CN113543063B - Information processing method and device - Google Patents

Abstract

The invention discloses an information processing method and device, relates to the technical field of communication, and aims to improve accuracy of adjustment of intervals among vehicles in vehicle formation. The method comprises the following steps: in a first CAM period, receiving vehicle state information sent by a second terminal, wherein the second terminal is positioned in a member vehicle of the vehicle formation system; acquiring data packet loss information in a first CAM period; determining first adjustment information of a CAM period according to the vehicle state information and the data packet loss information; and sending the first adjustment information to the second terminal. The method and the device can improve the accuracy of adjusting the distance between the vehicles in the vehicle formation.

Description

Information processing method and device

Technical Field

The present invention relates to the field of communication technology, and in particular to an information processing method and device.

Background Art

Vehicle platooning, where multiple vehicles travel in a stable queue with a certain distance between vehicles, can increase road capacity by reducing the distance between vehicles, while allowing each vehicle to benefit from the vehicle in front and reduce air resistance, thereby reducing fuel consumption.

At present, the research on vehicle platooning technology mainly focuses on how to ensure the stability of the platoon, that is, to ensure that the spacing error between vehicles in the platoon (the difference between the actual vehicle spacing and the target spacing) approaches zero. The smaller the target spacing, the more stringent the conditions for maintaining stability.

There are two main technologies used for vehicle-to-vehicle communication: DSRC (Dedicated Short Range Communication) and C-V2X (Cellular-Vehicle-to-everything). Compared with DSRC, C-V2X also has the advantages of larger coverage, higher transmission reliability and lower latency.

C-V2X provides a PC5 communication interface for direct communication between UEs (applicable to communication between the head vehicle and member vehicles in a vehicle formation). This interface includes two resource allocation methods:

Mode 3, centralized resource allocation, the UE requests transmission resources from the eNodeB (base station), and then the eNodeB allocates resources using a semi-persistent, dynamic scheduling method;

Mode 4, distributed resource allocation, does not involve cellular infrastructure, and UEs make resource selections autonomously.

In actual vehicle direct communication, distributed resource allocation is usually more advantageous than centralized resource allocation from the perspective of latency and overhead. In addition, if the speed of the vehicles connected to the base station is large, frequent switching may be required. For these reasons, PC5 Mode 4 technology, which is independent of the base station, is used in the V2V (vehicle to vehicle) communication of the vehicle formation.

Since Mode 4 is based only on perception and semi-persistence, and once a packet conflict occurs, the related vehicles will not be aware of the resource conflict due to the half-duplex effect, so the semi-persistent feature will cause continuous conflicts until resource reselection is entered, and the sender will not be aware of it. In addition, although persistent packet conflicts can be avoided by resource reselection, they may also cause additional conflicts with a certain probability. These conflicts greatly reduce the performance of vehicle formations, so they need to be optimized.

The prior art proposes a congestion control method, which adjusts the network congestion (i.e., conflict) according to CBR (Channel Busy Rate) and channel occupancy rate. However, in the process of implementing the present invention, the inventors found that the accuracy of adjusting the distance between vehicles in the vehicle formation according to the existing method is not high.

Summary of the invention

The embodiments of the present invention provide an information processing method and device to improve the accuracy of adjusting the spacing between vehicles in a vehicle formation.

In a first aspect, an embodiment of the present invention provides an information processing method, which is applied to a first terminal, wherein the first terminal is located in a head vehicle of a vehicle formation system; the method comprises:

receiving vehicle status information sent by a second terminal within a first CAM (Cooperative Awareness Message) cycle, wherein the second terminal is located in a member vehicle of the vehicle platooning system;

Obtaining packet loss information in a first CAM cycle;

Determining first adjustment information of a CAM cycle according to the vehicle state information and the data packet loss information;

Send the first adjustment information to the second terminal.

Wherein, the vehicle status information includes the distance between the member vehicle and the preceding vehicle of the member vehicle; the data packet loss information includes the data packet loss rate;

The determining, according to the vehicle state information and the data packet loss information, first adjustment information of the CAM cycle includes:

Calculate, according to the interval sent by at least one of the second terminals, the interval error between each of the intervals and the target interval;

Calculate the average value of the spacing error according to the spacing error;

If the average value of the spacing error is greater than or equal to the average value of the spacing error in the previous CAM cycle, comparing the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle;

If the average value of the spacing error is less than the average value of the spacing error in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle, reducing the CAM cycle;

If the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle, the CAM cycle is increased.

Wherein, in the case of reducing the CAM cycle, the first adjustment value of the CAM cycle is a first value, wherein the first value is less than 0;

In case of increasing the CAM cycle, the first adjustment value of the CAM cycle is a second value, wherein the second value is greater than zero.

If the first CAM cycle is greater than 100, the absolute value of the first value is 100, otherwise, the absolute value of the first value is 50/30;

If the first CAM period is greater than or equal to 100, the second value is 100, otherwise, the second value is 50/30.

After sending the first adjustment information to the second terminal, the method further includes:

receiving second adjustment information of the CAM period sent by the second terminal;

Third adjustment information of a CAM cycle is determined according to the first adjustment information and the second adjustment information.

The first adjustment information includes a first adjustment value, and the second adjustment information includes an adjustment value of a CAM period of the second terminal;

The determining, according to the first adjustment information and the second adjustment information, third adjustment information of the CAM cycle includes:

Calculating a CAM cycle adjustment average value according to at least one CAM cycle adjustment value sent by the second terminal;

Calculating an average of the first adjustment value and the CAM cycle adjustment average value;

Calculate a first difference between the average value and the first adjustment value, and a second difference between the average value and 0;

If the absolute value of the first difference is less than or equal to the absolute value of the second difference, the adjustment value of the CAM cycle is determined to be the first adjustment value; otherwise, the CAM cycle is determined to remain unchanged.

In a second aspect, an embodiment of the present invention provides an information processing method, which is applied to a second terminal, wherein the second terminal is located in a member vehicle of a vehicle formation system; the method comprises:

Receiving first adjustment information of a CAM cycle sent by a first terminal;

Determine the spacing error and data packet loss information of the member vehicle in the first CAM cycle; wherein the spacing error is the spacing error between the member vehicle and the preceding vehicle of the member vehicle;

Determining adjustment reference information of the CAM cycle according to the spacing error and the packet loss information;

Fourth adjustment information of a CAM cycle is determined according to the first adjustment information and the adjustment reference information.

Wherein, the data packet loss information includes data packet loss rate;

The step of determining adjustment reference information of the CAM cycle according to the spacing error and the data packet loss information includes:

If the spacing error is greater than the spacing error in the previous CAM cycle, comparing the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle;

If the spacing error is less than or equal to the spacing error in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle, reducing the CAM cycle;

If the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle, the CAM cycle is increased.

Wherein, in the case of reducing the CAM cycle, the second adjustment value of the CAM cycle is a third value, wherein the third value is less than 0;

In case of increasing the CAM cycle, the second adjustment value of the CAM cycle is a fourth value, wherein the fourth value is greater than zero.

If the first CAM cycle is greater than 100, the absolute value of the third value is 100, otherwise, the absolute value of the third value is 50/30;

If the first CAM cycle is greater than or equal to 100, the fourth value is 100, otherwise, the fourth value is 50/30.

Wherein, the first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value;

The determining, according to the first adjustment information and the adjustment reference information, fourth adjustment information of the CAM cycle includes:

calculating an average of the first adjustment value and the second adjustment value;

Calculating a third difference between the average value and the second adjustment value, and a fourth difference between the average value and 0;

If the absolute value of the third difference is less than or equal to the absolute value of the fourth difference, the adjustment value of the CAM cycle is determined to be the second adjustment value; otherwise, the CAM cycle is determined to remain unchanged.

Wherein, the method further comprises:

The fourth adjustment information is sent to the first terminal, where the fourth adjustment information includes the second adjustment value.

In a third aspect, an embodiment of the present invention provides an information processing device, applied to a first terminal, wherein the first terminal is located in a head vehicle of a vehicle formation system; the device comprises:

A first receiving module, configured to receive vehicle status information sent by a second terminal in a first CAM cycle, wherein the second terminal is located in a member vehicle of the vehicle platoon system;

A first acquisition module, used to acquire data packet loss information in a first CAM cycle;

A first determining module, configured to determine first adjustment information of a CAM cycle according to the vehicle state information and the data packet loss information;

The first sending module is used to send the first adjustment information to the second terminal.

Wherein, the vehicle status information includes the distance between the member vehicle and the preceding vehicle of the member vehicle; the data packet loss information includes the data packet loss rate;

The first determining module comprises:

A first calculation submodule, used for calculating an average value of the spacing error according to the spacing error;

a first comparison submodule, configured to compare the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle if the spacing error average value is greater than or equal to the spacing error average value in the previous CAM cycle;

A first determination submodule, configured to reduce a CAM cycle if the spacing error average value is smaller than the spacing error average value in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is smaller than the data packet loss rate in the previous CAM cycle;

The second determining submodule is configured to increase the CAM cycle if the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle.

Wherein, in the case of reducing the CAM cycle, the first adjustment value of the CAM cycle is a first value, wherein the first value is less than 0;

In case of increasing the CAM cycle, the first adjustment value of the CAM cycle is a second value, wherein the second value is greater than zero.

Wherein, the device further comprises:

A second receiving module, configured to receive second adjustment information of the CAM period sent by the second terminal;

The second determining module is used to determine third adjustment information of the CAM cycle according to the first adjustment information and the second adjustment information.

The first adjustment information includes a first adjustment value, and the second adjustment information includes an adjustment value of a CAM period of the second terminal;

The second determining module comprises:

A first calculation submodule, configured to calculate a CAM cycle adjustment average value according to an adjustment value of a CAM cycle sent by at least one of the second terminals;

A second calculation submodule, configured to calculate an average value of the first adjustment value and the CAM cycle adjustment average value;

A third calculation submodule, used for calculating a first difference between the average value and the first adjustment value, and a second difference between the average value and 0;

The first determination submodule is configured to determine that the adjustment value of the CAM cycle is the first adjustment value if the absolute value of the first difference is less than or equal to the absolute value of the second difference; otherwise, determine that the CAM cycle remains unchanged.

In a fourth aspect, an embodiment of the present invention provides an information processing device, applied to a second terminal, wherein the second terminal is located in a member vehicle of a vehicle formation system; the device comprises:

A first receiving module, configured to receive first adjustment information of a CAM cycle sent by a first terminal;

A first determination module is used to determine the spacing error and data packet loss information of the member vehicle in the first CAM cycle; wherein the spacing error is the spacing error between the member vehicle and the preceding vehicle of the member vehicle;

A second determining module, configured to determine adjustment reference information of the CAM cycle according to the spacing error and the packet loss information;

The third determining module is used to determine fourth adjustment information of the CAM cycle according to the first adjustment information and the adjustment reference information.

Wherein, the data packet loss information includes data packet loss rate;

The second determining module comprises:

a first comparison submodule, configured to compare the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle if the spacing error is greater than the spacing error in the previous CAM cycle;

A first determination submodule, configured to reduce the CAM cycle if the spacing error is less than or equal to the spacing error in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle;

The second determining submodule is configured to increase the CAM cycle if the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle.

Wherein, the first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value;

The third determination module comprises:

A first calculation submodule, configured to calculate an average of the first adjustment value and the second adjustment value;

a second calculation submodule, configured to calculate a third difference between the average value and the second adjustment value, and a fourth difference between the average value and 0;

The first determination submodule is configured to determine that the adjustment value of the CAM cycle is the second adjustment value if the absolute value of the third difference is less than or equal to the absolute value of the fourth difference; otherwise, determine that the CAM cycle remains unchanged.

Wherein, the device further comprises:

The first sending module is configured to send the fourth adjustment information to the first terminal, where the fourth adjustment information includes the second adjustment value.

In the embodiment of the present invention, the adjustment information of the CAM cycle is determined according to the data packet loss information in the first CAM cycle and the vehicle status information of other member vehicles, and the adjustment information is sent to the member vehicles. Since the determination of the adjustment information not only considers the vehicle status information but also the data packet loss, the adjustment information determined by the solution of the embodiment of the present invention is more accurate, thereby improving the accuracy of the spacing adjustment between the vehicles in the vehicle formation.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

FIG1 is a schematic diagram of a vehicle platooning system provided by an embodiment of the present invention;

FIG2 is a flowchart of an information processing method according to an embodiment of the present invention;

FIG3 is a schematic diagram of step 203 provided in an embodiment of the present invention;

FIG4 is a second flowchart of the information processing method provided by an embodiment of the present invention;

FIG5 is a schematic diagram of step 406 provided in an embodiment of the present invention;

FIG6 is a third flowchart of the information processing method provided by an embodiment of the present invention;

FIG7 is a schematic diagram of step 604 provided in an embodiment of the present invention;

FIG8 is a structural diagram of an information processing device provided by an embodiment of the present invention;

9 is a structural diagram of a first determination module provided in an embodiment of the present invention;

10 is a second structural diagram of the information processing device provided by an embodiment of the present invention;

FIG11 is a structural diagram of a second determination module according to an embodiment of the present invention;

12 is a third structural diagram of the information processing device provided by an embodiment of the present invention;

13 is a second structural diagram of the second determination module provided in an embodiment of the present invention;

14 is a structural diagram of a third determination module provided in an embodiment of the present invention;

15 is a fourth structural diagram of the information processing device provided by an embodiment of the present invention;

FIG16 is a structural diagram of an information processing device provided by an embodiment of the present invention;

FIG. 17 is a second structural diagram of the information processing device provided in an embodiment of the present invention.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

As shown in Fig. 1, it is a schematic diagram of a vehicle platoon system according to an embodiment of the present invention, wherein the vehicles in the vehicle platoon system are divided into two types: "lead vehicle" and "member vehicles".

The member vehicle reports its vehicle status information to the lead vehicle at regular intervals. The vehicle status information is obtained through sensors installed on the member vehicle, including the distance between the member vehicle and the leading vehicle and the current driving speed of the member vehicle.

Due to the half-duplex nature, the lead vehicle is set to be in a listening state when not sending, and the member vehicle information received will be stored in the lead vehicle's information pool. New information of the same type from the same vehicle will overwrite the old information to ensure the freshness of the information (i.e., reduce the age of the information). In addition, the lead vehicle will also process the collected information regularly, that is, calculate the acceleration that each member vehicle should perform based on this information and the control algorithm, and then convey this acceleration information to the member vehicles. Similarly, the member vehicles are always listening when not sending information, and if they hear new acceleration information, they will use it to control the movement at the next moment.

Whether it is vehicle status information reported by member vehicles to the lead vehicle, or control information conveyed by the lead vehicle to member vehicles, it can be sent in the form of CAM, that is, in the form of periodic broadcasting through the resource allocation method specified in C-V2X Mode4 to autonomously select resources for transmission.

The system shown in Figure 1 may have the following two types of conflicts. The first conflict is called half-duplex error. Because C-V2X uses half-duplex transmission, sending and receiving cannot be performed at the same time. If the member car broadcasts status information At that time, the leading vehicle was also broadcasting information That is, they choose different sub-channels of the same TTI (transmission time interval) to send data, and this conflict will occur. The second conflict situation is called Collision, that is, two data packets and Occupying the same resource leads to conflict.

In the above system, the degree of network congestion is closely related to the cycle of CAM. By increasing the cycle of CAM, the number of data packets in the communication network can be reduced, thereby reducing conflicts. However, blindly increasing the cycle of CAM will lead to an increase in the age of information. For the transmission of time-related (time-varying) information, this method is obviously not desirable. Therefore, in an embodiment of the present invention, a dynamic congestion adjustment mechanism is adopted, which aims to dynamically adjust the CAM cycle of different vehicles in a targeted manner according to the real-time formation performance and network congestion situation, so that the spacing adjustment between vehicles in the vehicle formation system is more accurate.

The specific implementation process of the embodiments of the present invention is described in detail below in combination with different embodiments.

Referring to FIG. 2 , FIG. 2 is a flow chart of an information processing method provided by an embodiment of the present invention, which is applied to a first terminal, wherein the first terminal is located in the head vehicle of a vehicle formation system. As shown in FIG. 2 , the following steps are included:

Step 201: receiving vehicle status information sent by a second terminal within a first CAM cycle, wherein the second terminal is located in a member vehicle of the vehicle platoon system.

The first CAM cycle may refer to the current CAM cycle when executing the embodiment of the present invention. The terminal in the embodiment of the present invention may be a vehicle-mounted terminal, a mobile terminal such as a mobile phone, etc. The vehicle status information includes the distance between the member vehicle and the preceding vehicle of the member vehicle, and may also include the driving speed of the member vehicle, etc.

The second terminal may send the vehicle status information to the first terminal via the CAM, and correspondingly, the first terminal receives the vehicle status information sent by the second terminal.

Step 202: Obtain data packet loss information in the first CAM cycle.

In the embodiment of the present invention, the data packet loss information mainly refers to the data packet loss rate. In practical applications, the first terminal can determine the data packet loss rate according to information such as signal reception quality.

Step 203: Determine first adjustment information of a CAM cycle according to the vehicle state information and the data packet loss information.

In the embodiment of the present invention, in addition to calculating the acceleration that the member vehicles should perform, the first terminal also needs to take the average value of the spacing error and the packet loss rate, and output the plus/minus value of the CAM cycle. Subsequently, the plus/minus value and the acceleration value that the member vehicles should perform are packaged into CAM information for broadcast. Among them, the first adjustment information may include the adjustment method, the value of the adjustment, etc.

Specifically, as shown in FIG3 , this step may include:

Step 2031: The first terminal calculates the spacing error between each of the spacings and the target spacing according to the spacing sent by at least one of the second terminals.

The target distance may be a preset value. The distance error may be, for example, a difference between the distance sent by the second terminal and the target distance.

Step 2032: Calculate an average value of the spacing error based on the spacing error.

Step 2033: compare the average value of the spacing error with the average value of the spacing error in the previous CAM cycle.

If the average value of the spacing error is greater than or equal to the average value of the spacing error in the previous CAM cycle, it indicates that the performance is degraded, and step 2034 is executed. If the average value of the spacing error is less than the average value of the spacing error in the previous CAM cycle, step 2035 is executed.

Step 2034: Compare the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle.

If the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle, it means that the performance degradation is caused by the excessive age of the information, and step 2035 is executed. Otherwise, it means that the performance degradation is caused by excessive network congestion, and step 2036 is executed.

Step 2035, reduce the CAM cycle.

Step 2036: Increase the CAM cycle.

In the embodiment of the present invention, if the CAM cycle needs to be reduced, a value less than 0 may be output. In various practical applications, the initial value of the CAM cycle may be set to a larger value. Therefore, if the current performance is better than the performance of the previous CAM cycle, the CAM cycle may be appropriately shortened to seek further performance improvement. If the CAM cycle needs to be increased, a value greater than 0 may be output.

Specifically, in the case of reducing the CAM cycle, the first adjustment value of the CAM cycle is a first value, wherein the first value is less than 0. That is, in this case, the first adjustment value sent by the first terminal to the second terminal is a value less than 0. In the case of increasing the CAM cycle, the first adjustment value of the CAM cycle is a second value, wherein the second value is greater than 0. That is, in this case, the first adjustment value sent by the first terminal to the second terminal is a value greater than 0.

According to regulations, the CAM cycle should be within the set {20,50,100,200,300,400,500,600,700,800,900,1000}.

In the embodiment of the present invention, if the first CAM cycle is greater than 100, the absolute value of the first value is 100; otherwise, the absolute value of the first value is 50/30. That is, if the first CAM cycle is greater than 100, the first value is -100; otherwise, the first value is -50/30. If the first CAM cycle is greater than or equal to 100, the second value is 100, otherwise, the second value is 50/30.

Step 204: Send the first adjustment information to the second terminal.

In the embodiment of the present invention, the first terminal may send the first adjustment information to the second terminal through the CAM, wherein the first adjustment information may include the first value or the second value mentioned above.

In the embodiment of the present invention, the adjustment information of the CAM cycle is determined according to the data packet loss information in the first CAM cycle and the vehicle status information of other member vehicles, and the adjustment information is sent to the member vehicles. Since the determination of the adjustment information not only considers the vehicle status information but also the data packet loss, the adjustment information determined by the solution of the embodiment of the present invention is more accurate, thereby improving the accuracy of the spacing adjustment between the vehicles in the vehicle formation.

On the basis of the above embodiment, in order to further improve the accuracy of the interval adjustment, the first terminal may further adjust the CAM cycle according to the feedback information of the member vehicles, so as to determine the final CAM cycle.

Specifically, see Figure 4, which is a flow chart of an information processing method provided by an embodiment of the present invention, which is applied to a first terminal, wherein the first terminal is located in the head vehicle of the vehicle formation system. As shown in Figure 4, the following steps are included:

Step 401 - step 404 , please refer to the description of steps 201 - 204 .

Step 405: Receive second adjustment information of the CAM period sent by the second terminal.

The second adjustment information is adjustment information determined after the member vehicle adjusts its own CAM cycle according to the received first adjustment information, for example, it may include an adjustment value of the CAM cycle, etc.

Step 406: Determine third adjustment information of the CAM cycle according to the first adjustment information and the second adjustment information.

Since the acceleration information contained in the CAM of the lead vehicle is related to the state information contained in the CAM of the member vehicles, the CAM cycle adjustment of the lead vehicle is affected by the CAM cycle adjustment of all member vehicles. Specifically, referring to FIG. 5 , this step may include:

Step 4061: Calculate a CAM cycle adjustment average value according to an adjustment value of a CAM cycle sent by at least one of the second terminals.

Specifically, it is assumed that the CAM cycle adjustment values heard from the member vehicles are {S _m1 , S _m2 , …, S _mn }, and their average value is S _m .

Step 4062: Calculate the average of the first adjustment value and the CAM cycle adjustment average value.

Assume that the first adjustment value is denoted by S _l , and take the average of S _m and S _l :

Step 4063: Calculate a first difference between the average value and the first adjustment value, and a second difference between the average value and 0.

Step 4064: Compare the absolute value of the first difference with the absolute value of the second difference.

Step 4065: If the absolute value of the first difference is greater than the absolute value of the second difference, it is determined that the CAM cycle remains unchanged.

Step 4066: If the absolute value of the first difference is less than or equal to the absolute value of the second difference, determine that the adjustment value of the CAM cycle is the first adjustment value.

Finally, the first terminal adjusts its own CAM cycle according to the determined adjustment value.

In an embodiment of the present invention, the adjustment information of the CAM cycle is determined based on the data packet loss information in the first CAM cycle and the vehicle status information of other member vehicles, and the adjustment information is sent to the member vehicles. Since the determination of the adjustment information not only takes into account the vehicle status information but also the data packet loss, the adjustment information determined by the scheme of the embodiment of the present invention is more accurate, thereby improving the accuracy of the spacing adjustment between the vehicles in the vehicle formation. In addition, the first terminal further determines the adjustment value of its own CAM cycle based on the feedback from each second terminal, thereby further ensuring the timeliness of CAM transmission to improve the accuracy of spacing adjustment.

Referring to FIG6 , FIG6 is a flow chart of an information processing method provided by an embodiment of the present invention, which is applied to a second terminal, wherein the second terminal is located in a member vehicle of a vehicle formation system. As shown in FIG6 , the method includes the following steps:

Step 601: Receive first adjustment information of a CAM cycle sent by a first terminal.

The first adjustment information may include a first adjustment value determined by the first terminal in the aforementioned manner.

Step 602: Determine the distance error and data packet loss information of the member vehicle in the first CAM cycle; wherein the distance error is the distance error between the member vehicle and the preceding vehicle of the member vehicle.

In addition to executing the acceleration assigned by the lead vehicle, the member vehicles also need to calculate the spacing error and data packet loss information within the first CAM cycle. The spacing error can be the difference between the spacing at a certain moment and the target spacing, or the difference between the current spacing of the member vehicles and the target spacing can be calculated at regular intervals within the first CAM cycle, and then the average of the multiple differences obtained is used as the spacing error here. The target spacing can be a preset value.

The data packet loss information includes a data packet loss rate. In practical applications, the data packet loss rate is a statistical value.

Step 603: Determine adjustment reference information for the CAM cycle according to the spacing error and the data packet loss information.

In this step, the second terminal needs to determine the adjustment reference information of the CAM cycle according to the spacing error and the data packet loss rate. Specifically, if the spacing error is greater than the spacing error in the previous CAM cycle, the data packet loss rate in the first CAM cycle is compared with the data packet loss rate in the previous CAM cycle.

If the spacing error is less than or equal to the spacing error in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle, then the CAM cycle is reduced. If the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle, then the CAM cycle is increased.

When the CAM cycle is reduced, the second adjustment value of the CAM cycle is a third value, wherein the third value is less than 0; when the CAM cycle is increased, the second adjustment value of the CAM cycle is a fourth value, wherein the fourth value is greater than 0.

According to regulations, the CAM cycle should be within the set {20,50,100,200,300,400,500,600,700,800,900,1000}.

In the embodiment of the present invention, if the first CAM cycle is greater than 100, the absolute value of the third value is 100; otherwise, the absolute value of the third value is 50/30. That is, if the first CAM cycle is greater than 100, the third value is -100; otherwise, the third value is -50/30. If the first CAM cycle is greater than or equal to 100, the fourth value is 100, otherwise, the fourth value is 50/30.

Step 604: Determine fourth adjustment information of the CAM cycle according to the first adjustment information and the adjustment reference information.

Specifically, the second terminal combines the adjustment reference information determined by itself with the first adjustment information to determine the fourth adjustment information of the CAM cycle.

Referring to FIG. 7 , this step may include:

Step 6041: Calculate the average of the first adjustment value and the second adjustment value.

Assume that the first adjustment is S _m and the second adjustment is S _l . Take the average of S _m and S _l :

Step 6042: Calculate a third difference between the average value and the second adjustment value, and a fourth difference between the average value and 0.

Step 6043: Compare the absolute value of the third difference with the absolute value of the fourth difference.

Step 6044: If the absolute value of the third difference is less than or equal to the absolute value of the fourth difference, determine that the adjustment value of the CAM cycle is the second adjustment value.

Step 6045: If the absolute value of the third difference is greater than the absolute value of the fourth difference, it is determined that the CAM cycle remains unchanged.

The second terminal adjusts its own CAM cycle according to the adjustment value determined in the above manner, and packages the final adjustment value and the sensed vehicle status information into CAM information, and broadcasts it to the leading vehicle in the next cycle.

In the embodiment of the present invention, the adjustment information of the CAM cycle is determined according to the data packet loss information in the first CAM cycle and the vehicle status information of other member vehicles, and the adjustment information is sent to the member vehicles. Since the determination of the adjustment information not only considers the vehicle status information but also the data packet loss, the adjustment information determined by the solution of the embodiment of the present invention is more accurate, thereby improving the accuracy of the spacing adjustment between the vehicles in the vehicle formation.

In one embodiment of the present invention, if a convoy consists of 3 vehicles, 1 is the lead vehicle and 2 are member vehicles, each member vehicle needs to maintain a target distance of 10m with the leading vehicle. Assume that the CAM cycle of the current member vehicle 2 is 100ms, the CAM cycle of the member vehicle 3 is 200ms, and the CAM cycle of the lead vehicle is 500ms. Assume that the distance errors of the member vehicles in the previous CAM cycle are The spacing errors of the current CAM cycle are The loss rate of the data packet received by the leading vehicle in the previous CAM cycle is The loss rate of the data packets received in the current CAM cycle is The loss rates of the data packets received by the member vehicles in the previous CAM cycle are The loss rates of the data packets received in the current CAM cycle are The CAM cycle dynamic adjustment process is as follows:

(1) At the head vehicle end, calculate the average spacing error of the current CAM cycle: Average value of spacing error with the previous CAM cycle In comparison, the performance has decreased (D ^cur >D ^pre ), so a packet loss rate comparison is performed.

because Therefore, the performance degradation is caused by the excessive age of information, and the output CAM cycle is reduced by β. Since the CAM cycle of the current head car is 500ms, β is taken as 100ms.

(2) The lead vehicle broadcasts the CAM cycle adjustment value S _l = -β = -100 ms to the member vehicles.

(3) At the member vehicle 2, compare the spacing error of the current CAM cycle Spacing error from the previous CAM cycle It is found that the performance is improved (D ^cur <D ^pre ), and in order to seek further performance improvement, the output CAM cycle is reduced by β. Since the CAM cycle of the current member vehicle 2 is 100 ms, β is taken as 50 ms, that is, S _m = -β = -50 ms.

(3) At the member vehicle 2, S _m = -50 ms and S _l = -100 ms are calculated according to the CAM cycle adjustment method of the member vehicle mentioned above.

The value is 25 m away from S _m and 75 m away from 0. Moreover, 25 m<75 m (|S _l -S _m |＜|S _l +S _m |), so the CAM period of member vehicle 2 is adjusted from 100 ms to 50 ms.

(4) Member vehicle 2 broadcasts the CAM cycle adjustment value S _m1 = -50 ms to the lead vehicle.

(5) At the member vehicle 3, compare the spacing error of the current CAM cycle Spacing error from the previous CAM cycle It is found that the performance has degraded (D ^cur > D ^pre ), so the packet loss rate is compared. Therefore, the performance degradation is caused by the excessive age of information, and the output CAM cycle is reduced by β. Since the CAM cycle of the current head vehicle is 200ms, β is set to 100ms, that is, S _m = -β = -100ms.

(6) At member 3, S _m = -100 ms and S _l = -100 ms are calculated according to the CAM cycle adjustment method of the member vehicle mentioned above. The distance between this value and S _m is 0 m, and the distance between this value and 0 is 100 m. Moreover, 0 m<100 m (|S _l -S _m |＜|S _l +S _m |), so the CAM period of the member vehicle 3 is adjusted from 200 ms to 100 ms.

(7) Member vehicle 3 broadcasts the CAM cycle adjustment value S _m2 = -100 ms to the lead vehicle.

(8) At the leading vehicle end, the leading vehicle takes the average of the CAM cycle adjustment values heard by all member vehicles.

The average adjustment value _Sm of the member vehicles and the adjustment value _Sl calculated by the lead vehicle itself are averaged to obtain The distance between this value and S _l is 12.5 m, and the distance between this value and 0 is 87.5 m. Moreover, 12.5 m<87.5 m (|S _l -S _m |＜|S _l +S _m |), so the CAM cycle of the lead vehicle is adjusted from 500 ms to 400 ms.

The embodiment of the present invention further provides an information processing device, which is applied to a first terminal. The first terminal is located in the head vehicle of the vehicle formation system. See FIG8 , which is a structural diagram of the information processing device provided by the embodiment of the present invention. Since the principle of solving the problem by the information processing device is similar to the information processing method in the embodiment of the present invention, the implementation of the information processing device can refer to the implementation of the method, and the repeated parts will not be repeated.

As shown in FIG8 , the information processing device 800 includes: a first receiving module 801, used to receive vehicle status information sent by a second terminal within a first CAM cycle, wherein the second terminal is located in a member vehicle of the vehicle platoon system; a first acquisition module 802, used to obtain data packet loss information within the first CAM cycle; a first determination module 803, used to determine first adjustment information of the CAM cycle based on the vehicle status information and the data packet loss information; and a first sending module 804, used to send the first adjustment information to the second terminal.

Optionally, the vehicle status information includes the distance between the member vehicle and the preceding vehicle of the member vehicle; the data packet loss information includes the data packet loss rate. As shown in FIG9 , the first determination module 803 includes:

The first calculation submodule 8031 is used to calculate an average spacing error value based on the spacing error; the first comparison submodule 8032 is used to compare the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle if the average spacing error value is greater than or equal to the average spacing error value in the previous CAM cycle; the first determination submodule 8033 is used to reduce the CAM cycle if the average spacing error value is less than the average spacing error value in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle; the second determination submodule 8034 is used to increase the CAM cycle if the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle.

Optionally, when reducing the CAM cycle, the first adjustment value of the CAM cycle is a first value, wherein the first value is less than 0; when increasing the CAM cycle, the first adjustment value of the CAM cycle is a second value, wherein the second value is greater than 0.

The values of the first value and the second value may refer to the description of the above-mentioned embodiment.

Optionally, as shown in FIG10 , the device may further include:

The second receiving module 805 is used to receive second adjustment information of the CAM cycle sent by the second terminal; the second determining module 806 is used to determine third adjustment information of the CAM cycle according to the first adjustment information and the second adjustment information.

Optionally, the first adjustment information includes a first adjustment value, and the second adjustment information includes an adjustment value of the CAM period of the second terminal. As shown in FIG11 , the second determination module 806 includes:

The first calculation submodule 8051 is used to calculate the CAM cycle adjustment average value according to the adjustment value of the CAM cycle sent by at least one of the second terminals; the second calculation submodule 8052 is used to calculate the average value of the first adjustment value and the CAM cycle adjustment average value; the third calculation submodule 8053 is used to calculate the first difference between the average value and the first adjustment value, and the second difference between the average value and 0; the first determination submodule 8054 is used to determine that the CAM cycle adjustment value is the first adjustment value if the absolute value of the first difference is less than or equal to the absolute value of the second difference; otherwise, determine that the CAM cycle remains unchanged.

The device provided in the embodiment of the present invention can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

The embodiment of the present invention further provides an information processing device, which is applied to a second terminal. The second terminal is located in a member vehicle of the vehicle formation system. Referring to FIG. 12 , FIG. 12 is a structural diagram of the information processing device provided by the embodiment of the present invention. Since the principle of solving the problem by the information processing device is similar to the information processing method in the embodiment of the present invention, the implementation of the information processing device can refer to the implementation of the method, and the repeated parts will not be repeated.

As shown in FIG. 12 , the information processing device 1200 includes:

The first receiving module 1201 is used to receive the first adjustment information of the CAM cycle sent by the first terminal; the first determining module 1202 is used to determine the spacing error and data packet loss information of the member vehicles within the first CAM cycle; wherein the spacing error is the spacing error between the member vehicle and the preceding vehicle of the member vehicle; the second determining module 1203 is used to determine the adjustment reference information of the CAM cycle according to the spacing error and the data packet loss information; the third determining module 1204 is used to determine the fourth adjustment information of the CAM cycle according to the first adjustment information and the adjustment reference information.

Optionally, the data packet loss information includes a data packet loss rate. As shown in FIG13 , the second determination module 1203 includes:

The first comparison submodule 12031 is used to compare the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle if the spacing error is greater than the spacing error in the previous CAM cycle; the first determination submodule 12032 is used to reduce the CAM cycle if the spacing error is less than or equal to the spacing error in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle; the second determination submodule 12033 is used to increase the CAM cycle if the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle.

Optionally, the first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value. As shown in FIG14 , the third determination module 1204 includes:

The first calculation submodule 12041 is used to calculate the average value of the first adjustment value and the second adjustment value; the second calculation submodule 12042 is used to calculate the third difference between the average value and the second adjustment value, and the fourth difference between the average value and 0; the first determination submodule 12043 is used to determine that the adjustment value of the CAM cycle is the second adjustment value if the absolute value of the third difference is less than or equal to the absolute value of the fourth difference; otherwise, determine that the CAM cycle remains unchanged.

Optionally, as shown in FIG15 , the device may further include:

The first sending module 1205 is configured to send the fourth adjustment information to the first terminal, where the fourth adjustment information includes the second adjustment value.

The device provided in the embodiment of the present invention can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

The embodiment of the present invention further provides an information processing device. As shown in FIG16 , the terminal of the embodiment of the present invention includes: a processor 1600 configured to read a program in a memory 1620 and execute the following process:

In a first cooperative awareness message CAM period, receiving vehicle status information sent by a second terminal, wherein the second terminal is located in a member vehicle of the vehicle formation system;

Obtaining packet loss information in a first CAM cycle;

Determining first adjustment information of a CAM cycle according to the vehicle state information and the data packet loss information;

Send the first adjustment information to the second terminal.

The transceiver 1610 is configured to receive and send data under the control of the processor 1600 .

Among them, in Figure 16, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1600 and various circuits of memory represented by memory 1620 are linked together. The bus architecture can also link various other circuits such as peripherals, regulators, and power management circuits together, which are all well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1610 can be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. For different user devices, the user interface 1630 can also be an interface that can be connected to external or internal devices, and the connected devices include but are not limited to keypads, displays, speakers, microphones, joysticks, etc.

The processor 1600 is responsible for managing the bus architecture and general processing, and the memory 1620 can store data used by the processor 1600 when performing operations.

The vehicle status information includes the distance between the member vehicle and the preceding vehicle of the member vehicle; the data packet loss information includes the data packet loss rate; the processor 1600 is further used to read the program and execute the following steps:

Calculate, according to the interval sent by at least one of the second terminals, the interval error between each of the intervals and the target interval;

Calculate the average value of the spacing error according to the spacing error;

If the average value of the spacing error is greater than or equal to the average value of the spacing error in the previous CAM cycle, comparing the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle;

If the average value of the spacing error is less than the average value of the spacing error in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle, reducing the CAM cycle;

If the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle, the CAM cycle is increased.

Wherein, in the case of reducing the CAM cycle, the first adjustment value of the CAM cycle is a first value, wherein the first value is less than 0;

In case of increasing the CAM cycle, the first adjustment value of the CAM cycle is a second value, wherein the second value is greater than zero.

If the first CAM cycle is greater than 100, the absolute value of the first value is 100, otherwise, the absolute value of the first value is 50/30;

If the first CAM period is greater than or equal to 100, the second value is 100, otherwise, the second value is 50/30.

The processor 1600 is further configured to read the program and execute the following steps:

receiving second adjustment information of the CAM period sent by the second terminal;

Third adjustment information of a CAM cycle is determined according to the first adjustment information and the second adjustment information.

The first adjustment information includes a first adjustment value, and the second adjustment information includes an adjustment value of the CAM period of the second terminal; the processor 1600 is further configured to read the program and execute the following steps:

Calculating a CAM cycle adjustment average value according to at least one CAM cycle adjustment value sent by the second terminal;

Calculating an average of the first adjustment value and the CAM cycle adjustment average value;

Calculate a first difference between the average value and the first adjustment value, and a second difference between the average value and 0;

If the absolute value of the first difference is less than or equal to the absolute value of the second difference, the adjustment value of the CAM cycle is determined to be the first adjustment value; otherwise, the CAM cycle is determined to remain unchanged.

The device may be a terminal located in the head vehicle of the vehicle formation system.

The terminal provided in the embodiment of the present invention can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

The embodiment of the present invention further provides an information processing device. As shown in FIG17 , the terminal of the embodiment of the present invention includes: a processor 1700, which is used to read the program in the memory 1720 and execute the following process:

Receiving first adjustment information of a CAM cycle sent by a first terminal;

Determine the spacing error and data packet loss information of the member vehicle in the first CAM cycle; wherein the spacing error is the spacing error between the member vehicle and the preceding vehicle of the member vehicle;

Determining adjustment reference information of the CAM cycle according to the spacing error and the packet loss information;

Fourth adjustment information of a CAM cycle is determined according to the first adjustment information and the adjustment reference information.

The transceiver 1710 is configured to receive and send data under the control of the processor 1700 .

Among them, in Figure 17, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1700 and various circuits of memory represented by memory 1720 are linked together. The bus architecture can also link various other circuits such as peripherals, regulators, and power management circuits together, which are all well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1710 can be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. For different user devices, the user interface 1730 can also be an interface that can be connected to external or internal devices, and the connected devices include but are not limited to keypads, displays, speakers, microphones, joysticks, etc.

The processor 1700 is responsible for managing the bus architecture and general processing, and the memory 1720 can store data used by the processor 1700 when performing operations.

The data packet loss information includes a data packet loss rate; the processor 1700 is further configured to read the program and execute the following steps:

If the spacing error is greater than the spacing error in the previous CAM cycle, comparing the data packet loss rate in the first CAM cycle with the data packet loss rate in the previous CAM cycle;

If the spacing error is less than or equal to the spacing error in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle, reducing the CAM cycle;

If the data packet loss rate in the first CAM cycle is greater than or equal to the data packet loss rate in the previous CAM cycle, the CAM cycle is increased.

Wherein, in the case of reducing the CAM cycle, the second adjustment value of the CAM cycle is a third value, wherein the third value is less than 0;

In case of increasing the CAM cycle, the second adjustment value of the CAM cycle is a fourth value, wherein the fourth value is greater than zero.

If the first CAM cycle is greater than 100, the absolute value of the third value is 100, otherwise, the absolute value of the third value is 50/30;

If the first CAM cycle is greater than or equal to 100, the fourth value is 100, otherwise, the fourth value is 50/30.

The first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value; the processor 1700 is further configured to read the program and execute the following steps:

calculating an average of the first adjustment value and the second adjustment value;

Calculating a third difference between the average value and the second adjustment value, and a fourth difference between the average value and 0;

If the absolute value of the third difference is less than or equal to the absolute value of the fourth difference, the adjustment value of the CAM cycle is determined to be the second adjustment value; otherwise, the CAM cycle is determined to remain unchanged.

The processor 1700 is further configured to read the program and execute the following steps:

The fourth adjustment information is sent to the first terminal, where the second adjustment information includes the second adjustment value.

The device may be a terminal located in a member vehicle of the vehicle platoon system.

The terminal provided in the embodiment of the present invention can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned information processing method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims (12)

1. An information processing method is applied to a first terminal, wherein the first terminal is located in a head car of a vehicle formation system; characterized in that the method comprises:

receiving vehicle state information sent by a second terminal in a first cooperative sensing message CAM period, wherein the second terminal is positioned in a member vehicle of the vehicle formation system;

acquiring data packet loss information in a first CAM period;

Determining first adjustment information of a CAM period according to the vehicle state information and the data packet loss information;

Transmitting the first adjustment information to the second terminal,

The vehicle state information includes a distance between the member vehicle and a preceding vehicle of the member vehicle; the data packet loss information comprises a data packet loss rate;

The determining the first adjustment information of the CAM period according to the vehicle state information and the packet loss information includes:

according to the distance transmitted by at least one second terminal, calculating a distance error between each distance and a target distance;

calculating a pitch error average value according to the pitch error;

If the average value of the interval errors is larger than or equal to the average value of the interval errors in the previous CAM period, comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period;

Reducing the CAM period if the average value of the spacing errors is less than the average value of the spacing errors in the previous CAM period or if the packet loss rate of the data in the first CAM period is less than the packet loss rate of the data in the previous CAM period;

if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period, the CAM period is increased,

In the case of decreasing the CAM period, a first adjustment value of the CAM period is a first value, wherein the first value is less than 0;

in the case of increasing the CAM period, the first adjustment value of the CAM period is a second value, wherein the second value is greater than 0.

2. The method of claim 1, wherein the step of determining the position of the substrate comprises,

If the first CAM period is greater than 100, the absolute value of the first value is 100, otherwise, the absolute value of the first value is 50/30;

The second value is 100 if the first CAM period is greater than or equal to 100, otherwise the second value is 50/30.

3. The method according to claim 1 or 2, characterized in that after said sending of said first adjustment information to said second terminal, the method further comprises:

Receiving second adjustment information of a CAM period sent by the second terminal;

and determining third adjustment information of the CAM period according to the first adjustment information and the second adjustment information.

4. A method according to claim 3, wherein the first adjustment information comprises a first adjustment value and the second adjustment information comprises an adjustment value of a CAM period of the second terminal;

the determining third adjustment information of the CAM cycle according to the first adjustment information and the second adjustment information includes:

calculating a CAM period adjustment average value according to the CAM period adjustment value sent by at least one second terminal;

calculating an average of the first adjustment value and the CAM cycle adjustment average;

Calculating a first difference between the average value and the first adjustment value, and a second difference between the average value and 0;

If the absolute value of the first difference value is smaller than or equal to the absolute value of the second difference value, determining an adjustment value of the CAM period as the first adjustment value; otherwise, it is determined that the CAM period is unchanged.

5. An information processing method is applied to a second terminal, wherein the second terminal is located in a member vehicle of a vehicle formation system; characterized in that the method comprises:

Receiving first adjustment information of a CAM period sent by a first terminal;

Determining a distance error of the member vehicle in a first CAM period and data packet loss information; wherein the pitch error is a pitch error between the member vehicle and a preceding vehicle of the member vehicle;

determining adjustment reference information of the CAM period according to the interval error and the data packet loss information;

determining fourth adjustment information of the CAM period based on the first adjustment information and the adjustment reference information,

The data packet loss information comprises a data packet loss rate;

the determining the adjustment reference information of the CAM period according to the pitch error and the packet loss information includes:

if the interval error is larger than the interval error in the previous CAM period, comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period;

reducing the CAM period if the pitch error is less than or equal to the pitch error in the previous CAM period or if the data packet loss rate in the first CAM period is less than the data packet loss rate in the previous CAM period;

if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period, the CAM period is increased,

In the case of decreasing the CAM period, the second adjustment value of the CAM period is a third value, wherein the third value is less than 0;

In the case of an increased CAM period, the second adjustment value of the CAM period is a fourth value, wherein the fourth value is greater than 0,

The first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value;

The determining fourth adjustment information of the CAM period according to the first adjustment information and the adjustment reference information includes:

calculating an average value of the first adjustment value and the second adjustment value;

calculating a third difference between the average value and the second adjustment value, and a fourth difference between the average value and 0;

if the absolute value of the third difference value is smaller than or equal to the absolute value of the fourth difference value, determining an adjustment value of the CAM period as the second adjustment value; otherwise, it is determined that the CAM period is unchanged.

6. The method of claim 5, wherein the step of determining the position of the probe is performed,

If the first CAM period is greater than 100, the absolute value of the third value is 100, otherwise, the absolute value of the third value is 50/30;

The fourth value is 100 if the first CAM period is greater than or equal to 100, otherwise the fourth value is 50/30.

7. The method of claim 5, wherein the method further comprises:

and sending the fourth adjustment information to the first terminal, wherein the fourth adjustment information comprises the second adjustment value.

8. An information processing device is applied to a first terminal, wherein the first terminal is positioned in a head car of a vehicle formation system; characterized in that the device comprises:

The first receiving module is used for receiving the vehicle state information sent by the second terminal in a first CAM period, wherein the second terminal is positioned in a member vehicle of the vehicle formation system;

the first acquisition module is used for acquiring the data packet loss information in the first CAM period;

The first determining module is used for determining first adjustment information of the CAM period according to the vehicle state information and the data packet loss information;

A first sending module, configured to send the first adjustment information to the second terminal,

The vehicle state information includes a distance between the member vehicle and a preceding vehicle of the member vehicle; the data packet loss information comprises a data packet loss rate;

The first determining module includes:

the first calculation sub-module is used for calculating a pitch error average value according to the pitch error;

The first comparing submodule is used for comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period if the average value of the interval errors is larger than or equal to the average value of the interval errors in the previous CAM period;

a first determining submodule, configured to reduce a CAM cycle if the pitch error average value is smaller than the pitch error average value in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is smaller than the data packet loss rate in the previous CAM cycle;

a second determining submodule, configured to increase the CAM period if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period,

In the case of decreasing the CAM period, a first adjustment value of the CAM period is a first value, wherein the first value is less than 0;

in the case of increasing the CAM period, the first adjustment value of the CAM period is a second value, wherein the second value is greater than 0.

9. The apparatus of claim 8, wherein the apparatus further comprises:

The second receiving module is used for receiving second adjustment information of the CAM period sent by the second terminal;

and the second determining module is used for determining third adjustment information of the CAM period according to the first adjustment information and the second adjustment information.

10. The apparatus of claim 9, wherein the first adjustment information comprises a first adjustment value and the second adjustment information comprises an adjustment value of a CAM period of the second terminal;

the second determining module includes:

The first computing submodule is used for computing a CAM period adjustment average value according to the CAM period adjustment value sent by at least one second terminal;

a second calculation sub-module for calculating an average of the first adjustment value and the CAM period adjustment average;

a third calculation sub-module for calculating a first difference between the average value and the first adjustment value, and a second difference between the average value and 0;

A first determining submodule, configured to determine an adjustment value of a CAM period to be the first adjustment value if an absolute value of the first difference is less than or equal to an absolute value of the second difference; otherwise, it is determined that the CAM period is unchanged.

11. An information processing apparatus is applied to a second terminal, wherein the second terminal is located in a member vehicle of a vehicle formation system; characterized in that the device comprises:

the first receiving module is used for receiving first adjustment information of the CAM period sent by the first terminal;

The first determining module is used for determining the distance error and the data packet loss information of the member vehicles in the first CAM period; wherein the pitch error is a pitch error between the member vehicle and a preceding vehicle of the member vehicle;

The second determining module is used for determining adjustment reference information of the CAM period according to the interval error and the data packet loss information;

A third determining module for determining fourth adjustment information of the CAM period according to the first adjustment information and the adjustment reference information,

The data packet loss information comprises a data packet loss rate;

the second determining module includes:

The first comparing submodule is used for comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period if the interval error is larger than the interval error in the previous CAM period;

a first determining submodule, configured to reduce a CAM cycle if the pitch error is less than or equal to the pitch error in the previous CAM cycle, or if the data packet loss rate in the first CAM cycle is less than the data packet loss rate in the previous CAM cycle;

a second determining submodule, configured to increase the CAM period if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period,

In the case of decreasing the CAM period, the second adjustment value of the CAM period is a third value, wherein the third value is less than 0;

In the case of an increased CAM period, the second adjustment value of the CAM period is a fourth value, wherein the fourth value is greater than 0,

The first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value;

The third determination module includes:

a first calculation sub-module for calculating an average value of the first adjustment value and the second adjustment value;

a second calculation sub-module for calculating a third difference between the average value and the second adjustment value, and a fourth difference between the average value and 0;

A first determining submodule, configured to determine an adjustment value of a CAM period to be the second adjustment value if an absolute value of the third difference value is less than or equal to an absolute value of the fourth difference value; otherwise, it is determined that the CAM period is unchanged.

12. The apparatus of claim 11, wherein the apparatus further comprises:

and the first sending module is used for sending the fourth adjustment information to the first terminal, wherein the fourth adjustment information comprises the second adjustment value.