KR102614923B1 - V2X data management method using integrated V2X data format - Google Patents

Abstract

Provided is a method for processing V2X data using an integrated V2X data format. A method for processing V2X data according to an embodiment of the present invention uses integrated V2X data of a common format when data generated in various V2X environments is stored/managed in a database and is recorded in a message to communicate, thereby enabling accurate and safe autonomous driving through accurate data transmission, processing, and interworking between V2X services of a vehicle/infrastructure.

Description

V2X data processing method using integrated V2X data format {V2X data management method using integrated V2X data format}

The present invention relates to V2X data format, and more specifically, to a method of processing various V2X data by configuring an integrated data format in a V2X communication environment.

Research and development of V2X technology is limited to specific manufacturers' vehicles or specific national projects (C-ITS projects, etc.), so V2X data tends to be closed data that is only used by specific organizations and companies.

This is because security is very important for data generated in V2X, and as the types of data increase, difficulties in processing various data across all devices and services are increasing.

However, as technologies using V2X continue to increase, and in particular the linking of numerous services for level 4 or higher autonomous driving, there is a need for an integrated data format that takes into account the diversity of V2X data.

The present invention was created to solve the above problems, and the purpose of the present invention is to utilize the integrated V2X data format when storing/managing data generated in various V2X environments in a DB and communicating by including them in messages. It provides a method for doing so.

Generating V2X data according to an embodiment of the present invention to achieve the above purpose; Recording the generated V2X data in a DB; V2X data includes a header, payload, and CRC, and the header includes device type, mobile communication type, device ID, time stamp, and application service ID. do.

The device type may be specified as an On Board Unit (OBU) or a Road Side Unit (RSU), and the mobile communication type may be specified as one of WAVE, LTE, 5G, or 6G.

Time stamps can be used for time synchronization with other devices.

The application service may be one of Platooning, Sensor sharing, Remote driving, and Advanced driving.

The header may further include an action type that specifies the action status of the application service when saving the DB.

The header may further include a region ID that specifies the region where the communication performance verification test was performed.

The header may further include a communication ID that specifies the communication situation based on the payload data type and the device that creates the DB.

In the recording step, V2X data is recorded in a file in the DB, and the file can be named device type, device ID, start time, end time, and storage time.

The V2X data management method according to the present invention includes receiving a V2X message; It may further include recording V2X data included in the received V2X message in the DB.

According to another aspect of the present invention, a storage unit in which a DB in which V2X data is recorded is built; A processor that generates V2X data and records the generated V2X data in the DB; V2X data includes a header, payload, and CRC, and the header includes device type, mobile communication type, device ID, and time stamp. , a V2X device is provided, characterized in that it includes an application service ID.

According to another aspect of the present invention, acquiring V2X data recorded in the DB; providing the acquired V2X data to an application service; wherein the V2X data includes a header, payload and CRC, A V2X data management method is provided, wherein the header includes device type, mobile communication type, device ID, time stamp, and application service ID.

According to another aspect of the present invention, a storage unit in which a DB in which V2X data is recorded is built; A processor that acquires V2X data recorded in the DB and provides it to the application service; V2X data includes a header, payload, and CRC, and the header includes device type, mobile communication type, device ID, and time stamp. , a V2X device is provided, characterized in that it includes an application service ID.

As described above, according to embodiments of the present invention, data generated in various V2X environments is stored/managed in a DB and communicated by including it in messages, by utilizing integrated V2X data in a common format, vehicle/infrastructure Through accurate data transmission/processing and interconnection between V2X services, accurate and safe autonomous driving is possible.

1 shows an integrated V2X data format structure that can be used in embodiments of the present invention,
Figure 2 defines each field of integrated V2X data,
Figure 3 is a diagram showing the process of recording/saving integrated V2X data in the DB;
Figure 4 is a diagram showing the process of acquiring (reading) integrated V2X data from the DB.
Figure 5 shows communication delay time between various application services during V2X communication,
Figure 6 shows the configuration of a V2X device according to another embodiment of the present invention.

Hereinafter, the present invention will be described in more detail with reference to the drawings.

An embodiment of the present invention presents a V2X data processing/management method using an integrated V2X data format. This is a technology that utilizes the integrated V2X data format to store/manage data generated in various V2X environments in a database and communicate by including them in messages.

In an embodiment of the present invention, V2X includes V2V (Vehicle to Vehicle), V2I (Vehicle to Infra), V2P (Vehicle to Pedestrian), V2C (Vehicle to Cloud·V2C), etc. In addition, the V2X communication environment includes WAVE, LTE, 5G-Uu, 5G-NR-V2X, 6G, etc., as well as all communication environments available for V2X.

1. Unified V2X data format

Figure 1 is a diagram showing the structure of an integrated V2X data format usable in an embodiment of the present invention, and Figure 2 is a table listing definitions for each field of the integrated V2X data shown in Figure 1.

As shown, integrated V2X data consists of a header, payload, and CRC, and the header includes device type [OBU (On Board Unit), RSU (Road Side Unit), etc.], mobile communication type (WAVE, LTE, 5G, 6G, etc.), device ID, time stamp, service ID, operation type, area ID, payload data type, communication ID, DB version, HW version, SW version, and payload length. Descriptions of major data fields are As follows.

1.1 Device ID: ulDeviceId (32bits)

As a unique ID to identify the device, the serial number of the HW, the serial number of the CPU, etc. are obtained and written. If it is not possible to obtain and record the serial number of the Chipset SoC, it is also possible to assign and manage the serial number on its own.

1.2 Timestamp: ulTimeStamp (64bits)

Data for time synchronization between devices inside and outside the vehicle. The system time of the device is acquired and recorded.

System time can be obtained from NTC (Network Time Protocol) communication, GPS module, RTC module, etc. when the device boots. When using RTC, errors may occur, so it is recommended to update the RTC periodically. Timestamps are recorded based on GMT time, not the system clock tick value. Timestamps can be implemented in the following format:

For March 23, 2023, 14h 34m 48s 668283184ns,

When entering $ date +%Y-%m-%d--%H:%M:%S:%N,

Output: 2023-03-23--14:34:47:669283184

When entering $ date by systemcall excluding -, :, etc., system("date %Y%m%d%H%M%S%N")

20230323143447669283184

[Rangeuint64_t 0 ~ 18446744073709551615]

For March 23, 2023, 14h 34m 48s 668283184ns

Removal of expression (3184ns) up to 66.828us

Actual Data: 20230323143447668283184

recorded ulTimeStamp = 2023032314344766828

1.3 Service ID: DB_V2X_SERVICE_ID_E eServiceId

This is an ID to identify various V2X application services. V2X application services may include Platooning, Sensor sharing, Remote driving, Advanced driving, etc., as well as other application services.

1.4 Action Type: DB_V2X_ACTION_TYPE_E eActionType

This is data that specifies the action status of the application service when saving in the DB. In an active situation, that is, when the application service stores the results of its own actions in the DB, REQUEST is specified. In a passive situation, that is, a situation in which the application service does not perform the service itself, but when information transmitted from the outside is judged to be important, for example, when information is transmitted from the RSU and it is important information, REPONSE is specified.

1.5 Region ID: DB_V2X_REGION_ID_E eRegionId

This is data to specify the region where the communication performance verification test was performed. It can be used to determine whether communication performance is excellent or poor in a specific area, and if there are additional areas required during communication performance verification, it can be defined and used within 0xFFFF.

1.6 Payload type: DB_V2X_PAYLOAD_TYPE_E ePayloadType

This is a field for dictionary definition of payload data. For example, in the case of SAE J2735 BSM, the corresponding enum value can be specified. It can be defined and used within 0xFFFF for each application service.

1.7 Communication ID: DB_V2X_COMMUNCATION_ID_E eCommId

It specifies the communication situation based on the device that creates the DB, and can be used to analyze the classification and occurrence rate of specific communication situations.

1.8 DB version: usDbVer(16bits)

This is a field to specify the DB version. The DB version utilizes the value declared in DB_V2X_VERSION.

1.9 HW version: usHwVer (16bits)

This is a field to specify the HW Revision of the device currently in use. Due to the nature of HW, it reflects the possibility of HW modifications/changes to OBU, RSU, modem, etc., and through this, application services, OBU, RSU, etc. specify the HW revision of the device currently in use. Specific examples are as follows.

Application Service - When using OBU AP: OBU HW Revision

Application Service - When using your own AP: OBU HW Revision

OBU: OBU HW Revision (or Modem Revision)

RSU: RSU HW Revision (or Modem Revision)

If it is possible to express all within 16 bits, it can be classified and specified in units of 4 bits.

Application service: | Remained [4bits] | Application Service AP Ver [4bits] | OBU Ver [4bits] | Modem Ver [4bits] |

OBU : | Remained [4bits] | Modem classification [4bits, proprietary 0, commercial 1, etc.] | OBU Ver [4bits] | Modem Ver [4bits] |

RSU : | Remained [4bits] | Modem classification [4bits, proprietary 0, commercial 1, etc.] | RSU Ver [4bits] | Modem Ver [4bits] |

It can be used for comparison when abnormal operation or different results occur in a specific device.

1.10 SW version: usSwVer (16bits)

This is a field to specify the release version of the SW that is currently operating. For application services, specify the application service SW version, for OBU, specify the OBU SW version, and for RSU, specify the RSU SW version.

2. Integrated V2X data processing

How to store, utilize, and communicate the aforementioned integrated V2X data in the DB will be described below.

2.1 DB Write

Figure 3 is a diagram illustrating the process of recording/saving integrated V2X data in the DB. As shown, when integrated V2X data is created by the V2X application service, it can be saved as a file in storage by the DB manager.

The name of the saved file is “Device Type_Device ID_Start Time_End Time_Save Time.” In case of abnormal termination, the end time and save time are omitted from the file name, so you can check whether the file creation ended normally or abnormally through the file name.

Meanwhile, when changing the storage to Rx mode, integrated V2X data contained in V2X messages received from devices inside/outside the vehicle can be stored in the DB.

2.2 DB Read

Figure 4 is a diagram showing the process of acquiring (reading) integrated V2X data from the DB. As shown, the DB manager can acquire integrated V2X data stored in storage and deliver it to the V2X application service.

Meanwhile, when changing the storage to Tx mode, the integrated V2X data stored in the DB can be configured as a V2X message and transmitted to devices inside/outside the vehicle.

2.3 Time synchronization during V2X communication

Figure 5 shows the communication delay time between various application services during V2X communication. Time synchronization is very important for devices, especially when measuring the performance of V2X communication modems.

Time synchronization can be performed by referring to the time stamp included in the header of integrated V2X data, or by specifying the communication situation in the payload type or communication ID.

3. V2X device configuration

Figure 6 is a diagram showing the configuration of a V2X device according to another embodiment of the present invention. The V2X device according to an embodiment of the present invention is a device that can be applied to both an On Board Unit (OBU) and a Road Side Unit (RSU), and as shown, it includes a V2X communication unit 110, a processor 120, and a storage unit 130. ) and consists of.

The V2X communication unit 110 is a configuration for V2X communication and performs V2V, V2I, V2P, and V2C communication required for application services, and applies WAVE, LTE, 5G-Uu, 5G-NR-V2X, 6G, etc. as communication methods. can do.

The processor 120 executes the application service, stores integrated V2X data generated by the application service or received from another device through the V2X communication unit 110 in the DB, and provides the integrated V2X data stored in the DB to the application service. Transmitted from another device through the V2X communication unit 110.

The storage unit 130 includes storage where a DB storing integrated V2X data is built and temporary memory required in this process.

4. Variation example

So far, the V2X data processing method using the integrated V2X data format has been described in detail with preferred embodiments.

In an embodiment of the present invention, data occurring in various V2X environments is stored/managed in a DB and communicated by including it in messages, by utilizing integrated V2X data in a common format to provide accurate data between V2X services of vehicles/infrastructure. Through transmission/processing and linkage, accurate and safe autonomous driving is possible, allowing us to approach autonomous driving level 4/5.

Meanwhile, of course, the technical idea of the present invention can be applied to a computer-readable recording medium containing a computer program that performs the functions of the device and method according to this embodiment. Additionally, the technical ideas according to various embodiments of the present invention may be implemented in the form of computer-readable code recorded on a computer-readable recording medium. A computer-readable recording medium can be any data storage device that can be read by a computer and store data. For example, of course, computer-readable recording media can be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, hard disk drive, etc. Additionally, computer-readable codes or programs stored on a computer-readable recording medium may be transmitted through a network connected between computers.

In addition, although preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the invention pertains without departing from the gist of the present invention as claimed in the claims. Of course, various modifications can be made by those of ordinary skill in the art, and these modifications should not be understood individually from the technical idea or perspective of the present invention.

ulDeviceId: Device ID
ulTimeStamp: timestamp
DB_V2X_SERVICE_ID_E eServiceId: Service ID
DB_V2X_ACTION_TYPE_E eActionType: Action type
DB_V2X_REGION_ID_E eRegionId: Region ID
DB_V2X_PAYLOAD_TYPE_E ePayloadType: Payload type
DB_V2X_COMMUNCATION_ID_E eCommId: Communication ID
usDbVer: DB version
usHwVer: HW version
usSwVer: SW version

Claims (12)

Generating V2X data;
Including; recording the generated V2X data in the DB;
V2X data is,
Contains header, payload and CRC;
header,
Includes device type, mobile communication type, device ID, time stamp, and application service ID.
The application service ID is,
A V2X data management method characterized by specifying one of platooning, sensor sharing, remote driving, and advanced driving.
In claim 1,
The device type is,
Specified as OBU (On Board Unit) or RSU (Road Side Unit);
The mobile communication type is,
A V2X data management method characterized by being specified as one of WAVE, LTE, 5G, and 6G.
In claim 1,
The timestamp is,
A V2X data management method characterized by being used for time synchronization with other devices.
delete In claim 1,
header,
A V2X data management method further comprising an action type that specifies the action status of the application service when storing the DB.
In claim 1,
header,
A V2X data management method further comprising a region ID specifying the region in which the communication performance verification test was performed.
In claim 1,
header,
A V2X data management method further comprising a communication ID specifying the communication situation based on the payload data type and the device generating the DB.
In claim 1,
The recording phase is:
Record V2X data as a file in DB,
The name of the file is:
A V2X data management method characterized by naming device type, device ID, start time, end time, and storage time.
In claim 1,
Receiving a V2X message;
A V2X data management method further comprising: recording V2X data included in the received V2X message in a DB.
A storage unit where a DB where V2X data is recorded is built;
Includes a processor that generates V2X data and records the generated V2X data in the DB;
V2X data is,
Contains header, payload and CRC;
header,
Includes device type, mobile communication type, device ID, time stamp, and application service ID.
The application service ID is,
A V2X device characterized by specifying one of platooning, sensor sharing, remote driving, and advanced driving.
Acquiring V2X data recorded in DB;
Including: providing the acquired V2X data to the application service,
V2X data is,
Contains header, payload and CRC;
header,
Includes device type, mobile communication type, device ID, time stamp, and application service ID.
The application service ID is,
A V2X data management method characterized by specifying one of platooning, sensor sharing, remote driving, and advanced driving.
A storage unit where a DB where V2X data is recorded is built;
Includes a processor that acquires V2X data recorded in the DB and provides it to the application service,
V2X data is,
Contains header, payload and CRC;
header,
Includes device type, mobile communication type, device ID, time stamp, and application service ID.
The application service ID is,
A V2X device characterized by specifying one of platooning, sensor sharing, remote driving, and advanced driving.