the vehicle. The fourth device and the main control module may be the same module, that is, the fourth device can communicate with other communication devices in the fleet and control the vehicle; in this case, the fourth device receives the permission. After joining the message, directly control the vehicle to join the team.

In addition, the fourth device and the main control module may also be located in different modules. After receiving the permission to join the message, the fourth device notifies the main control module to join the fleet, so that the vehicle in which the main control module controls is added to the fleet.

The permission to join message includes some or all of the following information:

The receiving resource pool of the fleet, the information about the vehicles in the fleet, the sending resource pool configured for joining the vehicle, the dedicated time-frequency resources for the fourth device to feed back to the team successfully, the synchronization configuration information, and the sensing for sensing whether the resources are available ( Perceive) configuration information.

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

The information related to the vehicle in the fleet may specifically be the vehicle identification of the vehicle in the fleet, or the related information of the vehicle may be other information indicating the identity of the vehicle.

The purpose of the synchronization configuration information is to use the synchronization configuration information to synchronize clocks with other vehicles in the fleet after the vehicle is added to the fleet.

As shown in FIG. 12, an overall flowchart of a method for a vehicle to join a fleet according to an embodiment of the present application includes:

Step 1201: The third device periodically broadcasts access channel resources.

Step 1202: The fourth device sends the request message to the third device by using the access channel resource.

Wherein, the request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle added to the team, and the way the team joins the team.

Step 1203: The third device determines, according to the request message, that the vehicle where the fourth device is allowed to join the fleet.

Step 1204: The third device returns an allow join message to the fourth device.

The permission to join message includes some or all of the following information:

The receiving resource pool of the fleet, the information about the vehicle in the fleet, the sending resource pool configured for joining the vehicle, the dedicated time-frequency resource for the fourth device feedback to join the team success, the synchronization configuration information, and the sensing sensing for sensing whether the resource is available. Configuration information.

Step 1205: After receiving the permission to join message returned by the third device, the fourth device controls the vehicle where the fourth device is located to join the fleet.

The following is a specific example.

The fleet 1 is a fleet of 5 trucks, of which the truck 1 is the first vehicle, and the truck 2 and the truck 3 are already included in the fleet. The first car periodically broadcasts access channel resources. The truck 4 wishes to join the fleet 1. After obtaining the access channel resources sent by the head vehicle, the truck 4 initiates a joining fleet request to the head vehicle on the access channel (the fleet request message is an RRC message), which includes the following contents: the fleet identifier ( Team 1), head vehicle identification (truck 1), vehicle identification (wagon 4) wishing to join the team, vehicle type (truck) added to the team, joining mode (by bicycle); then truck 4 continues until the joining process is completed Monitor the access feedback channel. The head car feeds back to the truck 4 to allow the join message: the permission to join message is an RRC message, which includes the following: the receiving resource pool of the fleet, the sending resource pool configured for joining the vehicle (truck 4), and the dedicated time for feedback to join the team success. Frequency resources, synchronization configuration, sensing configuration, etc. The truck 4 joins the fleet 1 after receiving the permission to join the message.

2. The third device determines that the vehicle in which 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 receives the refusal to join message returned by the third device, and determines that the vehicle where the fourth device is located is not allowed to join the fleet.

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

It should be noted that since the vehicle in the fleet is in the automatic driving mode, the vehicle includes a main control module for controlling the vehicle for controlling the running state of the vehicle. The fourth device and the main control module may be the same module, that is, the fourth device can communicate with other communication devices in the fleet and control the vehicle; in this case, the fourth device receives the rejection. After joining the message, the vehicle in which the control is located 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 the message, the fourth device notifies the main control module that the team cannot join the fleet.

The refusal to join message includes a reason for rejection and/or information of other fleets.

Among them, the reasons for rejection include that the fleet is full and/or does not belong to the type of vehicle that can be joined to the team.

The information of other fleets is information for enabling the fourth device to discover other fleets;

Specifically, it may be a team logo, or a frequency of the team work; so that after receiving the information of the other team, the fourth device can discover the team corresponding to the information of the other team according to the information of the other team, and send the team to the team. Request a message 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 a vehicle to join a fleet in the embodiment of the present application includes:

Step 1301: The third device periodically broadcasts access channel resources.

Step 1302: The fourth device sends a request message to the third device by using the access channel resource.

Wherein, the request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle added to the team, and the way the team joins the team.

Step 1303: 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 reject join message to the fourth device.

Wherein, the refusal to join message includes a 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 present discovery embodiment further provides a first type of third device in which the vehicle joins the fleet. Since the principle of solving the problem by the third device is similar to the system in which the vehicle is added to the fleet in the embodiment of the present application, the implementation of the device may be See the implementation of the system, and the repetitions are not repeated here.

As shown in FIG. 14 , the third device of the first embodiment of the present application is added to the vehicle, wherein the third device is located in the vehicle of the fleet, and includes:

a third receiving module 1401, configured to determine, according to the request message, whether to allow the vehicle where the fourth device is located to join the fleet after receiving the request message sent by the fourth device in the vehicle outside the fleet ;

The first sending module 1402 is configured to: if the vehicle where the fourth device is allowed to join the fleet, return an allow join message to the fourth device, so that the fourth device receives the permission to join message The vehicle in which the fourth device is located is then controlled to join the fleet.

Optionally, the first sending module 1402 is further configured to:

If the vehicle in which the fourth device is located is not allowed to access the fleet, a refusal to join message is returned to the fourth device.

Optionally, the third receiving module 1401 is further configured to:

Periodically broadcasting access channel resources before receiving the request message sent by the fourth device in the vehicle outside the fleet, so that the fourth device uses the access channel resource to the third The device sends a request message.

Optionally, the request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle that joins the team, and the way the team joins the team.

Optionally, the first sending module 1402 is specifically configured to:

The vehicle in which the fourth device is located is allowed to join the fleet when some or all of the following conditions are met:

Determining, in the request message, the vehicle identification of the joining team included in the range of the vehicle identification that the vehicle team is allowed to join;

Determining, by the request message, a vehicle type of the participating vehicle that is consistent with a vehicle type of the vehicle in the fleet;

When the manner of joining the team included in the request message is a bicycle joining, determining that the fleet is capable of accommodating the vehicle in which the fourth device is located;

When the manner of joining the team included in the request message is for the team joining, it is determined that the team 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, the information about the vehicle in the fleet, the sending resource pool configured for joining the vehicle, the dedicated time-frequency resource for the fourth device feedback to join the team success, the synchronization configuration information, and the sensing sensing for sensing whether the resource is available. Configuration information.

Optionally, the refusal to join message includes a reason for rejection and/or information of other fleets.

As shown in FIG. 15 , a second type of third device is managed by the vehicle fleet according to the embodiment of the present application, wherein the third device is located in the vehicle of the fleet, and includes: a bus 1500, a processor 1501, a transceiver 1502, a bus interface 1503, and a memory. 1504. User interface 1505.

The processor 1501 is configured to read a program in the memory 1504 and perform the following process:

After receiving the request message sent by the fourth device in the vehicle outside the fleet by the transceiver 1502, determining, according to the request message, whether to allow the vehicle in which the fourth device is located to join the fleet; When the vehicle where the fourth device is located joins the fleet, the transceiver 1502 returns an allow join message to the fourth device, so that the fourth device controls the fourth device after receiving the permission to join message. The vehicle in which it is located joins the fleet.

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

Optionally, the processor 1501 is further configured to:

If the vehicle in which the fourth device is located is not allowed to access the fleet, a refusal to join message is returned to the fourth device.

Optionally, the processor 1501 is further configured to:

Periodically broadcasting access channel resources before receiving the request message sent by the fourth device in the vehicle outside the fleet, so that the fourth device uses the access channel resource to the third The device sends a request message.

Optionally, the request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle added to the team, and the way the team joins the team.

Optionally, the processor 1501 is specifically configured to:

The vehicle in which the fourth device is located is allowed to join the fleet when some or all of the following conditions are met:

Determining, in the request message, the vehicle identification of the joining team included in the range of the vehicle identification that the vehicle team is allowed to join;

Determining, by the request message, a vehicle type of the participating vehicle that is consistent with a vehicle type of the vehicle in the fleet;

When the manner of joining the team included in the request message is a bicycle joining, determining that the fleet is capable of accommodating the vehicle in which the fourth device is located;

When the manner of joining the team included in the request message is for the team joining, it is determined that the team 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, the information about the vehicle in the fleet, the sending resource pool configured for joining the vehicle, the dedicated time-frequency resource for the fourth device feedback to join the team success, the synchronization configuration information, and the sensing sensing for sensing whether the resource is available. Configuration information.

Optionally, the refusal to join message includes a reason for rejection and/or information of other fleets.

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

The processor 1501 is responsible for managing the bus 1500 and the usual processing, running a general purpose operating system as described above. 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). , complex programmable logic devices).

Based on the same inventive concept, the present discovery embodiment further provides a method for a third device to assist a vehicle to join a fleet. The principle of solving the problem is similar to the system for managing the first fleet in the embodiment of the present application. The implementation can refer to the implementation of the system, and the repetition will not be repeated.

As shown in FIG. 16, a method for a vehicle to join a fleet in the embodiment of the present application includes:

Step 1601: After receiving the request message sent by the fourth device in the vehicle outside the fleet, the third device in the vehicle of the fleet determines whether to permit the vehicle where the fourth device is located according to the request message. Join the team;

Step 1602. If the third device allows the vehicle where the fourth device is located to join the fleet, return an allow join message to the fourth device, so that the fourth device receives the permission to join message. The vehicle in which the fourth device is located is then controlled to join the fleet.

Optionally, the method further includes:

If the third device does not allow the vehicle in which the fourth device is located to access the fleet, returning a refusal to join message to the fourth device.

Optionally, before the third device in the fleet receives the request message sent by the fourth device in the vehicle outside the fleet, the method further includes:

The third device periodically broadcasts an access channel resource, so that the fourth device sends the request message to the third device by using the access channel resource.

Optionally, the request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle added to the team, and the way the team joins the team.

Optionally, the third device allows the vehicle in which the fourth device is located to join the fleet when some or all of the following conditions are met:

Determining, by the third device, the vehicle identification of the participating fleet included in the request message, within a range of the vehicle identification that the fleet is allowed to join;

Determining, by the third device, a vehicle type of the participating vehicle included in the request message, which is consistent with a vehicle type of the vehicle in the fleet;

When the manner of joining the team included in the request message is a bicycle joining, the third device determines that the fleet is capable of accommodating the vehicle in which the fourth device is located;

When the manner of joining the fleet included in the request message is for the team to join, the third device determines that the fleet is capable of accommodating 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, the information about the vehicle in the fleet, the sending resource pool configured for joining the vehicle, the dedicated time-frequency resource for the fourth device feedback to join the team success, the synchronization configuration information, and the sensing sensing for sensing whether the resource is available. Configuration information.

Optionally, the refusal to join message includes a reason for rejection and/or information of other fleets.

Based on the same inventive concept, the present discovery embodiment further provides a fourth device for the first vehicle to join the fleet. Since the principle of solving the problem of the fourth device is similar to the system in which the vehicle is added to the fleet in the embodiment of the present application, the implementation of the device may be See the implementation of the system, and the repetitions are not repeated here.

As shown in FIG. 17, the first device of the first embodiment of the present invention is added to the fourth device of the vehicle fleet, wherein the fourth device is located in a vehicle other than the fleet, including:

a second sending module 1701, configured to send a request message to a third device of the vehicle located in the fleet;

The fourth receiving module 1702 is configured to control the vehicle where the fourth device is located to join the fleet if receiving the permission to join message returned by the third device.

Optionally, the fourth receiving module 1702 is further configured to:

If the refusal to join message returned by the third device is received, it is determined that the vehicle in which the fourth device is located is not allowed to join the fleet.

Optionally, the second sending module 1701 is further configured to:

Periodically listening to access channel resources broadcast by the third device before sending a request message to a third device of the vehicle located in the fleet;

The second sending module 1701 is specifically configured to:

A request message sent to the third device using the access channel resource.

Optionally, the request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle added to the team, and the way the team joins the team.

Optionally, the refusal to join message includes information about other fleets, and the fourth receiving module 1702 is further configured to:

After determining that the vehicle in which the fourth device is not allowed to join the fleet, a request message is sent to the other fleet based on the information of the other fleet.

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

The processor 1801 is configured to read a program in the memory 1804 and perform the following process:

Sending a request message to the third device of the vehicle located in the fleet through the transceiver 1802; if receiving the permission to join message returned by the third device through the transceiver 1802, controlling the vehicle where the fourth device is located to join the fleet .

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

Optionally, the processor 1801 is further configured to:

If the refusal to join message returned by the third device is received, it is determined that the vehicle in which the fourth device is located is not allowed to join the fleet.

Optionally, the processor 1801 is further configured to:

Periodically listening to access channel resources broadcast by the third device before sending a request message to a third device of the vehicle located in the fleet;

The processor 1801 is specifically configured to:

A request message sent to the third device using the access channel resource.

Optionally, the request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle added to the team, and the way the team joins the team.

Optionally, the refusal to join message includes information about other fleets, and the processor 1801 is further configured to:

After determining that the vehicle in which the fourth device is not allowed to join the fleet, a request message is sent to the other fleet based on the information of the other fleet.

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

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

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

Based on the same inventive concept, the present discovery embodiment further provides a method for the fourth device to assist the vehicle to join the fleet. Since the principle of solving the problem is similar to the system in which the vehicle is added to the fleet in the embodiment of the present application, the implementation of the method can be seen. The implementation of the system, the repetition will not be repeated.

As shown in FIG. 19, a method for a vehicle to join a fleet in the embodiment of the present application includes:

Step 1901: a fourth device located in a vehicle outside the fleet sends a request message to a third device of the vehicle located in the fleet;

Step 1902: If receiving the permission to join message returned by the third device, the fourth device controls the vehicle where the fourth device is located to join the fleet.

Optionally, the method further includes:

If receiving the 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 the vehicle outside the fleet sends a request message to the third device of the vehicle located in the fleet, the method further includes:

The fourth device periodically monitors access channel resources broadcast by the third device;

The fourth device in the vehicle outside the fleet sends a request message to the third device of the vehicle located in the fleet, including:

The fourth device uses the request message sent by the access channel resource to the third device.

Optionally, the request message includes some or all of the following information:

The team logo, the head car logo in the team, the vehicle logo added to the team, the type of vehicle added to the team, and the way the team joins the team.

Optionally, the refusal to join message includes information about other fleets, and after the fourth device determines that the vehicle in which the fourth device is not allowed to join the fleet, the method further includes:

The fourth device sends a request message to the other fleet based on the information of the other fleets.

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

The fifth device 2001 is configured to determine whether the vehicle in which the sixth device is located meets the condition of leaving the vehicle; if it is determined that the vehicle in which the sixth device is located meets the condition of leaving the fleet, sending a leaving message to the sixth device, so that The sixth device controls the vehicle where the sixth device is located to leave the fleet after receiving the leaving message.

a sixth device 2002, configured to receive a leaving message sent by a fifth device located in a vehicle of the fleet; after receiving the leaving message, controlling a vehicle where the sixth device is located to leave the fleet; The leaving message is that the fifth device transmits after determining that the vehicle in which the sixth device is located meets the condition of leaving the fleet.

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

The manner in which the fifth device triggers the fifth device to determine whether the vehicle in which the sixth device is located meets the departure condition of the vehicle includes, but is not limited to, the following two types:

After receiving the request leaving message sent by the sixth device, the first device determines whether the vehicle where the sixth device is located meets the departure condition of the vehicle.

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

The reason for leaving may be to change to a non-automatic driving mode, or it may be that the vehicle arrives at the destination.

The second device and the fifth device actively determine whether the vehicle where the sixth device is located meets the condition of leaving the fleet.

It should be noted that, before the fifth device actively determines whether the vehicle where the sixth device is located meets the condition of leaving the fleet, the fifth device is generally triggered to determine by the event. The specific event triggering manner may be that the base station notifies the fifth device whether the vehicle in which the sixth device is located meets the departure of the fleet condition. For example, the base station notifies the fifth device that the road ahead is narrowed, or that the road ahead is blocked.

The fifth device determines whether the vehicle in which the sixth device is located is full, wherein the leaving the vehicle condition includes some or all of the following:

Condition 1, the driving mode of the vehicle is changed to the non-automatic driving mode;

Condition 2, the vehicle has arrived at the destination;

Condition 3, current road conditions allow the vehicle to leave the fleet.

For example, when the fifth device determines that the driving mode of the vehicle in which the sixth device is located changes to the non-automatic driving mode, and the current road condition allows the vehicle to leave the fleet, it is determined that the vehicle in which the sixth device is located satisfies the leaving condition;

Or when the fifth device determines that the vehicle in which the sixth device is located has reached the destination, and the current road condition allows the vehicle to leave the fleet, it is determined that the vehicle in which the sixth device is located meets the departure condition.

The following is a description of whether the fifth device allows the sixth device to leave the fleet.

First, the fifth device determines that the vehicle in which the sixth device is located satisfies the leaving condition.

The fifth device sends a leaving message to the sixth device;

Correspondingly, after receiving the leaving message, the sixth device controls the vehicle where the sixth device is located to leave the fleet.

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 vehicle in the fleet is in the automatic driving mode, the vehicle includes a main control module for controlling the vehicle for controlling the running state of the vehicle. The sixth device and the main control module may 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 receives the departure. After the news, the vehicle directly controlling the vehicle leaves the team.

In addition, the sixth device and the main control module may also be located in different modules. After receiving the leaving message, the sixth device notifies the main control module to leave the fleet, so that the main control module controls the vehicle where the vehicle is located to leave the fleet.

After the vehicle where the sixth device is located leaves the fleet, the sixth device releases the configuration of the transceiver resource associated with the fleet.

The overall flow chart of the method for leaving the vehicle fleet of the embodiment of the present application is described below by way of example.

As shown in FIG. 21, the method for the vehicle to leave the fleet of the embodiment of the present application includes:

Step 2101: The sixth device sends a request leaving message to the fifth device.

The request leaving message includes a reason for leaving and/or a vehicle identifier where the sixth device is located.

Step 2102: The fifth device determines, according to the request leaving message, that the vehicle where the sixth device is located meets the leaving fleet condition.

Step 2103: The fifth device sends a leaving message to the sixth device.

Step 2104: After receiving the leaving message, the sixth device controls the vehicle where the sixth device is located to leave the fleet, and releases the configuration of the transceiver resource related to the fleet.

2. The fifth device determines that the vehicle in which the sixth device is located does not satisfy the leaving condition.

The fifth device sends a reject leave message to the sixth device;

Correspondingly, the sixth device receives the reject leaving message sent by the fifth device; after receiving the reject leaving message, controlling the vehicle where the sixth device is located to continue traveling in the fleet.

The refusal to leave message may be RRC signaling or PC5 signaling; the refusal to leave message may be transmitted through a Sidelink or Uu interface.

Assume that leaving the fleet condition changes the driving mode of the vehicle to a non-automatic driving mode, and the current road conditions allow the vehicle to leave the fleet. If the fifth device receives the request leaving message of the sixth device, determining that the driving mode of the vehicle where the sixth device is located changes to the non-automatic driving mode, but the current road condition does not allow the vehicle to leave the vehicle, the fifth device determines that the sixth device is located The vehicle does not satisfy the leaving the fleet condition, and the fifth device sends a reject leave message to the sixth device.

Refusal to leave message including rejection reason and/or waiting time

The reason for the rejection may be that the driving mode is not allowed to be changed, or the current road condition may not be allowed to leave the team.

The waiting time included in the reject message is used to notify the sixth device to send the request leaving message to the fifth device again after the waiting time elapses.

That is, if the rejecting the fleet message includes a waiting time; the sixth device sends the request leaving message to the fifth device again after the waiting time elapses.

After receiving the refusal to leave message, the sixth device continues to stay in the fleet and continues to use the fleet related transceiver resource configuration; if the refusal to leave message includes waiting time, the sixth device then goes to the car after waiting time Request to leave the message.

As shown in FIG. 22, the overall flow chart of the method for leaving the vehicle fleet of the embodiment of the present application includes:

Step 2201: The sixth device sends a request leaving message to the fifth device.

The request leaving message includes a reason for leaving and/or a vehicle identifier where the sixth device is located.

Step 2202: The fifth device determines, according to the request leaving message, that the vehicle where the sixth device is located does not satisfy the leaving fleet condition.

Step 2203: The fifth device sends a reject leave message to the sixth device.

The refusal to leave message contains a wait time.

Step 2204: After receiving the reject leaving message, the sixth device controls the vehicle where the sixth device is located to continue to travel in the fleet.

Step 2205: After the waiting time elapses, the sixth device sends a request leaving message to the fifth device again.

Based on the same inventive concept, the present discovery embodiment also provides a fifth device in which the first type of vehicle leaves the fleet. Since the principle of solving the problem by the fifth device is similar to the system in which the vehicle leaves the fleet in the embodiment of the present application, the implementation of the device may be See the implementation of the system, and the repetitions are not repeated here.

As shown in FIG. 23, the first type of vehicle of the embodiment of the present application leaves the fifth device of the fleet, and the fifth device is located in the vehicle of the fleet, including:

The determining module 2301 is configured to determine whether the vehicle in which the sixth device is located in the vehicle of the fleet meets the condition of leaving the fleet;

The third sending module 2302 is configured to: if it is determined that the vehicle where the sixth device is located meets the leaving fleet condition, send a leaving message to the sixth device, so that the sixth device after receiving the leaving message The vehicle in which the sixth device is located is controlled to leave the fleet.

Optionally, the leaving the fleet condition includes some or all of the following:

The driving mode of the vehicle is changed to the non-automatic driving mode;

The vehicle has arrived at the destination;

Current road conditions allow the vehicle to leave the fleet.

Optionally, the determining module 2301 is further configured to:

Receiving a request leaving message sent by the sixth device before determining whether the vehicle in which the sixth device is located in the vehicle of the fleet meets the condition of leaving the fleet.

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 satisfy the leaving fleet condition, the rejecting leaving message is sent to the sixth device.

As shown in FIG. 24, the fifth device of the second vehicle leaving the fleet of the second embodiment of the present application 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 perform the following process:

Determining whether the vehicle in which the sixth device is located in the vehicle of the fleet meets the condition of leaving the vehicle; if it is determined that the vehicle in which the sixth device is located meets the condition of leaving the vehicle, sending, by the transceiver 2402, a leaving message to the sixth device, So that the sixth device controls the vehicle where the sixth device is located to leave the fleet after receiving the leaving message.

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

Optionally, the leaving the fleet condition includes some or all of the following:

The driving mode of the vehicle is changed to the non-automatic driving mode;

The vehicle has arrived at the destination;

Current road conditions allow the vehicle to leave the fleet.

Optionally, the processor 2401 is further configured to:

Receiving a request leaving message sent by the sixth device before determining whether the vehicle in which the sixth device is located in the vehicle of the fleet meets the condition of leaving the fleet.

Optionally, the processor 2401 is further configured to:

If it is determined that the vehicle in which the sixth device is located does not satisfy the leaving fleet condition, the rejecting leaving message is sent to the sixth device.

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

The processor 2401 is responsible for managing the bus 2400 and the usual processing, running the general purpose operating system as described above. 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, the present discovery embodiment further provides a method for the fifth device to assist the vehicle to leave the vehicle fleet. Since the principle of solving the problem is similar to the system for the vehicle leaving the fleet in the embodiment of the present application, the implementation of the method may be See the implementation of the system, and the repetitions are not repeated here.

As shown in FIG. 25, the method for the vehicle to leave the fleet of the embodiment of the present application includes:

Step 2501: The fifth device in the vehicle of the fleet determines whether the vehicle in which the sixth device is located in the vehicle of the fleet meets the condition of leaving the vehicle;

Step 2502. If it is determined that the vehicle where the sixth device is located meets the leaving fleet condition, the fifth device sends a leaving message to the sixth device, so that the sixth device receives the leaving message. The vehicle in which the sixth device is located is controlled to leave the fleet.

Optionally, the leaving the fleet condition includes some or all of the following:

The driving mode of the vehicle is changed to the non-automatic driving mode;

The vehicle has arrived at the destination;

Current road conditions allow the vehicle to leave the fleet.

Optionally, before the fifth device in the vehicle of the fleet determines whether the vehicle in which the sixth device is located in the vehicle of the fleet meets the condition of leaving the fleet, the method further includes:

The fifth device receives the request leaving message sent by the sixth device.

Optionally, the method further includes:

If it is determined that the vehicle in which the sixth device is located does not satisfy the leaving fleet condition, the fifth device sends a reject leave message to the sixth device.

Based on the same inventive concept, the present discovery embodiment further provides a sixth device for the first vehicle to leave the fleet. Since the principle of solving the problem is similar to the system in which the vehicle of the embodiment of the present application leaves the fleet, the implementation of the device may be See the implementation of the system, and the repetitions are not repeated here.

As shown in FIG. 26, in the embodiment of the present application, the first type of vehicle leaves the sixth device of the fleet, and the sixth device is located in the vehicle of the fleet, including:

a fifth receiving module 2601, configured to receive a leaving message sent by a fifth device in the vehicle of the fleet; wherein the leaving message is that the fifth device determines that the vehicle where the sixth device is located meets the departure fleet Sent after the condition;

The processing module 2602 is configured to control, after receiving the leaving message, the vehicle where the sixth device is located to leave the fleet.

Optionally, the fifth receiving module 2601 is further configured to:

Before receiving the leaving message sent by the fifth device in the vehicle of the fleet, sending a request leaving message to the fifth device, so that the fifth device determines, according to the request leaving message, that the sixth device is located Whether the vehicle meets the conditions for leaving the team.

Optionally, the fifth receiving module 2601 is further configured to:

Receiving a reject leave message sent by the fifth device; wherein the reject leave message is sent by the fifth device after determining that the vehicle where the sixth device is located does not satisfy the departure of the fleet condition; receiving the rejection After leaving the message, the vehicle in which the sixth device is controlled continues to travel on the fleet.

Optionally, the rejecting the fleet message includes a waiting time;

The fifth receiving module 2601 is further configured to:

After controlling the vehicle in which the sixth device is located to continue traveling in the fleet, after the waiting time elapses, the request leaving message is sent to the fifth device again.

As shown in FIG. 27, the sixth device of the second vehicle leaving the fleet of the second embodiment of the present application 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 perform the following process:

Receiving a leaving message sent by a fifth device in the vehicle of the fleet; wherein the leaving message is sent by the fifth device after determining that the vehicle in which the sixth device is located meets the departure of the fleet condition; After the leaving message, the vehicle in which the sixth device is located is controlled to leave the fleet.

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

Optionally, the processor 2701 is further configured to:

Before receiving the leaving message sent by the fifth device in the vehicle of the fleet, sending a request leaving message to the fifth device, so that the fifth device determines, according to the request leaving message, that the sixth device is located Whether the vehicle meets the conditions for leaving the team.

Optionally, the processor 2701 is further configured to:

Receiving a reject leave message sent by the fifth device; wherein the reject leave message is sent by the fifth device after determining that the vehicle where the sixth device is located does not satisfy the departure of the fleet condition; receiving the rejection After leaving the message, the vehicle in which the sixth device is controlled continues to travel on the fleet.

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

The processor 2701 is responsible for managing the bus 2700 and the usual processing, running the general purpose operating system as described above. 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, the present discovery embodiment further provides a method for the sixth device to assist the vehicle to leave the vehicle fleet. The principle of solving the problem is similar to the system for managing the second vehicle fleet in the embodiment of the present application. The implementation can refer to the implementation of the system, and the repetition will not be repeated.

As shown in FIG. 28, a method for a vehicle to leave a fleet of the present application includes:

Step 2801, a sixth device in the vehicle of the fleet receives a leaving message sent by a fifth device located in the vehicle of the fleet; wherein the leaving message is that the fifth device determines that the sixth device is located The vehicle is sent after meeting the conditions of leaving the team;

Step 2802: After receiving the leaving message, the sixth device controls the vehicle where the sixth device is located to leave the fleet.

Optionally, before the sixth device in the vehicle of the fleet receives the departure message sent by the fifth device in the vehicle of the fleet, the method further includes:

The sixth device sends a request leaving message to the fifth device, so that the fifth device determines, according to the request leaving message, whether the vehicle where the sixth device is located meets the leaving team condition.

Optionally, the method further includes:

Receiving, by the fifth device, the refusal to leave message sent by the fifth device, where the refusal to leave message is sent by the fifth device after determining that the vehicle where the sixth device is located does not meet the departure of the vehicle condition;

After receiving the reject leaving message, the sixth device controls the vehicle where the sixth device is located to continue traveling in the fleet.

Optionally, the rejecting the fleet message includes a waiting time;

After the sixth device controls the vehicle where the sixth device is located to continue driving in the fleet, the method further includes:

After the waiting time elapses, the sixth device sends a request to leave message to the fifth device again.

It should be noted that the system in which the vehicle is added to the fleet and the system in which the vehicle leaves the fleet can be implemented by one system. Although the above-described embodiments of the present application, 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 application, the process of adding a vehicle to a fleet and the process of leaving a vehicle of a vehicle are divided into two schemes, but the technical solution to be protected by the embodiment of the present application further includes that the vehicle joins the fleet. The process and the process of leaving the fleet of vehicles in a program implemented in a program. The scheme implemented in one solution due to the process of the vehicle joining the fleet and the process of leaving the fleet of the vehicle is similar to the scheme of the respective embodiments, and will not be described in detail again.

The embodiment of the present application provides a computer storage medium for storing the computer program instructions used by the apparatus provided in the foregoing embodiment of the present application, and includes a program for executing any of the methods provided by the foregoing embodiments of the present application.

The computer storage medium can be any available media or data storage device accessible by a computer, including but not limited to magnetic storage (eg, floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (eg, CD, DVD, BD, HVD, etc.), and semiconductor memories (for example, ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state hard disk (SSD)).

The present application has been described above with reference to block diagrams and/or flowchart illustrations of a method, apparatus (system) and/or computer program product according to embodiments of the present application. It will be understood that one block of the block diagrams and/or flowchart illustrations and combinations of blocks of the block diagrams and/or flowchart illustrations 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 apparatus to produce a machine such that instructions for execution via a computer processor and/or other programmable data processing apparatus are created for A method of implementing the functions/actions specified in the block diagrams and/or flowchart blocks.

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

It is apparent that those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, it is intended that the present invention cover the modifications and variations of the embodiments of the present invention.

Claims (34)

A method for configuring fleet resource, characterized in that the method comprises: The first device in the vehicle of the fleet determines the need to replace the transmission resource pool of the second device in some or all of the vehicles, the first device determines each new device new that needs to replace the transmission resource pool Transmitting a resource pool and replacing the receiving resource pool of the fleet according to the new sending resource pool; The first device configures a new sending resource pool to the second device that needs to replace the sending resource pool, and configures the replaced receiving resource pool to all second devices in the fleet. The method of claim 1 wherein said first device located in the fleet determines a need to replace a transmission resource pool used by a second one of the plurality of vehicles in said fleet, comprising: The first device determines that a second device in some or all of the vehicles in the fleet meets a condition for replacing a transmission 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; and/or The interference of the sending resource pool is greater than the second threshold. The method of claim 1, wherein the first device determines a new transmission resource pool of the second device that needs to replace the sending resource pool, including: The first device acquires, from the base station side, a new sending resource pool of each second device that needs to replace the sending resource pool; or The first device selects an idle resource pool from the resource pool that is stored by itself as a new transmission resource pool of the second device that needs to replace the sending resource pool. The method of claim 1, wherein the first device configures a new transmission resource pool to a second device that needs to replace the transmission resource pool, and configures replacement for all second devices in the fleet After receiving the resource pool, it also includes: If the feedback message indicating that the replacement is successful is returned by all the second devices in the fleet after the first preset time after the configuration is performed, 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 is performed, the first device reconfigures the second device that does not return feedback information. . The method of claim 4, after the reconfiguring the second device that does not return feedback information, the method further includes: If the feedback information returned by the second device that does not return the feedback information is received in the second preset time after the configuration is re-configured, the first device determines that the configuration is successful; If the feedback information returned by the second device that does not return the feedback information is not received in the second preset time after the re-configuration, the first device notifies the second device that needs to replace the sending resource pool. Use the pre-replacement send resource pool and notify all second devices in the fleet to use the pre-replacement receive resource pool. A method for configuring fleet resource, characterized in that the method comprises: a second device in the vehicle of the fleet receives a new transmission resource pool and a replacement reception resource pool of the first device configuration in the vehicle of the fleet; wherein the new transmission resource pool is the first The device is configured for the second device after the device needs to replace the sending resource pool of the second device, and the replaced receiving resource pool is updated according to the new sending resource pool; 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 of 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: Returning, by the second device, the first device to the first device within a first preset time after receiving the new sending resource pool configured by the first device and the replaced receiving resource pool, indicating that the replacement is successful a feedback message, so that the first device determines whether the configuration is successful according to the feedback message. The method of claim 6 further comprising: If it is determined that the new sending resource pool and the replaced receiving resource pool are not used, the second device ignores the new sending resource pool configured by the first device and the replaced receiving resource Pool. The method of claim 8, wherein after the second device ignores the new sending resource pool and the replaced receiving resource pool of the first device configuration, the method further includes: Receiving, by the second device, the new sending resource pool and the replaced receiving resource pool that are reconfigured by the first device; If it is determined that the new sending resource pool and the replaced receiving resource pool are used, the second device is configured according to the new sending resource pool and the replaced receiving resource pool, and is received Returning, by the first device, the feedback message indicating that the replacement is successful, to the first device, in the second preset time after the re-configuring the new sending resource pool and the replaced receiving resource pool Determining, by the first device, 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 second device ignores the new sending resource pool reconfigured by the first device and the replaced Receive resource pools. The method according to claim 9, wherein after the second device ignores the new transmission resource pool and the replaced reception resource pool that are reconfigured by the first device, the method further includes: After receiving the notification of the first device, the second device uses the sending resource pool before the replacement and the receiving resource pool before the replacement. A method for configuring fleet resource, characterized in that the method comprises: a second device located in the vehicle of the fleet receives a replaced receiving resource pool of the first device configuration located in the vehicle of the fleet; wherein the replaced receiving resource pool is based on other seconds in the fleet The new transmission resource pool of the device is updated, and the new transmission resource pool of the other second device is the other device after the first device determines that the transmission resource pool of the other second device needs to be replaced. Equipment configuration 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 according to claim 11, wherein after the second device determines to use the replaced receiving resource pool, the method further includes: Returning, by the second device, a feedback message indicating that the replacement is successful to the first device within a first preset time after receiving the replaced receiving resource pool configured by the first device, so that the The first device determines, according to the feedback message, whether the configuration is successful. The method of claim 11 further comprising: If it is determined that the replaced receiving resource pool is not used, the second device ignores the replaced receiving resource pool configured by the first device. The method according to claim 13, wherein after the second device ignores the replaced receiving resource pool of the first device configuration, the method further includes: Receiving, by the second device, the replaced receiving resource pool that is reconfigured by the first device; If it is determined that the replaced receiving resource pool is used, the second device is configured according to the replaced receiving resource pool, and receives the replaced receiving resource after the first device is reconfigured. Returning, to the first device, a feedback message indicating that the replacement is successful, in the second preset time after the pool, so that the first device determines whether the configuration is successful according to the feedback message; If it is determined that the replaced receiving resource pool is not used, the second device ignores the replaced receiving resource pool that is reconfigured by the first device. The method of claim 10, further comprising: after the second device ignores the replaced receiving resource pool that is reconfigured by the first device, After receiving the notification of the first device, the second device uses the receiving resource pool before the replacement. A first device for configuring fleet resource, characterized in that it comprises: a determining module, configured to determine, after the transmission resource pool of the second device in the part or all of the vehicles in the fleet needs to be replaced, a new transmission resource pool of the second device that needs to replace the sending resource pool, according to the The new sending resource pool replaces the receiving resource pool of the fleet; And a configuration module, configured to configure a new sending resource pool to the second device that needs to replace the sending resource pool, and configure the replaced receiving resource pool to all second devices in the fleet. The first device according to claim 16, wherein the determining module is specifically configured to: Determining that a second device in some or all of the vehicles in the fleet meets a condition for replacing a transmission 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; and/or The interference of the sending resource pool is greater than the second threshold. The first device according to claim 16, wherein the determining module is specifically configured to: Obtaining, from the base station side, a new transmission resource pool of each second device that needs to replace the sending resource pool; or The idle resource pool is selected from the resource pools that are stored by itself as a new transmission resource pool of the second device that needs to replace the sending resource pool. The first device of claim 16, wherein the configuration module is further configured to: After configuring a new sending resource pool to the second device that needs to replace the sending resource pool, and configuring the replaced receiving resource pool to all the second devices in the fleet, if the first preset time after the configuration is performed Receiving a feedback message indicating that the replacement is successful by all the second devices in the fleet, determining that the configuration is successful; if all the second devices in the fleet are not received in the first preset time after the configuration is performed The feedback message is reconfigured for the second device that does not return feedback information. The first device of claim 19, wherein the configuration module is further configured to: After re-configuring the second device that does not return the feedback information, if the feedback information returned by the second device that does not return the feedback information is received within the second preset time after the re-configuration, the configuration is determined to be successful. ; If the feedback information returned by the second device that does not return the feedback information is not received within the second preset time after the re-configuration, notify the second device that needs to replace the sending resource pool to use the pre-replacement transmission. The resource pool, and all the second devices in the fleet are notified to use the pre-replacement receiving resource pool. A second device for configuring fleet resource, characterized in that it comprises: a first receiving module, configured to receive a new sending resource pool and a replaced receiving resource pool of the first device configured in the vehicle of the fleet; wherein the new sending resource pool is determined by the first device After the replacement of the sending resource pool of the second device is configured for the second device, the replaced receiving resource pool is updated according to the new sending resource pool; The first processing module is configured to perform configuration 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 of 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, after receiving the new sending resource pool configured by the first device and the replaced 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 of claim 21, wherein 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, the new sending resource pool configured by the first device and the replaced receiving resource pool are ignored. The second device of claim 23, wherein 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, receiving the new sending resource pool that is reconfigured by the first device, and the replaced Receiving a resource pool; if it is determined to use the new sending resource pool and the replaced receiving resource pool, configuring according to the new sending resource pool and the replaced receiving resource pool, and receiving the Returning, to the first device, a feedback message indicating that the replacement is successful, in the second preset time after the new sending resource pool configured by the first device and the replaced receiving resource pool, Determining, by the first device, 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, ignoring the new configuration that the first device reconfigures Sending a resource pool and the replaced receiving resource pool. The second device of claim 24, wherein 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 the notification of the first device, using the sending resource pool before replacement and before replacing Receive resource pool. A second device for configuring fleet resource, characterized in that it comprises: a second receiving module, configured to receive a replaced receiving resource pool of the first device configuration in the vehicle of the fleet; wherein the replaced receiving resource pool is new according to other second devices in the fleet And sending, by the resource pool, the new sending resource pool of the other second device, where the first device configures the other second device after determining that the sending resource pool of the other second device needs to be replaced; 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 of claim 26, wherein the second processing module is further configured to: After determining to use the replaced receiving resource pool, returning to the first device after the receiving the replaced receiving resource pool configured by the first device indicates that the replacement is successful. a feedback message, so that the first device determines whether the configuration is successful according to the feedback message. The second device of claim 26, wherein the second processing module is further configured to: If it is determined that the replaced receiving resource pool is not used, the replaced receiving resource pool configured by the first device is ignored. The second device of claim 28, wherein the second processing module is further configured to: Receiving the replaced receiving resource pool that is reconfigured by the first device after ignoring the replaced receiving resource pool configured by the first device; and determining to use the replaced receiving resource after determining to use the replaced receiving resource pool The pool is configured according to the replaced receiving resource pool, and after receiving the replaced receiving resource pool that is reconfigured by the first device, to the second preset time Returning, by the device, a feedback message 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 replaced receiving resource pool is not used, ignoring the first device to reconfigure The replacement receiving resource pool. The second device of claim 29, wherein the second processing module is further configured to: After ignoring the replaced receiving resource pool that is reconfigured by the first device, after receiving the notification of the first device, the receiving resource pool before replacement is used. A device for configuring fleet resource allocation, a first device located in a vehicle of a fleet, characterized by comprising: a memory for storing program instructions; a processor, configured to invoke a program instruction stored in the memory, and execute according to the obtained program: After determining that the transmission resource pool of the second device in some or all of the vehicles in the fleet needs to be replaced, determining a new transmission resource pool of each second device that needs to replace the transmission resource pool, and according to the new transmission resource pool Replacing the receiving resource pool of the fleet; A new transmit resource pool is configured to the second device that needs to replace the transmit resource pool, and the replaced receive resource pool is configured to all second devices in the fleet. A device for configuring fleet resource allocation, a second device located in a vehicle of a fleet, characterized by comprising: a memory for storing program instructions; a processor, configured to invoke a program instruction stored in the memory, and execute according to the obtained program: Receiving a new transmission resource pool and a replacement reception resource pool of the first device configuration in the vehicle of the fleet; wherein the new transmission resource pool is that the first device determines that the vehicle located in the fleet needs to be replaced The sending resource pool of the second device is configured for the second device, and the replaced receiving resource pool is updated according to the new sending resource pool; If it is determined that the second device uses the new sending resource pool and the replaced receiving resource pool, configuring according to the new sending resource pool and the replaced receiving resource pool. A device for configuring fleet resource allocation, a second device located in a vehicle of a fleet, characterized by comprising: a memory for storing program instructions; a processor, configured to invoke a program instruction stored in the memory, and execute according to the obtained program: Receiving a replaced receiving resource pool of the first device configuration in the vehicle of the fleet; wherein the replaced receiving resource pool is updated according to a new sending resource pool of other second devices in the fleet, 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 that the second device in the vehicle of the fleet uses the replaced receiving resource pool, the configuration is performed according to the replaced receiving resource pool. A computer storage medium, characterized in that the computer storage medium stores computer executable instructions for causing the computer to perform the method of any one of claims 1 to 15.

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